5970results about "Electrical steering" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The present application relates to the technical field of electric vehicles, and discloses a fault-tolerant actuator control method and apparatus for an electric vehicle, a storage medium, and a vehicle. The method comprises: acquiring vehicle-mounted sensor information and a reference trajectory of a distributed drive electric vehicle; using an MPC algorithm to perform trajectory tracking on the basis of the vehicle-mounted sensor information and the reference trajectory to obtain an expected front wheel steering angle; when at least one steering actuator is determined to be faulty on the basis of the vehicle-mounted sensor information, calculating a differential power moment on the basis of the expected front wheel steering angle and an actual front wheel steering angle corresponding to a previous moment by using a sliding mode control (SMC) algorithm; when at least one driving actuator is determined to be faulty on the basis of the vehicle-mounted sensor information, calculating a torque corresponding to the current moment on the basis of the differential power moment by using a distribution optimization algorithm based on minimum tire adhesion utilization; and controlling steering of the distributed drive electric vehicle on the basis of the torque corresponding to the current moment. The present application implements reliable control of the vehicle in a case where a steering actuator and a driving actuator fail at the same time.

A method for cooperative vehicle operation includes receiving a first target angle signal associated with a handwheel of a vehicle, receiving a second target angle signal associated with an autonomous steering system of the vehicle, and, in response to a determination that a handwheel angle error between the first target angle signal and the second target angle signal is less than a handwheel error threshold: generating a handwheel motor torque command based on a position control motor torque command and a torque control motor torque command; and controlling a position of the handwheel of the vehicle based on the handwheel motor torque command.

Disclosed in the present application are a corner module and a vehicle, the corner module comprising a suspension system and a steering system, wherein the steering system comprises a steering power assembly, a steering execution assembly and a steering transmission assembly; the steering execution assembly comprises a first steering knuckle and a second steering knuckle, wherein the first steering knuckle is arranged on a traveling system, and the first steering knuckle is connected to the steering transmission assembly; the second steering knuckle is connected to the suspension system; and the first steering knuckle is movably connected to the second steering knuckle, such that the first steering knuckle turns around a movable connection point of the first steering knuckle and the second steering knuckle. In the corner module, decoupling of a steering axis from the suspension system is achieved, the position of the movable connection point is conveniently configured to form a more rational steering axis, the degree of design freedom is increased, the steering performance is better considered, excessive constraint on the degree of freedom of the traveling system is avoided to a certain extent, and motion interference between the steering system and the suspension system is reduced, thereby improving the flexibility, safety and stability of the steering system of the corner module.

The invention discloses a vehicle control method and device and a vehicle, and belongs to the technical field of vehicles. Comprising the steps that under the condition that a steering wheel of a target vehicle is kept in the middle and rear wheels of the target vehicle steer abnormally, a target front wheel steering angle is determined on the basis of the difference value between the current rear wheel steering angle of the target vehicle and a target rear wheel steering angle and vehicle parameters, and the target rear wheel steering angle is the angle of the rear wheels of the target vehicle in the middle-back state; the target front wheel rotation angle is the rotation angle of the front wheels of the target vehicle for compensating the abnormal steering of the rear wheels; determining a target compensation torque based on the target front wheel steering angle; and controlling a front wheel motor of the target vehicle to output the target compensation torque so as to keep the target vehicle in a straight driving state by adjusting the front wheel angle of the target vehicle. Thus, the target compensation torque is output through the front wheel motor, track deviation caused by abnormal steering of the rear wheels can be compensated, and therefore the target vehicle can be kept running in a straight line, and the driving safety is improved.

The invention provides a steering control method and equipment for a four-wheel independent driving and steering electric automobile, and belongs to the field of automobile steering. When the fault detector detects that the steering actuator breaks down, the fault state at the moment is quantified and transmitted to the self-adaptive fault-tolerant controller in real time, and the fault-tolerant controller calculates the needed additional yawing moment according to the current residual state of the steering actuator and the driving state of the vehicle; and then the vehicle steering function is jointly completed through hub motor differential drive and a residual steering actuator, and if the vehicle cannot be kept in a stable area after the steering actuator breaks down, steering degradation and parking processing are conducted. According to different failure types of the steer-by-wire system, vehicle steering can be completed through differential drive of the four-wheel hub motor and the residual steering actuator, and the cost is reduced while it is guaranteed that the vehicle has the steering function.

Provided is a steer-by-wire steering system (1) for a vehicle (2) that can appropriately bring the steered angle of the wheels to a prescribed relationship to the steering angle of a steering member (10) even when the steering angle of the steering member was changed while the vehicle was parked. When the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon startup (ST2: Yes), the control unit (15) drives at least one of the steering actuator (12) and the reaction force actuator (13) to bring the steered angle (α) of the wheels closer to the prescribed relationship with the steering angle (β) of the steering member (ST12) using a change in the transmission shift position from the park position (P) or the neutral position (N) to the travel position (D or R) as a trigger (ST8: Yes).

The invention relates to the technical field of steering systems, in particular to an angle control method for smooth angle response and rapid intervention. An angle control method for smooth angle response and rapid intervention comprises an angular velocity feed-forward PID algorithm, and the angular velocity feed-forward PID algorithm comprises the steps that the difference between a request angle and an actual angle is obtained to obtain an angle difference, the angle difference is subjected to the PID algorithm to obtain target motor torque, the target motor torque is converted into actually-executed motor torque through gradient output, and a steering wheel is controlled to rotate. The method is characterized in that the angle smooth response comprises a low-frequency compensation strategy and a high-frequency compensation strategy. Compared with the prior art, the angle control method for smooth angle response and rapid intervention is provided, the torque of the motor is calculated by adopting an angular velocity feed-forward PID algorithm, a low-frequency and high-frequency compensation strategy and a rapid intervention strategy are introduced, and the purpose of controlling a steering wheel to smoothly and rapidly reach a target angle can be achieved.

The invention is applicable to the technical field of automobile steer-by-wire, and provides a fault-tolerant control method for a redundant steer-by-wire system based on dynamic torque distribution, which comprises the following steps: judging whether the steer-by-wire system has a fault according to vehicle state information, and if the current steering motor has a fault, entering a dual-motor fault-tolerant switching state; performing coordination control on the double motors according to a real-time fault diagnosis result, and determining expected torque and expected torque switching time of the current double motors; according to the expected torque and the expected switching time of the current double motors, the torque is smoothed by using a quintic S curve, and a torque switching curve of the double motors is obtained; and after the dual-motor torque switching curve is determined, a redundant motor torque curve is obtained through torque relation calculation, so that torque switching can be completed when the steering system breaks down. According to the method, torque switching can be rapidly and stably completed when the steer-by-wire system breaks down, and therefore the fault tolerance performance and driving safety of the steer-by-wire system are improved.

The invention relates to the technical field of vehicle drive-by-wire function safety, and discloses a brake-by-wire and steering-by-wire fault reconstruction system and a vehicle redundancy architecture wherein a fusion diagnosis module is used for obtaining sensor parameters in a brake subsystem and a steering subsystem in real time through a plurality of sensors; the fault reconstruction module is used for performing multi-level fault reconstruction on the braking subsystem based on a three-level response mechanism according to the fault type and the fault severity level; performing redundancy control link dynamic switching on the steering subsystem; and the resource scheduling module is used for determining the energy distribution proportion of brake locking and steering differential motion according to the voltage of the shared emergency power supply. According to the embodiment of the invention, the global composite fault criterion library is constructed through the fusion diagnosis module, the multi-dimensional and cross-system combined diagnosis of the braking subsystem and the steering subsystem is realized, the complex fault mode can be effectively covered, the recognition and response capability of the system to multiple concurrent faults is improved, and the safety degree of the vehicle is further improved.

The invention discloses a vehicle transverse movement control method and device of a dual-motor vehicle, a storage medium and a computer program product, and relates to the field of vehicles, the method comprises the steps that under the condition that a vehicle transverse movement request is received, the working mode of a wheel steering system of the dual-motor vehicle is switched to a target mode; determining an output motor torque of the dual-motor vehicle when the dual-motor vehicle starts to slip in the target area, and determining a feed-forward item torque according to the output motor torque; pID item closed-loop torques of the multiple wheels are determined according to the real-time rotating speeds of the multiple wheels in the vehicle transverse moving process; and according to the feedforward item torque and the PID item closed-loop torque, real-time demand torque of a vehicle front axle motor and a vehicle rear axle motor in the vehicle transverse moving process is determined, and the vehicle front axle motor, the vehicle rear axle motor and a wheel brake are controlled according to the real-time demand torque. And the dual-motor vehicle is controlled to transversely move in the target area in a driving and braking cooperative control mode.

The invention provides a distributed electric drive vehicle four-wheel differential torque enhanced steering control method and system, and belongs to the technical field of artificial intelligence risk prediction. The vehicle is provided with an upper-layer torque decision module, a lower-layer torque cooperation module and a vehicle-mounted sensor; selecting a pivot steering auxiliary strategy according to an actual driving scene, and pressing a function key to enter a working condition; vehicle dynamic information is obtained through a vehicle-mounted sensor, whether a vehicle is in an in-situ steering state or a small-radius steering state is judged by combining vehicle body static data, and when a selected function key is in an in-situ steering state or a small-radius steering state, the vehicle dynamic information is obtained in real time, and fuzzy reasoning and a neural network algorithm are combined. The ground attachment coefficient and the target yaw angle speed are intelligently judged, and therefore accurate control over the steering torque is achieved; or a double-controller structure is adopted, the torque of each wheel can be effectively distributed and adjusted under complex working conditions, and flexible control and stable running of the vehicle in a narrow space are ensured.

The invention relates to the technical field of automobile electric control, in particular to a new energy automobile electric control steering control method and system, and the method comprises the steps: obtaining and preprocessing a four-wheel vibration data sequence, carrying out the segmentation and consistency evaluation of the vibration data sequence of each wheel, and selecting a current data sequence in an optimal segment to calculate a road condition influence coefficient. And matching the current data sequence with the historical vibration data sequence, calculating the similarity to determine the influence weight, adjusting the influence coefficient in combination with the steering angle change rate of the historical vibration data sequence, inputting the adjusted pavement condition influence coefficient into the ECU, dynamically adjusting the steering auxiliary torque, and realizing accurate steering control. According to the method, the optimal segment is selected through segment processing and consistency evaluation to accurately reflect the current road condition, the steering auxiliary torque is dynamically adjusted in combination with historical vibration data sequence matching and the steering angle change rate, and the driving safety and comfort are improved.

The invention discloses a light passenger car chassis steering stability self-adaptive control method, which comprises the following steps of: collecting multi-dimensional working condition parameters in real time, and covering 12 types of key parameters such as a steering wheel rotating angle and a wheel speed; after preprocessing and abnormity diagnosis, double models are adopted to estimate the dynamic state of the vehicle in parallel; dynamically setting a control target, and realizing personalized control in combination with driver style recognition; the control quantity is optimized through multi-mode strategy dynamic switching and steering and braking system cooperative control; and actuator dynamic compensation, scenarized self-learning and multi-stage fault handling mechanisms are introduced. According to the method, the complex working condition adaptability is improved, the response speed is controlled, the subsystem cooperation efficiency is improved, the system robustness and the long-term use performance are enhanced, and the driving safety of the light bus is effectively guaranteed.

The invention discloses a shear forklift steering control method and system based on central point dynamic differential, and the method comprises the following steps: S1, sensor module calibration: collecting the angle values of the right limit and the left limit of a shear forklift steering mechanism, calculating the difference value between the right limit and the left limit, converting the difference value into an actual degree, and carrying out the calibration of a sensor module; calibrating a scale factor and a straight-going intermediate value; s2, real-time steering angle calculation: reading a current measured value of an angle sensor, judging whether a left wheel is an inner side wheel or an outer side wheel, and calculating a current steering angle alpha in combination with a scale factor; s3, dynamic differential ratio calculation: based on the steering angle alpha in the step S2, calculating a central point turning radius R through a central point steering geometric model, and deriving an inner and outer wheel differential ratio K; and S4, adjusting and outputting the target rotating speeds of the inner wheel and the outer wheel according to the differential ratio K to realize dynamic differential control. By dynamically adjusting the rotating speed of the motor, the load difference of the motor can be reduced, the service life is prolonged, and the steering stability is improved.

The invention discloses a road interference detection and compensation control method for a steering system, and belongs to the technical field of vehicle steering systems. The method specifically comprises the steps of road bumping detection and steering system road interference compensation control, the road bumping detection is that a detection signal is obtained through a time window integration method by utilizing the amplitude difference of the high-frequency interference torque of the steering system, and the road bumping is detected by adopting a dynamic threshold value in combination with various signals such as the steering torque and the vehicle speed; the method can adapt to different vehicle speed scenes and realize accurate identification. According to the road surface interference compensation control method, a steering system kinetic model containing interference torque is established, an expansion state observer is innovatively designed, the system state and the total disturbance quantity are actively estimated, state information which cannot be obtained by a traditional sensor is obtained, and the steering system dynamic model is obtained through a feed-forward control and compensation control method. Effective disturbance torque compensation control is achieved, and the robustness of a steering control system under the working condition of a bumpy road surface is enhanced.

