CN118701160A - Human-machine co-driving steering system and vehicle - Google Patents

Abstract

The present application provides a human-machine co-driving steering system and vehicle. The system includes a steering wheel module, a steering transmission mechanism, a steering actuator and a control module; the steering wheel module detects the steering command and the steering wheel steering information, and transmits the steering command and the steering wheel steering information to the control module, and transmits the steering wheel steering information to the steering transmission mechanism; the steering actuator detects the front wheel angle of the vehicle, and transmits the front wheel angle to the control module; the steering transmission mechanism transmits the steering wheel steering information to the steering actuator; when the control module receives the steering command, it obtains the current driving information of the vehicle, and generates a corresponding steering control signal based on the current driving information of the vehicle, the steering wheel steering information and the front wheel angle, and sends the steering control signal to the steering actuator; the steering actuator also drives the wheels of the vehicle to complete the steering based on the steering control signal and the steering wheel steering information. The present application does not need to add a road sensing motor, which can reduce costs and is safe and reliable.

Description

Human-machine co-driving steering system and vehicle

Technical Field

The present application relates to the field of vehicle steering technology, and in particular to a human-machine co-driving steering system and a vehicle.

Background Art

With the development trend of automobile electrification and intelligence, the automatic driving of vehicles has become possible. According to the SAEJ3016 classification standard, the current level of vehicle automation is at the L2+/L3 stage, L4 high-level automatic driving is being laid out, and L5 unmanned driving is not yet mature. In order to cope with unmanned driving, the development of wire-controlled chassis is imperative, among which wire-controlled steering is the key system for the lateral control execution of unmanned vehicles. The wire-controlled steering system cancels the mechanical connection between the steering wheel and the steering wheel, and uses electrical signals to control the steering of the wheels.

At present, a road-sensing motor has been added to the wire-controlled steering system. The main function of the road-sensing motor is to provide road-sensing feedback to the driver, and it mainly responds to L4 high-level autonomous driving. However, in terms of structure, in order to install the road-sensing motor and the steering column lock, limit the steering wheel, and provide functional safety redundancy, it is necessary to retain a section of the steering column and modify its structure, such as adding mechanical damping or using a clutch-type steering column. Compared with the traditional mechanical steering column, the weight and cost increase, and the reliability requires a lot of test verification, and the space advantage and safety cannot be achieved; in terms of control, in order to provide the driver with a suitable road feel, the dynamic model and algorithm for controlling the road-sensing motor still need a lot of simulation analysis and test verification, and the reliability and safety need to be verified.

Summary of the invention

The embodiments of the present application provide a human-machine co-driving steering system and a vehicle to solve the problem that the current wire-controlled steering system uses a road-sensing motor, which is expensive and cannot guarantee safety and reliability.

In a first aspect, an embodiment of the present application provides a human-machine co-driving steering system, including a steering wheel module, a steering transmission mechanism, a steering actuator, and a control module;

The steering wheel module is connected to the steering transmission mechanism and the control module respectively, and the steering actuator is connected to the steering transmission mechanism and the control module respectively;

The steering wheel module is used to detect the steering command and the steering wheel steering information, and transmit the steering command and the steering wheel steering information to the control module, and transmit the steering wheel steering information to the steering transmission mechanism;

The steering actuator is used to detect the front wheel steering angle of the vehicle and transmit the front wheel steering angle to the control module;

The steering transmission mechanism is used to transmit the steering wheel steering information to the steering actuator;

The control module is used to obtain the current driving information of the vehicle when receiving the steering command, and generate a corresponding steering control signal based on the current driving information of the vehicle, the steering information of the steering wheel and the front wheel angle, and send the steering control signal to the steering actuator;

The steering actuator is also used to drive the vehicle's wheels to complete steering based on the steering control signal and the steering wheel steering information.

In a possible implementation, the control module includes a first electronic control unit and a second electronic control unit; the steering actuator includes a first steering motor and a second steering motor; the steering wheel module includes a first steering wheel torque angle sensor and a second steering wheel torque angle sensor;

The first steering wheel torque angle sensor, the first steering motor and the first electronic control unit form a first steering subsystem; the second steering wheel torque angle sensor, the second steering motor and the second electronic control unit form a second steering subsystem;

The first steering wheel torque angle sensor and the first steering motor are both connected to the first electronic control unit; the second steering wheel torque angle sensor and the second steering motor are both connected to the second electronic control unit; the first electronic control unit and the second electronic control unit are connected via a private network communication.

In a possible implementation, the first steering subsystem further includes a first power supply and a first network; the first power supply is used to supply power to the first electronic control unit; the first network is used to provide network services to the first electronic control unit;

The second steering subsystem also includes a second power supply and a second network; the second power supply is used to supply power to the second electronic control unit; and the second network is used to provide network services to the second electronic control unit.

In a possible implementation, when at least one of the first power supply, the first electronic control unit and the first steering motor in the first steering subsystem fails, or when at least one of the second power supply, the second electronic control unit and the second steering motor in the second steering subsystem fails, the steering subsystem that has not failed can continue to work;

When at least one of the first steering wheel torque angle sensor and the first network in the first steering subsystem fails, or at least one of the second steering wheel torque angle sensor and the second network in the second steering subsystem fails, the first electronic control unit and the second electronic control unit share information through the private network, so that both the first steering subsystem and the second steering subsystem can steer;

When both the first-way steering subsystem and the second-way steering subsystem fail, mechanical steering is performed through manual driving.

