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CN102941876A - Unmanned vehicle steering system and control method thereof - Google Patents

Unmanned vehicle steering system and control method thereof Download PDF

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Publication number
CN102941876A
CN102941876A CN2012104811571A CN201210481157A CN102941876A CN 102941876 A CN102941876 A CN 102941876A CN 2012104811571 A CN2012104811571 A CN 2012104811571A CN 201210481157 A CN201210481157 A CN 201210481157A CN 102941876 A CN102941876 A CN 102941876A
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steering
front wheel
motor
angle
control
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CN102941876B (en
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刘永
唐振民
龚毅
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Abstract

The invention discloses an unmanned vehicle steering system and a control method thereof. The system comprises an execution motor, a steering machine, a motor coder, a non-contact type zero position detection mechanism, a non-contact type left limiting detection mechanism, a non-contact type right limiting detection mechanism, a front wheel absolute corner mechanism and a front wheel corner double closed loop control system. The execution motor is a steering driving mechanism, and the input end of the execution motor is connected with the output end of the steering machine. The motor coder is connected with an output shaft at the back end of the execution motor. The unmanned vehicle steering system is favorable for improving steering control accuracy of unmanned vehicles, adopts a selector switch to switch the control process of manual driving/ automatic driving, facilitates program debugging and ensures vehicle and personnel body safety under the emergency condition.

Description

Automatic driving vehicle steering swivel system and control method thereof
Technical field
The invention belongs to the Vehicular turn technology, particularly a kind of automatic driving vehicle steering swivel system and control method thereof.
Background technology
Automatic driving vehicle is one of automobile future thrust, estimates that automatic driving vehicle can become the safe vehicle in people's life in the future.Therefore, the Intelligent System of Vehicle control loop also receives much attention in the vehicle technology field.Automatic driving vehicle integrates numerous technology such as automatic control, architecture, artificial intelligence, vision calculating, being the product of computer science, pattern-recognition and intelligent control technology high development, is an important symbol weighing a national scientific research strength and industrial level.Under danger, the harsies environment such as military affairs, exploration and rescue, automatic driving vehicle has broad application prospects, such as present exploration in U.S.'s Marsokhod on Mars; Aspect civilian, it also has broad application prospects and huge market, performance is reliable because it has, safety, facility and efficient performance advantage, be of great immediate significance for improving artificial intellectuality and safety of driving, and following intelligent car can be networked with city traffic command centre, select best route, effectively avoid traffic congestion, as much as possible guarantee the smoothness of traffic.Had automatic driving vehicle to begin to drop into the commercial market such as the present U.S., for example the autonomous land vehicle of not long ago paddy brother company release passes through in the law of California, is about to put into market.Shanghai World's Fair in 2010, the visitor only needs entrance in the park by next button, and all the people present's phaeton that does not have a driver will be opened slowly from afar and stop, and is then carrying the sight spot that the passenger goes to them to think.Therefore, at present world many countries is all being studied the driverless operation technology energetically, with driverless operation as showing its artificial intelligence level, leading the Important Platform of vehicle future development.
The vehicle control technology is one of core technology of intelligent car technology, wherein mainly comprises speed control and direction control.And the steering hardware controller performance of automatic driving vehicle is to weigh one of unmanned vehicle system performance most critical, most important index, and direction handling quality comprises the correctness, stability, real-time, promptness of auto-steering etc.And the steering controlling device of automatic driving vehicle is the key that guarantees the automatic driving vehicle direction handling quality, however present also neither one rounded system structure and perfect control method of the steering controlling device of automatic driving vehicle.
Find through the retrieval to the prior art document, Chinese patent application number is 200510111220.2, open day: on July 19th, 2006, title: the direction control mechanism of automatic driving vehicle, adopt the motor reducer combination to be connected with the input shaft of retarder through magnetic clutch, miniature gears is connected on the output shaft of drop-gear box, big gear wheel directly is connected with the central pitman arm of vehicle through butt flange, the other end of Ackerman steering mechanism pull bar and central pitman arm are hinged, the other end and the steered wheel of Ackerman steering mechanism pull bar are hinged, realize the auto-steering of automatic driving vehicle.But this patent twin-stage gear transmission structure is complicated, take the interior space of driving of car larger, increased the driving error in the motion, increased the difficulty of installing, motor shaft, gear wheel shaft and parallel being difficult to of central pitman arm three axles are guaranteed, moreover, this technical scheme need to be on the central pitman arm of vehicle welded flange, both destroy original mechanism of vehicle, be not easy to simultaneously the disassembly and maintenance of steering hardware.
