CN208165094U - The redundant electronic steering system of automatic driving vehicle - Google Patents
The redundant electronic steering system of automatic driving vehicle Download PDFInfo
- Publication number
- CN208165094U CN208165094U CN201820257258.3U CN201820257258U CN208165094U CN 208165094 U CN208165094 U CN 208165094U CN 201820257258 U CN201820257258 U CN 201820257258U CN 208165094 U CN208165094 U CN 208165094U
- Authority
- CN
- China
- Prior art keywords
- electronic
- automatic driving
- driving vehicle
- steering system
- power assist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004891 communication Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model discloses a kind of redundant electronic steering systems of automatic driving vehicle, including two electronic power assist steering units；Each electronic power assist steering unit includes processor, and corner torque sensor and motor connected to the processor respectively.The utility model realizes the full redundancy of electric steering system, can satisfy the safety requirements of automatic Pilot.
Description
Technical field
The utility model belongs to automotive electronics steering technique field, and in particular to a kind of redundant electronic of automatic driving vehicle
Steering system.
Background technique
With Modern technological progress and development in science and technology, requirement of the people to vehicle is higher and higher, is meeting tradition traveling
On the basis of, it is also necessary to the intelligentized control method that can be realized vehicle, as pilotless automobile, adaptive cruise, vehicle active safety,
It automatically parks etc. functions.Electric Power Steering Control System therein is as the pith in intelligentized control method, for real
Now intelligence changes the driving direction of automobile, and the quality of performance will directly influence the steering behaviour of automobile, and manipulate steady
Qualitative and traveling safety.
Existing Electric Power Steering Control System（EPS）By corner torque sensor, vehicle speed sensor, control unit
Manage the composition such as device, assist motor.Its basic functional principle is：The steering wheel torque signal and speed that corner torque sensor measures
Signal gives control unit processor together, and the steering to determine assist motor and power-assisted electric current are handled and calculated through processor
Size, to complete power steering control.But existing Electric Power Steering Control System is to turn to improve based on driver to help
Power is designed, and functional safety grade can only achieve KSIL-B, entirely electronic to help if each of these node is in abnormal
Power steering control system will fail, it will bring serious consequence to safe driving, therefore be unable to satisfy the function peace of automatic Pilot
It is complete to require.
If CN 101308383B discloses a kind of electric power-assisted steering control method and system, which is based on existing
EPS control technology, using the form of dual micro processor processor, primary processor controls assist motor work, monitors from processor
The working condition of primary processor, then by depriving the right to work of primary processor from processor, takes and generation when primary processor operation irregularity
Control assist motor work normally, constitute Redundant Control mode.Electric boosting steering system with redundancy control capability can
To improve the reliability of electric powered steering control system well, automobile driving safe and comfort are effectively improved.But it should
System has carried out redundancy just for processor, if the sensor and/or components or electronic of Electric Power Steering Control System
In the case that the components of machine fail, which is still unable to maintain that steering assistance function.In addition, the system is still for base
It is turned in driver and improves what power-assisted was designed, be equally unable to satisfy the functional safety requirement of automatic Pilot.
Therefore, it is necessary to develop a kind of redundant electronic steering system of automatic driving vehicle.
Summary of the invention
The purpose of this utility model is to improve a kind of redundant electronic steering system of automatic driving vehicle, is driven automatically with meeting
The safety requirements sailed.
The redundant electronic steering system of automatic driving vehicle described in the utility model, including two electronic power assist steering lists
Member, by two electronic power assist steering unit co- controlling Vehicular turns；
Each electronic power assist steering unit includes processor, and corner torque connected to the processor passes respectively
Sensor and motor.
It further, further include central controller, which is connect with two processors respectively by automobile bus.
It further include safety governor, which connect with two processors respectively；Redundancy has been carried out to controller,
When one of controller, which breaks down, to fail, another controller also can ensure that the normal operation of whole system, therefore mention
The high safety and reliability of automatic Pilot.
Further, further include power module, the power module respectively with central controller and two electrical steering units
Electrical connection.
It further, further include power module, which includes main power source and from power supply；
With central controller and wherein an electronic power assist steering unit is electrically connected the main power source respectively；
It is described to be electrically connected respectively with safety governor and another electronic power assist steering unit from power supply；
Redundancy is carried out to power supply, when one of power supply, which breaks down, to fail, another power supply also can ensure that one
Road electronic power assist steering unit operates normally, at this point, taking over entire system by the electronic power assist steering unit that can be operated normally
System work, therefore improve the safety and reliability of automatic Pilot.
The central controller is connect by gateway, the first automobile bus with two processors；The safety governor is logical
The second automobile bus is crossed to connect with two processors；Redundancy is carried out to automobile bus, central controller passes through the first automobile
Bus is communicated with two electronic power assist steering units, and safety governor is turned by the second automobile bus and two electronics power-assisteds
It is communicated to unit, when the first automobile bus, which breaks down, to fail, the second automobile bus can also ensure that braking system energy
It is enough to operate normally, therefore improve the safety and reliability of automatic Pilot.
Pass through a communication line connection between two processors；The friendship of information is carried out between two processors by communication line
Mutually, mutual verification and the monitoring etc. being mainly used between two processors.
It is connected between two processors by two communication lines, is i.e. realizes the redundancy of communication line between two processors, when
When wherein a communication line fails, another communication line also can ensure that the normal operation of system, therefore improves and drive automatically
The safety and reliability sailed.
Described two electronic power assist steering unit co- controlling Vehicular turns；When two electronic power assist steering units are normal
When, the vehicle as described in two electronic power assist steering unit co- controllings, which is realized, to be turned to, and the peak torque of each motor does not need to reach
Peak torque needed for vehicle, therefore the performance requirement to motor can be suitably reduced, meeting automatic Pilot safety to reach
Under the premise of, it can reduce vehicle cost.
The beneficial effects of the utility model：When two processors, two corner torque sensors and two electricity in system
In machine when any one equal failure, another electronic power assist steering unit operated normally also can individually control vehicle realization
It turns to, therefore can satisfy the safety requirements of automatic Pilot.
Detailed description of the invention
Fig. 1 is the functional block diagram of embodiment one in the utility model；
The control flow chart of two electronic power assist steering units in this utility model of Fig. 2；
Fig. 3 is the functional block diagram of embodiment two in the utility model；
Fig. 4 is the functional block diagram of embodiment three in the utility model；
Fig. 5 is the control flow chart of central controller and safety governor in the utility model；
Fig. 6 is the functional block diagram of example IV in the utility model；
Fig. 7 is main power source and the control flow chart from power supply in the utility model；
In figure：1, corner torque sensor, 2, processor, 3, motor, 4, central controller, 5, main power source, the 6, first vapour
Vehicle bus, 7, gateway, 8, safety governor, 9, from power supply, the 10, second automobile bus, 11, communication line.
Specific embodiment
Hereinafter, based on Fig. 1 to Fig. 7 to the embodiment party of the redundant electronic steering system of the automatic driving vehicle of the utility model
One~embodiment of formula four is described in detail.
Embodiment one
As depicted in figs. 1 and 2, the redundant electronic steering system of automatic driving vehicle described in the utility model, including two
A electronic power assist steering unit.
Each electronic power assist steering unit（That is EPS）It include processor 2, and connect respectively with processor 2
Corner torque sensor 1 and motor 3.
The corner torque sensor 1 is for output torque signal and angle signal and is sent to coupled processing
Device 2.Wherein, the torque signal that corner torque sensor is exported feeds back to EPS, guarantees that EPS reaches desired corner.
The processor 2 from automobile bus for obtaining current desired steering wheel angle signal.
The processor 2 is also used to according to current desired steering wheel angle signal and torque signal and angle signal,
The total torque value K that whole system need to currently export is calculated, and calculates respectively place electronic power assist steering according to distribution mechanism
The torque value that unit need to export.
The processor 2 is also used to control the motor 3 of corresponding connection according to torque value, controls the vehicle realization and turns
To.
The distribution mechanism is：When two electronic power assist steering units are normal, two electronic power assist steering units are same
When work（For example, respectively exporting 0.5K）, vehicle described in co- controlling, which is realized, to be turned to,
When in one of electronic power assist steering unit processor or corner torque sensor or motor fail
When, another normal electronic power assist steering unit adapter system individually controls the vehicle and realizes steering.At this point, system meeting
Prompt is issued, to remind driver's system to break down, needs driver's adapter tube automobile.