In one possible implementation, when the human-machine co-driving steering system is in the autonomous driving mode:

If both the first steering subsystem and the second steering subsystem are not failed, the first steering motor and the second steering motor each output 50% of the first working torque to control the vehicle steering, and each output 50% of the first restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the first steering wheel torque angle sensor and the first network in the first steering subsystem fails, or at least one of the second steering wheel torque angle sensor and the second network in the second steering subsystem fails, the first electronic control unit and the second electronic control unit share information through the private network, and the first steering motor and the second steering motor each output 50% of the first working torque to control the steering of the vehicle, and each output 50% of the first restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the first power supply, the first electronic control unit and the first steering motor in the first steering subsystem fails, or at least one of the second power supply, the second electronic control unit and the second steering motor in the second steering subsystem fails, the steering motor in the remaining steering subsystem outputs 100% of the first working torque to control the vehicle steering, and outputs 100% of the first restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If both the first steering subsystem and the second steering subsystem fail, the human-machine co-driving steering system switches to manual driving mode, and mechanical steering is performed through manual driving.

In a possible implementation, when the human-machine co-driving steering system is in manual driving mode:

If both the first-way steering subsystem and the second-way steering subsystem are not failed, the main-way steering subsystem will work independently first, and the steering motor of the main-way steering subsystem will output 100% of the second working torque to control the vehicle steering, and output 100% of the second restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the steering wheel torque angle sensor and the network in the main road steering subsystem fails, the electronic control unit in the main road steering subsystem shares information of the electronic control unit in the slave road steering subsystem, controls the steering motor of the main road steering subsystem to output 100% of the second working torque, controls the vehicle steering, and outputs 100% of the second restraining torque, controls the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the power supply, the electronic control unit and the steering motor in the main road steering subsystem fails, the slave road steering subsystem works independently, and the steering motor of the slave road steering subsystem outputs 100% of the second working torque to control the vehicle steering, and outputs 100% of the second restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If the steering motor in the main road steering subsystem fails, and at least one of the steering wheel torque angle sensor and the network in the slave road steering subsystem fails, the electronic control unit in the slave road steering subsystem shares the information of the electronic control unit in the main road steering subsystem, controls the steering motor of the slave road steering subsystem to output 100% of the second working torque, controls the vehicle steering, and outputs 100% of the second restraining torque, controls the torque and fluctuation transmitted from the road surface to the steering wheel;

If both the first-way steering subsystem and the second-way steering subsystem fail, mechanical steering is performed through manual driving;

The first-route steering subsystem is the main-route steering subsystem, and the second-route steering subsystem is the slave-route steering subsystem; or the second-route steering subsystem is the slave-route steering subsystem, and the first-route steering subsystem is the main-route steering subsystem.

In a possible implementation, the steering actuator further includes a front wheel angle sensor;

The front wheel steering angle sensor is used to detect the front wheel steering angle of the vehicle and transmit the front wheel steering angle to the first electronic control unit and the second electronic control unit.

In a possible implementation, the steering actuator further includes a steering gear and a steering tie rod assembly;

The steering gear and steering rod assembly are used to receive the steering torque output by the first steering motor and/or the second steering motor, receive the steering wheel steering information transmitted by the steering transmission mechanism, and drive the wheels to complete steering based on the steering torque output by the first steering motor and/or the second steering motor and the steering wheel steering information.

In a possible implementation, the steering wheel module further includes a steering wheel;

The steering wheel is used to be operated by the driver to input steering instructions.

In a second aspect, an embodiment of the present application provides a vehicle, comprising a human-machine co-driving steering system as described in the first aspect or any possible implementation of the first aspect.

The embodiment of the present application provides a human-machine co-driving steering system and a vehicle, the system includes a steering wheel module, a steering transmission mechanism, a steering actuator and a control module; the steering wheel module is used to detect steering instructions and steering wheel steering information, and transmit the steering instructions and steering wheel steering information to the control module, and transmit the steering wheel steering information to the steering transmission mechanism; the steering actuator is used to detect the front wheel angle of the vehicle, and transmit the front wheel angle to the control module; the steering transmission mechanism is used to transmit the steering wheel steering information to the steering actuator; the control module is used to obtain the current driving information of the vehicle when receiving the steering instruction, and based on the current driving information of the vehicle, the steering wheel steering information and the front wheel angle, generate a corresponding steering control signal, and send the steering control signal to the steering actuator; the steering actuator is also used to drive the vehicle's wheels to complete the steering based on the steering control signal and the steering wheel steering information. This embodiment can realize vehicle steering through the system, and can realize the mechanical connection between the steering wheel module and the steering actuator through the steering transmission mechanism, without adding a road sensing motor, which can reduce costs, can not only realize automatic driving, but also realize manual driving, safe and reliable, and avoid the problems of safety and reliability caused by adding a road sensing motor.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a schematic structural diagram of a human-machine co-driving steering system provided in one embodiment of the present application;

FIG2 is a schematic diagram of the structure of a first-path steering subsystem and a second-path steering subsystem provided in an embodiment of the present application.