Chinese patent application number is 201010104800.X, open day: on July 27th, 2011, title: a kind of steering gear of unmanned vehicle and control method thereof, its invention adopts a motor to link to each other with a coder, one intermeshing turbine and worm screw, worm screw directly connects with the output shaft of motor, one magnetic clutch, wherein the drive end of turbine and magnetic clutch is connected, the Partner of magnetic clutch and wheel steering post connect firmly, consist of the driving steering hardware of unmanned vehicle, thereby realize the auto-steering of automatic driving vehicle.But this patent is still reequiped original steering hardware, so do not avoid the error of universal-joint.
Summary of the invention
The object of the present invention is to provide a kind of degree simple in structure, intelligent is high, easy to operate, precision is high steering hardware and rotating direction control method thereof, the existing steering hardware of former car and outward appearance all are not damaged, and newly-increased steering hardware and existing steering hardware can closely cooperate, do not interfere with each other work, and have certain commonality.
The technical solution that realizes the object of the invention is: a kind of automatic driving vehicle steering swivel system, comprise actuating motor, steering wheel, motor encoder, non-contact zero position detecting mechanism, contactless left limit testing agency, contactless right limit testing agency, the absolute rotation angle mechanism of front-wheel, front wheel angle double closed-loop control system, actuating motor is steering driving mechanism, and the input end of actuating motor links to each other with the mouth of steering wheel; Motor encoder is connected on the output shaft of actuating motor rear end;
The non-contact zero position detecting mechanism is made of the zero detector that is fixedly mounted on the zero-bit fixed block above the right-hand rotation movable pendulum arm and be fixedly mounted on the fixing suspension, in the time of under described zero-bit fixed block turns to zero detector, zero detector can be responded to the zero-bit fixed block;
Contactless left limit testing agency is made of the left limit detector that is fixedly mounted on the left limit fixed block above the left-hand rotation movable pendulum arm and be fixedly mounted on the left fixedly suspension, when the near front wheel corner is under the left limit state, the left limit detector can be responded to the left limit fixed block; Contactless right limit testing agency is made of the right limit detector that is fixedly mounted on the right limit fixed block above the right-hand rotation movable pendulum arm and be fixedly mounted on the right fixedly suspension, when the off front wheel corner is under the right limit state, the right limit detector can be responded to the right limit fixed block;
The absolute rotation angle mechanism of front-wheel, formed by front wheel angle sensor and front wheel angle sensor rotation axle, the front wheel angle sensor body is fixedly mounted at the bottom of the car fixedly on the suspension, front wheel angle sensor rotation axle one end is wanted to be connected with the front wheel angle sensor, and the other end is connected by the bar that swings of joint arm with vehicle Ackerman steering mechanism pull bar;
Positioner one end is connected with industrial computer by the CAN cable; Actuating motor, motor encoder and front wheel angle sensor are electrically connected by the corresponding interface of cable and positioner respectively; Left and right spacing detector and zero detector respectively with the electrical connection of the respective digital input end of positioner;
Described front wheel angle double closed-loop control system is made of motor encoder and front wheel angle sensor, motor encoder feedback actuating motor current location is to positioner, the steering angle of front wheel angle sensor direct-detection front-wheel, with corner angle closed loop feedback to positioner, motor encoder is not re-used as the ring feedback simultaneously, but as the speed closed loop feedback, thereby the rotating speed of control actuating motor, final position controller control front-wheel steering angle accurately reaches the order expectation value.
The present invention compared with prior art, its remarkable advantage: (1) the present invention actuating motor afterbody peace motor encoder and at the bottom of car fixing suspension installation front wheel angle sensor, utilize coder that steering hardware is carried out two closed loop controls, directly accurately control the corner of front-wheel, be conducive to improve the control accuracy that turns to of automatic driving vehicle.(2) zero testing of the present invention mechanism adopts contactless null pick-up, does not have friction force in the rotation, has improved driving efficiency and the accuracy rate of device; The present invention adopts left and right stop gear in addition, can fully guarantee plateau and the driving safety of vehicle on the go.(3) the present invention does not destroy original steering hardware, and symmetrical, the parallel Ackerman steering mechanism pull bar that is connected to of newly-increased steering hardware and original steering hardware, avoided the gap error of the original steering hardware universal-joint of vehicle, precision is higher, than existing invention more easily operate, maintenance and dismounting.(4) the present invention adopts change-over switch to switch artificial driving/autonomous driving control process, makes things convenient for program test and assurance vehicle and personnel's health safety in emergency circumstances.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is steering hardware structural representation of the present invention.
