CN114954646A - Vehicle steering system and steering method - Google Patents

Abstract

A vehicle steering system and steering method, the steering system comprises: a front wheel steering device, a rear wheel steering device, a steering domain controller and a vehicle controller, wherein the vehicle controller is used to output a zero-radius steering command or four-wheel steering to the steering domain controller Command, when the zero-radius steering command is output, the steering domain controller can control the two front wheel rotation transmission components and the two rear wheel rotation transmission components to output rotational motions of different steering directions. When the four-wheel steering command is output, the steering domain control The controller can control the two front wheel rotation transmission assemblies to output the same rotation motion, and control the two rear wheel rotation transmission assemblies to output the same rotation rotation. The vehicle steering system can realize multi-mode and multi-functional steering functions such as zero-radius steering mode or four-wheel steering mode, so as to improve the driving safety of the vehicle.

Description

A vehicle steering system and steering method

technical field

The invention relates to the technical field of vehicle driving control, in particular to a vehicle steering system and a steering method.

Background technique

Taking into account the multi-function and high-safety steering requirements of future unmanned driving technology, the steering system needs to be able to meet the active corner control under assisted driving and intelligent driving technology. A vehicle that uses a motor as a power source for steering has a higher probability of failing to achieve steering due to electrical failure than that of traditional mechanical steering. The performance of the steering system, such as the response speed, steering flexibility, and directional stability at high speeds, is difficult to further improve on the basis of traditional front-wheel steering. Therefore, four-wheel steering is applied. Four-wheel steering A set of rear-wheel steering system is installed on the rear axle of the car, and the relationship between the front and rear wheels is controlled by a certain proportion, so that the front and rear wheels of the car are steered at the same time. In order to maximize the steering flexibility, the need for zero-radius steering has attracted much attention. The independent steering technology can realize the steering function of zero-radius because it can realize the steering of individual wheels. In general, the technology of independent steering is to configure a steering motor for each wheel of the vehicle, so that each wheel is independently driven relative to each other to realize the independent steering function.

However, considering the high-speed driving of the car, the safety and control accuracy of independent steering are worrying. The above-mentioned independent steering technology is only suitable for low-speed park vehicles. In order to realize the reliability of independent steering and synchronous steering when the left and right wheels are at high speed, the clutch and transmission meshing device can be used to achieve separation and synchronization in different modes, so that the independent steering can be switched to the overall steering, but the structure is too complicated.

SUMMARY OF THE INVENTION

The technical problem mainly solved by the present invention is to provide a vehicle steering system and steering method, which can realize multi-mode and multi-functional steering system and steering method such as zero-radius steering mode or four-wheel steering mode.

According to a first aspect of the present application, the present application provides a vehicle steering system, comprising:

A front wheel steering device, comprising: a front wheel connection and disconnection assembly, two front wheel traverse members, and two front wheel independent steering mechanisms; the two front wheel traverse members are used for connecting with two front wheel bodies respectively , the two front wheel traverse members can move in the lateral direction to drive the front wheel body to turn; the front wheel connection and disconnection assembly is used to connect the two front wheel traverse members, and the two front wheel traverse members The two front wheel traverse members can move in the same direction or in different directions along the lateral direction; the front wheel independent steering mechanism includes: the front wheel A steering motor and a front wheel rotation transmission assembly, the front wheel steering motor is connected with the front wheel rotation transmission assembly, and the front wheel rotation transmission assembly is connected with the front wheel traverse member; the front wheel steering motor is used for driving the front wheel rotation transmission assembly to output rotational motion, and the front wheel traverse member is used to convert the output rotational motion of the front wheel rotation transmission assembly into lateral movement along the transverse direction;

A rear wheel steering device, comprising: a rear wheel connection and disconnection assembly, two rear wheel traverse members, and two rear wheel independent steering mechanisms; the two rear wheel traverse members are used for connecting with two rear wheel bodies respectively , the two rear wheel traverse members can move in the lateral direction to drive the rear wheel body to turn; the rear wheel connection and disconnection assembly is used to connect the two rear wheel traverse members, and the two rear wheels traverse The two rear wheel traverse members move in the same direction along the lateral direction, or, by disconnecting the two rear wheel traverse members, the two rear wheel traverse members can move in the same direction or in different directions along the lateral direction; the rear wheel independent steering mechanism includes: rear wheel A steering motor and a rear wheel rotation transmission assembly, the rear wheel steering motor is connected with the rear wheel rotation transmission assembly, and the rear wheel rotation transmission assembly is connected with the rear wheel traverse member; the rear wheel steering motor is used for driving the rear wheel rotation transmission assembly to output rotational motion, and the rear wheel traverse member is used to convert the output rotational motion of the rear wheel rotation transmission assembly into lateral movement along the lateral direction;

a steering domain controller connected to the front wheel steering motor, the rear wheel steering motor, the front wheel disconnection assembly, and the rear wheel disconnection assembly;

a vehicle controller, the vehicle controller is connected to the steering domain controller, and the vehicle controller is configured to output a zero-radius steering command or a four-wheel steering command to the steering domain controller;

When the vehicle controller outputs a zero-radius steering command, the steering domain controller controls the front wheel connection and disconnection component to disconnect the two front wheel traverse members, and the two front wheel steering motors drive the two front wheel steering motors respectively. The two front wheel rotation transmission assemblies output rotational motion in different directions, so as to drive the two front wheel bodies to turn in different directions through the two front wheel traverse members, and control the rear wheel connection and disconnection assembly to disconnect the two rear wheel traverse members. open, the two rear wheel steering motors respectively drive the two rear wheel rotation transmission assemblies to output rotational motions in different directions, so as to drive the two rear wheel bodies to steer in different directions through the two rear wheel traverse members; the two front wheel bodies Turn to be tangent to the same circle with the two rear wheel bodies;

When the vehicle controller outputs a four-wheel steering command, the steering domain controller controls the front wheel connection and disconnection component to connect the two front wheel traverse members, and the two front wheel steering motors drive the two front wheel steering motors respectively. The front wheel rotation transmission assembly outputs a rotational motion of the same turning direction, so as to drive the two front wheel bodies to turn in the same direction through the two front wheel traverse members, and control the rear wheel connection and disconnection assembly to connect the two rear wheel traverse members, The two rear wheel steering motors respectively drive the two rear wheel rotation transmission assemblies to output the same rotational motion, so as to drive the two rear wheel bodies to turn in the same direction through the two rear wheel traverse members; the steering direction of the front wheel body is the same as the The direction in which the rear wheel body is turned is the same or not.

In one embodiment,

When the vehicle is in the first driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The rear wheel steering motor drives the rear wheel traverse member to move in the same direction in the lateral direction through the rear wheel rotation transmission assembly and in opposite directions;

When the vehicle is in the second driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The direction in which the rear wheel steering motor drives the rear wheel traverse member to move in the lateral direction through the rear wheel rotation transmission assembly is the same;

The first travel speed interval is smaller than the second travel speed interval.

In one embodiment,

The front-wheel independent steering mechanism further includes: a front-wheel torque and angle sensor, the front-wheel torque and angle sensor is connected to the electronic control unit of the front-wheel steering motor, and the front-wheel torque and angle sensor is used for collecting all the information. The torque and rotation angle output by the front wheel rotation transmission assembly;

The rear wheel independent steering mechanism further includes: a rear wheel torque and rotation angle sensor, the rear wheel torque and rotation angle sensor is connected to the electronic control unit of the rear wheel steering motor, and the rear wheel torque and rotation angle sensor is used for collecting all the information. The torque and rotation angle output by the rear wheel rotation transmission assembly;

Under the power steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the front wheel torque and angle sensor collects the first front wheel torque and the first front wheel torque of the front wheel rotation transmission assembly connected to the steering wheel. The steering angle of the front wheel is output to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly. The output is opposite to the first The torque of the front wheel and the torque and angle of the first front wheel rotation angle, the two rear wheel steering motors drive the two rear wheel rotation transmission assemblies respectively to output the rotational motion of different steering directions, so that the two front wheel bodies and the two rear wheels are connected to each other. The body is turned to be tangent to the same circle; when the vehicle controller outputs a four-wheel steering command to the steering domain controller, the front wheel torque and angle sensor collects the second front wheel torque of the front wheel rotation transmission assembly connected with the steering wheel and the second front wheel rotation angle and output to the electronic control unit of the corresponding front wheel steering motor, the steering domain controller controls another front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly to output the same The second front wheel torque and the second front wheel rotation angle are the same torque and rotation angle; the steering domain controller outputs the first desired rear wheel steering angle through the second front wheel torque and the second front wheel rotation angle, so The steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies according to the first desired rear wheel steering angle to output a rotation equal to the second front wheel torque and the second front wheel rotation angle. Movement, so that the steering angle of the rear wheel body is the first desired rear wheel steering angle;

Under the active steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the steering domain controller controls the two front wheel steering motors to respectively drive the two front wheel rotation transmission assemblies to output different steering components. Rotational movement, so as to drive the two front wheel bodies to steer in different directions through the two front wheel traverse members, and control the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output the rotary motion of different steering directions, so as to pass the two rear wheel steering motors. A rear wheel traverse member drives the two rear wheel bodies to turn in different directions, and makes the two front wheel bodies and the two rear wheel bodies turn to be tangent to the same circle; when the vehicle controller outputs the four-wheel steering to the steering domain controller When commanded, the front wheel torque and angle sensor collects the current torque and rotation angle of the front wheel rotation transmission assembly and outputs it to the corresponding electronic control unit of the front wheel steering motor. The difference between the torque and the rotation angle controls the front wheel steering motor to drive the front wheel rotation transmission assembly to output the torque and rotation angle of the difference; the steering domain controller outputs the second desired rear wheel steering angle according to the desired torque and rotation angle, so According to the second desired rear wheel steering angle, the steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output a rotational motion of the same steering and torque, so that the steering angle of the rear wheel body is The second desired rear wheel steering angle.

In one embodiment,

The steering domain controller is also used for judging whether the front wheel independent steering mechanism is faulty through the electronic control unit of the front wheel steering motor. The domain controller outputs a front wheel redundant reconfiguration command, and the steering domain controller increases the output power of the steering motor of another front wheel according to the front wheel redundant reconfiguration command; or, the steering domain controller is configured to pass the rear wheel The electronic control unit of the steering motor determines whether the independent rear wheel steering mechanism is faulty. If a rear wheel independent steering mechanism fails, the vehicle controller is further configured to output a rear wheel redundancy reconstruction command to the steering domain controller, and the steering domain The controller increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconfiguration instruction.

In one embodiment,

The front wheel independent steering mechanism further includes: a front wheel motor position sensor, the front wheel motor position sensor is connected to the electronic control unit of the front wheel steering motor, and the front wheel motor position sensor is used to collect the front wheel motor position sensor. The position of the rotor in the steering motor to control the commutation of the front wheel steering motor;

The rear wheel independent steering mechanism further includes: a rear wheel motor position sensor, the rear wheel motor position sensor is connected to the electronic control unit of the rear wheel steering motor, and the rear wheel motor position sensor is used to collect the rear wheel motor position sensor. The position of the rotor in the steering motor to control the commutation of the rear wheel steering motor.

In one embodiment,

The front wheel independent steering mechanism further includes: a front wheel current sensor, the front wheel current sensor is connected to the electronic control unit of the front wheel steering motor, and is used for detecting the current of the front wheel steering motor;

The rear wheel independent steering mechanism further includes: a rear wheel current sensor, the rear wheel current sensor is connected to the electronic control unit of the rear wheel steering motor, and is used for detecting the current of the rear wheel steering motor.

According to a second aspect of the present application, the present application provides a vehicle steering method, comprising the following steps:

The vehicle controller can output zero-radius steering commands or four-wheel steering commands to the steering domain controller;

When the vehicle controller outputs a zero-radius steering command, the steering domain controller controls the front wheel connection and disconnection assembly to disconnect the two front wheel traverse members, and the two front wheel steering motors drive the two front wheel rotation transmission assemblies respectively to output different outputs. The rotational movement of the steering is used to drive the two front wheel bodies to steer in different directions through the two front wheel traverse members, and the rear wheel connection and disconnection assembly is controlled to disconnect the two rear wheel traverse members, and the two rear wheel The steering motor drives the two rear wheel rotation transmission assemblies respectively to output rotational motions in different directions, so as to drive the two rear wheel bodies to steer in different directions through the two rear wheel traverse members; the two front wheel bodies and the two rear wheel bodies are turned to tangent to the same circle;

When the vehicle controller outputs a four-wheel steering command, the steering domain controller controls the front-wheel connection and disconnection component to connect the two front-wheel traverse members, and the two front-wheel steering motors drive the two front-wheel rotation transmissions respectively. The assembly outputs a rotational motion of the same direction, so as to drive the two front wheel bodies to turn in the same direction through the two front wheel traverse members, and control the rear wheel connection and disconnection assembly to connect the two rear wheel traverse members, and the two front wheel traverse members are connected. The rear wheel steering motor drives the two rear wheel rotation transmission assemblies respectively to output the same steering motion, so as to drive the two rear wheel bodies to steer in the same direction through the two rear wheel traverse members; the steering direction of the front wheel body is the same as that of the rear wheel body. the same or different directions.

In one embodiment,

When the vehicle is in the first driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The rear wheel steering motor drives the rear wheel traverse member to move in the same direction in the lateral direction through the rear wheel rotation transmission assembly and in opposite directions;

When the vehicle is in the second driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The direction in which the rear wheel steering motor drives the rear wheel traverse member to move in the lateral direction through the rear wheel rotation transmission assembly is the same;

The first travel speed interval is smaller than the second travel speed interval.

In one embodiment,

Under the power steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the front wheel torque and angle sensor collects the first front wheel torque and the first front wheel torque of the front wheel rotation transmission assembly connected to the steering wheel. The steering angle of the front wheel is output to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly. The output is opposite to the first The torque of the front wheel and the torque and angle of the first front wheel rotation angle, the two rear wheel steering motors drive the two rear wheel rotation transmission assemblies respectively to output the rotational motion of different steering directions, so that the two front wheel bodies and the two rear wheels are connected to each other. The body is turned to be tangent to the same circle; when the vehicle controller outputs a four-wheel steering command to the steering domain controller, the front wheel torque and angle sensor collects the second front wheel torque of the front wheel rotation transmission assembly connected with the steering wheel and the second front wheel rotation angle and output to the electronic control unit of the corresponding front wheel steering motor, the steering domain controller controls another front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly to output the same The second front wheel torque and the second front wheel rotation angle are the same torque and rotation angle; the steering domain controller outputs the first desired rear wheel steering angle through the second front wheel torque and the second front wheel rotation angle, so The steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies according to the first desired rear wheel steering angle to output a rotation equal to the second front wheel torque and the second front wheel rotation angle. Movement, so that the steering angle of the rear wheel body is the first desired rear wheel steering angle;

Under the active steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the steering domain controller controls the two front wheel steering motors to respectively drive the two front wheel rotation transmission assemblies to output different steering components. Rotational movement, so as to drive the two front wheel bodies to steer in different directions through the two front wheel traverse members, and control the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output the rotary motion of different steering directions, so as to pass the two rear wheel steering motors. A rear wheel traverse member drives the two rear wheel bodies to turn in different directions, and makes the two front wheel bodies and the two rear wheel bodies turn to be tangent to the same circle; when the vehicle controller outputs the four-wheel steering to the steering domain controller When commanded, the front wheel torque and angle sensor collects the current torque and rotation angle of the front wheel rotation transmission assembly and outputs it to the corresponding electronic control unit of the front wheel steering motor. The difference between the torque and the rotation angle controls the front wheel steering motor to drive the front wheel rotation transmission assembly to output the torque and rotation angle of the difference; the steering domain controller outputs the second desired rear wheel steering angle according to the desired torque and rotation angle, so According to the second desired rear wheel steering angle, the steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output a rotational motion of the same steering and torque, so that the steering angle of the rear wheel body is The second desired rear wheel steering angle.

In one embodiment, the steering domain controller can also determine whether the front wheel independent steering mechanism is faulty through the electronic control unit of the front wheel steering motor. The steering domain controller outputs a front wheel redundant reconfiguration instruction, and the steering domain controller increases the output power of the other front wheel steering motor according to the front wheel redundant reconfiguration instruction; The electronic control unit determines whether the independent rear wheel steering mechanism is faulty. If a rear wheel independent steering mechanism fails, the vehicle controller is further configured to output a rear wheel redundancy reconfiguration instruction to the steering domain controller, and the steering domain controller is based on the The rear wheel redundant reconfiguration command increases the output power of the other rear wheel steering motor.

According to the steering system and steering method of the above embodiments, multi-mode and multi-functional steering functions such as zero-radius steering mode or four-wheel steering mode can be realized, and power steering functions can be realized in both zero-radius steering mode and four-wheel steering mode. Or the active steering function, the steering domain controller judges whether the front wheel independent steering mechanism is faulty through the electronic control unit of the front wheel steering motor, and judges whether the rear wheel independent steering mechanism is faulty through the electronic control unit of the rear wheel steering motor. When the steering mechanism fails, the front wheel redundant reconstruction command can be output, and when the rear wheel independent steering mechanism fails, the rear wheel redundant reconstruction command can be output to realize the highly redundant steering function and improve the driving safety of the vehicle.

Description of drawings

1 is a structural block diagram of a vehicle steering system provided by the application;

2 is a schematic structural diagram of a front wheel steering device in a vehicle steering system provided by the application;

3 is a schematic diagram of the vehicle steering system provided by the application being in a zero-radius steering mode;

4 is a schematic diagram 1 of the vehicle steering system provided by the application being in a four-wheel steering mode;

5 is a second schematic diagram of the vehicle reversing system provided by the present application in a four-wheel steering mode;

FIG. 6 is a flowchart of a vehicle steering method provided by the present application.

Detailed ways

The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments have used associated similar element numbers. In the following embodiments, many details are described so that the present application can be better understood. However, those skilled in the art will readily recognize that some of the features may be omitted under different circumstances, or may be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application from being overwhelmed by excessive description, and for those skilled in the art, these are described in detail. The relevant operations are not necessary, and they can fully understand the relevant operations according to the descriptions in the specification and general technical knowledge in the field.

Additionally, the features, acts, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can also be exchanged or adjusted in order in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary order unless otherwise stated, a certain order must be followed.

The serial numbers themselves, such as "first", "second", etc., for the components herein are only used to distinguish the described objects, and do not have any order or technical meaning. The "connection" and "connection" mentioned in this application, unless otherwise specified, include both direct and indirect connections (connections).

Embodiment 1.

Referring to FIGS. 1-5 , the vehicle steering system provided in this embodiment includes: a front wheel steering device 10 , a rear wheel steering device 20 , a steering domain controller 30 and a vehicle controller 40 .

The front wheel steering device 10 includes: a front wheel connection and disconnection assembly 11, two front wheel traverse members 12, and two front wheel independent steering mechanisms. The vehicle 100 has two front wheel bodies 101 , and the two wheels located on the front side of the vehicle 100 according to the length direction of the vehicle 100 are the front wheel bodies 101 . In this embodiment, the two front wheel bodies 101 are driven to rotate by in-wheel motors, to drive the vehicle 100 to travel. The two front wheel traverse members 12 are used for connecting with the two front wheel bodies 101 respectively, and both of the two front wheel traverse members 12 can move in a lateral direction, which is the same as the width direction of the vehicle 100 . The two front wheel traverse members 12 moving in the lateral direction can drive the front wheel body 101 to turn.

The front wheel connection and disconnection assembly 11 is used to connect the two front wheel traverse members 12 so that the two front wheel traverse members 12 move in the same direction in the lateral direction, or the front wheel connection and disconnection assembly 11 is used to make the two front wheel traverse members 12 move in the same direction. The front wheel traverses 12 are disconnected so that the two front wheel traverses 12 can move in the same direction or in different directions in the lateral direction. Specifically, the two front wheel traverse members 12 move in the same direction in the lateral direction, which can simultaneously drive the two front wheel bodies 101 to turn left or right, and the two front wheel traverse members 12 move in different directions along the lateral direction. , which can respectively drive the two front wheel bodies 101 to turn left or right. More specifically, taking the example shown in FIG. 1 , the two front wheel traverse members 12 are both moved to the left in the lateral direction, and the two front wheel bodies 101 are both turned to the left; the two front wheel traverse members 12 are When the lateral direction moves to the right, the two front wheel bodies 101 both turn to the right; the two front wheel traverse members 12 move to the left or right respectively in the lateral direction, and the two front wheel bodies 101 turn to the left or right respectively. .

The two front wheel independent steering mechanisms are respectively connected to the two front wheel traverse members 12. Each front wheel independent steering mechanism includes: a front wheel steering motor 13 and a front wheel rotation transmission assembly 14. The front wheel steering motor 13 and the front wheel rotation transmission The assembly 14 is connected, and the front wheel rotation transmission assembly 14 is connected with the front wheel traverse member 12 . The front wheel steering motor 13 is used to drive the front wheel rotation transmission assembly 14 to output rotational motion, and the front wheel traverse member 12 is used to convert the output rotational motion of the front wheel rotation transmission assembly 14 into lateral movement in the lateral direction, thereby passing the front wheel. The wheel steering motor 13 provides power for the movement of the front wheel traverse 12 in the lateral direction. The front wheel steering motor 13 has an electronic control unit 15 .

The rear wheel steering device 20 includes: a rear wheel connection and disconnection assembly 21, two rear wheel traverse members 22, and two rear wheel independent steering mechanisms. The vehicle 100 also has two rear wheel bodies 102 . The two vehicles located on the rear side of the vehicle 100 according to the length direction of the vehicle 100 are the rear wheel bodies 102 . In this embodiment, the two rear wheel bodies 102 can also be driven by in-wheel motors. It rotates to drive the vehicle 100 to travel. The two rear wheel traverse members 22 are used to connect with the two rear wheel bodies 102 respectively, and both rear wheel traverse members 22 can move in a lateral direction, which is also the same as the width direction of the vehicle 100 . The two rear wheel traverse members 22 moving in the lateral direction can drive the rear wheel body 102 to turn.

The rear wheel connection and disconnection assembly 21 is used to connect the two rear wheel traverse members 22 so that the two rear wheel traverse members 22 move in the same direction in the lateral direction, or the rear wheel connection and disconnection assembly 21 is used to make the two rear wheel traverse members 22 move in the same direction. The rear wheel traverses 22 are disconnected so that the two rear wheel traverses 22 can move in the same direction or in different directions in the lateral direction. Specifically, the two rear wheel traverse members 22 move in the same direction in the lateral direction, which can simultaneously drive the two rear wheel bodies 102 to turn left or right, and the two rear wheel traverse members 22 move in different directions along the lateral direction. , which can respectively drive the two rear wheel bodies 102 to turn left or right. More specifically, taking the example shown in FIG. 1 , the two rear wheel traverse members 22 are both moved to the left in the lateral direction, and the two rear wheel bodies 102 are both turned to the left; the two rear wheel traverse members 22 are When the lateral direction moves to the right, the two rear wheel bodies 102 both turn to the right; the two rear wheel traverse members 22 move to the left or right along the lateral direction, respectively, and the two rear wheel bodies 102 turn left or right respectively. .

