CN203902645U - Automatic steering control device based on EPS - Google Patents
Automatic steering control device based on EPS Download PDFInfo
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- CN203902645U CN203902645U CN201420330830.6U CN201420330830U CN203902645U CN 203902645 U CN203902645 U CN 203902645U CN 201420330830 U CN201420330830 U CN 201420330830U CN 203902645 U CN203902645 U CN 203902645U
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- automatic steering
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Abstract
The utility model relates to an automatic steering control device based on EPS, in particular to an automatic steering control device of a vehicle with an electric power steering (EPS) system. The automatic steering control device based on EPS comprises the electric power steering system and an automatic steering control device body. The automatic steering control device body is composed of an upper computer, a control module, a torque simulating module and a mode selecting module. Under the control of the control module, the mode selecting module is used for selecting manual steering or automatic steering and transmitting steering information to an electronic control unit to drive a motor to work, and therefore the steering of the vehicle can be controlled. The device is low in cost, accurate in steering, high in reliability, small in size, convenient to install and capable of being started when needed, and using of original EPS is not affected.
Description
Technical field
The utility model relates to motor turning control technology field, is specifically related to be equipped with the automatic steering control device of EPS vehicle.
Background technology
Along with current technology progress and development in science and technology, modern vehicle has been had to higher requirement, meeting on the basis that tradition travels, realize the intellectuality control of vehicle, as intelligent car, adaptive cruise, vehicle active safety, the full automaticity function such as park.And vehicle automatic steering control is as pith in intellectuality control, can realize the travel direction of intelligence change automobile.
At present, electric power steering (EPS) system in manned vehicle steering boost system in occupation of critical role, progressively replace mechanical-hydraulic servo steering system.Chaufeur is in the time that steering dish turns to, torque sensor detects the corner of steering handwheel and the size of torque, voltage signal is transported to electronic control unit (ECU), torque voltage signal, corner and vehicle speed signal etc. that electronic control unit detects according to torque sensor, control the power steering torque that electrical motor is exported corresponding size and Orientation, thereby produce auxiliary power.The utility model, taking existing EPS as basis, installs autosteerer additional, realizes direction of traffic Based Intelligent Control.
Summary of the invention
Can only manually operate the problem that turns to, lacks Based Intelligent Control by chaufeur for existing EPS vehicle, the utility model designs a kind of automatic steering control device, and according to turning to requirement, intelligence changes vehicle traveling direction.For achieving the above object, the concrete technical scheme of the utility model is as follows: a kind of automatic steering control device based on EPS, comprise that electric boosting steering system is made up of torque sensor, car speed sensor, rotary angle transmitter, electronic control unit, motor controller and mechanical steering system, also comprise automatic steering control device, automatic steering control device comprises: upper computer, control module, torque analog module and mode selection module; Upper computer and control module wireless connections, receive turning to of user and require and send steering order to control module; Control module is made up of micro controller system, input end is connected with the rotary angle transmitter of upper computer and electric boosting steering system, mouth is connected with torque analog module and mode selection module, for receiving from the bearing circle information of rotary angle transmitter with from the steering order information of upper computer, send control signal to torque analog module and mode selection module; Torque analog module is made up of digital regulation resistance, input end is connected with control module, and mouth is connected with mode selection module, for receiving the control signal of control module, the resistance value that changes digital regulation resistance obtains the voltage signal of expection, outputs to mode selection module; Mode selection module is made up of electronic switch, input end is connected with the torque sensor of control module, torque analog module and electric boosting steering system, mouth is connected with the electronic control unit of electric boosting steering system, for receiving the order of control module, from the delivery channel of torque sensor and the delivery channel of torque analog module, select a-road-through road power transmission sub-control unit.
Further, above-mentioned automatic steering control device does not change former electric boosting steering system host-host protocol and control flow.
Further, when above-mentioned automatic steering control device does not start, mode selection module is output as the output signal from the torque sensor of electric boosting steering system.