Fig. 2 is overall apparatus structural representation of the present invention.
Fig. 3 is system electrical schematic diagram of the present invention.
Fig. 4 is position limiting structure zero-bit schematic diagram of the present invention.
Fig. 5 is right steering end position schematic diagram of the present invention.
Fig. 6 is front wheel angle double closed-loop control system schematic diagram of the present invention.
Fig. 7 is front wheel angle zero-bit initialization flowchart of the present invention.
Fig. 8 is self-steering control flow chart of the present invention.
The specific embodiment
In conjunction with Fig. 1, Fig. 2 and Fig. 3, automatic driving vehicle steering swivel system of the present invention, comprise actuating motor 1, steering wheel 2, motor encoder 3, non-contact zero position detecting mechanism, contactless left limit testing agency, contactless right limit testing agency, the absolute rotation angle mechanism of front-wheel, front wheel angle double closed-loop control system, actuating motor 1 is steering driving mechanism, and the input end of actuating motor 1 links to each other with the mouth of steering wheel 2; Motor encoder 3 is connected on the actuating motor 1 rear end output shaft.
In conjunction with Fig. 4, the non-contact zero position detecting mechanism is made of the zero detector 4 that is fixedly mounted on the zero-bit fixed block 7 above the right-hand rotation movable pendulum arm 12 and be fixedly mounted on the fixing suspension 18, in the time of under described zero-bit fixed block 7 turns to zero detector 4, zero detector 4 can be responded to zero-bit fixed block 7.
Contactless left limit testing agency is made of the left limit detector 6 that is fixedly mounted on the left limit fixed blocks 9 above the left-hand rotation movable pendulum arm 15 and be fixedly mounted on the left fixedly suspension 19, when the near front wheel corner is under the left limit state, left limit detector 6 can be responded to left limit fixed block 9; Contactless right limit testing agency is made of the right limit detector 5 that is fixedly mounted on the right limit fixed blocks 8 above the right-hand rotation movable pendulum arm 12 and be fixedly mounted on the right fixedly suspension 18, when the off front wheel corner is under the right limit state, right limit detector 5 can be responded to right limit fixed block 8, such as Fig. 5.
The absolute rotation angle mechanism of front-wheel, formed by front wheel angle sensor 10 and front wheel angle sensor rotation axle 16, front wheel angle sensor 10 bodies are fixedly mounted at the bottom of the car fixedly on the suspension 17, front wheel angle sensor rotation axle 16 1 ends are wanted to be connected with front wheel angle sensor 10, and the other end is connected by the bar that swings of joint arm 20 with vehicle Ackerman steering mechanism pull bar 13.
Positioner 33 1 ends are by the CAN cable 32 control software conventional with industrial computer 30(operation) be connected; Actuating motor 1, motor encoder 3 and front wheel angle sensor 10 are electrically connected by the corresponding interface of cable and positioner 33 respectively; Left and right spacing detector 5,6 and zero detector 4 respectively with the electrical connection of the respective digital input end of positioner 33; CAN bus card 31 is installed in the expansion slot of industrial computer 30.