The two rear wheel independent steering mechanisms are respectively connected to the two rear wheel traverse members 22, and each rear wheel independent steering mechanism includes: a rear wheel steering motor 23 and a rear wheel rotation transmission assembly 24, and the rear wheel steering motor 23 and the rear wheel rotation transmission The assembly 24 is connected, and the rear wheel rotation transmission assembly 24 is connected with the rear wheel traverse member 22 . The rear wheel steering motor 23 is used to drive the rear wheel rotation transmission assembly 24 to output rotational motion, and the rear wheel traverse member 22 is used to convert the output rotational motion of the rear wheel rotation transmission assembly 24 into lateral movement in the lateral direction, thereby passing the rear wheel. The wheel steering motor 23 provides power for the lateral movement of the rear wheel traverse member 22 in the lateral direction. The rear wheel steering motor 23 has an electronic control unit 25 .

The steering domain controller 30 is connected to the electronic control unit 15 of the two front wheel steering motors 13 , the electronic control unit 25 of the two rear wheel steering motors 23 , the front wheel connection and disconnection assembly 11 , and the rear wheel connection and disconnection assembly 21 are connected .

In an embodiment, the vehicle steering system provided in this embodiment may further include: a temperature sensor, the temperature sensor is used to detect the working temperature of the steering domain controller 30, when the working temperature is higher than the preset rated working temperature, the Cool the steering domain controller by setting a cooling mechanism such as a corresponding fan.

The vehicle controller 40 is connected to the steering domain controller 30 , and the vehicle controller 40 is configured to output a zero-radius steering command or a four-wheel steering command to the steering domain controller 30 .

When the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the front wheel disconnection component 11 to disconnect the two front wheel traverse members 12, and the steering domain controller 30 passes the front wheel The electronic control unit 15 of the wheel steering motor 13 controls the two front wheel steering motors 13 to respectively drive the two front wheel rotation transmission assemblies 14 to output rotational motions of different steering directions, thereby driving the two front wheel traverse members 12 in different directions in the lateral direction. traverse, so as to drive the two front wheel bodies 101 to steer in different directions through the two front wheel traverse members 12, the steering domain controller 30 controls the rear wheel connection and disconnection component 21 to disconnect the two rear wheel traverse members 22, and the steering The domain controller 30 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel rotation transmission assemblies 24 through the electronic control unit 25 of the rear wheel steering motor 23 to output rotational motions of different steering directions, thereby driving the two rear wheel traverse members. The two rear wheel bodies 102 are moved in different directions along the lateral direction, so as to drive the two rear wheel bodies 102 to turn in different directions through the two rear wheel traverse members 22 . In this embodiment, the two front wheel bodies 101 and the two rear wheel bodies 102 are turned to be tangent to the same circumference. The vehicle controller 40 controls the in-wheel motor of each front wheel body 101 to drive the front wheel body 101 to rotate, and controls the in-wheel motor of the rear wheel body 102 to drive the rear wheel body 102 to rotate, so as to rotate along the circle to realize the zero-radius steering function, that is, in situ Steering to meet special steering needs.

When the vehicle controller 40 outputs a four-wheel steering command to the steering domain controller 30, the steering domain controller 30 controls the front wheel disconnection component 11 to connect the two front wheel traverse members 12, and the steering domain controller 30 passes the front wheel The electronic control unit 15 of the steering motor 13 controls the two front wheel steering motors 13 to respectively drive the two front wheel rotation transmission assemblies 14 to output the rotational motion of the same steering direction, thereby driving the two rear wheel traverse members 22 in the same direction in the lateral direction. The steering domain controller 30 controls the rear wheel connection and disconnection assembly 21 to connect the two rear wheel traverse members 22, and the steering domain controller The electronic control unit 25 of the rear wheel steering motor 23 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel rotation transmission assemblies 24 to output the rotational motion of the same steering direction, thereby driving the two rear wheel traverse members 22 along the The lateral direction moves in the same direction, so as to drive the two rear wheel bodies 102 to turn in the same direction through the two rear wheel traverse members 22 . In this embodiment, the steering direction of the front wheel body 101 and the steering direction of the rear wheel body 102 are the same or different. In the same situation, the front wheel body 101 and the rear wheel body 102 both turn to the left or right. Next, the front wheel body 101 is turned to the left and the rear wheel body 102 is turned to the right, or the front wheel body 101 is turned to the right and the rear wheel body 102 is turned to the left to meet high-speed driving requirements.

When the vehicle 100 is in the first driving speed range, when the vehicle controller 40 outputs a four-wheel steering command, the front wheel steering motor 13 drives the front wheel traverse member 12 to move in the same direction in the lateral direction through the front wheel rotation transmission assembly 14 It is opposite to the direction in which the rear wheel steering motor 23 drives the rear wheel traverse member 22 to move in the same direction in the lateral direction through the rear wheel rotation transmission assembly 24 . That is to say, when the vehicle 100 is in the first traveling speed section, the steering directions of the two front wheel bodies 101 are opposite to the steering directions of the two rear wheel bodies 102 . When the vehicle 100 is in the second driving speed range, when the vehicle controller 40 outputs a four-wheel steering command, the front wheel steering motor 13 drives the front wheel traverse member 12 to move in the same direction in the lateral direction through the front wheel rotation transmission assembly 14 It is the same as the direction in which the rear wheel steering motor 23 drives the rear wheel traverse member 22 to move in the lateral direction through the rear wheel rotation transmission assembly 24 . That is, when the vehicle 100 is in the second travel speed section, the steering directions of the two front wheel bodies 101 are the same as the steering directions of the two rear wheel bodies 102 .

In this embodiment, the first travel speed interval is smaller than the second travel speed interval. It can be understood that the first travel speed interval is when the vehicle 100 is in a low-speed travel state, and the second travel speed interval is when the vehicle 100 is in a high-speed travel state.

In this embodiment, the front wheel independent steering mechanism further includes: a front wheel torque and angle sensor, the front wheel torque and angle sensor is connected to the electronic control unit 15 of the front wheel steering motor 13, and the front wheel torque and angle sensor is used to collect the front wheel torque and angle sensor. The torque and rotation angle output by the rotating transmission assembly 14 . The rear wheel independent steering mechanism also includes: a rear wheel torque and rotation angle sensor, the rear wheel torque and rotation angle sensor is connected to the electronic control unit 25 of the rear wheel steering motor 23, and the rear wheel torque and rotation angle sensor is used to collect the rear wheel rotation transmission assembly 24. Output torque and angle of rotation.

The vehicle 100 also has a steering wheel 103 connected to the front wheel rotation transmission assembly 14 in one of the front wheel steering mechanisms. Under the power steering function, that is, when the vehicle 100 is in the manual driving mode, when the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the front wheel torque and angle sensor collects the front wheel rotation transmission connected with the steering wheel 103. The first front wheel torque and the first front wheel rotation angle of the assembly 14 are output to the electronic control unit 15 of the corresponding front wheel steering motor 13, and the steering domain controller 30 controls another front wheel steering motor 13 to drive and steer the front wheel. The other front wheel rotation transmission assembly 14 corresponding to the motor 13 outputs torque and rotation angle opposite to the first front wheel torque and the first front wheel rotation angle, and the two rear wheel steering motors 23 drive the two rear wheel rotation transmission assemblies 24 respectively. Rotational motions with different steering directions are output, so that the two front wheel bodies 101 and the two rear wheel bodies 102 are turned to be tangent to the same circumference. When the vehicle controller 40 outputs a four-wheel steering command to the steering domain controller 30, the front wheel torque and angle sensor collects the second front wheel torque and the second front wheel angle of the front wheel rotation transmission assembly 14 connected to the steering wheel and outputs the output To the electronic control unit 15 of the corresponding front wheel steering motor 13, the steering domain controller 30 controls the other front wheel steering motor 13 to drive the corresponding other front wheel rotation transmission assembly 14 to output the second front wheel torque and the second front wheel torque. The same torque and rotation angle of the front wheel are controlled to control the two front wheel bodies 101 to turn in the same direction. The steering domain controller 30 outputs the first desired rear wheel steering angle through the second front wheel torque and the second front wheel turning angle, and the steering domain controller 30 controls the two rear wheel steering motors 23 to drive respectively according to the first desired rear wheel steering angle The two rear wheel rotation transmission assemblies 24 output the same rotational motion as the second front wheel torque and the second front wheel rotation angle, so that the steering angle of the rear wheel body 102 is the first desired rear wheel steering angle.

Under the active steering function, when the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the two front wheel steering motors 13 to respectively drive the two front wheel rotation transmission assemblies 14 to output different steering directions to drive the two front wheel bodies 101 to steer in different directions through the two front wheel traverse members 12, and the steering domain controller 30 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel rotation transmission assemblies 24 to output different outputs. The rotational movement of the steering drives the two rear wheel bodies 102 to steer in different directions through the two rear wheel traverse members 22 , so that the two front wheel bodies 101 and the two rear wheel bodies 102 are turned to be tangent to the same circumference. When the vehicle controller 40 outputs a four-wheel steering command to the steering domain controller 30, the front wheel torque and angle sensor collects the current torque and rotation angle of the front wheel rotation transmission assembly 14, and outputs the output to the corresponding electronic circuit of the front wheel steering motor 13 The control unit 15, the steering domain controller 30 controls the front wheel steering motor 13 to drive the front wheel rotation transmission assembly 14 to output the torque and the rotation angle of the difference according to the difference between the current torque and rotation angle and the expected torque and rotation angle, thereby The steering of the two front wheel bodies 101 is compensated. The steering domain controller 30 outputs a second desired rear wheel steering angle according to the desired torque and rotation angle, and the steering domain controller 30 controls the two rear wheel steering motors 23 to drive the two rear wheel rotation transmissions respectively according to the second desired rear wheel steering angle. Assembly 24 outputs rotational movement of the same steering and torque so that the steering angle of rear wheel body 102 is the second desired rear wheel steering angle.

In one embodiment, the steering domain controller 30 is also used to determine whether the front wheel independent steering mechanism is faulty through the electronic control unit 15 of the front wheel steering motor 13. If a front wheel independent steering mechanism is faulty, the vehicle controller 40 is also used for Output the front wheel redundant reconstruction command to the steering domain controller 30, and the steering domain controller 30 increases the output power of the other front wheel steering motor according to the front wheel redundancy reconstruction command, thereby driving the two front wheel bodies through the other front wheel steering motor Steering to achieve the intended front wheel steering function. Alternatively, the steering domain controller 30 is used to judge whether the rear wheel independent steering mechanism is faulty through the electronic control unit 25 of the rear wheel steering motor 23. If a rear wheel independent steering mechanism fails, the vehicle controller 40 is also used to send the steering domain controller. 30 outputs the rear wheel redundant reconstruction command, and the steering domain controller 30 increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconstruction command, so as to drive the two front wheel bodies to steer through the other rear wheel steering motor to achieve the expected Rear wheel steering function.

In this embodiment, when the steering domain controller 30 determines that both the two front-wheel independent steering mechanisms and the two rear-wheel independent steering mechanisms are faulty, and the steering is zero-radius, the vehicle turns off and stops.

The steering domain controller 30 judges whether the front wheel steering mechanism is faulty through the electronic control unit 15 of the front wheel steering motor 13, so as to connect the two front wheel traverse members 12 when the fault occurs, and the electronic control unit 15 of the rear wheel steering motor 23 is used to connect the two front wheel traverse members. The control unit 25 judges whether the rear wheel steering mechanism is faulty, so as to connect the two rear wheel traverse members 22 when the fault occurs, so as to improve the safety of the steering system of the vehicle.

In an embodiment, the front wheel independent steering mechanism further includes: a front wheel motor position sensor, the front wheel motor position sensor is connected to the electronic control unit 15 of the front wheel steering motor 13, and the front wheel motor position sensor is used for collecting the front wheel steering motor. The position of the rotor in the 13 can be controlled to control the commutation of the front wheel steering motor 13, and then the two front wheel traverse members 12 can be controlled to work independently. The rear wheel independent steering mechanism also includes: a rear wheel motor position sensor, the rear wheel motor position sensor is connected to the electronic control unit 25 of the rear wheel steering motor 23, and the rear wheel motor position sensor is used to collect the position of the rotor in the rear wheel steering motor 23, In order to control the commutation of the rear wheel steering motor 23, the two traverse members 22 can be controlled to work independently.

In one embodiment, the front wheel independent steering mechanism further includes: a front wheel current sensor, the front wheel current sensor is connected to the electronic control unit 15 of the front wheel steering motor 13 for detecting the current of the front wheel steering motor 13 to control the front wheel steering motor 13. The output torque of the wheel steering motor 13 controls the rotational speed of the front wheel body 101 . The rear wheel independent steering mechanism also includes: a rear wheel current sensor, which is connected to the electronic control unit 25 of the rear wheel steering motor 23 for detecting the current of the rear wheel steering motor 23 to control the output of the rear wheel steering motor 23 Torque, ie, controls the rotational speed of the rear wheel body 102 .

In this embodiment, the front wheel connection and disconnection assembly 11 and the rear wheel connection and disconnection assembly 21 are both electromagnetic lock pin assemblies, and the front wheel connection and disconnection assembly 11 is taken as an example. As shown in FIG. 1 , the front wheel connection and disconnection assembly 11 It includes an electromagnetic module 111, an elastic reset member 112 and a lock tongue 113. The electromagnetic module 111 is installed on one of the front wheel traverse members 12, the elastic reset member 112 is installed on the electromagnetic module 111, and the lock tongue 113 is installed on the elastic reset member 112. On the other hand, a lock hole is provided on the other front wheel traverse member 12. When the position of the lock hole and the lock tongue 113 is exactly opposite, when the electromagnetic module 111 is in a power-off state, the lock tongue 113 moves to the lock through the elastic reset member 112. In the hole to connect the two front wheel traverse members 12, the electromagnetic module 111 generates electromagnetic suction force on the lock tongue 113 when the power is turned on, so that the lock tongue 113 overcomes the elastic force of the elastic reset member 112, so that the lock tongue 113 can overcome the elastic force of the elastic reset member 112. 113 is moved out of the keyhole to disconnect the two front wheel traverses 12.

In this embodiment, the two front wheel traverse members 12 and the two rear wheel traverse members 22 have the same structure and are both racks. Correspondingly, both the front wheel rotation transmission assembly 14 and the rear wheel rotation transmission assembly 24 are gears components.

Embodiment two,

Referring to FIG. 6 , this embodiment provides a vehicle steering method, including the following steps:

The vehicle is ignited and powered on,

The vehicle controller 40 may output a zero-radius steering command or a four-wheel steering command to the steering domain controller 30 .

When the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the front wheel disconnection component 11 to disconnect the two front wheel traverse members 12, and the steering domain controller 30 passes the front wheel The electronic control unit 15 of the wheel steering motor 13 controls the two front wheel steering motors 13 to respectively drive the two front wheel rotation transmission assemblies 14 to output rotational motions of different steering directions, thereby driving the two front wheel traverse members 12 in different directions in the lateral direction. traverse, so as to drive the two front wheel bodies 101 to steer in different directions through the two front wheel traverse members 12, the steering domain controller 30 controls the rear wheel connection and disconnection component 21 to disconnect the two rear wheel traverse members 22, and the steering The domain controller 30 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel rotation transmission assemblies 24 through the electronic control unit 25 of the rear wheel steering motor 23 to output rotational motions of different steering directions, thereby driving the two rear wheel traverse members. The two rear wheel bodies 102 are moved in different directions along the lateral direction, so as to drive the two rear wheel bodies 102 to turn in different directions through the two rear wheel traverse members 22 . In this embodiment, the two front wheel bodies 101 and the two rear wheel bodies 102 are turned to be tangent to the same circumference. The vehicle controller 40 controls the in-wheel motor of each front wheel body 101 to drive the front wheel body 101 to rotate, and controls the in-wheel motor of the rear wheel body 102 to drive the rear wheel body 102 to rotate, so as to rotate along the circle to realize the zero-radius steering function, that is, in situ Steering to meet special steering needs.

When the vehicle controller 40 outputs a four-wheel steering command to the steering domain controller 30, the steering domain controller 30 controls the front wheel disconnection component 11 to connect the two front wheel traverse members 12, and the steering domain controller 30 passes the front wheel The electronic control unit 15 of the steering motor 13 controls the two front wheel steering motors 13 to respectively drive the two front wheel rotation transmission assemblies 14 to output the rotational motion of the same steering direction, thereby driving the two rear wheel traverse members 22 in the same direction in the lateral direction. The steering domain controller 30 controls the rear wheel connection and disconnection assembly 21 to connect the two rear wheel traverse members 22, and the steering domain controller The electronic control unit 25 of the rear wheel steering motor 23 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel rotation transmission assemblies 24 to output the rotational motion of the same steering direction, thereby driving the two rear wheel traverse members 22 along the The lateral direction moves in the same direction, so as to drive the two rear wheel bodies 102 to turn in the same direction through the two rear wheel traverse members 22 . In this embodiment, the steering direction of the front wheel body 101 and the steering direction of the rear wheel body 102 are the same or different. In the same situation, the front wheel body 101 and the rear wheel body 102 both turn to the left or right. Next, the front wheel body 101 is turned to the left and the rear wheel body 102 is turned to the right, or the front wheel body 101 is turned to the right and the rear wheel body 102 is turned to the left to meet high-speed driving requirements.

When the vehicle 100 is in the first driving speed range, when the vehicle controller 40 outputs a four-wheel steering command, the front wheel steering motor 13 drives the front wheel traverse member 12 to move in the same direction in the lateral direction through the front wheel rotation transmission assembly 14 It is opposite to the direction in which the rear wheel steering motor 23 drives the rear wheel traverse member 22 to move in the same direction in the lateral direction through the rear wheel rotation transmission assembly 24 . That is to say, when the vehicle 100 is in the first traveling speed section, the steering directions of the two front wheel bodies 101 are opposite to the steering directions of the two rear wheel bodies 102 . When the vehicle 100 is in the second driving speed range, when the vehicle controller 40 outputs a four-wheel steering command, the front wheel steering motor 13 drives the front wheel traverse member 12 to move in the same direction in the lateral direction through the front wheel rotation transmission assembly 14 It is the same as the direction in which the rear wheel steering motor 23 drives the rear wheel traverse member 22 to move in the lateral direction through the rear wheel rotation transmission assembly 24 . That is, when the vehicle 100 is in the second travel speed section, the steering directions of the two front wheel bodies 101 are the same as the steering directions of the two rear wheel bodies 102 .

In this embodiment, the first travel speed interval is smaller than the second travel speed interval. It can be understood that the first travel speed interval is when the vehicle 100 is in a low-speed travel state, and the second travel speed interval is when the vehicle 100 is in a high-speed travel state.

Under the power steering function, that is, when the vehicle 100 is in the manual driving mode, when the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the front wheel torque and angle sensor collects the front wheel rotation transmission connected with the steering wheel 103. The first front wheel torque and the first front wheel rotation angle of the assembly 14 are output to the electronic control unit 15 of the corresponding front wheel steering motor 13, and the steering domain controller 30 controls another front wheel steering motor 13 to drive and steer the front wheel. The other front wheel rotation transmission assembly 14 corresponding to the motor 13 outputs torque and rotation angle opposite to the first front wheel torque and the first front wheel rotation angle, and the two rear wheel steering motors 23 drive the two rear wheel rotation transmission assemblies 24 respectively. Rotational motions with different steering directions are output, so that the two front wheel bodies 101 and the two rear wheel bodies 102 are turned to be tangent to the same circumference. When the vehicle controller 40 outputs a four-wheel steering command to the steering domain controller 30, the front wheel torque and angle sensor collects the second front wheel torque and the second front wheel angle of the front wheel rotation transmission assembly 14 connected to the steering wheel and outputs the output To the electronic control unit 15 of the corresponding front wheel steering motor 13, the steering domain controller 30 controls the other front wheel steering motor 13 to drive the corresponding other front wheel rotation transmission assembly 14 to output the second front wheel torque and the second front wheel torque. The same torque and rotation angle of the front wheel are controlled to control the two front wheel bodies 101 to turn in the same direction. The steering domain controller 30 outputs the first desired rear wheel steering angle through the second front wheel torque and the second front wheel turning angle, and the steering domain controller 30 controls the two rear wheel steering motors 23 to drive respectively according to the first desired rear wheel steering angle The two rear wheel rotation transmission assemblies 24 output the same rotational motion as the second front wheel torque and the second front wheel rotation angle, so that the steering angle of the rear wheel body 102 is the first desired rear wheel steering angle.

Under the active steering function, when the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the two front wheel steering motors 13 to respectively drive the two front wheel rotation transmission assemblies 14 to output different steering directions to drive the two front wheel bodies 101 to steer in different directions through the two front wheel traverse members 12, and the steering domain controller 30 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel rotation transmission assemblies 24 to output different outputs. The rotational movement of the steering drives the two rear wheel bodies 102 to steer in different directions through the two rear wheel traverse members 22 , so that the two front wheel bodies 101 and the two rear wheel bodies 102 are turned to be tangent to the same circumference. When the vehicle controller 40 outputs a four-wheel steering command to the steering domain controller 30, the front wheel torque and angle sensor collects the current torque and rotation angle of the front wheel rotation transmission assembly 14, and outputs the output to the corresponding electronic circuit of the front wheel steering motor 13 The control unit 15, the steering domain controller 30 controls the front wheel steering motor 13 to drive the front wheel rotation transmission assembly 14 to output the torque and the rotation angle of the difference according to the difference between the current torque and rotation angle and the expected torque and rotation angle, thereby The steering of the two front wheel bodies 101 is compensated. The steering domain controller 30 outputs a second desired rear wheel steering angle according to the desired torque and rotation angle, and the steering domain controller 30 controls the two rear wheel steering motors 23 to drive the two rear wheel rotation transmissions respectively according to the second desired rear wheel steering angle. Assembly 24 outputs rotational movement of the same steering and torque so that the steering angle of rear wheel body 102 is the second desired rear wheel steering angle.

In this embodiment, the steering domain controller 30 is also used to determine whether the front wheel independent steering mechanism is faulty through the electronic control unit 15 of the front wheel steering motor 13. If a front wheel independent steering mechanism fails, the vehicle controller 40 is also used to send The steering domain controller 30 outputs the front wheel redundant reconstruction command, and the steering domain controller 30 increases the output power of the other front wheel steering motor according to the front wheel redundancy reconstruction command, thereby driving the two front wheel bodies to steer through the other front wheel steering motor. , to achieve the expected front wheel steering function. Alternatively, the steering domain controller 30 is used to judge whether the rear wheel independent steering mechanism is faulty through the electronic control unit 25 of the rear wheel steering motor 23. If a rear wheel independent steering mechanism fails, the vehicle controller 40 is also used to send the steering domain controller. 30 outputs the rear wheel redundant reconstruction command, and the steering domain controller 30 increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconstruction command, so as to drive the two front wheel bodies to steer through the other rear wheel steering motor to achieve the expected Rear wheel steering function.

In this embodiment, when the steering domain controller 30 determines that both the two front-wheel independent steering mechanisms and the two rear-wheel independent steering mechanisms are faulty, and the steering is zero-radius, the vehicle turns off and stops.

The steering domain controller 30 judges whether the front wheel steering mechanism is faulty through the electronic control unit 15 of the front wheel steering motor 13, so as to connect the two front wheel traverse members 12 when the fault occurs, and the electronic control unit 15 of the rear wheel steering motor 23 is used to connect the two front wheel traverse members. The control unit 25 judges whether the rear wheel steering mechanism is faulty, so as to connect the two rear wheel traverse members 22 when the fault occurs, so as to improve the safety of the steering system of the vehicle.

To sum up, the vehicle steering system and steering method provided by the present application can realize multi-mode and multi-functional steering functions such as zero-radius steering mode or four-wheel steering mode, and can realize zero-radius steering mode and four-wheel steering mode. Both realize power steering function or active steering function. The steering domain controller judges whether the front wheel independent steering mechanism is faulty through the electronic control unit of the front wheel steering motor, and judges whether the rear wheel independent steering mechanism is faulty through the electronic control unit of the rear wheel steering motor. When the front wheel independent steering mechanism fails, it can output the front wheel redundant reconstruction command, and when the rear wheel independent steering mechanism fails, it can output the rear wheel redundant reconstruction command to realize the highly redundant steering function and improve the driving safety of the vehicle.

The above specific examples are used to illustrate the present invention, which are only used to help understand the present invention, and are not intended to limit the present invention. For those skilled in the art to which the present invention pertains, according to the idea of the present invention, several simple deductions, modifications or substitutions can also be made.

Claims (10)

1. A vehicle steering system, characterized in that, comprising: A front wheel steering device, comprising: a front wheel connection and disconnection assembly, two front wheel traverse members, and two front wheel independent steering mechanisms; the two front wheel traverse members are used for connecting with two front wheel bodies respectively , the two front wheel traverse members can move in the lateral direction to drive the front wheel body to turn; the front wheel connection and disconnection assembly is used to connect the two front wheel traverse members, and the two front wheel traverse members The two front wheel traverse members can move in the same direction or in different directions along the lateral direction; the front wheel independent steering mechanism includes: the front wheel A steering motor and a front wheel rotation transmission assembly, the front wheel steering motor is connected with the front wheel rotation transmission assembly, and the front wheel rotation transmission assembly is connected with the front wheel traverse member; the front wheel steering motor is used for driving the front wheel rotation transmission assembly to output rotational motion, and the front wheel traverse member is used to convert the output rotational motion of the front wheel rotation transmission assembly into lateral movement along the transverse direction; A rear wheel steering device, comprising: a rear wheel connection and disconnection assembly, two rear wheel traverse members, and two rear wheel independent steering mechanisms; the two rear wheel traverse members are used for connecting with two rear wheel bodies respectively , the two rear wheel traverse members can move in the lateral direction to drive the rear wheel body to turn; the rear wheel connection and disconnection assembly is used to connect the two rear wheel traverse members, and the two rear wheels traverse The two rear wheel traverse members move in the same direction along the lateral direction, or, by disconnecting the two rear wheel traverse members, the two rear wheel traverse members can move in the same direction or in different directions along the lateral direction; the rear wheel independent steering mechanism includes: rear wheel A steering motor and a rear wheel rotation transmission assembly, the rear wheel steering motor is connected with the rear wheel rotation transmission assembly, and the rear wheel rotation transmission assembly is connected with the rear wheel traverse member; the rear wheel steering motor is used for driving the rear wheel rotation transmission assembly to output rotational motion, and the rear wheel traverse member is used to convert the output rotational motion of the rear wheel rotation transmission assembly into lateral movement along the lateral direction; a steering domain controller connected to the front wheel steering motor, the rear wheel steering motor, the front wheel disconnection assembly, and the rear wheel disconnection assembly; a vehicle controller, the vehicle controller is connected to the steering domain controller, and the vehicle controller is configured to output a zero-radius steering command or a four-wheel steering command to the steering domain controller; When the vehicle controller outputs a zero-radius steering command, the steering domain controller controls the front wheel connection and disconnection component to disconnect the two front wheel traverse members, and the two front wheel steering motors drive the two front wheel steering motors respectively. The two front wheel rotation transmission assemblies output rotational motion in different directions, so as to drive the two front wheel bodies to turn in different directions through the two front wheel traverse members, and control the rear wheel connection and disconnection assembly to disconnect the two rear wheel traverse members. open, the two rear wheel steering motors respectively drive the two rear wheel rotation transmission assemblies to output rotational motions in different directions, so as to drive the two rear wheel bodies to steer in different directions through the two rear wheel traverse members; the two front wheel bodies Turn to be tangent to the same circle with the two rear wheel bodies; When the vehicle controller outputs a four-wheel steering command, the steering domain controller controls the front wheel connection and disconnection component to connect the two front wheel traverse members, and the two front wheel steering motors drive the two front wheel steering motors respectively. The front wheel rotation transmission assembly outputs a rotational motion of the same turning direction, so as to drive the two front wheel bodies to turn in the same direction through the two front wheel traverse members, and control the rear wheel connection and disconnection assembly to connect the two rear wheel traverse members, The two rear wheel steering motors respectively drive the two rear wheel rotation transmission assemblies to output the same rotational motion, so as to drive the two rear wheel bodies to turn in the same direction through the two rear wheel traverse members; the steering direction of the front wheel body is the same as the The direction in which the rear wheel body is turned is the same or not. 2. The vehicle steering system of claim 1, wherein When the vehicle is in the first driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The rear wheel steering motor drives the rear wheel traverse member to move in the same direction in the lateral direction through the rear wheel rotation transmission assembly and in opposite directions; When the vehicle is in the second driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The direction in which the rear wheel steering motor drives the rear wheel traverse member to move in the lateral direction through the rear wheel rotation transmission assembly is the same; The first travel speed interval is smaller than the second travel speed interval. 3. The vehicle steering system of claim 1, wherein The front-wheel independent steering mechanism further includes: a front-wheel torque and angle sensor, the front-wheel torque and angle sensor is connected to the electronic control unit of the front-wheel steering motor, and the front-wheel torque and angle sensor is used for collecting all the information. The torque and rotation angle output by the front wheel rotation transmission assembly; The rear wheel independent steering mechanism further includes: a rear wheel torque and rotation angle sensor, the rear wheel torque and rotation angle sensor is connected to the electronic control unit of the rear wheel steering motor, and the rear wheel torque and rotation angle sensor is used for collecting all the information. The torque and rotation angle output by the rear wheel rotation transmission assembly; Under the power steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the front wheel torque and angle sensor collects the first front wheel torque and the first front wheel torque of the front wheel rotation transmission assembly connected to the steering wheel. The steering angle of the front wheel is output to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly. The output is opposite to the first The torque of the front wheel and the torque and angle of the first front wheel rotation angle, the two rear wheel steering motors drive the two rear wheel rotation transmission assemblies respectively to output the rotational motion of different steering directions, so that the two front wheel bodies and the two rear wheels are connected to each other. The body is turned to be tangent to the same circle; when the vehicle controller outputs a four-wheel steering command to the steering domain controller, the front wheel torque and angle sensor collects the second front wheel torque of the front wheel rotation transmission assembly connected with the steering wheel and the second front wheel rotation angle and output to the electronic control unit of the corresponding front wheel steering motor, the steering domain controller controls another front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly to output the same The second front wheel torque and the second front wheel rotation angle are the same torque and rotation angle; the steering domain controller outputs the first desired rear wheel steering angle through the second front wheel torque and the second front wheel rotation angle, so The steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies according to the first desired rear wheel steering angle to output a rotation equal to the second front wheel torque and the second front wheel rotation angle. Movement, so that the steering angle of the rear wheel body is the first desired rear wheel steering angle; Under the active steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the steering domain controller controls the two front wheel steering motors to respectively drive the two front wheel rotation transmission assemblies to output different steering components. Rotational movement, so as to drive the two front wheel bodies to steer in different directions through the two front wheel traverse members, and control the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output the rotary motion of different steering directions, so as to pass the two rear wheel steering motors. A rear wheel traverse member drives the two rear wheel bodies to turn in different directions, and makes the two front wheel bodies and the two rear wheel bodies turn to be tangent to the same circle; when the vehicle controller outputs the four-wheel steering to the steering domain controller When commanded, the front wheel torque and angle sensor collects the current torque and rotation angle of the front wheel rotation transmission assembly and outputs it to the corresponding electronic control unit of the front wheel steering motor. The difference between the torque and the rotation angle controls the front wheel steering motor to drive the front wheel rotation transmission assembly to output the torque and rotation angle of the difference; the steering domain controller outputs the second desired rear wheel steering angle according to the desired torque and rotation angle, so According to the second desired rear wheel steering angle, the steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output a rotational motion of the same steering and torque, so that the steering angle of the rear wheel body is The second desired rear wheel steering angle. 4. The vehicle steering system according to claim 1, wherein the steering domain controller is further configured to judge whether the front wheel independent steering mechanism is faulty through the electronic control unit of the front wheel steering motor. If the independent steering mechanism fails, the vehicle controller is further configured to output a front wheel redundant reconfiguration command to the steering domain controller, and the steering domain controller increases the power of the other front wheel steering motor according to the front wheel redundant reconfiguration command. output power; or, the steering domain controller is used to judge whether the rear wheel independent steering mechanism is faulty through the electronic control unit of the rear wheel steering motor, and if a rear wheel independent steering mechanism fails, the vehicle controller is also used to send The steering domain controller outputs a rear wheel redundant reconfiguration command, and the steering domain controller increases the output power of another rear wheel steering motor according to the rear wheel redundant reconfiguration command. 5. The vehicle steering system of claim 1, wherein The front wheel independent steering mechanism further includes: a front wheel motor position sensor, the front wheel motor position sensor is connected to the electronic control unit of the front wheel steering motor, and the front wheel motor position sensor is used to collect the front wheel motor position sensor. The position of the rotor in the steering motor to control the commutation of the front wheel steering motor; The rear wheel independent steering mechanism further includes: a rear wheel motor position sensor, the rear wheel motor position sensor is connected to the electronic control unit of the rear wheel steering motor, and the rear wheel motor position sensor is used to collect the rear wheel motor position sensor. The position of the rotor in the steering motor to control the commutation of the rear wheel steering motor. 6. The vehicle steering system of claim 1, wherein The front wheel independent steering mechanism further includes: a front wheel current sensor, the front wheel current sensor is connected to the electronic control unit of the front wheel steering motor, and is used for detecting the current of the front wheel steering motor; The rear wheel independent steering mechanism further includes: a rear wheel current sensor, the rear wheel current sensor is connected to the electronic control unit of the rear wheel steering motor, and is used for detecting the current of the rear wheel steering motor. 7. A vehicle steering method, comprising the steps of: The vehicle controller can output zero-radius steering commands or four-wheel steering commands to the steering domain controller; When the vehicle controller outputs a zero-radius steering command, the steering domain controller controls the front wheel connection and disconnection assembly to disconnect the two front wheel traverse members, and the two front wheel steering motors drive the two front wheel rotation transmission assemblies respectively to output different outputs. The rotational movement of the steering is used to drive the two front wheel bodies to steer in different directions through the two front wheel traverse members, and the rear wheel connection and disconnection assembly is controlled to disconnect the two rear wheel traverse members, and the two rear wheel The steering motor drives the two rear wheel rotation transmission assemblies respectively to output rotational motions in different directions, so as to drive the two rear wheel bodies to steer in different directions through the two rear wheel traverse members; the two front wheel bodies and the two rear wheel bodies are turned to tangent to the same circle; When the vehicle controller outputs a four-wheel steering command, the steering domain controller controls the front-wheel connection and disconnection component to connect the two front-wheel traverse members, and the two front-wheel steering motors drive the two front-wheel rotation transmissions respectively. The assembly outputs a rotational motion of the same direction, so as to drive the two front wheel bodies to turn in the same direction through the two front wheel traverse members, and control the rear wheel connection and disconnection assembly to connect the two rear wheel traverse members, and the two front wheel traverse members are connected. The rear wheel steering motor drives the two rear wheel rotation transmission assemblies respectively to output the same steering motion, so as to drive the two rear wheel bodies to steer in the same direction through the two rear wheel traverse members; the steering direction of the front wheel body is the same as that of the rear wheel body. the same or different directions. 8. The vehicle steering method according to claim 7, wherein, When the vehicle is in the first driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The rear wheel steering motor drives the rear wheel traverse member to move in the same direction in the lateral direction through the rear wheel rotation transmission assembly and in opposite directions; When the vehicle is in the second driving speed range, when the vehicle controller outputs a four-wheel steering command, the front wheel steering motor drives the front wheel traverse member to move in the same direction in the lateral direction through the front wheel rotation transmission assembly. The direction in which the rear wheel steering motor drives the rear wheel traverse member to move in the lateral direction through the rear wheel rotation transmission assembly is the same; The first travel speed interval is smaller than the second travel speed interval. 9. The wheel steering method according to claim 7, wherein, Under the power steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the front wheel torque and angle sensor collects the first front wheel torque and the first front wheel torque of the front wheel rotation transmission assembly connected to the steering wheel. The steering angle of the front wheel is output to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly. The output is opposite to the first The torque of the front wheel and the torque and angle of the first front wheel rotation angle, the two rear wheel steering motors drive the two rear wheel rotation transmission assemblies respectively to output the rotational motion of different steering directions, so that the two front wheel bodies and the two rear wheels are connected to each other. The body is turned to be tangent to the same circle; when the vehicle controller outputs a four-wheel steering command to the steering domain controller, the front wheel torque and angle sensor collects the second front wheel torque of the front wheel rotation transmission assembly connected with the steering wheel and the second front wheel rotation angle and output to the electronic control unit of the corresponding front wheel steering motor, the steering domain controller controls another front wheel steering motor to drive the corresponding other front wheel rotation transmission assembly to output the same The second front wheel torque and the second front wheel rotation angle are the same torque and rotation angle; the steering domain controller outputs the first desired rear wheel steering angle through the second front wheel torque and the second front wheel rotation angle, so The steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies according to the first desired rear wheel steering angle to output a rotation equal to the second front wheel torque and the second front wheel rotation angle. Movement, so that the steering angle of the rear wheel body is the first desired rear wheel steering angle; Under the active steering function, when the vehicle controller outputs a zero-radius steering command to the steering domain controller, the steering domain controller controls the two front wheel steering motors to respectively drive the two front wheel rotation transmission assemblies to output different steering components. Rotational movement, so as to drive the two front wheel bodies to steer in different directions through the two front wheel traverse members, and control the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output the rotary motion of different steering directions, so as to pass the two rear wheel steering motors. A rear wheel traverse member drives the two rear wheel bodies to turn in different directions, and makes the two front wheel bodies and the two rear wheel bodies turn to be tangent to the same circle; when the vehicle controller outputs the four-wheel steering to the steering domain controller When commanded, the front wheel torque and angle sensor collects the current torque and rotation angle of the front wheel rotation transmission assembly and outputs it to the corresponding electronic control unit of the front wheel steering motor. The difference between the torque and the rotation angle controls the front wheel steering motor to drive the front wheel rotation transmission assembly to output the torque and rotation angle of the difference; the steering domain controller outputs the second desired rear wheel steering angle according to the desired torque and rotation angle, so According to the second desired rear wheel steering angle, the steering domain controller controls the two rear wheel steering motors to respectively drive the two rear wheel rotation transmission assemblies to output a rotational motion of the same steering and torque, so that the steering angle of the rear wheel body is The second desired rear wheel steering angle. 10. The vehicle steering control method according to claim 7, wherein the steering domain controller determines whether the front wheel independent steering mechanism is faulty through the electronic control unit of the front wheel steering motor. The vehicle controller is further configured to output a front wheel redundant reconfiguration instruction to the steering domain controller, and the steering domain controller increases the output power of another front wheel steering motor according to the front wheel redundant reconfiguration instruction; or, steering The domain controller judges whether the rear wheel independent steering mechanism is faulty through the electronic control unit of the rear wheel steering motor. If a rear wheel independent steering mechanism fails, the vehicle controller is also used to output the rear wheel redundancy reconstruction to the steering domain controller. instruction, the steering domain controller increases the output power of another rear wheel steering motor according to the rear wheel redundancy reconstruction instruction.

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