CN215922312U - Drive-by-wire steering system and autopilot carrier - Google Patents
Drive-by-wire steering system and autopilot carrier Download PDFInfo
- Publication number
- CN215922312U CN215922312U CN202121597084.3U CN202121597084U CN215922312U CN 215922312 U CN215922312 U CN 215922312U CN 202121597084 U CN202121597084 U CN 202121597084U CN 215922312 U CN215922312 U CN 215922312U
- Authority
- CN
- China
- Prior art keywords
- steer
- stator windings
- fault
- coil
- wire system
- 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
Images
Landscapes
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
本申请涉及一种线控转向系统和自动驾驶载具，其中，线控转向系统包括：具有电机(11)的转向执行器(10)，电机(11)包括相互独立的冗余定子绕组(111，112)；两个电机控制器(21，22)，被配置为分别控制冗余定子绕组(111，112)中的一组定子绕组；线控转向控制器(30)，被配置为将方向盘转动机械输入转换成数字输出信号；控制电路(40)，与两个电机控制器(21，22)相连，被配置为检测冗余定子绕组(111，112)的电流变化来输出定子绕组的故障信号；根据该数字输出信号和该故障信号向两个电机控制器(21，22)提供控制信号，以使得在冗余定子绕组(111，112)出现故障的情况下可继续执行转向操作。该申请，提高了安全性。
The present application relates to a wire-steering system and an automatic driving vehicle, wherein the wire-steering system comprises: a steering actuator (10) having a motor (11), and the motor (11) comprises mutually independent redundant stator windings (111) , 112); two motor controllers (21, 22) configured to respectively control a set of stator windings in redundant stator windings (111, 112); a steering-by-wire controller (30) configured to control the steering wheel The rotating mechanical input is converted into a digital output signal; the control circuit (40), connected to the two motor controllers (21, 22), is configured to detect the current change of the redundant stator windings (111, 112) to output the fault of the stator winding signal; providing control signals to the two motor controllers (21, 22) according to the digital output signal and the fault signal, so that the steering operation can continue in the event of a fault of the redundant stator windings (111, 112). This application improves security.
Description
Technical Field
The application relates to the field of autopilot, in particular to a wire-controlled steering system and an autopilot carrier.
Background
In the 60's of the 20 th century, a Hydraulic Power Steering (HPS) system appeared, which reduces the burden on the driver during the Steering operation and significantly improves the overall driving experience. However, due to the efficiency of hydraulic Power Steering systems, Electric Power Steering (EPS) systems have been developed since then, and the amount of equipment on passenger cars has now exceeded 50%. EPS is also applied to driving assistance systems such as Lane Departure Warning system (LDW), Lane keeping assistance system (LKA) and Traffic Jam assistance system (TJA).
OEM vendors have now mass-produced LDW, LKA and TJA, and other OEMs are planning to pull their products out in the next few years. These systems remain systems related to the responsibility of the driver, which will preferentially perform the operation of the driver in case of an emergency. However, if the system is mature enough, its decision will be considered safer than the driver's operation, in which case the Steer-by-Wire (SbW) system will be very efficient and likely to be the mainstay, especially in fully autonomous driving situations. This is similar to the faster operation provided by fly-by-wire control systems on aircraft.
However, safety is critical and steer-by-wire systems must comply with automotive safety integrity level D (ASIL-D) (ISO 26262), which requires a failure rate <10^ (-8)/hour (<10 FIT). The steer-by-wire system in the related art cannot meet the safety requirement due to the problems of motor failure and the like.
SUMMERY OF THE UTILITY MODEL
To solve the above technical problem or at least partially solve the above technical problem, the present application provides a steer-by-wire system and an autonomous vehicle.
In a first aspect, the present application provides a steer-by-wire system, comprising: the steering actuator comprises a motor, wherein the motor comprises mutually independent redundant stator windings; two motor controllers configured to control a set of the redundant stator windings, respectively; a steer-by-wire controller configured to convert a steering wheel turning mechanical input into a digital output signal; and a control circuit connected to the two motor controllers and the steer-by-wire controller, including: a fault detection unit configured to detect a current variation of the redundant stator winding to output a fault signal of the stator winding; and a control unit configured to provide control signals to the two motor controllers in accordance with the digital output signal and the fault signal to enable continued performance of the steering operation in the event of a fault in at least one of the redundant stator windings.
In certain embodiments, the redundant stator windings are independent of each other in electrical, electromagnetic, and thermal coupling.
In some embodiments, the fault signal includes: coil open-circuit signals of each coil in the redundant stator winding; and a control unit configured to reduce a current of a coil winding of the stator winding in which the coil break signal occurs among the stator windings to make a magnetic field of each coil winding of the stator winding uniform.
In some embodiments, the fault signal includes: coil short-circuit signals of each coil in the redundant stator winding; a control unit configured to suspend a stator winding output in which a coil short-circuit signal occurs among the stator windings and control the output by another stator winding.
In some embodiments, the steer-by-wire system further comprises: a power supply configured to provide power to the steer-by-wire system.
In some embodiments, the steer-by-wire system further comprises: the display unit is connected with the control circuit and is configured to display parameters and fault states of the motor; wherein the control circuit is configured to provide the parameters and the fault status of the motor to the display unit.
In some embodiments, the display unit is further connected to the steer-by-wire controller and configured to display steering angle information of the steering wheel.
In some embodiments, the motor further comprises: an encoder.
In some embodiments, the control circuit includes a Micro Controller Unit (MCU).
In a second aspect, the present application provides an autonomous vehicle comprising the steer-by-wire system described above.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: according to the technical scheme provided by the embodiment of the application, the motor comprises the redundant stator windings which are mutually independent, and the motor can continue to operate under the condition that at least one of the redundant stator windings fails, so that the safety of the steer-by-wire system is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic hardware structure diagram of an implementation manner of a steer-by-wire system according to an embodiment of the present application.
FIG. 2 is a schematic diagram of a stator winding provided by an embodiment of the present application without a fault;
fig. 3 is a schematic diagram of a stator winding that fails according to an embodiment of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
The embodiment of the application provides a steer-by-wire system, which has a fault-tolerant function and provides higher functional safety compared with systems (such as an EPS system and the like) in the related art. And a fly-by-wire operation control system is adopted, so that more rapid operation is provided.
As shown in fig. 1, a steer-by-wire system provided in an embodiment of the present application includes: a steering actuator 10 comprising an electric motor 11, the electric motor 11 comprising mutually independent redundant stator windings 111, 112; two motor controllers 21, 22 configured to control a set of the redundant stator windings 111, 112, respectively, e.g. the motor controller 21 controls the stator winding 111, the motor controller 22 controls the stator winding 112; a steer-by-wire controller 30 configured to convert the steering wheel turning mechanical input into a digital output signal; a control circuit 40 connected to the two motor controllers 21 and 22 and the steer-by-wire controller 30, and configured to detect a change in current of the redundant stator windings 111 and 112 to output a stator winding failure signal; control signals are provided to the two motor controllers 21, 22 on the basis of the digital output signal and the fault signal, so that the electric motor 11 can continue to perform a steering operation in the event of a fault in at least one of the redundant stator windings 111, 112. According to the embodiment of the application, fault tolerance is realized with the least hardware overhead, so that the cost benefit is high. This is a key advantage in attracting the primary supplier to authorize the production and commercialization of this technology.
As shown in fig. 1, the control circuit 40, which is connected to the two motor controllers 21 and 22 and the steer-by-wire controller 30, includes: a fault detection unit 41 configured to detect a current change of the redundant stator windings 111, 112 to output a fault signal of the stator windings; and a control unit 42 configured to provide control signals to the two motor controllers 21, 22 in dependence on the digital output signal and the fault signal to enable continued performance of the steering operation in the event of a fault in at least one of the redundant stator windings (111, 112). In certain embodiments, control circuit 40 includes a micro-control unit, but is not so limited.
In certain embodiments, the redundant stator windings 111, 112 are independent of each other in electrical, electromagnetic, and thermal coupling. The fault propagation between stator windings is avoided, so that the system is guaranteed to meet the safety requirement of ASIL-D, and the technical guarantee is provided for the unmanned technology to reach Level 5, but the method is not limited to the method.
In certain embodiments, the control circuit 40 includes: two failure detection units configured to detect failure signals of the two motor controllers 21, 22, respectively; wherein the control circuit 40 is configured to provide the above-mentioned control signals to both motor controllers 21, 22 in response to the fault signal.
In some embodiments, the fault signal includes: the coil open signal and the coil short signal of each coil in the redundant stator windings 111, 112.
In some embodiments, the fault signal includes: coil open-circuit signals of each coil in the redundant stator winding; and a control unit 42 configured to reduce a current of a coil winding of the stator winding in which the coil break signal occurs among the stator windings to make a magnetic field of each coil winding of the stator winding uniform.
In some embodiments, the fault signal includes: coil short-circuit signals of each coil in the redundant stator winding; and a control unit 42 configured to suspend the stator winding output where the coil short-circuit signal occurs among the stator windings and control the output by the other stator winding.
Illustratively, as shown in FIG. 2, is a first set of stator windings (e.g., stator windings 111 shown in FIG. 1), each pair having 10 turns of coil; as shown in fig. 3, for a second set of stator windings (e.g., stator winding 112 shown in fig. 1), fig. 3 shows a short circuit condition, where the top right coil has 10 turns, where 1 turn contacts the next 1 turn due to insulation problems, etc., and causes a short circuit in the 2-turn coil, from 10 turns to 9 turns. While the remaining two groups V2 and W2 maintain 10 turns of the coil. Therefore, the coil proportion of the second group of stator windings 9:10:10 can form the magnetic field of the motor without the noise and cannot work.
In certain embodiments, the control circuit 40 is configured to provide the aforementioned control signals to the redundant stator windings 111, 112 to homogenize the magnetic field generated by the redundant stator windings 111, 112. The control method can adopt a known technology, and exemplarily, in the situation that the stator winding generates 9:10:10 (namely, the fault signal is a coil open circuit signal), the control circuit 40 sends out a control signal to reduce the current of the other two groups of 10 windings and move the 9-winding coil to achieve the uniform magnetic field. In a short circuit situation (i.e., the fault signal is a coil short circuit signal), the control circuit 40 issues a command to suspend the output of the stator winding of the coil short circuit signal and operate by means of the other stator winding.
In some embodiments, as shown in fig. 1, the steer-by-wire system further includes: a power supply 50 configured to provide power to the steer-by-wire system.
In some embodiments, as shown in fig. 1, the steer-by-wire system further includes: a display unit 60 connected to the control circuit 40 and configured to display parameters and a fault state of the motor 11; the control circuit 40 is configured to provide parameters (e.g., winding phase current, etc.) and fault conditions (e.g., coil open, coil short) of the motor 11 to the display unit 60.
In some embodiments, the display unit 60, which is also connected to the steer-by-wire controller 30, is configured to display steering angle information of the steering wheel.
In some embodiments, as shown in fig. 1, the motor 11 further includes: an encoder 113. The encoder 113 can send feedback signals to determine position, count, speed and direction in the dead-cycle control system.
The embodiment of the application also provides an automatic driving carrier which comprises the steer-by-wire system.
As an example, in the embodiment of the present application, the steering angle output from the steering wheel system is converted into an electric signal of the steering actuator 10, and then transmitted to the two sets of mutually independent motor controllers 21 and 22, thereby driving the mutually independent redundant stator windings 111 and 112 in the motor 11. When one of the sets of windings fails, such as a short circuit or an open circuit in the coil, the other set of windings can continue to operate unaffected. Of course the output power of the motor will be reduced accordingly. Meanwhile, the mechanical connection between the steering wheel and the steering actuating mechanism is cancelled, and a use platform is provided for future unmanned vehicles.
According to the steer-by-wire system, the two independent motor controllers are used for cooperatively controlling the two independent constant-force windings of the motor, so that the motor can continuously work under different working conditions, even under the condition that one group of windings is in fault.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A steer-by-wire system, comprising:
steering actuator (10) comprising an electric motor (11), said electric motor (11) comprising mutually independent redundant stator windings (111, 112);
two motor controllers (21, 22) configured to control a set of the redundant stator windings (111, 112), respectively;
a steer-by-wire controller (30) configured to convert a steering wheel turning mechanical input into a digital output signal; and
a control circuit (40) connected to the two motor controllers (21, 22) and the steer-by-wire controller (30), comprising:
a fault detection unit (41) configured to detect a current change of the redundant stator windings (111, 112) to output a fault signal of the stator windings; and
a control unit (42) configured to provide control signals to the two motor controllers (21, 22) in dependence on the digital output signal and the fault signal to enable continued performance of a steering operation in the event of a fault in at least one of the redundant stator windings (111, 112).
2. The steer-by-wire system of claim 1, wherein the redundant stator windings (111, 112) are independent of each other in electrical, electromagnetic and thermal coupling.
