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Steering control method and steering control device

A steering control and steering angle technology, which is applied to steering mechanisms, electric steering mechanisms, power steering mechanisms, etc., can solve the problems of not considering the influence of the steering characteristics of the wheel steering angle, and the difficulty of guaranteeing the control accuracy of the wheel steering angle, so as to improve the transmission efficiency. Accuracy and steering accuracy, preventing excessive power, and ensuring the effect of control accuracy

Active Publication Date: 2018-11-23
BEIJING ZHIXINGZHE TECH CO LTD
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Problems solved by technology

[0004] However, during the driving process of the vehicle, the wheel steering angle is constantly changing, and there is a large error in predicting the position of the vehicle after the next time period based on the constant wheel steering angle.
When the target position point is positioned based on the predicted position point, the positioned target point point is an unreachable position in practice. W

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  • Steering control method and steering control device
  • Steering control method and steering control device
  • Steering control method and steering control device

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[0052] The technical solutions of the present invention will be further described in detail below through the accompanying drawings and embodiments.

[0053] To make it easier to understand the steering control method provided in the embodiments of the present invention, firstly, combine figure 1 The steering control device used in the steering control method is introduced.

[0054] The steering control device includes a wheel speed sensor 1, an auxiliary processing module 2, a main processing module 3, an electric power steering system (Electric Power Steering, EPS) 4, and a reducer 5.

[0055] Specifically, the wheel speed sensor 1 is installed at the wheels of the vehicle chassis to monitor the speed of the wheels, and output pulse signals through the speed signal output interface, thereby transmitting the pulse signals to the auxiliary processing module 2; the auxiliary processing module 2 is used to assist the main processing Module 3 works, the wheel speed sensor 1 outputs puls...

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Abstract

The embodiment of the invention relates to a steering control method and a steering control device. The steering control method includes the steps of obtaining a steering control instruction and extracting a steering reference data list; according to the steering control instruction and the steering reference data list, determining target steering angles, corresponding steering moment and a corresponding rotation turn number; according to the steering moment and the rotation turn number, controlling a motor to run and correspondingly controlling wheels to execute steering operation according to the target steering angles; when the wheels execute the steering operation, controlling an angle sensor to detect the actual steering angle of each wheel; judging whether or not the differences between the actual steering angles and the target steering angles are smaller than a preset threshold value; if not, according to the actual steering angles, correcting the rotation turn number; controlling the angle sensor to monitor the actual steering angles of the wheels. The control precision of the wheel steering angle is ensured, and the steering precision is improved.

Description

technical field [0001] The invention relates to the technical field of low-speed unmanned automatic driving vehicles, in particular to a steering control method and a steering control device. Background technique [0002] With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become a research hotspot of many scholars at home and abroad. Among them, service robots have opened up a new field of robot application. The emergence of service robots is mainly due to the following three reasons: first, domestic labor costs are on the rise; second, population aging and the improvement of social welfare systems It provides a wide range of market application prospects for service robots; in the third aspect, human beings want to get rid of repetitive labor. For example, the current sweeping vehicles need to be driven manually, with a single function and not convenient enough. Therefore, it is unstoppable to replace m...

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Application Information

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IPC IPC(8): B62D5/04
CPCB62D5/046B62D5/0481
Inventor 张德兆王肖霍舒豪李晓飞张放
Owner BEIJING ZHIXINGZHE TECH CO LTD
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