The invention provides a steering control method for a heavy-load automatic driving vehicle, which comprises the following steps that: each system of the vehicle performs self-inspection after being electrified, and after each system of the vehicle performs self-inspection and has no fault, a VCU (Vehicle Control Unit) issues an instruction to an oil pump motor controller, and an oil pump motor works; the VCU reads the vehicle state fed back by the absolute value encoder in real time and compares the vehicle state with an instruction issued by the intelligent driving system, and then the VCU internally converts the numerical value fed back by the absolute value encoder into the rotating speed and the rotating direction required by the vehicle; the VCU issues a rotating speed and steering instruction required by the vehicle to the steering motor controller, and the steering motor controller controls the rotating speed and steering of the steering motor and feeds back a CAN signal in real time for timely correction; and the rotating speed and the steering control of the steering motor drive the hydraulic steering gear to rotate and work through the force transmission of the steering speed reducing mechanism. The device is low in cost and high in bearing capacity.

    本发明提供一种重载自动驾驶车辆的转向控制方法,所述方法包括上电后所述车辆各系统进行自检,所述车辆各系统自检无故障后,所述VCU下发指令到所述油泵电机控制器,所述油泵电机工作;所述VCU实时读取所述绝对值编码器反馈的车辆状态并与所述智驾系统下发的指令进行比对,然后所述VCU将所述绝对值编码器反馈的数值内部换算成车辆所需的转速及转向;所述VCU将所述车辆所需的转速及转向的指令下发给所述转向电机控制器,所述转向电机控制器控制所述转向电机的转速及转向,并实时反馈CAN信号,以便及时修正;所述转向电机的转速及转向控制通过所述转向减速机构的力传递,带动液压转向器旋转工作。本发明成本低、承载能力强。


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    Title :

    Steering control method and steering system of heavy-load automatic driving vehicle


    Additional title:

    一种重载自动驾驶车辆的转向控制方法及其转向系统


    Contributors:
    ZHANG YUWEI (author) / YANG DEZHOU (author) / BAO YAN (author) / SHE JIANGYIN (author)

    Publication date :

    2023-11-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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