As an example, when the processor in electronic power assist steering unit Y breaks down failure, at this point, by electronics power-assisted
Steering unit X adapter system individually controls the vehicle and realizes steering.
As another example, when the corner torque sensor in electronic power assist steering unit Y breaks down failure, this
When, by electronic power assist steering unit X adapter system, individually controls the vehicle and realize steering.
As another example, when the motor in electronic power assist steering unit X breaks down failure, at this point, being helped by electronics
Power steering unit Y adapter system individually controls the vehicle and realizes steering.
In the present embodiment, the redundant electronic steering system of automatic driving vehicle further includes central controller 4, center control
Device 4 processed is that operation and decision Function for Automatic Pilot are used on vehicle, and central controller 4 is for calculating current desired direction
Disk angular signal is simultaneously sent on automobile bus.
As shown in Figure 1, further include power module in the present embodiment, the power module respectively with central controller 4 and two
A electronic power assist steering unit electrical connection is central controller 4 and two electronic power assist steering unit power supplies.In the present embodiment,
Power module only includes main power source 5, is central controller 4 and two electronic power assist steering unit power supplies by main power source 5.
It can be seen that whole system still can execute automatically when single point failure occurs for any a part in ESP system
Drive course changing control.
Embodiment two
As shown in figure 3, the redundant electronic steering system of the automatic driving vehicle, central controller 4 by gateway 7,
First automobile bus 6 is connect with two processors 2, and central controller 4 is by calculated current desired steering wheel angle signal
It is sent on the first automobile bus 6 by gateway 7, two processors 2 read from the first automobile bus 6 controlled by center respectively
The current desired steering wheel angle signal that device 4 issues.
In the present embodiment, power module only includes main power source 5, is central controller 4, gateway 7 and two by main power source 5
A electronic power assist steering unit power supply.
In the present embodiment, the first automobile bus 6 uses public CAN.Certainly, the first automobile bus 6 also can be used on vehicle
Other buses realize the interactions of data.
Rest part is identical as embodiment two.
Embodiment three
As shown in Figure 4 and Figure 5, the redundant electronic steering system of automatic driving vehicle further includes safety governor 8, the peace
Full controller 8 is connect by the second automobile bus 10 with two processors 2.Safety governor 8 is to electronic power assist steering unit
It controls identical as control of the central controller 4 to electronic power assist steering unit.
The purpose that safety governor 8 is added in the present embodiment is, to realize the redundancy of controller, central controller 4 and peace
Full controller 8 can be verified mutually.When central controller 4 is in normal operating conditions, is calculated and issued by central controller 4 and worked as
Preceding desired steering wheel angle signal；When central controller 4, which breaks down, to fail, the current expectation of the sending of central controller 4
Steering wheel angle signal will become invalid signals, at this point, safety governor issue current desired steering wheel angle signal
Become useful signal, this design method can ensure that the same time is sent to the current desired side of electronic power assist steering unit
To disk angular signal, only signal is useful signal all the way.
As an example, as shown in figure 5, system starts, when central controller 4 does not fail, system is controlled by center
Device 4 calculates current desired steering wheel angle signal, and two-way is divided to be sent to two electronic power assist steering units.At this point, safety
Controller 8 can also calculate current desired steering wheel angle signal, but not issue.
As another example, as shown in figure 5, system starts, when central controller 4, which breaks down, to fail, at this time
The current desired steering wheel angle signal that central controller 4 issues becomes invalid signals, works as early period by the transmission of safety governor 8
The steering wheel angle signal of prestige gives two processors 2.Meanwhile system can also issue prompt, to remind driver that system has occurred
Failure needs driver's adapter tube vehicle.
In the present embodiment, other buses are also can be used certainly using privately owned CAN in the second automobile bus 10.
In the present embodiment, power module only includes main power source 5, is central controller 4, gateway 7, safety by main power source 5
Controller 8 and two electronic power assist steering unit power supplies.
Rest part is identical as embodiment three.
Example IV
As shown in Figure 6 and Figure 7, the redundant electronic steering system of the automatic driving vehicle, the power module include master
Power supply 5 and from power supply 9.
Main power source 5 respectively with central controller 4, gateway 7 and a wherein electronic power assist steering unit（Such as：Electronics helps
Power steering unit X）Electrical connection is central controller 4, gateway 7 and electronic power assist steering unit X power supply；It is described to distinguish from power supply 9
With safety governor 8 and another electronic power assist steering unit（Such as：Electronic power assist steering unit Y）Electrical connection, for safety control
Device 8 and electronic power assist steering unit Y power supply processed；To realize the redundancy of power supply.
As an example, as shown in fig. 7, system starts, when system monitoring breaks down to main power source 5, at this time in
Centre controller 4, gateway 7 and electronic power assist steering unit X will be powered down, that is, can not work normally.But due to 8 He of safety governor
Electronic power assist steering unit Y is by powering from power supply 9, therefore electronic power assist steering unit Y still is able to work normally, to guarantee system
It can still operate normally.When system monitoring breaks down to main power source 5, system can equally issue warning note, be driven with reminding
Member's system breaks down, and needs driver's adapter tube vehicle.
As another example, system starts, when break down from power supply 9 fail when, safety governor 8 and electricity at this time
Sub- power-assisted steering unit Y will be powered down, that is, can not work normally.But due to central controller 4, gateway 7 and electronic power assist steering
Unit X is powered by main power source 5, and electronic power assist steering unit X remains to work normally at this time, can normally be transported with guaranteeing system still
Row.When break down from power supply 9 fail when, system can equally issue prompt, to remind driver's system to break down, and notify
Driver's adapter tube vehicle.
Rest part is identical as embodiment three.
It is also connected by one or two communication line 11 between one~embodiment of embodiment four, two processors 2, two
The interaction for carrying out information between a processor 2 by communication line 11, is mainly used for the phase of the calculated result between two processors 2
Mutually verification and malfunction monitoring.Preferably, communication line 11 uses two, that is, realizes the redundancy of communication line, leads to when one therein
When believing line failure failure, another communication line can also ensure that the normal operation of system.
It is helped when two electronic power assist steering units are normal by two electronics in one~embodiment of embodiment four
Vehicle described in power steering unit co- controlling, which is realized, to be turned to, and the peak torque of each motor does not need maximum needed for reaching vehicle
Torque, therefore the performance requirement that can suitably reduce to motor can reduce vehicle to reach under the premise of meeting automatic Pilot safety
Cost.
The peak torque of each motor 3 is respectively peak torque B needed for vehicle（I.e. vehicle is in static and fully loaded, will be square
Torque needed for going to ultimate angle to disk）50%~100%, when vehicle is under nonstatic state, even if there is an electronics to turn
It breaks down and fails to power-assisted unit, another electrical steering power-assisted unit also can satisfy the steering requirement of vehicle.
Preferably, the peak torque of each motor is respectively 50% of maximum torque B needed for vehicle；Its advantage is：
（1）When entire braking system is normal, the two ability after being added is B, can satisfy the demand of Car design；（2）Through trying
Verifying, in single point failure, even if setting 0.5B, Single Electron power-assisted steering unit for the peak torque of motor
It can satisfy steering demand, in addition to power-assisted needed for static or Ultra-Low Speed operating condition end, but vehicle is in static or Ultra-Low Speed, from
Dynamic driving condition originally belongs to safe condition, therefore the peak torque of each motor is designed as the peace that 0.5B ensures that system
Entirely；（3）The peak torque value of motor is higher, and cost configuration is higher, and the peak torque of each motor is designed as 0.5B, can
It is minimum to also achieve cost configuration for the safety and reliability for enough guaranteeing system；（4）If the peak torque of two motors not phase
Together, such as；One peak torque is 0.3B, and a peak torque is 0.7B, when two need use biggish torque simultaneously（Than
Such as：0.3B）When, peak torque is that the motor of 0.3B needs oepration at full load；And the motor that peak torque is 0.7B is exported
Then very comfortable, such case will lead to the motor that peak torque is 0.3B and be easier to fail the torque of 0.3B；In addition, if peak
It is worth the motor failure that torque is 0.7B, peak torque is the torque that can not export 0.6B for the motor of 0.3B, therefore at some
When single point failure, system not can guarantee the basic assist function that automatic Pilot is switched to mankind's driving.
Claims (9)
1. a kind of redundant electronic steering system of automatic driving vehicle, which is characterized in that including two electronic power assist steering units,
Each electronic power assist steering unit includes processor（2）, and respectively with processor（2）The corner torque of connection
Sensor（1）And motor（3）.
2. the redundant electronic steering system of automatic driving vehicle according to claim 1, it is characterised in that：It further include center
Controller（4）, the central controller（4）By automobile bus respectively with two processors（2）Connection.
3. the redundant electronic steering system of automatic driving vehicle according to claim 2, which is characterized in that further include safety
Controller（8）, the safety governor（8）Respectively with two processors（2）Connection.
4. the redundant electronic steering system of automatic driving vehicle according to claim 2, it is characterised in that：It further include power supply
Module, the power module respectively with central controller（4）And two electrical steering unit electrical connections.
5. the redundant electronic steering system of automatic driving vehicle according to claim 3, it is characterised in that：It further include power supply
Module, the power module include main power source（5）With from power supply（9）；
The main power source（5）Respectively with central controller（4）And wherein an electronic power assist steering unit is electrically connected；
It is described from power supply（9）Respectively with safety governor（8）And another electronic power assist steering unit electrical connection.
6. the redundant electronic steering system of automatic driving vehicle according to claim 5, it is characterised in that：The center control
Device processed（4）Pass through gateway（7）, the first automobile bus（6）With two processors（2）Connection；
The safety governor（8）Pass through the second automobile bus（10）With two processors（2）Connection.
7. the redundant electronic steering system of automatic driving vehicle according to any one of claims 1 to 6, it is characterised in that：Two
A processor（2）Between pass through one or two communication lines（11）Connection.
8. the redundant electronic steering system of automatic driving vehicle according to any one of claims 1 to 6, it is characterised in that：Institute
State two electronic power assist steering unit co- controlling Vehicular turns.
9. the redundant electronic steering system of automatic driving vehicle according to claim 7, it is characterised in that：It is described two
Electronic power assist steering unit co- controlling Vehicular turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257258.3U CN208165094U (en) | 2018-02-13 | 2018-02-13 | The redundant electronic steering system of automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820257258.3U CN208165094U (en) | 2018-02-13 | 2018-02-13 | The redundant electronic steering system of automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208165094U true CN208165094U (en) | 2018-11-30 |
Family
ID=64384774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820257258.3U Active CN208165094U (en) | 2018-02-13 | 2018-02-13 | The redundant electronic steering system of automatic driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208165094U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038480A (en) * | 2019-12-12 | 2020-04-21 | 苏州智加科技有限公司 | Automatic driving execution system and automatic driving control command execution method |
| WO2020133005A1 (en) * | 2018-12-26 | 2020-07-02 | 华为技术有限公司 | Vehicle control method, related device, and computer storage medium |
| CN111367726A (en) * | 2020-05-28 | 2020-07-03 | 奥特酷智能科技(南京)有限公司 | Safe redundant automatic driving computing platform and control method thereof |
| WO2020173122A1 (en) * | 2019-02-25 | 2020-09-03 | 南京航空航天大学 | Dual-electric-motor dual-power supply steer-by-wire system and fault-tolerant control method therefor |
| CN111634326A (en) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | Redundant steer-by-wire device, system architecture and driving equipment |
| CN111674458A (en) * | 2020-06-11 | 2020-09-18 | 中国第一汽车股份有限公司 | Redundant mechanism steer-by-wire device and control method |
| CN112298208A (en) * | 2020-10-21 | 2021-02-02 | 长城汽车股份有限公司 | Automatic driving transverse auxiliary control method and transverse auxiliary system |
| CN112440896A (en) * | 2019-09-04 | 2021-03-05 | 浙江吉利汽车研究院有限公司 | L3 intelligent driving power grid system and vehicle |
| CN113247088A (en) * | 2021-06-30 | 2021-08-13 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function and control method |
| GB2628377A (en) * | 2023-03-21 | 2024-09-25 | Zf Automotive Uk Ltd | Controlling steer-by-wire steering apparatus |
-
2018
- 2018-02-13 CN CN201820257258.3U patent/CN208165094U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020133005A1 (en) * | 2018-12-26 | 2020-07-02 | 华为技术有限公司 | Vehicle control method, related device, and computer storage medium |
| US10994749B2 (en) | 2018-12-26 | 2021-05-04 | Huawei Technologies Co., Ltd. | Vehicle control method, related device, and computer storage medium |
| WO2020173122A1 (en) * | 2019-02-25 | 2020-09-03 | 南京航空航天大学 | Dual-electric-motor dual-power supply steer-by-wire system and fault-tolerant control method therefor |
| CN112440896A (en) * | 2019-09-04 | 2021-03-05 | 浙江吉利汽车研究院有限公司 | L3 intelligent driving power grid system and vehicle |
| CN111038480A (en) * | 2019-12-12 | 2020-04-21 | 苏州智加科技有限公司 | Automatic driving execution system and automatic driving control command execution method |
| CN111634326A (en) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | Redundant steer-by-wire device, system architecture and driving equipment |
| CN111367726A (en) * | 2020-05-28 | 2020-07-03 | 奥特酷智能科技(南京)有限公司 | Safe redundant automatic driving computing platform and control method thereof |
| CN111367726B (en) * | 2020-05-28 | 2022-03-01 | 奥特酷智能科技(南京)有限公司 | Safe redundant automatic driving computing platform and control method thereof |
| WO2021249223A1 (en) * | 2020-06-11 | 2021-12-16 | 中国第一汽车股份有限公司 | Redundant mechanism steer-by-wire device and control method |
| CN111674458A (en) * | 2020-06-11 | 2020-09-18 | 中国第一汽车股份有限公司 | Redundant mechanism steer-by-wire device and control method |
| CN112298208A (en) * | 2020-10-21 | 2021-02-02 | 长城汽车股份有限公司 | Automatic driving transverse auxiliary control method and transverse auxiliary system |
| CN113247088A (en) * | 2021-06-30 | 2021-08-13 | 中国第一汽车股份有限公司 | Wire-controlled steering device with redundancy function and control method |
| CN113247088B (en) * | 2021-06-30 | 2023-02-24 | 中国第一汽车股份有限公司 | Steering-by-wire device with redundant function and control method |
| GB2628377A (en) * | 2023-03-21 | 2024-09-25 | Zf Automotive Uk Ltd | Controlling steer-by-wire steering apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208165094U (en) | The redundant electronic steering system of automatic driving vehicle | |
| CN109733461A (en) | The redundant electronic steering system and control method of automatic driving vehicle | |
| CN208053434U (en) | Vehicle redundant electronic servo steering system | |
| CN208053433U (en) | Vehicle redundant electronic braking in a turn system | |
| CN111427367B (en) | Vehicle Redundant Control System | |
| CN109733460A (en) | Redundant electronic braking in a turn system | |
| CN207931706U (en) | A kind of vehicle redundant braking system | |
| CN113602281B (en) | A redundant backup system for unmanned vehicles | |
| CN106080206A (en) | A kind of control system of electric automobile and method | |
| CN216833883U (en) | Double-control redundant steer-by-wire system | |
| CN113044107A (en) | Redundant steer-by-wire executor architecture | |
| CN102275611A (en) | Distributed automobile line control steering system and control method | |
| CN111942349A (en) | Brake redundancy backup system and brake method suitable for automatic driving | |
| WO2023125453A1 (en) | Electric braking system based on can bus | |
| CN106240493A (en) | Electric automobile wire-controlled apparatus based on CAN | |
| CN207937819U (en) | A kind of double man-machine interactive systems of vehicle | |
| CN211786770U (en) | Vehicle redundancy control system | |
| CN207955769U (en) | Vehicle redundant electronic steering | |
| CN107499374A (en) | A kind of double remaining steer-by-wire systems | |
| CN105523025A (en) | Control system for at least one electric motor, usable as a generator, of a vehicle; and braking system for a vehicle | |
| CN113120071B (en) | Electric power steering control system | |
| CN107499260B (en) | Multi-node hierarchical network control system for multi-axis driving vehicle | |
| CN112550432B (en) | Steering system and transportation tool | |
| CN112623023A (en) | Dual-redundancy steer-by-wire control system and method | |
| CN113459832A (en) | Circuit system of vehicle power chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |