Intelligent vehicle steering mechanism and control method thereof

Abstract

The invention relates to an intelligent vehicle steering mechanism and a control method thereof. The intelligent vehicle steering mechanism comprises a steering wheel, a torque sensor, a steering input shaft, a mode clutch, a worm gear and worm speed reduction mechanism, a steering output shaft, a rotary encoder, an electric motor, a safety clutch, a steering gear, a steering rack and a controller, wherein the steering wheel is connected with the steering input shaft through the torque sensor; and the steering input shaft is connected with a worm in the worm gear and worm speed reduction mechanism via the mode clutch, and an output shaft of the electric motor is connected with a worm gear in the worm gear and worm speed reduction mechanism via the safety clutch. When a vehicle is driven in an unmanned manner, the controller can select a position servocontrol method to realize precision angle and angular speed control of an automatic control mode; when the vehicle is controlled manually, the controller can select a torque control method to realize good driving experience of a manual control mode; the high-reliability safety redundancy design can ensure the safety driving when a fault occurs in a system; and long-term cruise control can be realized.

Description

technical field [0001] The invention mainly relates to an intelligent vehicle steering mechanism and a control method thereof. Background technique [0002] With the continuous improvement of people's requirements for the safety and intelligence of vehicles and the needs of military affairs, intelligent vehicles have become a research hotspot. A reliable and accurate steering mechanism is an important guarantee for the realization of driverless vehicles, but there is no finalized intelligent vehicle steering control mechanism at present, and since the current intelligent vehicles are in the research and debugging stage, it is inevitable to carry out manual operations during vehicle driving. Intervention, which requires that the unmanned steering control mechanism can work in both the unmanned automatic control mode and the manual control mode. [0003] In order to solve the steering problem of intelligent vehicles, the common methods are 1. Use a stepper motor to drive thro...

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Problems solved by technology

[0007] The purpose of the invention is an intelligent vehicle steering mechanism and its control method to solve the problems in the prior art that the vehicle steering mechanism occupies a large space, the steering wheel follows the phenomenon, and the steering angle is not accurate.

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