Compared with prior art, the utility model takes full advantage of angular transducer, electronic control unit and the mechanical steering unit of former car electric power steering, has realized bearing circle from turning to closed loop control.This installation cost is low, turns to accurately, and reliability is high, and volume is little, easy for installation, can enable when needed, does not affect the use of original EPS.
Brief description of the drawings
Fig. 1 is the original electric boosting steering system structure principle chart of vehicle.
Fig. 2 is the automatic steering control device structure principle chart based on EPS.
Fig. 3 is torque analog module control circuit figure.
Fig. 4 is mode selection module control circuit figure.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is further described.
The utility model is to increase automatic steering control device on the basis of existing vehicle electric servo steering system, realizes the auto-steering of vehicle.Fig. 1 is the original electric boosting steering system structure principle chart of vehicle, and electric boosting steering system comprises torque sensor, car speed sensor, rotary angle transmitter, electronic control unit, motor controller and mechanical steering system.Chaufeur is in the time that steering dish turns to, and the size that torque sensor detects turning to of steering handwheel and torque produces electric signal, and electric signal transmission is arrived to electronic control unit; Car speed sensor and rotary angle transmitter detect respectively the speed of a motor vehicle and work as front hook and produce electric signal power transmission sub-control unit; Electronic control unit produces output according to the incoming signal from torque sensor, car speed sensor and rotary angle transmitter and send motor controller, sends instruction control machinery steering swivel system by motor controller, realizes motor turning.
Fig. 2 is the automatic steering control device structure principle chart based on EPS, and the automatic steering control device based on EPS comprises electric boosting steering system and automatic steering control device; Automatic steering control device comprises: upper computer, control module, torque analog module and mode selection module; Upper computer is hand-held intelligent terminal, and what the present embodiment used is Android smart mobile phone, with control module wireless connections, receives turning to of user and requires and send steering order to control module; Control module is made up of micro controller system, the micro controller system of the XC866 of the Infineon model that the present embodiment uses; Control module input end is connected with the rotary angle transmitter of upper computer and electric boosting steering system, mouth is connected with torque analog module and mode selection module, for receiving from the bearing circle information of rotary angle transmitter with from the steering order information of upper computer, send control signal to torque analog module and mode selection module; Torque analog module is made up of digital regulation resistance, input end is connected with control module, and mouth is connected with mode selection module, for receiving the control signal of control module, the resistance value that changes digital regulation resistance obtains the voltage signal of expection, outputs to mode selection module; Mode selection module is made up of electronic switch, input end is connected with the torque sensor of control module, torque analog module and electric boosting steering system, mouth is connected with the electronic control unit of electric boosting steering system, for receiving the order of control module, from the delivery channel of torque sensor and the delivery channel of torque analog module, select a-road-through road power transmission sub-control unit.
The utility model automatic steering control device is without changing former car EPS host-host protocol and control flow, under the control of control module, selected manually to turn to or auto-steering by mode selection module, and direction information is transferred to electronic control unit, drive motor work, realizes the control to motor turning.In the time that automatic steering control device does not start, mode selection module is output as the output signal from the torque sensor of electric boosting steering system.
Fig. 3 is torque analog module control circuit figure.Torque analog module is made up of two digital regulation resistances (X9C103) and permanent resistor.The control port of digital regulation resistance is connected with the micro controller system of control module, and digital regulation resistance receives the different pulse number that control module is sent, and changes the resistance of potential device, realizes the variation of output voltage.Control module, according to the command signal of upper computer, analyzes the voltage of torque analog module output, calculates the resistance of two digital regulation resistances, sends corresponding pulse count.
Fig. 4 is mode selection module control circuit figure.The multichannel that mode selection module is made up of multidiameter option switch (CD4052) is selected module, has 4 pairs of passages, and its control port is connected with control module, changes A, B port level signal, can connect corresponding pair of channels.This device is by the EPS moment of torsion Voltage-output circuit of former car by X0, the input of Y0 port, and simulation torque outlet line, by X1, the input of Y1 port, is exported by public output mouth.Control module, according to upper computer instruction, is connected pair of channels.In the time that this device does not start, acquiescence is connected the outlet line of former car.