Described front wheel angle double closed-loop control system is made of motor encoder 3 and front wheel angle sensor 10, motor encoder 3 feedback actuating motors 1 current location is to positioner 33, the steering angle of front wheel angle sensor 10 direct-detection front-wheels, with corner angle closed loop feedback to positioner 33, motor encoder 3 is not re-used as the ring feedback simultaneously, but feed back as speed closed loop, thereby the rotating speed of control actuating motor 1, controller 33 control front-wheel steering angles in final position accurately reach the order expectation value.Referring to Fig. 6, front wheel angle double closed-loop control system principle of work: the steering angle of front wheel angle sensor 10 direct-detection front-wheels, the angle position closed loop feedback to positioner 33, is circulated thereby form skin, participate in the control of front wheel angle angle closed loop feedback; Motor encoder 3 feedback actuating motors 1 current turned position, but motor encoder 3 is not re-used as the angle ring feedback, participates in the speed closed loop controlled reset this moment, as the rotating speed of speed closed loop control actuating motor; Hall element feedback actuating motor 1 current velocity of rotation, auxiliary speed closed loop feedback as motor, current feedback participates in the electric current of current closed-loop control actuating motor as interior ring.Positioner 33 receives front-wheel planning corner, provide motor tarnsition velocity bid value with front wheel angle sensor 10 by PID control calculating, this tarnsition velocity bid value calculates based on the speed feedback PID control of motor encoder 3 and is converted to current command value, this moment, actuating motor 1 rotated under the current drives effect, actuating motor 1 driving direction machine 2, steering wheel 2 drives front-wheel steering by Ackermann steering gear pull bar 13, realizes two closed loop control processes of front wheel angle.Feed back as outer shroud because front wheel angle sensor 10 direct pick-ups detect the corner of front-wheel, overcome the transmission error of actuating motor, steering wheel and other actuating unit, guaranteed the accurate control of front wheel angle.
Actuating motor 1 of the present invention is fixedly mounted on the mounting bracket 11 with steering wheel 2, makes the axle of actuating motor 1 and steering wheel 2 on horizontal plane.
In conjunction with Fig. 7 and Fig. 8, by the control method that above-mentioned automatic driving vehicle steering swivel system is realized, comprise the control that the control of the initialized control of front wheel angle absolute zero position and vehicle self-steering realizes, the control process step is as follows.The state model that vehicle was in when wherein the autonomous driving pattern was namely used above-mentioned automatic driving vehicle steering swivel system work.The pilot steering pattern namely is the chaufeur steering wheel rotation, realizes turning to of vehicle thereby bearing circle drives original steering hardware.It is a servo switch that people/machine is shared master cock, can determine vehicle pattern of living in by its switching.Control change-over switch when people/machine and be under the manual control state, servo the enabling of steering control system will be cut off, and this moment, the self-steering control setup was no longer worked, and pilot steering is had no effect, but still can obtain current wheel steering angle parameter.Newly-increased steering hardware and original steering hardware parallel connection, the assurance vehicle is realized manually turning to self-steering being independent of each other, and can freely switch simultaneously, makes things convenient for the switching under the emergency state in the debugging situation, assurance personnel and vehicle safety.
At first, the initialized control process of front wheel angle absolute zero position is:
Step 1, the people/machine of at first opening is shared master cock, and is allocated to autonomous mode, and servo the enabling of steering control system opened, and vehicle is in the autonomous driving pattern;
Step 2, industrial computer 30 are carried out throttle amplifier, brake amplifier, direction amplifier, gearshift amplifier initialize routine, and positioner 33 beginnings are the control front-wheel steering automatically;
Step 3, steering wheel 2 drive zero-bit fixed block 7 rotations that are installed on the fixing suspension 12;
Step 4, if zero detector 4 detects zero signal, then the zero offset numerical value driving front vehicle wheel according to the zero detector feedback turns to absolute zero position;
Step 5, if zero detector 4 does not detect zero signal, positioner 33 continues the control front-wheel steerings, until receive the limit signal that left limit sensor detector 9 or right limit sensor detector 8 are sent;
Step 6, positioner 33 control front-wheels turn to round about, until zero detector 4 detects zero signal, the zero offset numerical value driving front-wheel that feeds back according to zero detector turns to absolute zero position;
Step 7, front wheel angle absolute zero position initialization step is finished;
Then, the control process of vehicle self-steering realization is:
Step 8, the people/machine of at first opening is shared master cock, and is allocated to the autonomous driving pattern, and servo the enabling of steering control system opened, and vehicle is in the autonomous driving pattern;
Step 9, industrial computer 30 receives instant path planning and other information that another planning industrial computer sends in the vehicle that is placed on by network, and its effect mainly is according to the next path constantly of sensor information planning vehicle; According to the curvature in routing information acquisition approach somewhere, can calculate thus the instantaneous radius of curvature R of vehicle, according to the Ackermam kinematics model, thereby calculate front wheel angle θ, θ=arctan (L/R), wherein L is vehicle wheelbase;
Step 10 plans that with gained the front wheel angle angle is sent to CAN control card 31, is right after by CAN cable 32 and sends angle to positioner 33;
Step 11, positioner 33 begins to control steering swivel system, if system does not carry out the initialization of wheel absolute zero position, and the then at first demarcation of travel direction motor absolute zero position, and make the vehicle front-wheel be in the absolute zero position direction, otherwise directly send diversion order and corner angle;
Step 12, positioner 33 is judged diversion orders, if diversion order for not turning to, is then returned and kept current state;
Step 13 when turning to, is carried out front wheel angle pair closed loop controls if positioner 33 is judged diversion orders, and actuating motor 1 brings into operation, and driving direction machine 2;
Step 14, steering wheel 2 drives Ackerman steering mechanism pull bar 13 by right-hand rotation movable pendulum arm 12, thereby realizes wheel steering;
Step 15 judges whether right limit detector 5 or left limit detector 6 trigger, in the steering procedure, if right limit detector 5 or left limit detector 6 are triggered, and 1 maintenance current state out of service of actuating motor;
Step 16, if right limit detector 5 or left limit detector 6 are not triggered, and actuating motor 1 finishes the angle position that drives, motor stops operating;
Step 17, the self-steering task of automatic driving vehicle is finished, and goes to step 9, until stop self-steering control or switch to artificial mode.

Claims (6)

1.一种无人驾驶车辆转向系统，其特征是包括执行电机（1）、方向机（2）、电机编码器（3）、非接触式零位检测机构、非接触式左限位检测机构、非接触式右限位检测机构、前轮绝对转角机构、前轮转角双闭环控制系统，执行电机（1）为转向驱动机构，执行电机（1）的输入端与方向机（2）的输出端相连；电机编码器（3）连接在执行电机（1）后端输出轴上； 1. A steering system for an unmanned vehicle, characterized in that it includes an executive motor (1), a steering machine (2), a motor encoder (3), a non-contact zero position detection mechanism, and a non-contact left limit detection mechanism , non-contact right limit detection mechanism, front wheel absolute angle mechanism, front wheel angle double closed-loop control system, the executive motor (1) is the steering drive mechanism, the input end of the executive motor (1) and the output of the steering machine (2) The motor encoder (3) is connected to the output shaft at the rear end of the executive motor (1); 非接触式零位检测机构由固定安装在右转动摆臂（12）上面的零位固定块（7）和固定安装在固定悬架（18）上的零位检测器（4）构成，当所述零位固定块（7）转动到零位检测器（4）正下方时，零位检测器（4）能够感应零位固定块（7）； The non-contact zero position detection mechanism is composed of a zero position fixed block (7) fixedly installed on the right swing arm (12) and a zero position detector (4) fixedly installed on the fixed suspension (18). When the zero position fixing block (7) is rotated to be directly below the zero position detector (4), the zero position detector (4) can sense the zero position fixing block (7); 非接触式左限位检测机构由固定安装在左转动摆臂（15）上面的左限位固定块（9）和固定安装在左固定悬架（19）上的左限位检测器（6）构成，当左前轮转角处于左限位状态下，左限位检测器（6）能够感应左限位固定块（9）；非接触式右限位检测机构由固定安装在右转动摆臂（12）上面的右限位固定块（8）和固定安装在右固定悬架（18）上的右限位检测器（5）构成，当右前轮转角处于右限位状态下，右限位检测器（5）能够感应右限位固定块（8）； The non-contact left limit detection mechanism consists of a left limit fixed block (9) fixedly installed on the left rotating swing arm (15) and a left limit detector (6) fixedly installed on the left fixed suspension (19). ), when the left front wheel rotation angle is in the left limit state, the left limit detector (6) can sense the left limit fixed block (9); the non-contact right limit detection mechanism The right limit fixed block (8) on the arm (12) and the right limit detector (5) fixedly installed on the right fixed suspension (18) constitute, when the right front wheel rotation angle is in the right limit state, the right The limit detector (5) can sense the right limit fixed block (8); 前轮绝对转角机构，由前轮转角传感器（10）和前轮转角传感器旋转轴（16）组成，前轮转角传感器（10）本体固定安装在车底固定悬架上（17），前轮转角传感器旋转轴（16）一端与前轮转角传感器（10）想连接，另一端通过关节臂（20）与车辆梯形转向机构拉杆（13）的左右摆动杆连接； The front wheel absolute angle mechanism is composed of the front wheel angle sensor (10) and the front wheel angle sensor rotation shaft (16). One end of the sensor rotation shaft (16) is connected to the front wheel angle sensor (10), and the other end is connected to the left and right swing rod of the trapezoidal steering mechanism pull rod (13) of the vehicle through the joint arm (20); 位置控制器（33）一端通过CAN电缆（32）与工控机（30）连接；执行电机（1）、电机编码器（3）以及前轮转角传感器（10）分别通过电缆与位置控制器（33）的相应接口电气连接；左、右限位检测器（5、6）和零位检测器（4）分别与位置控制器（33）的相应数字输入端电气连接； One end of the position controller (33) is connected to the industrial computer (30) through the CAN cable (32); the execution motor (1), the motor encoder (3) and the front wheel angle sensor (10) are respectively connected to the position controller (33 ) are electrically connected to the corresponding interfaces; the left and right limit detectors (5, 6) and the zero detector (4) are respectively electrically connected to the corresponding digital input terminals of the position controller (33); 所述前轮转角双闭环控制系统由电机编码器（3）和前轮转角传感器（10）构成，电机编码器（3）反馈执行电机（1）当前位置给位置控制器（33），前轮转角传感器（10）直接检测前轮的转向角度，将转角角度闭环反馈给位置控制器（33），同时电机编码器（3）不再作为环反馈，而是作为速度闭环反馈，从而控制执行电机（1）的转速，最终位置控制器（33）控制前轮转向角度精确达到命令期望值。 