4029 results about "Steering system" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

A catheter includes a handle and an elongate member extending from the handle. The catheter may also include steering system coupled to the handle. The steering system may be configured to deflect at least a portion of the elongate member in at least one direction. The catheter may also include a locking mechanism configured to lock the portion of the elongate member in a deflected configuration, and a lever coupled to the handle. The lever may be configured to move from a first position to a second position to engage the locking mechanism. The lever may also be configured to be separably retained at least at one of the first position or the second position to prevent movement therebetween.

A method for cooperative vehicle operation includes receiving a first target angle signal associated with a handwheel of a vehicle, receiving a second target angle signal associated with an autonomous steering system of the vehicle, and, in response to a determination that a handwheel angle error between the first target angle signal and the second target angle signal is less than a handwheel error threshold: generating a handwheel motor torque command based on a position control motor torque command and a torque control motor torque command; and controlling a position of the handwheel of the vehicle based on the handwheel motor torque command.

The invention discloses a steering device, a steering system and a vehicle, relates to the technical field of vehicles, and aims to solve the problem of how to reduce the space of a driving position occupied by a steering wheel. The steering device comprises a steering wheel, the steering wheel comprises a folded state and an unfolded state, and the steering wheel is configured to enable the steering wheel to be switched from the unfolded state to the folded state through folding action. When the vehicle is in a first driving state, the steering wheel is in an unfolded state, and the first driving state is a state that the vehicle is in a driving state and auxiliary driving of the vehicle is not started.

The invention provides a dynamic fault-tolerant control method based on an expected function safety mechanism, and the method comprises the steps: 1, selecting the model of a sensor, and enabling the sensor to be distributed at the periphery of a vehicle body; 2, building a decision algorithm model, carrying out environment scene recognition, planning a driving path and speed according to data obtained by a sensing layer, evaluating safety risks of different decisions, and carrying out judgment and decision making on various conditions; 3, control interfaces of a vehicle power system, a steering system and a braking system are established, and the electronic control unit converts a decision control instruction output by the decision algorithm model into actual vehicle operation through the control interfaces; 4, performing an expected function safety mechanism, performing real-time monitoring on state parameters of the vehicle, and analyzing detection data through a fault detection algorithm; 5, implementing a fault tolerance strategy; and 6, continuously monitoring the actual driving state and the system response condition of the vehicle, and adjusting the fault tolerance strategy.

The invention is suitable for the technical field of vehicle intelligent control, and provides a model prediction controller parameter self-calibration method based on deep reinforcement learning. According to the method, modeling expression is carried out on the delay characteristic of a vehicle steering system by utilizing a first-order inertial link, the delay characteristic is used as a state variable to be augmented to an error tracking control architecture, and a model prediction controller considering the steering delay characteristic is designed according to the state variable; the problem that the transverse motion control performance of the automatic driving vehicle is deteriorated due to hysteresis between the target wheel rotation angle and the actual vehicle rotation angle is solved. Meanwhile, a deep Q network (DQN) of a multi-target reward mechanism is designed, and an optimal strategy is trained to quickly calibrate multiple parameters of model predictive control (MPC). The generalization performance of reinforcement learning enables the vehicle to adapt to most complex working conditions after sufficient training, the problems that in a traditional method, the parameter calibration time of a control system is long, and robustness is insufficient are solved, and high-precision and stable transverse control over the full-drive-by-wire four-wheel steering vehicle under the complex working conditions is achieved.

An electric vehicle and a powertrain for an electric vehicle are disclosed. According to an embodiment, an electric vehicle includes a steering system with a steering column, and a battery pack having a battery enclosure and a plurality of battery modules housed within the battery enclosure. The battery enclosure defines a slot that extends from at least a top surface of the battery enclosure to receive the steering column.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention provides a trajectory tracking method, device and equipment based on steer-by-wire fault tolerance and a medium wherein the trajectory tracking method based on steer-by-wire fault tolerance comprises: when a steering execution motor has a fault, determining expected control parameters for vehicle trajectory tracking, the expected control parameters comprising an expected steering wheel steering angle and an expected differential yaw moment; reducing the expected steering angle of the steering wheel and increasing the expected differential yawing moment; determining a front axle differential steering torque and an output torque of a steering execution motor based on the expected steering wheel steering angle; and trajectory tracking is carried out based on the front axle differential steering torque, the expected differential yawing torque and the output torque of the steering execution motor. When the steering-by-wire system breaks down, the front axle differential steering torque can be used for assisting the fault steering-by-wire system in stably tracking the expected steering wheel steering angle, and then the requirement of vehicle trajectory tracking for steering is met. Meanwhile, the stability of vehicle trajectory tracking can be improved.

The invention discloses a hardware-in-the-loop test system of a steering system, which comprises an upper computer, a steering execution simulation system, a wire harness connection fault test box and a motor controller, and is characterized in that the upper computer is used for simulating the driving state of a vehicle and generating vehicle operation condition information; the steering execution simulation system is used for simulating a sensor to generate a corresponding sensor signal according to the vehicle operation condition information and sending the sensor signal to the motor controller; the motor controller is used for generating a motor control signal required when the vehicle executes steering operation according to the received sensor signal; the steering execution simulation system is also used for simulating the work of the motor according to the motor control signal and feeding back the working state information of the motor to the motor controller, so that the upper computer can judge whether the logic function of the steering system is normal or not according to the working state information of the motor; the wire harness connection fault test box is used for simulating open circuit and short circuit of signals between the steering execution simulation system and the motor controller so as to realize fault injection test.

The invention relates to the technical field of vehicle stability control and fault-tolerant control, and discloses a steer-by-wire vehicle stability control method under actuator faults and input hysteresis, a terminal and a medium. The method comprises the following steps: establishing a kinetic model of a steer-by-wire vehicle, and constructing a front wheel subsystem kinetic model in a steer-by-wire system by comprehensively considering an actuator fault, input hysteresis and a state constraint condition; according to the steering angle instruction of the driver and the ideal vehicle model, the expected yaw velocity and the expected sideslip angle of the vehicle are obtained through calculation; designing an upper-layer stability controller of the front wheel subsystem; generating a desired front wheel steering angle for the front wheel subsystem; and a lower-layer steering angle tracking controller of the front wheel steering system is designed, the front wheel steering angle tracking performance of the steer-by-wire system under the working conditions of actuator faults and input hysteresis is ensured, and the actual front wheel steering angle of the vehicle approaches the expected front wheel steering angle. According to the invention, the steer-by-wire system can still maintain the stability of the vehicle under the conditions of actuator fault and input hysteresis.

A method for automated guidance of a vehicle along a specified setpoint trajectory at an actual speed, wherein the setpoint trajectory includes geometric trajectory variables, the method including ascertaining an actual deviation of the vehicle from the setpoint trajectory and outputting the ascertained actual deviation and generating manipulated variables such that the vehicle, in the case of automated control of a drive system and / or a braking system and / or a steering system of the vehicle, moves closer to the setpoint trajectory. The method also includes ascertaining whether an undesirable driving state is present when the vehicle moves closer to the setpoint trajectory, wherein the undesirable driving state is ascertained from the specified setpoint trajectory based on the geometric trajectory variable, and, if the presence of the undesirable driving state is identified, automatically controlling the vehicle based on generated stability variables and / or adapting the setpoint trajectory.

“THREE-DIMENSIONAL MONITORING SYSTEM FOR KINGPIN ON FIFTH WHEEL” describes an invention patent, for a monitoring system of Kingpin / Fifth Wheel articulation presented on trucks, with a great applicability for autonomous steering systems and vehicle dynamics control. This system allows the precise monitoring of translational, rotational movements and the relative accelerations of the king pin (5) in relation to the fifth wheel (3) on the X, Y and Z axes, totaling measurements in six degrees of freedom. The present patent presents two ways to make this monitoring of the three-dimensional position of the kingpin (5): The first through a set of sensors (6) accelerometers and gyroscope integrated to an electromagnet (4) that when electrified, is coupled to the king pin (5) by magnetic attraction. The second mode through a reference device (20) that is magnetic, identifiable, independent and easy to apply to the kingpin (4).

The invention provides an off-line test method and an off-line test device for a vehicle steering system, and the method comprises the steps: controlling a vehicle to run according to a preset test track through activating an automatic driving mode of the vehicle; in the running process of the vehicle, running state data of the vehicle are collected in real time; and comparing the operation state data with a preset quality standard, and generating an offline test result of the vehicle steering system based on a comparison result. In the mode, the vehicle is controlled to run along the preset test track by adopting automatic driving, so that the test control precision of the vehicle steering system can be improved, and the accuracy and consistency of off-line test are further improved.

The invention relates to a vehicle control method and device, electronic equipment, a vehicle and a storage medium, and the method comprises the steps: obtaining the state information of a steering system and a virtual lane in front of the vehicle in response to the detection of a fault of the steering system of the vehicle; determining a risk value function corresponding to the first area based on the state information and the virtual lane; the first area is a predicted collision avoidance area; determining a target acceleration of the vehicle according to the risk value function and the operation parameters of the vehicle; and controlling the vehicle based on the target acceleration. According to the embodiment, the first area is analyzed by combining the state information of the steering system and the virtual lane in front of the vehicle, the risk value function corresponding to the first area is determined, the target acceleration is dynamically adjusted by introducing the risk value function, the safety redundancy requirements under different working conditions can be met, and the safety of the vehicle is improved. And the flexibility and safety of vehicle control are improved.

A system for collaborative steering in steer-by-wire (SBW) vehicles includes sensors, a rack motor altering a position of the vehicle's steerable road wheels and an emulator altering a torque and position of a vehicle hand wheel. A collaborative steering system application (CSSA) obtains, static and dynamic information about the vehicle and the vehicle's environment, and generates a rack torque and / or angle command to the rack motor and an emulator torque and / or angle command to the emulator. The CSSA adjusts between ADAS and manual steering ratios and automatically transitions control between ADAS SBW control and manual control. The CSSA smooths transitions between ADAS SBW control and manual steering control and adjusts hand wheel stiffness by altering the emulator torque command, and causes the rack motor and emulator to operate according to a kinematic model while adapting road wheel response and vehicle operator steering feel based on scenarios and features currently enabled.

The utility model relates to the technical field of conveying devices, in particular to a mechanical arm rotating temporary storage platform for graphene electrothermal film production, which comprises a first conveying belt, a second conveying belt and a mechanical frame, and is characterized in that the mechanical frame rotationally conveys master slices positioned on the first conveying belt to the second conveying belt; the first conveying belt comprises a first supporting frame, multiple sets of first segmented wavebands are arranged in the first supporting frame, baffles are fixedly connected between the first segmented wavebands, and side edge positioning devices are fixedly installed on the front side and the rear side of the first supporting frame. The production efficiency and precise positioning are guaranteed through the control system and the steering mechanism, simultaneous work of double stations is achieved, efficiency is improved, a robot transplanting steering system is adopted for precise detection and assembly, products are accurate in position and free of errors after being repeatedly placed before entering the next procedure, positioning guarantee is provided for product detection and assembly, and the production efficiency is improved. And the quality and the yield of the prepared product are greatly improved.

The invention discloses a drive-by-wire four-wheel independent steering system and a roll risk assessment method thereof, and the method comprises the steps: building a vertical load distribution model, so as to monitor and feed back the time-varying property and nonlinear change of a vertical load in real time; establishing a real-time roll risk assessment model, designing a dynamic compensation algorithm to correct the model, and generating a roll risk prediction value sequence of a future working condition through a time sequence analysis and prediction algorithm; and establishing a roll risk early warning model, and generating different levels of safety early warning signals based on a risk level judgment mechanism. According to the invention, accurate measurement of the vertical load can be realized under the limit working condition, and real-time roll risk early warning is provided in combination with the dynamic behavior of the vehicle, so that the safety and reliability of the intelligent driving system are improved.

The invention discloses a shimmy suppression method for a four-wheel independent steer-by-wire system. The shimmy suppression method comprises the following steps: establishing a wheel shimmy kinetic model of the four-wheel independent steer-by-wire system; designing a barrier Lyapunov function, and converting the swing amplitude constraint into a state constraint condition; designing a backstepping sliding mode controller parameter self-tuning strategy based on the shimmy frequency; designing a back-stepping sliding mode controller with self-adaptive swing amplitude-frequency characteristics based on the state constraint condition; based on a designed backstepping sliding mode controller, active self-adaptive control is carried out on shimmy phenomena of wheels with different frequencies and amplitudes, and then suppression of the shimmy phenomenon of the four-wheel independent steer-by-wire system is completed. According to the amplitude-frequency characteristics of the shimmy phenomenon occurring in the operation process of the four-wheel independent steer-by-wire system, the shimmy phenomenon of different frequencies and amplitudes can be restrained in a self-adaptive mode, then the reliable operation capacity of the four-wheel independent steer-by-wire system is improved, and vehicle instability caused by excessive shimmy of wheels is avoided.

The invention relates to the technical field of loader brake valves, and discloses a hydraulic brake valve and a hydraulic system thereof.The hydraulic brake valve comprises the hydraulic brake valve, the hydraulic brake valve is composed of a one-way valve, a brake valve set, a brake lamp pressure switch, a low-pressure alarm pressure switch, a shuttle valve, a high-low pressure unloading valve and a throttling hole, and the high-low pressure unloading valve and the throttling hole are integrated; a P port, an A port, a B port, a T port, an LS1 port, an LS port, a low-pressure alarm pressure switch and a brake lamp pressure switch are arranged outside the hydraulic brake valve. A liquid filling valve is omitted, an oil source of the full-hydraulic power braking system is taken from an existing priority valve CF port of equipment, pressure feedback signals are selected through a shuttle valve on a hydraulic braking valve, the pressure feedback signals are transmitted to the priority valve, and liquid filling and energy supplementing of the full-hydraulic power braking system or steering work of a steering system is achieved. The brake has the remarkable advantages of being fast in brake response, low in noise, low in failure rate, high in safety coefficient, compact in structure, low in cost and low in energy consumption.

The invention discloses a rear wheel brake control method, device and equipment and a storage medium, and the method comprises the steps: when it is determined that brake signals of a vehicle intelligent integrated brake control unit and an EPB controller are not all invalid, vehicle brake is controlled preferentially according to the vehicle intelligent integrated brake control unit and the EPB controller; and when it is determined that the brake signals of the intelligent integrated brake control unit and the EPB controller of the vehicle fail, the rotation directions of the rear wheels are controlled through an added rear wheel steering system, so that the rotation directions of the two rear wheels are opposite, and vehicle braking is controlled. Under the extreme condition that the IPB and the EPB fail at the same time, it can be ensured that the vehicle can still be braked emergently, and the driving safety is greatly improved.

A steer by wire includes a steering wheel holding system. An emulator controller receives vehicle data from vehicle systems and determines whether a vehicle is in one of a driving mode and a non-driving mode. When the vehicle is in the driving mode, the emulator controller transmits a command to an emulator switching system to electrically couple the phases of an emulator motor to a power source to enable the emulator motor to implement steer by wire operations placing the steering wheel in an un-hold mode. When the vehicle is in the non-driving mode, the emulator controller transmits a command to the emulator switching system to electrically couple the phases of the emulator motor to ground to short the phases of the emulator motor to ground to generate a resistive torque to resist rotational movement of a steering wheel of the vehicle placing the steering wheel in a hold mode.

The application discloses an intelligent electric chassis configuration and a fault-tolerant control method of the intelligent electric chassis, and relates to the technical field of electric chassis. The chassis configuration comprises a front axle centralized motor drive assembly, a rear axle distributed motor drive assembly, a front axle electronic hydraulic brake system, a rear axle electronic mechanical brake system and a chassis domain controller. The front axle centralized motor drive assembly comprises a centralized drive motor, a front wheel speed reducer and a drive half shaft which are sequentially connected. The rear axle distributed motor drive assembly comprises a left rear wheel end drive motor and a left rear wheel speed reducer which are sequentially connected, and a right rear wheel end drive motor and a right rear wheel speed reducer which are sequentially connected. The front axle electronic hydraulic brake system comprises a first main brake unit and a redundant brake unit. The rear axle electronic mechanical brake system comprises a second main brake unit. The chassis domain controller is used for controlling the centralized drive motor, the left and right rear wheel end drive motors, the first main brake unit, the redundant brake unit, the second main brake unit, a front axle steer-by-wire system, an intelligent suspension system and an intelligent tire. The application can improve the chassis safety and fault-tolerant capability to support high-level automatic driving functions.

A steering system includes: an operation device including an operation member and a reaction force application device; a turning device mechanically cut off from the operation device and configured to turn a wheel according to a control current; and a controller configured to control the turning device and the reaction force application device based on an operation signal relating to an action of the operation member. The steering system is configured to switch between a normal mode of turning the wheel based on the operation signal and a virtual mode of steering a virtual mobile body based on the operation signal. In the virtual mode, the controller sets the control current to a current value at which the wheel does not turn regardless of the operation signal, and sets the operation reaction force based on a predetermined oscillation component of a signal received from the turning device.

The invention provides a distributed driving vehicle preset performance fault-tolerant control method and system based on an adaptive neural network observer. The method comprises the following steps: constructing a vehicle dynamics model containing motor faults and unknown disturbance; in order to realize real-time estimation of faults and disturbance and break through the limitation on disturbance derivative boundaries, a self-adaptive neural network observer is designed; aiming at the problem that the control direction is uncertain, an upper-layer controller is designed based on a preset performance control theory, a Nussbaum function and an obstacle Lyapunov function are introduced, it is ensured that system dynamic errors meet preset performance constraints all the time, and accurate tracking control over the transverse force, the longitudinal force and the yawing moment of a vehicle is achieved; in order to improve the system coordination capability under the multi-motor fault working condition, an optimal torque distribution model fusing the motor torque constraint and the tire force limit is constructed, collaborative optimization control of the driving and steering system is realized through a quadratic programming algorithm, and the stability and safety of the whole vehicle in the fault state are improved.

A catheter steering system wherein the user interface device is a flexible shaft that can be manipulated by hand. The motion imparted on the flexible steering device is reflected in the motion of the catheter tip through an arrangement of pull wires or other mechanisms. Through this arrangement a more intuitive control of the catheter tip is obtained. In an example, a catheter control device includes a catheter port configured to receive the proximal end of a catheter that includes one or more pull wires for attachment to a swashplate, a swashplate, a steering shaft configured to bend in response to a force being applied to the steering shaft; and a mechanism configured to translate the bend of the steering shaft to movement of the swashplate to correspondingly move the distal tip of a catheter coupled to the swashplate.

A rear module, as illustrated with tanks, seed blowers, and transfer pump for fertilizer is mounted on the existing design frame, axle, and steering system; but it is a separate, distinct module. The planting module and the harvesting module must be disconnected from the common front module power unit and switched for planting row crops or harvesting. The harvesting configuration can have an attachment to the header to seed non row crops, such as, a cover crop like rye or canola Such rear module can be the rear unit of an articulated vehicle, such as a harvester.

The invention discloses an automobile driving state blind area monitoring method and a rearview mirror, and relates to the technical field of blind area monitoring. Comprising the following steps of information collection, specifically, sensors and cameras are installed on wheels of an automobile, a steering wheel steering column, an automobile chassis and a steering system respectively, driving state data of the automobile speed, the steering wheel angle, the automobile acceleration and the steering angle and image data around the automobile are collected in real time, and real-time automobile information data are obtained; according to the system, driving state data such as the vehicle speed, the steering wheel angle, the vehicle acceleration and the steering angle are combined, the blind area around the vehicle is monitored in real time through the sensor and the camera, and when the vehicle steers, the blind area monitoring range is adjusted in real time to adapt to the driving direction change; the rearview mirror can display blind area images in real time, the blind area alertness of a driver can be greatly improved, and the traffic accident risk caused by the blind area is effectively reduced.

The utility model relates to the technical field of tractors, in particular to a small and medium power bowing steering tractor which comprises a chassis, a front rack assembly, a front driving wheel, a rear driving wheel, a steering system assembly, a suspension assembly and a hydraulic lifting pipeline system assembly. The chassis comprises a tail end assembly, and an engine and accessory assembly thereof, a front box and waist bending and twisting assembly and a rear box assembly which are sequentially connected from front to back; the front box and waist-bending and waist-twisting assembly comprises a front box, a waist-bending shell, a waist-bending pin shaft, a waist-twisting outer shell, a waist-twisting inner shell, a reversing shell, a first bolt, a lining, a clamping spring, a second bolt, a third bolt, a clamping spring protection cover and a fourth bolt. The multifunctional tractor can be used for operation in hilly and mountainous areas, integrates common operations such as field cultivation, orchard operation and road transportation, is good in maneuverability, high in safety, high in stability and high in adaptability, and can realize multiple functions of the tractor.

An electric vehicle and a powertrain for an electric vehicle are disclosed. According to an embodiment, an electric vehicle includes a suspension system, a seat, a steering system, an electric motor and a battery pack. The battery pack includes one or more battery modules to provide power to the electric motor and a battery enclosure housing the one or more battery modules. The battery enclosure is a structural element of the electric vehicle to receive loads from at least two of the suspension system, the seat and the steering system.