Claims (3)
1. the automatic steering control device based on EPS, comprise electric boosting steering system, formed by torque sensor, car speed sensor, rotary angle transmitter, electronic control unit, motor controller and mechanical steering system, it is characterized in that: also comprise automatic steering control device; Described automatic steering control device comprises: upper computer, control module, torque analog module and mode selection module; Described upper computer and control module wireless connections, receive turning to of user and require and send steering order to control module; Described control module is made up of micro controller system, input end is connected with the rotary angle transmitter of upper computer and electric boosting steering system, mouth is connected with torque analog module and mode selection module, for receiving from the bearing circle information of rotary angle transmitter with from the steering order information of upper computer, send control signal to torque analog module and mode selection module; Described torque analog module is made up of digital regulation resistance, input end is connected with control module, and mouth is connected with mode selection module, for receiving the control signal of control module, the resistance value that changes digital regulation resistance obtains the voltage signal of expection, outputs to mode selection module; Described mode selection module is made up of electronic switch, input end is connected with the torque sensor of control module, torque analog module and electric boosting steering system, mouth is connected with the electronic control unit of electric boosting steering system, for receiving the order of control module, from the delivery channel of torque sensor and the delivery channel of torque analog module, select a-road-through road power transmission sub-control unit.
2. the automatic steering control device based on EPS as claimed in claim 1, is characterized in that: described automatic steering control device does not change former electric boosting steering system host-host protocol and control flow.
3. the automatic steering control device based on EPS as claimed in claim 1, is characterized in that: when described automatic steering control device does not start, mode selection module is output as the output signal from the torque sensor of electric boosting steering system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420330830.6U CN203902645U (en) | 2014-06-19 | 2014-06-19 | Automatic steering control device based on EPS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420330830.6U CN203902645U (en) | 2014-06-19 | 2014-06-19 | Automatic steering control device based on EPS |
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| Publication Number | Publication Date |
|---|---|
| CN203902645U true CN203902645U (en) | 2014-10-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420330830.6U Expired - Fee Related CN203902645U (en) | 2014-06-19 | 2014-06-19 | Automatic steering control device based on EPS |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015795A (en) * | 2014-06-19 | 2014-09-03 | 江苏大学 | Automatic steering control method and device based on EPS |
| CN107735308A (en) * | 2015-06-22 | 2018-02-23 | 日立汽车系统株式会社 | Vehicle steering gear with auto-pilot function |
| CN109070934A (en) * | 2016-03-24 | 2018-12-21 | 捷太格特欧洲公司 | The method for managing assisted diversion using the indirect reconstruct of steering-wheel torque information |
| CN110001759A (en) * | 2019-03-11 | 2019-07-12 | 江苏大学 | DAS (Driver Assistant System) and state switching method based on EPS state machine |
-
2014
- 2014-06-19 CN CN201420330830.6U patent/CN203902645U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015795A (en) * | 2014-06-19 | 2014-09-03 | 江苏大学 | Automatic steering control method and device based on EPS |
| CN104015795B (en) * | 2014-06-19 | 2017-01-25 | 江苏大学 | Automatic steering control method and device based on EPS |
| CN107735308A (en) * | 2015-06-22 | 2018-02-23 | 日立汽车系统株式会社 | Vehicle steering gear with auto-pilot function |
| CN107735308B (en) * | 2015-06-22 | 2019-10-25 | 日立汽车系统株式会社 | Vehicle steering device with automatic steering function |
| CN109070934A (en) * | 2016-03-24 | 2018-12-21 | 捷太格特欧洲公司 | The method for managing assisted diversion using the indirect reconstruct of steering-wheel torque information |
| CN110001759A (en) * | 2019-03-11 | 2019-07-12 | 江苏大学 | DAS (Driver Assistant System) and state switching method based on EPS state machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141029 Termination date: 20200619 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |