The present invention relates to a steering system for autonomous vehicles. The steering system comprises: an autonomous driving controller (200) mounted on an autonomous vehicle to control autonomous driving; a low-level controller (300) acquiring the driving status of the vehicle and various surrounding information from various sensors of the autonomous vehicle, connected to the autonomous driving controller through CAN communication to transmit the information to the autonomous driving controller, and transmitting, to each driving unit, an autonomous driving control command received from the autonomous driving controller (200); and a steering force generator (400) generating steering force in response to a control signal transmitted from the low-level controller (300), and a steering force transmitter (420) transmitting the generated steering force to a steering wheel. The steering force generator (400) includes: a motor (405) operated in a predetermined number of revolutions and at a predetermined rotational speed in response to the control signal transmitted from the low-level controller (300); and a planetary reduction gear (410) connected to the motor (405) to reduce, at a predetermined rate, the number of revolutions output from the motor and output the same. The steering force transmitter (420) includes: a driving pulley (422) coupled to the output shaft of the planetary reduction gear (410); a driven pulley (424) spaced a predetermined distance from the driving pulley (422) and installed to be horizontal to the driving pulley; a driving belt (426) transmitting the rotational force of the driving pulley (422) to the driven pulley (424); and a steering column (428) having a handle (450) installed on an upper part thereof, having a steering rod (430) coupled to a lower part thereof, and vertically penetrating through the center of the driven pulley to rotate left and right according to the rotational direction of the driven pulley. Therefore, the precision of the steering system for autonomous vehicles can be increased.

    본 발명은 자율주행차량의 조향장치에 관한 것으로, 자율주행차량에 탑재되어 자율주행을 제어하는 자율주행제어기(200)와, 자율주행차량의 각종 센서로부터 차량의 주행상태 및 주변의 각종 정보를 획득하여 상기 자율주행제어기로 전송하도록 상기 자율주행제어기와 캔통신으로 연결되고, 상기 자율주행제어기(200)에서 수신된 자율주행제어명령을 각 구동부로 전달하는 하위제어기(300)와, 상기 하위제어기(300)에서 전달된 제어신호로 조향력을 발생하고, 발생된 조향력을 핸들로 전달하는 조향력 발생부(400)와 조향력 전달부(420)를 포함하되, 상기 조향력 발생부(400)는 상기 하위제어기(300)로부터 전달된 제어신호에 따라 일정 회전수 및 회전속도로 동작되는 모터(405)와, 상기 모터(405)에 연결되어 모터에서 출력되는 회전수를 일정비율로 감속시켜 출력시키는 유성감속기어(410)로 이루어지고, 상기 조향력 전달부(420)는 상기 유성감속기어(410)의 출력축에 결합된 구동풀리(422)와, 상기 구동풀리(422)와 일정거리 이격되면서 구동풀리에 대해 수평설치되는 종동풀리(424)와, 상기 구동풀리(422)의 회전력을 종동풀리(424)로 전달하는 구동벨트(426)과, 상부에 핸들(450)이 설치되고 하부에 조향로드(430)가 결합되어 종동풀리의 중심부를 수직 관통하여 종동풀리의 회전방향에 따라 좌우 회전되는 스티어링컬럼(428);을 포함한 구성으로 이루어진다.


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    Title :

    A steering system for autonomous vehicles


    Additional title:

    자율주행차량의 조향장치


    Contributors:

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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