DETAILED DESCRIPTION

In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

In order to make the purpose, technical solutions and advantages of the present application clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

With the development trend of electric and intelligent vehicles, the automatic driving of vehicles has become possible. According to the SAEJ3016 classification standard, the current level of vehicle automation is at the L2+/L3 stage, L4 high-level automatic driving is being planned, and L5 unmanned driving is not yet mature. In order to cope with unmanned driving, the development of wire-controlled chassis is imperative, among which wire-controlled steering is the key system for the lateral control execution of unmanned vehicles.

The steer-by-wire system eliminates the mechanical connection between the steering wheel and the steering wheel, and uses electrical signals to control the steering of the wheels. It is mainly composed of a steering wheel module, a steering actuator, and an electronic control unit (ECU). Its working principle is that the sensor receives the turning command of the unmanned/driver's steering wheel, and transmits the signal to the ECU through data transmission. After the ECU analyzes and processes the collected signal based on the road condition information such as vehicle speed and acceleration, it transmits the control signal to the steering motor, thereby controlling the steering torque required by the steering motor, driving the wheel to steer, and realizing the driver's steering intention. At the same time, the sensor on the steering wheel feeds back the wheel steering angle and steering acceleration to the ECU, which sends a signal to the road sense motor (i.e., the steering wheel return torque motor) to generate a steering wheel return torque, provide road sense feedback to the driver, and ensure driving safety.

At present, in the wire-controlled steering system solution, the main function of the road sense motor is to provide road sense feedback to the driver, and it mainly responds to L4 high-level autonomous driving. L4 high-level autonomous driving does not require the driver to perform autonomous driving under defined road conditions, and requires the driver to take over vehicle control when necessary under complex road conditions; at the same time, the control object required for autonomous driving steering is the steering motor, so the road sense motor is not a necessary component for the L4 level autonomous driving steering system. Especially in the field of commercial vehicles, drivers do not pursue extremely high driving experience like when driving passenger cars. They can combine the wire-controlled steering system solution and directly use the traditional mechanical steering column without the road sense motor to cope with L4 level high-level autonomous driving.

Structurally, if a road sensing motor is used, in order to install the road sensing motor and steering column lock, limit the steering wheel, and ensure functional safety redundancy, it is necessary to retain a section of the steering column and modify its structure. For example, mechanical damping can be added or a clutch-type steering column can be used. Compared with the traditional mechanical steering column, the weight and cost are increased, a large amount of testing and verification is required for reliability, and space advantages and safety cannot be achieved.

In terms of control, if a road sense motor is used, in order to provide the driver with a suitable road feel, the dynamic model and algorithm for controlling the road sense motor still need to undergo a large amount of simulation analysis and experimental verification, and its reliability and safety remain to be verified.

To solve the above problems, the embodiment of the present application provides a human-machine co-driving steering system. The human-machine co-driving steering system can be applied to commercial vehicles or passenger vehicles, without specific limitation.

Referring to Fig. 1, it shows a schematic diagram of the structure of a human-machine co-driving steering system. The human-machine co-driving steering system includes a steering wheel module 11, a steering transmission mechanism 12, a steering actuator 13 and a control module 14;

The steering wheel module 11 is connected to the steering transmission mechanism 12 and the control module 14 respectively, and the steering actuator 13 is connected to the steering transmission mechanism 12 and the control module 14 respectively;

The steering wheel module 11 is used to detect the steering command and the steering wheel steering information, and transmit the steering command and the steering wheel steering information to the control module 14, and transmit the steering wheel steering information to the steering transmission mechanism 12;

The steering actuator 13 is used to detect the front wheel steering angle of the vehicle and transmit the front wheel steering angle to the control module 14;

The steering transmission mechanism 12 is used to transmit the steering wheel steering information to the steering actuator 13;

The control module 14 is used to obtain the current driving information of the vehicle when receiving the steering instruction, and generate a corresponding steering control signal based on the current driving information of the vehicle, the steering wheel steering information and the front wheel angle, and send the steering control signal to the steering actuator 13;

The steering actuator 13 is also used to drive the wheels of the vehicle to complete steering based on the steering control signal and the steering wheel steering information.

The steering wheel steering information may include information such as steering wheel angle and steering wheel torque. The steering wheel module 11 transmits the steering wheel steering information to the steering transmission mechanism 12 mainly by transmitting the steering wheel torque to the steering transmission mechanism 12.

The steering transmission mechanism 12 is an existing mechanical mechanism, which may include a steering column, a universal joint, a steering intermediate shaft, etc., and is used to transmit the steering wheel torque to the steering actuator 13 .

The steering wheel module 11 can detect steering instructions through the steering wheel, and can also obtain steering instructions through the automatic driving controller.

The current driving information of the vehicle may include at least one of signals such as vehicle speed, yaw angular velocity, lateral acceleration, driving mode and turning angle request, and the current driving information of the vehicle may be obtained through the vehicle bus.

The control module 14 can analyze and calculate the road conditions and the vehicle's motion posture based on the vehicle's current driving information, steering wheel steering information and front wheel angle, and output corresponding steering control signals. For example, it can control the current signal for the motor to drive the steering actuator 13 to operate and realize the steering intention.

After the steering actuator 13 drives the wheels of the vehicle to complete the steering, the control module 14 can also receive the current front wheel steering angle sent by the steering actuator 13 to perform closed-loop control to ensure driving safety.

The system provided in this embodiment includes a steering wheel module 11, a steering transmission mechanism 12, a steering actuator 13 and a control module 14; the steering wheel module 11 is used to detect steering instructions and steering wheel steering information, and transmit the steering instructions and steering wheel steering information to the control module 14, and transmit the steering wheel steering information to the steering transmission mechanism 12; the steering actuator 13 is used to detect the front wheel steering angle of the vehicle, and transmit the front wheel steering angle to the control module 14; the steering transmission mechanism 12 is used to transmit the steering wheel steering information to the steering actuator 13; the control module 14 is used to obtain the current driving information of the vehicle when receiving the steering instruction, and generate a corresponding steering control signal based on the current driving information of the vehicle, the steering wheel steering information and the front wheel steering angle, and send the steering control signal to the steering actuator 13; the steering actuator 13 is also used to drive the wheels of the vehicle to complete the steering based on the steering control signal and the steering wheel steering information. In this embodiment, vehicle steering can be achieved through the system, and the mechanical connection between the steering wheel module 11 and the steering actuator 13 can be achieved through the steering transmission mechanism 12. There is no need to add a road sensing motor, which can reduce costs. Not only automatic driving but also manual driving can be achieved, which is safe and reliable, and avoids safety and reliability problems caused by adding a road sensing motor.

In some embodiments, referring to FIG. 2 , the control module 14 includes a first electronic control unit 141 and a second electronic control unit 142 ; the steering actuator 13 includes a first steering motor 131 and a second steering motor 132 ; the steering wheel module 11 includes a first steering wheel torque angle sensor 111 and a second steering wheel torque angle sensor 112 ;

The first steering wheel torque angle sensor 111, the first steering motor 131 and the first electronic control unit 141 form a first steering subsystem; the second steering wheel torque angle sensor 112, the second steering motor 132 and the second electronic control unit 142 form a second steering subsystem;

The first steering wheel torque angle sensor 111 and the first steering motor 131 are both connected to the first electronic control unit 141; the second steering wheel torque angle sensor 112 and the second steering motor 132 are both connected to the second electronic control unit 142; the first electronic control unit 141 and the second electronic control unit 142 are connected via a private network communication.

The first steering wheel torque angle sensor 111 is used to detect the steering wheel angle and torque, obtain a first steering wheel angle and a first steering wheel torque, and send the first steering wheel angle and the first steering wheel torque to the first electronic control unit 141 .

The second steering wheel torque angle sensor 112 is used for detecting the steering wheel angle and torque, obtaining a second steering wheel angle and a second steering wheel torque, and sending the second steering wheel angle and the second steering wheel torque to the second electronic control unit 142 .

Under normal circumstances, the first steering wheel angle and the second steering wheel angle are the same, and the first steering wheel torque and the second steering wheel torque are the same. The first and second distinctions are adopted only to distinguish information detected by different steering wheel torque angle sensors.

The steering wheel steering information may include a first steering wheel angle and a first steering wheel torque, or may include a second steering wheel angle and a second steering wheel torque.

The first electronic control unit 141 can be used to obtain the current driving information of the vehicle when receiving a steering command, and generate a first steering control signal based on the current driving information of the vehicle, the first steering wheel angle, the first steering wheel torque and the front wheel angle, and send the first steering control signal to the first steering motor 131.

The second electronic control unit 142 can be used to obtain the vehicle's current driving information when receiving a steering command, and generate a second steering control signal based on the vehicle's current driving information, a second steering wheel angle, a second steering wheel torque and a front wheel angle, and send the second steering control signal to the second steering motor 132.

The first electronic control unit 141 and the second electronic control unit 142 may both be ECUs. The first electronic control unit 141 and the second electronic control unit 142 are connected via a private network communication and can monitor each other's working status. The private network may be a private CAN (Controller Area Network) network.

The first electronic control unit 141 and the second electronic control unit 142 can be replaced by a dual-chip electronic control unit. The first steering motor 131 and the second steering motor 132 can be replaced by a single motor with dual windings.

The first steering motor 131 and the second steering motor 132 can both support the requirements of steering command/steering control signal. The first steering wheel torque angle sensor 111 and the second steering wheel torque angle sensor 112 can be mutually redundantly checked with the steering wheel angle sensor of the braking system, providing safe and accurate input signals for the first electronic control unit 141 and the second electronic control unit 142.

In some embodiments, the steering actuator 13 further includes a steering gear and a steering tie rod assembly;

The steering gear and steering rod assembly are used to receive the steering torque output by the first steering motor 131 and/or the second steering motor 132, receive the steering wheel steering information transmitted by the steering transmission mechanism 12, and drive the wheels to complete steering based on the steering torque and steering wheel steering information output by the first steering motor 131 and/or the second steering motor 132.

The steering gear may be connected to the first steering motor 131 and the second steering motor 132, and the steering gear may also be connected to the wheels via a steering tie rod assembly. The steering gear may be a rack and pinion steering gear.

The first steering motor 131 can be used to generate a corresponding steering torque based on a first steering control signal from the first electronic control unit 141 and transmit it to the steering gear. The second steering motor 132 can be used to generate a corresponding steering torque based on a second steering control signal from the second electronic control unit 142 and transmit it to the steering gear.

Based on the working status of the first steering motor 131 and the second steering motor 132, the steering gear and the steering rod assembly can be used to receive the steering torque output by the first steering motor 131 and/or the second steering motor 132, receive the steering wheel steering information (specifically steering wheel torque) transmitted by the steering transmission mechanism 12, and drive the wheels to complete steering based on the steering torque and steering wheel steering information output by the first steering motor 131 and/or the second steering motor 132.

In some embodiments, referring to FIG. 2 , the first steering subsystem further includes a first power source 15 and a first network 16 ; the first power source 15 is used to supply power to the first electronic control unit 141 ; the first network 16 is used to provide network services to the first electronic control unit 141 ;

The second steering subsystem also includes a second power supply 17 and a second network 18 ; the second power supply 17 is used to supply power to the second electronic control unit 142 ; the second network 18 is used to provide network services to the second electronic control unit 142 .

The first network 16 and the second network 18 need to support CAN or CANFD (CAN with Flexible Datarate).

The first electronic control unit 141 can communicate with other devices or units of the vehicle through the first network 16. The second electronic control unit 142 can communicate with other devices or units of the vehicle through the second network 18.

In some embodiments, when at least one of the first power supply 15, the first electronic control unit 141 and the first steering motor 131 in the first steering subsystem fails, or at least one of the second power supply 17, the second electronic control unit 142 and the second steering motor 132 in the second steering subsystem fails, the steering subsystem that has not failed can continue to work;

When at least one of the first steering wheel torque angle sensor 111 and the first network 16 in the first steering subsystem fails, or at least one of the second steering wheel torque angle sensor 112 and the second network 18 in the second steering subsystem fails, the first electronic control unit 141 and the second electronic control unit 142 share information through the private network, so that both the first steering subsystem and the second steering subsystem can steer;

When both the first-way steering subsystem and the second-way steering subsystem fail, mechanical steering is performed through manual driving.

The redundant structure provided in this embodiment can complete vehicle steering through the other steering subsystem when at least one of the power supply, electronic control unit and steering motor in one steering subsystem fails and cannot work; and can also enable the first electronic control unit 141 and the second electronic control unit 142 to share information through a private network when at least one of the steering wheel torque angle sensor and the network in one steering subsystem fails and cannot work. For example, the first electronic control unit 141 can share information such as the second steering wheel angle and the second steering wheel torque obtained by the second electronic control unit 142, or the second electronic control unit 142 can share information such as the first steering wheel angle and the first steering wheel torque obtained by the first electronic control unit 141, and so on, so that both the first steering subsystem and the second steering subsystem can steer and can work independently of each other.

When both the first steering subsystem and the second steering subsystem fail and cannot work, the driver can manually operate the steering wheel for mechanical steering.

This embodiment performs a redundant design for the human-machine co-driving steering system, which can ensure the reliability and safety of the human-machine co-driving steering system.

The human-machine co-driving steering system includes two driving modes: automatic driving mode and manual driving mode. Under defined road conditions, automatic driving and manual driving are possible; under undefined complex road conditions, manual driving is required. The two driving modes can be switched through steering wheel hands-off detection and steering mode commands.

In some embodiments, when the human-machine co-driving steering system is in the autonomous driving mode:

If both the first steering subsystem and the second steering subsystem are not failed, the first steering motor 131 and the second steering motor 132 each output 50% of the first working torque to control the vehicle steering, and each output 50% of the first restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the first steering wheel torque angle sensor 111 and the first network 16 in the first steering subsystem fails, or at least one of the second steering wheel torque angle sensor 112 and the second network 18 in the second steering subsystem fails, the first electronic control unit 141 and the second electronic control unit 142 share information through the private network, and the first steering motor 131 and the second steering motor 132 each output 50% of the first working torque to control the steering of the vehicle, and each output 50% of the first suppression torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the first power supply 15, the first electronic control unit 141 and the first steering motor 131 in the first steering subsystem fails, or at least one of the second power supply 17, the second electronic control unit 142 and the second steering motor 132 in the second steering subsystem fails, the steering motor in the remaining steering subsystem outputs 100% of the first working torque to control the vehicle steering, and outputs 100% of the first restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If both the first steering subsystem and the second steering subsystem fail, the human-machine co-driving steering system switches to manual driving mode, and mechanical steering is performed through manual driving.

Both the first-way steering subsystem and the second-way steering subsystem have not failed, which means that all devices in the first-way steering subsystem and the second-way steering subsystem have not failed and can operate normally.

In the automatic driving mode, if both the first steering subsystem and the second steering subsystem are in operation, the first steering subsystem and the second steering subsystem work simultaneously, and the first steering motor 131 and the second steering motor 132 can output 50% of the first working torque respectively according to the active steering force curve to control the vehicle steering, and at the same time output 50% of the first inhibition torque respectively according to the active steering inhibition curve to control the torque and fluctuation transmitted from the road surface to the steering wheel, so that the rotation and vibration of the steering wheel are kept in a slow and micro-movement state.

Failure of at least one of the first steering wheel torque angle sensor 111 and the first network 16 in the first steering subsystem means that at least one of the first steering wheel torque angle sensor 111 and the first network 16 fails, and the first power supply 15, the first electronic control unit 141 and the first steering motor 131 do not fail.

The failure of at least one of the second steering wheel torque angle sensor 112 and the second network 18 in the second steering subsystem means that at least one of the second steering wheel torque angle sensor 112 and the second network 18 fails, and the second power supply 17, the second electronic control unit 142 and the second steering motor 132 in the second steering subsystem do not fail.

In the automatic driving mode, if at least one of the first steering wheel torque angle sensor 111 and the first network 16 in the first steering subsystem fails, or at least one of the second steering wheel torque angle sensor 112 and the second network 18 in the second steering subsystem fails, the first electronic control unit 141 and the second electronic control unit 142 share information through a private network, and can still control their corresponding steering motors to work simultaneously, each outputting 50% of the first working torque according to the active steering force curve and each outputting 50% of the first inhibition torque according to the active steering inhibition curve.

Failure of at least one of the first power supply 15, the first electronic control unit 141 and the first steering motor 131 in the first steering subsystem means that at least one of the first power supply 15, the first electronic control unit 141 and the first steering motor 131 fails, and the first steering wheel torque angle sensor 111 and the first network 16 fail or do not fail.

Failure of at least one of the second power supply 17, the second electronic control unit 142 and the second steering motor 132 in the second steering subsystem means that at least one of the second power supply 17, the second electronic control unit 142 and the second steering motor 132 fails, and the second steering wheel torque angle sensor 112 and the second network 18 fail or do not fail.

In the automatic driving mode, if at least one of the first power supply 15, the first electronic control unit 141 and the first steering motor 131 in the first steering subsystem fails, or at least one of the second power supply 17, the second electronic control unit 142 and the second steering motor 132 in the second steering subsystem fails, the failed steering subsystem cannot continue to work normally, and the remaining steering subsystem works independently. The steering motor in the remaining steering subsystem outputs 100% of the first working torque according to the active steering force curve, and outputs 100% of the first inhibition torque according to the active steering inhibition curve.

In the automatic driving mode, when both steering subsystems fail and cannot work, the vehicle switches to manual driving mode, and the driver manually operates the steering wheel for mechanical steering.

In the present embodiment, in the automatic driving mode, the dual steering motors work simultaneously and each outputs 50% of the required torque, which can be switched more smoothly to a single motor operating at 100% in the event of failure, thus preventing delayed failure and jerkiness.

In some embodiments, when the human-machine co-driving steering system is in manual driving mode:

If both the first-way steering subsystem and the second-way steering subsystem are not failed, the main-way steering subsystem will work independently first, and the steering motor of the main-way steering subsystem will output 100% of the second working torque to control the vehicle steering, and output 100% of the second restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the steering wheel torque angle sensor and the network in the main road steering subsystem fails, the electronic control unit in the main road steering subsystem shares information of the electronic control unit in the slave road steering subsystem, controls the steering motor of the main road steering subsystem to output 100% of the second working torque, controls the vehicle steering, and outputs 100% of the second restraining torque, controls the torque and fluctuation transmitted from the road surface to the steering wheel;

If at least one of the power supply, the electronic control unit and the steering motor in the main road steering subsystem fails, the slave road steering subsystem works independently, and the steering motor of the slave road steering subsystem outputs 100% of the second working torque to control the vehicle steering, and outputs 100% of the second restraining torque to control the torque and fluctuation transmitted from the road surface to the steering wheel;

If the steering motor in the main road steering subsystem fails, and at least one of the steering wheel torque angle sensor and the network in the slave road steering subsystem fails, the electronic control unit in the slave road steering subsystem shares the information of the electronic control unit in the main road steering subsystem, controls the steering motor of the slave road steering subsystem to output 100% of the second working torque, controls the vehicle steering, and outputs 100% of the second restraining torque, controls the torque and fluctuation transmitted from the road surface to the steering wheel;

If both the first-way steering subsystem and the second-way steering subsystem fail, mechanical steering is performed through manual driving;

The first-route steering subsystem is the main-route steering subsystem, and the second-route steering subsystem is the slave-route steering subsystem; or the second-route steering subsystem is the slave-route steering subsystem, and the first-route steering subsystem is the main-route steering subsystem.

In this embodiment, any one steering subsystem can be used as the main steering subsystem, and the other steering subsystem can be used as the slave steering subsystem. In the manual driving mode, when both steering subsystems are not invalid and can work normally, the main steering subsystem works first.

In manual driving mode, if both the first steering subsystem and the second steering subsystem are in place, the main steering subsystem will work independently first. The steering motor of the main steering subsystem will output 100% of the second working torque according to the steering assist curve to control the vehicle steering. At the same time, it will output 100% of the second inhibition torque according to the steering assist inhibition curve to control the torque and fluctuation transmitted from the road surface to the steering wheel, providing the driver with a suitable feel.

Failure of at least one of the steering wheel torque angle sensor and the network in the main road steering subsystem means that at least one of the steering wheel torque angle sensor and the network in the main road steering subsystem fails, and the power supply, electronic control unit and steering motor in the main road steering subsystem do not fail.

In the manual driving mode, if at least one of the steering wheel torque angle sensor and the network in the main road steering subsystem fails, the electronic control unit in the main road steering subsystem shares the information of the electronic control unit in the slave road steering subsystem, for example, sharing the steering wheel angle, steering wheel torque and current driving information of the electronic control unit in the slave road steering subsystem. The electronic control unit in the main road steering subsystem can control the steering motor of the main road steering subsystem to output 100% of the second working torque according to the steering assist curve based on the shared information, control the vehicle steering, and output 100% of the second suppression torque according to the steering assist suppression curve, control the torque and fluctuation transmitted from the road surface to the steering wheel, and provide the driver with a suitable feel.

Failure of at least one of the power supply, electronic control unit and steering motor in the main steering subsystem means that at least one of the power supply, electronic control unit and steering motor in the main steering subsystem fails, and the steering wheel torque angle sensor and network of the main steering subsystem fail or do not fail.

In manual driving mode, if at least one of the power supply, electronic control unit and steering motor in the main road steering subsystem fails, the main road steering subsystem can no longer work, and the slave road steering subsystem takes over and starts to work independently. The steering motor of the slave road steering subsystem outputs 100% of the second working torque according to the steering power assist curve to control the vehicle steering, and outputs 100% of the second inhibition torque according to the steering power assist inhibition curve to control the torque and fluctuation transmitted from the road surface to the steering wheel, providing the driver with a suitable feel.

The steering motor in the main road steering subsystem fails, and at least one of the steering wheel torque angle sensor and the network in the slave road steering subsystem fails, which means that the steering motor in the main road steering subsystem fails, and the power supply, electronic control unit, steering wheel torque angle sensor and network of the main road steering subsystem do not fail, and at least one of the steering wheel torque angle sensor and the network in the slave road steering subsystem fails, and the power supply, electronic control unit and steering motor in the slave road steering subsystem do not fail.

In the manual driving mode, if the steering motor in the main road steering subsystem fails and at least one of the steering wheel torque angle sensor and the network in the slave road steering subsystem fails, the electronic control unit in the slave road steering subsystem shares the information of the electronic control unit in the main road steering subsystem, and the electronic control unit in the slave road steering subsystem controls the steering motor of the slave road steering subsystem to output 100% of the second working torque according to the steering assist curve to control the vehicle steering, and outputs 100% of the second suppression torque according to the steering assist suppression curve to control the torque and fluctuation transmitted from the road surface to the steering wheel, thereby providing the driver with a suitable feel.

When both steering systems fail, the driver manually operates the steering wheel for mechanical steering.

In the manual driving mode of this embodiment, the single motor works to output 100% of the required torque, which can prevent energy waste caused by the simultaneous operation of the two motors due to insufficient steering assistance, thereby improving the economy of the vehicle.

It should be noted that, in order to distinguish the working torque and the restraining torque in the automatic driving mode and the manual driving mode, this embodiment uses the first working torque and the second working torque, and the first restraining torque and the second restraining torque for distinction.

In some embodiments, the steering actuator 13 further includes a front wheel angle sensor;

The front wheel steering angle sensor is used to detect the front wheel steering angle of the vehicle and transmit the front wheel steering angle to the first electronic control unit 141 and the second electronic control unit 142 .

In some embodiments, the steering wheel module 11 further includes a steering wheel;

The steering wheel is used to be operated by the driver to input steering instructions.

The redundant design and control strategy provided in this embodiment can provide a safer, more reliable and economical response plan for L4 high-level autonomous driving of vehicles, especially L4 high-level autonomous driving of commercial vehicles.

Corresponding to the above-mentioned human-machine co-driving steering system, an embodiment of the present application also provides a vehicle, including any of the above human-machine co-driving steering systems, and having the beneficial effects of any of the above human-machine co-driving steering systems.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

In addition, the embodiments shown in the drawings of the present application or the features of the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims (10)

1. The man-machine co-driving steering system is characterized by comprising a steering wheel module, a steering transmission mechanism, a steering executing mechanism and a control module;

the steering wheel module is respectively connected with the steering transmission mechanism and the control module, and the steering execution mechanism is respectively connected with the steering transmission mechanism and the control module;

the steering wheel module is used for detecting steering instructions and steering wheel steering information, transmitting the steering instructions and the steering wheel steering information to the control module and transmitting the steering wheel steering information to the steering transmission mechanism;

the steering executing mechanism is used for detecting the front wheel rotation angle of the vehicle and transmitting the front wheel rotation angle to the control module;

the steering transmission mechanism is used for transmitting the steering information of the steering wheel to the steering executing mechanism;

The control module is used for acquiring current running information of the vehicle when receiving the steering instruction, generating corresponding steering control signals based on the current running information of the vehicle, the steering information of the steering wheel and the front wheel corner, and sending the steering control signals to the steering executing mechanism;

The steering actuator is also used for driving wheels of the vehicle to finish steering based on the steering control signal and the steering information of the steering wheel.

2. The human-machine co-driving steering system according to claim 1, wherein the control module comprises a first electronic control unit and a second electronic control unit; the steering executing mechanism comprises a first steering motor and a second steering motor; the steering wheel module comprises a first steering wheel torque angle sensor and a second steering wheel torque angle sensor;

the first steering wheel torque angle sensor, the first steering motor and the first electronic control unit form a first road steering subsystem; the second steering wheel torque angle sensor, the second steering motor and the second electronic control unit form a second path steering subsystem;

The first steering wheel torque angle sensor and the first steering motor are connected with the first electronic control unit; the second steering wheel torque angle sensor and the second steering motor are connected with the second electronic control unit; the first electronic control unit and the second electronic control unit are in communication connection through a private network.

3. The human-machine co-driving steering system of claim 2, wherein the first road steering subsystem further comprises a first power source and a first network; the first power supply is used for supplying power to the first electronic control unit; the first network is used for providing network services for the first electronic control unit;

the second path steering subsystem further comprises a second power supply and a second network; the second power supply is used for supplying power to the second electronic control unit; the second network is used for providing network services for the second electronic control unit.

4. The human-machine co-drive steering system of claim 3, wherein when at least one of the first power supply, the first electronic control unit, and the first steering motor in the first road steering subsystem fails, or at least one of the second power supply, the second electronic control unit, and the second steering motor in the second road steering subsystem fails, an unspecified road steering subsystem can continue to operate;

when at least one of the first steering wheel torque angle sensor and the first network in the first path steering subsystem fails, or at least one of the second steering wheel torque angle sensor and the second network in the second path steering subsystem fails, the first electronic control unit and the second electronic control unit share information through the private network so that the first path steering subsystem and the second path steering subsystem can both steer;

And when the first path steering subsystem and the second path steering subsystem are invalid, performing mechanical steering through manual driving.

5. The co-pilot steering system of claim 3, wherein when the co-pilot steering system is in an autonomous mode:

If the first steering subsystem and the second steering subsystem are not invalid, the first steering motor and the second steering motor respectively output 50% of first working torque, the vehicle is controlled to steer, and the first restraining torque of 50% is respectively output, so that the torque and fluctuation of the road surface transmitted to the steering wheel are controlled;

if at least one of the first steering wheel torque angle sensor and the first network in the first path steering subsystem fails, or at least one of the second steering wheel torque angle sensor and the second network in the second path steering subsystem fails, the first electronic control unit and the second electronic control unit share information through the private network, and the first steering motor and the second steering motor output 50% of first working torque respectively, control the steering of the vehicle, output 50% of first restraining torque respectively, and control the torque and fluctuation of the road surface transmitted to the steering wheel;

If at least one of the first power supply, the first electronic control unit and the first steering motor in the first path steering subsystem is invalid, or at least one of the second power supply, the second electronic control unit and the second steering motor in the second path steering subsystem is invalid, the steering motor in the non-invalid path steering subsystem outputs 100% of first working torque, controls the steering of the vehicle, outputs 100% of first restraining torque, and controls the torque and fluctuation of the road surface transmitted to the steering wheel;

And if the first path steering subsystem and the second path steering subsystem are invalid, the man-machine co-driving steering system is switched to a manual driving mode, and mechanical steering is performed through manual driving.

6. The human-machine-ride-on steering system of claim 3, wherein, when the human-machine-ride-on steering system is in a manual drive mode:

If the first path steering subsystem and the second path steering subsystem are not invalid, the main path steering subsystem works independently preferentially, a steering motor of the main path steering subsystem outputs 100% of second working torque, the vehicle steering is controlled, 100% of second restraining torque is output, and the torque and fluctuation of the road surface transmitted to the steering wheel are controlled;

If at least one of a steering wheel torque angle sensor and a network in the main road steering subsystem fails, an electronic control unit in the main road steering subsystem shares information of an electronic control unit in a secondary road steering subsystem, controls a steering motor of the main road steering subsystem to output 100% of second working torque, controls a vehicle to steer, and outputs 100% of second restraining torque, and controls torque and fluctuation of a road surface transmitted to the steering wheel;

If at least one of a power supply, an electronic control unit and a steering motor in the main road steering subsystem is invalid, the auxiliary road steering subsystem works independently, the steering motor of the auxiliary road steering subsystem outputs 100% of second working torque, controls the steering of the vehicle, outputs 100% of second restraining torque, and controls the torque and fluctuation of the road surface transmitted to the steering wheel;

If the steering motor in the main road steering subsystem fails and at least one of the steering wheel torque angle sensor and the network in the auxiliary road steering subsystem fails, the electronic control unit in the auxiliary road steering subsystem shares the information of the electronic control unit in the main road steering subsystem, controls the steering motor of the auxiliary road steering subsystem to output 100% of second working torque, controls the steering of the vehicle, and outputs 100% of second restraining torque, and controls the torque and fluctuation of the road surface transmitted to the steering wheel;

If the first path steering subsystem and the second path steering subsystem are invalid, performing mechanical steering through manual driving;

The first path steering subsystem is a main path steering subsystem, and the second path steering subsystem is a secondary path steering subsystem; or the second path steering subsystem is a slave path steering subsystem, and the first path steering subsystem is a main path steering subsystem.

7. The man-machine co-driving steering system according to any one of claims 2 to 6, wherein the steering actuator further includes a front wheel steering angle sensor;

the front wheel steering angle sensor is configured to detect a front wheel steering angle of a vehicle, and transmit the front wheel steering angle to the first electronic control unit and the second electronic control unit.

8. The human-machine co-driving steering system according to any one of claims 2 to 6, wherein the steering actuator further comprises a steering gear and steering linkage assembly;

The steering device and the steering pull rod assembly are used for receiving the steering torque output by the first steering motor and/or the second steering motor, receiving the steering information of the steering wheel transmitted by the steering transmission mechanism, and driving the wheels to finish steering based on the steering torque output by the first steering motor and/or the second steering motor and the steering information of the steering wheel.

9. The human-machine co-driving steering system according to any one of claims 2 to 6, wherein the steering wheel module further comprises a steering wheel;

the steering wheel is used for being operated by a driver to input steering instructions.

10. A vehicle comprising a co-pilot steering system according to any one of claims 1 to 9.