3. The steer-by-wire system according to claim 1 or 2,
the fault signal includes: a coil trip signal for each coil in the redundant stator windings (111, 112);
the control unit (42) is configured to reduce the current of the coil winding of the stator winding of which the coil break signal occurs among the stator windings (111, 112) so as to make the magnetic field of each coil winding of the stator windings uniform.
4. The steer-by-wire system according to claim 1 or 2,
the fault signal includes: a coil short-circuit signal for each coil in the redundant stator windings (111, 112);
the control unit (42) is configured to suspend a stator winding output of the stator windings (111, 112) in which the coil short-circuit signal occurs, and control the stator winding output by the other stator winding.
5. The steer-by-wire system of claim 1, further comprising: a power supply (50) configured to provide power to the steer-by-wire system.
6. The steer-by-wire system of claim 1, further comprising:
a display unit (60) connected to the control circuit (40) and configured to display parameters and fault conditions of the motor (11);
wherein the control circuit (40) is configured to provide the parameter and the fault status of the motor (11) to the display unit (60).
7. The steer-by-wire system of claim 6, wherein the display unit (60), further coupled to the steer-by-wire controller (30), is configured to display steering angle information of a steering wheel.
8. The steer-by-wire system according to claim 1, wherein the motor (11) further comprises: an encoder (113).
9. The steer-by-wire system of claim 1, wherein the control circuit (40) comprises a micro control unit.
10. An autonomous vehicle, characterized by comprising the steer-by-wire system according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121597084.3U CN215922312U (en) | 2021-07-14 | 2021-07-14 | Drive-by-wire steering system and autopilot carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121597084.3U CN215922312U (en) | 2021-07-14 | 2021-07-14 | Drive-by-wire steering system and autopilot carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215922312U true CN215922312U (en) | 2022-03-01 |
Family
ID=80400685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121597084.3U Active CN215922312U (en) | 2021-07-14 | 2021-07-14 | Drive-by-wire steering system and autopilot carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215922312U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119239757A (en) * | 2024-12-05 | 2025-01-03 | 天津德星智能科技有限公司 | A control method for a steer-by-wire actuator system |
-
2021
- 2021-07-14 CN CN202121597084.3U patent/CN215922312U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119239757A (en) * | 2024-12-05 | 2025-01-03 | 天津德星智能科技有限公司 | A control method for a steer-by-wire actuator system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2630569C2 (en) | Vehicle steering control device and steering control method | |
| KR101708083B1 (en) | Fail safe operational steering system for autonomous driving | |
| US11124225B2 (en) | Steering apparatus and method for vehicle | |
| CN107592845B (en) | Electromechanical power steering system | |
| CN107215387A (en) | A kind of automobile double based on steering engagement drives dual control method and system | |
| KR102167906B1 (en) | Apparatus for controlling steering and System for assisting steering including it | |
| JP4792815B2 (en) | Vehicle steering system | |
| CN112141107B (en) | Apparatus for controlling an autonomous vehicle | |
| US12116051B2 (en) | Degradation concept for a steer-by-wire steering system | |
| CN111427367A (en) | Vehicle Redundancy Control System | |
| CN215922312U (en) | Drive-by-wire steering system and autopilot carrier | |
| US12202555B2 (en) | Steering control apparatus and steering control method | |
| US20240123971A1 (en) | Vehicle control device | |
| CN108556767A (en) | A kind of expansible intelligent driving auxiliary system | |
| CN214670119U (en) | Automatic driving control device and vehicle comprising same | |
| CN112660158B (en) | Driving assistance control system | |
| KR101951642B1 (en) | Apparatus for redundant drive structure for manned and unmanned aerial vehicles | |
| CN116811994B (en) | Intelligent vehicle redundant steering system and control method thereof | |
| US11535272B2 (en) | Vehicle system for autonomous control in response to abnormality | |
| WO2023107555A1 (en) | Steer by wire | |
| CN114560009A (en) | Control system, method and device applied to automatic driving of vehicle | |
| CN117980884A (en) | Providing power demand and degradation information for a steering system of a road vehicle | |
| US12046942B2 (en) | Apparatus for controlling battery circuit, vehicle having the same, and control method thereof | |
| CN219192178U (en) | Steering system having main and auxiliary functions, automatic driving system, and vehicle | |
| US20240317269A1 (en) | Vehicle control device and vehicle control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |