The invention relates to an observation and calibration method for centering misalignment of an unmanned hydraulic steering system. The method comprises the following steps of observing whether an unmanned vehicle runs along a straight line or not; observing whether the median of the steering system is misaligned or not; enabling the vehicle controller to send a centering instruction to the steering motor controller; judging whether the motor completes the centering operation of the steering motor or not according to a message fed back by the steering motor controller; turning off a power supply relay of the steering motor through the vehicle control unit; and connecting the power supply relay of the steering motor through the vehicle control unit to complete the restart operation of the steering motor. According to the observation and calibration method for the centering misalignment of the unmanned hydraulic steering system, whether the middle position is misaligned or not can be detected in real time in the running process of an unmanned vehicle, the middle position is calibrated again, and the running safety and reliability of the unmanned vehicle are guaranteed.
本发明涉及一种无人驾驶液压转向系统对中失准的观测校准方法,其包括如下步骤:观测无人驾驶车辆是否在沿直线运行;观测转向系统中位是否失准;车辆控制器向转向电机控制器发送对中指令;根据转向电机控制器反馈的消息,判断电机是否完成转向电机对中操作;通过整车控制器,断开转向电机电源继电器;通过整车控制器,连通转向电机电源继电器,完成转向电机的重启操作。本发明的无人驾驶液压转向系统对中失准的观测校准方法,可以在无人车辆在行驶过程中实时检测中位是否失准,并进行中位的重新标定,保障无人驾驶车辆的行驶安全性及可靠性。
Observation and calibration method for centering misalignment of unmanned hydraulic steering system
无人驾驶液压转向系统对中失准的观测校准方法
26.02.2021
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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