The double closed-loop control system of the front wheel angle is composed of a motor encoder (3) and a front wheel angle sensor (10). The motor encoder (3) feeds back the current position of the execution motor (1) to the position controller (33), and the front wheel The angle sensor (10) directly detects the steering angle of the front wheels, and feeds back the angle angle closed-loop to the position controller (33). At the same time, the motor encoder (3) is no longer used as a loop feedback, but as a speed closed-loop feedback, thereby controlling the actuator motor The rotational speed of (1), the final position controller (33) controls the steering angle of the front wheels to precisely reach the expected value of the command. 2.根据权利要求1所述的无人驾驶车辆转向系统，其特征是执行电机（1）与方向机（2）固定安装在安装支架（11）上，使执行电机（1）与方向机（2）的轴在水平平面上。 2. The steering system for unmanned vehicles according to claim 1, characterized in that the executive motor (1) and the steering machine (2) are fixedly installed on the mounting bracket (11), so that the executive motor (1) and the steering machine ( 2) The axis is in the horizontal plane. 3.一种通过权利要求1所述的无人驾驶车辆转向系统实现的控制方法，其特征是包括前轮转角绝对零位初始化的控制和车辆自主转向控制实现的控制，控制过程步骤如下： 3. A control method realized by the unmanned vehicle steering system according to claim 1, characterized in that it comprises the control of the absolute zero initialization of the front wheel angle and the control of the vehicle autonomous steering control, and the control process steps are as follows: 首先，前轮转角绝对零位初始化的控制过程为： First, the control process of the absolute zero initialization of the front wheel angle is: 步骤1，首先打开人/机共享控制开关，并拨向自主模式，转向控制系统伺服使能打开，车辆处于自主驾驶模式； Step 1, first turn on the man/machine sharing control switch, and turn it to the autonomous mode, the steering control system servo is enabled, and the vehicle is in the autonomous driving mode; 步骤2，工控机（30）执行油门放大器、刹车放大器、方向放大器、换挡放大器初始化程序，位置控制器（33）开始自动控制前轮转向； Step 2, the industrial computer (30) executes the accelerator amplifier, brake amplifier, direction amplifier, shift amplifier initialization program, and the position controller (33) starts to automatically control the steering of the front wheels; 步骤3，方向机（2）带动安装在固定悬架（12）上的零位固定块（7）转动； Step 3, the steering machine (2) drives the zero position fixing block (7) installed on the fixed suspension (12) to rotate; 步骤4，若零位检测器（4）检测到零位信号，则根据零位检测器反馈的零位偏置数值驱动前车轮转动到绝对零位； Step 4, if the zero position detector (4) detects the zero position signal, drive the front wheel to rotate to the absolute zero position according to the zero position offset value fed back by the zero position detector; 步骤5，若零位检测器（4）未检测到零位信号，位置控制器（33）继续控制前轮转向，直到接收到左限位传感器检测器（9）或者右限位传感器检测器（8）发出的限位信号； Step 5, if the zero position detector (4) does not detect the zero position signal, the position controller (33) continues to control the steering of the front wheels until the left limit sensor detector (9) or the right limit sensor detector ( 8) The limit signal issued; 步骤6，位置控制器（33）控制前轮向相反方向转向，直到零位检测器（4）检测到零位信号，根据零位检测器反馈的零位偏置数值驱动前轮转动到绝对零位； Step 6, the position controller (33) controls the front wheels to turn in the opposite direction until the zero position detector (4) detects the zero position signal, and drives the front wheels to rotate to absolute zero according to the zero position offset value fed back by the zero position detector bit; 步骤7，前轮转角绝对零位初始化步骤完成； Step 7, the absolute zero initialization step of the front wheel angle is completed; 然后，车辆自主转向实现的控制过程为： Then, the control process realized by vehicle autonomous steering is: 步骤8，首先打开人/机共享控制开关，并拨向自主驾驶模式，转向控制系统伺服使能打开，车辆处于自主驾驶模式； Step 8, first turn on the man/machine sharing control switch, and turn it to the autonomous driving mode, the steering control system servo is enabled, and the vehicle is in the autonomous driving mode; 步骤9，工控机（30）通过网络接收放置在车辆里另一台规划工控机所发送的即时规划路径及其它信息，它的作用主要是根据传感器信息规划车辆下一个时刻的路径；根据路径信息获取路径某处的曲率，由此可算出车辆的瞬时曲率半径R，根据阿克曼运动学模型，从而计算得到前轮转角θ，θ=arctan(L/R)，其中L是车辆轴距； Step 9, the industrial computer (30) receives the real-time planning path and other information sent by another planning industrial computer placed in the vehicle through the network, and its function is mainly to plan the path of the vehicle at the next moment according to the sensor information; according to the path information Obtain the curvature at a certain place on the path, from which the instantaneous radius of curvature R of the vehicle can be calculated. According to the Ackerman kinematics model, the front wheel rotation angle θ can be calculated, θ=arctan(L/R), where L is the vehicle wheelbase; 步骤10，将所得规划前轮转角角度发送至CAN控制卡（31），紧接通过CAN电缆（32）发出角度至位置控制器（33）； Step 10, sending the obtained planned front wheel angle angle to the CAN control card (31), and then sending the angle to the position controller (33) through the CAN cable (32); 步骤11，位置控制器（33）开始控制转向系统，若系统没有执行车轮绝对零位初始化，则首先进行方向电机绝对零位的标定，并使车辆前轮处于绝对零位方向，否则直接发送转向命令和转角角度； Step 11, the position controller (33) starts to control the steering system. If the system does not perform the initialization of the absolute zero position of the wheels, first perform the calibration of the absolute zero position of the direction motor, and make the front wheels of the vehicle in the direction of the absolute zero position, otherwise directly send the steering command and corner angle; 步骤12，位置控制器（33）判断转向命令，若转向命令为不转向，则返回且保持当前状态； Step 12, the position controller (33) judges the steering command, if the steering command is no steering, return and maintain the current state; 步骤13，若位置控制器（33）判断转向命令为转向时，进行前轮转角双闭环控制，执行电机（1）开始运行，并驱动方向机（2）； Step 13, if the position controller (33) judges that the steering command is steering, the double closed-loop control of the front wheel angle is performed, the execution motor (1) starts running, and drives the steering machine (2); 步骤14，方向机（2）通过右转动摆臂（12）驱动梯形转向机构拉杆（13），从而实现车轮转向； Step 14, the steering machine (2) drives the pull rod (13) of the trapezoidal steering mechanism by turning the swing arm (12) to the right, so as to realize wheel steering; 步骤15，判断右限位检测器（5）或左限位检测器（6）是否触发，转向过程中，若右限位检测器（5）或左限位检测器（6）被触发，执行电机（1）则停止运行保持当前状态； Step 15, judge whether the right limit detector (5) or the left limit detector (6) is triggered. During the steering process, if the right limit detector (5) or the left limit detector (6) is triggered, execute The motor (1) stops running and maintains the current state; 步骤16，若右限位检测器（5）或左限位检测器（6）未被触发，且执行电机（1）完成所驱动角度位置，电机停止转动； Step 16, if the right limit detector (5) or the left limit detector (6) is not triggered, and the actuator motor (1) completes the driven angular position, the motor stops rotating; 步骤17，无人驾驶车辆的自主转向任务完成，转至步骤9，直到停止自主转向控制或者切换到人工模式。 Step 17, the autonomous steering task of the unmanned vehicle is completed, go to step 9, until the autonomous steering control is stopped or switched to manual mode. 4.根据权利要求3所述的无人驾驶车辆转向控制方法，其特征是前轮转角双闭环控制的过程为：前轮转角传感器（10）直接检测前轮的转向角度，将转角位置闭环反馈给位置控制器（33），从而组成外层循环，参与前轮转角角度闭环反馈控制；电机编码器（3）反馈执行电机（1）当前转动位置，但电机编码器（3）不再作为角度环反馈，此时参与速度闭环反馈控制，作为速度闭环控制执行电机的转速；霍尔传感器反馈执行电机（1）当前转动速度，辅助作为电机的速度闭环反馈，电流反馈作为内环，参与电流闭环控制执行电机的电流。 4. The steering control method of an unmanned vehicle according to claim 3, characterized in that the double closed-loop control process of the front wheel angle is: the front wheel angle sensor (10) directly detects the steering angle of the front wheel, and the closed-loop feedback of the angle position is Give the position controller (33) to form an outer loop, and participate in the closed-loop feedback control of the front wheel angle angle; the motor encoder (3) feeds back the current rotation position of the execution motor (1), but the motor encoder (3) is no longer used as the angle Loop feedback, at this time, participate in the speed closed-loop feedback control, as the speed closed-loop control to execute the speed of the motor; the hall sensor feedbacks the current rotation speed of the execution motor (1), assists as the speed closed-loop feedback of the motor, and the current feedback as the inner loop, participates in the current closed-loop Control the current of the executive motor. 5.位置控制器（33）接收到前轮规划转角，与前轮转角传感器（10）通过PID控制计算给出电机转角速度命令值，该转角速度命令值再基于电机编码器（3）的速度反馈PID控制计算转换为电流命令值，此时执行电机（1）在电流驱动作用下转动，执行电机（1）驱动方向机（2），方向机（2）通过梯形转向拉杆（13）驱动前轮转向，实现前轮转角的双闭环控制过程。 5. The position controller (33) receives the planned rotation angle of the front wheels, and calculates the command value of the motor rotation angle speed with the front wheel rotation angle sensor (10) through PID control, and the rotation angle speed command value is based on the speed of the motor encoder (3) The feedback PID control calculation is converted into a current command value. At this time, the execution motor (1) rotates under the current drive, and the execution motor (1) drives the steering machine (2), and the steering machine (2) drives the front through the trapezoidal steering rod (13). wheel steering to realize the double closed-loop control process of the front wheel angle. 6.由于前轮转角传感器（10）直接传感检测前轮的转角作为外环反馈，克服了执行电机、方向机以及其它执行机构的传递误差，保证了前轮转角的精准控制。 6. Since the front wheel angle sensor (10) directly senses and detects the angle of the front wheel as the outer loop feedback, it overcomes the transmission error of the executive motor, steering machine and other actuators, and ensures precise control of the angle of the front wheel.
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CN114572299A (en) * 2020-12-02 2022-06-03 河南小狮智能科技有限公司 Zero point calibration scheme based on unmanned sweeper encoder steering device
CN115107864B (en) * 2021-03-17 2024-03-12 丰田自动车株式会社 Power steering device for vehicle
CN115107864A (en) * 2021-03-17 2022-09-27 丰田自动车株式会社 Power steering apparatus for vehicle
CN114115038A (en) * 2021-11-25 2022-03-01 上汽大众汽车有限公司 Passenger car man-machine verification cabin intelligent regulation control system based on WIFI communication control and method thereof
CN115092244A (en) * 2022-06-20 2022-09-23 成都中科微信息技术研究院有限公司 A manned and unmanned dual-mode parallel wire-controlled chassis system
CN115230810A (en) * 2022-08-31 2022-10-25 安徽合力股份有限公司 Steering control system and method for automatic driving of vehicle
CN115230810B (en) * 2022-08-31 2024-02-02 安徽合力股份有限公司 Steering control system and method for automatic driving of vehicle

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