An independent steering apparatus includes a wheel of a vehicle, a knuckle integrally fixed to the wheel, a steering driving part configured to generate steering driving force, a deceleration part connected to an output shaft of the steering driving part and configured to transmit the steering driving force, and a deceleration part housing having the deceleration part located therein. In particular, the steering driving part is integrally fixed to the deceleration part housing, and the deceleration part housing is integrally fixed to the knuckle. The steering driving force generated by the steering driving part is transmitted to the deceleration part housing through the deceleration part, thereby rotating the knuckle.

The invention provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: carrying out the redundancy design of a steer-by-wire system of the vehicle, immediately triggering a fault processing mechanism under the condition that the steer-by-wire system is judged to have a fault, firstly positioning a fault condition, and carrying out the fault processing mechanism; then, the faults are graded based on the fault conditions to obtain fault grades, then the steering control strategy of the steer-by-wire system for the vehicle is adjusted according to the fault grades, and the speed of the vehicle is limited according to the fault grades; according to the steering-by-wire system, the steering control strategy corresponding to the fault level is executed, so that a user can still control the vehicle, the situation that the vehicle is out of control is avoided, the controllability, safety and reliability of the fault of the steering-by-wire system are improved, and the user experience is improved. And the driving experience and the driving confidence of the user and the credibility of the user for the steer-by-wire system are improved.

The embodiment of the invention provides a vehicle steering wheel and tire aligning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the actual angle of a steering wheel and the actual angle of a tire under the conditions that a vehicle is detected to enter a parking state, a driver is not in a driving position, and a vehicle door is in a closed locking state; calculating an angle difference according to the actual angle of the steering wheel and the actual angle of the tire; controlling the steering wheel to return along with the tires according to the angle difference. According to the embodiment of the invention, the angle difference between the steering wheel and the tire is calculated, and then the steering wheel is controlled to return along with the tire through the angle difference, so that the problem that the tire of the steer-by-wire system cannot return automatically under the parking condition is solved, unnecessary damage to a vehicle is avoided, damage to chassis components, a steering machine, the tire and the like is avoided, and the safety of the vehicle is improved. Meanwhile, the problem that the steering wheel and the tires are not aligned is solved, and it is guaranteed that the steering wheel and the tires are located in the middle straight-moving position when a driver restarts the vehicle.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention provides a trajectory tracking method, device and equipment based on steer-by-wire fault tolerance and a medium wherein the trajectory tracking method based on steer-by-wire fault tolerance comprises: when a steering execution motor has a fault, determining expected control parameters for vehicle trajectory tracking, the expected control parameters comprising an expected steering wheel steering angle and an expected differential yaw moment; reducing the expected steering angle of the steering wheel and increasing the expected differential yawing moment; determining a front axle differential steering torque and an output torque of a steering execution motor based on the expected steering wheel steering angle; and trajectory tracking is carried out based on the front axle differential steering torque, the expected differential yawing torque and the output torque of the steering execution motor. When the steering-by-wire system breaks down, the front axle differential steering torque can be used for assisting the fault steering-by-wire system in stably tracking the expected steering wheel steering angle, and then the requirement of vehicle trajectory tracking for steering is met. Meanwhile, the stability of vehicle trajectory tracking can be improved.

The invention belongs to the technical field of vehicles, and particularly relates to a steering angle module chassis and a vehicle. The steering angle module chassis comprises a frame platform, a steering angle module and a hydraulic interconnection suspension system. The steering angle modules are arranged at the four corners of the vehicle frame platform and correspond to the left front steering angle module, the right front steering angle module, the left rear steering angle module and the right rear steering angle module respectively. Each steering angle module comprises a vibration reduction sliding column assembly. The hydraulic interconnection suspension system is arranged on the vehicle frame platform and connected to the vibration reduction sliding column assemblies in the steering angle modules so as to be used for adjusting and controlling the posture of the vehicle body. According to the hydraulic interconnection suspension system, the interconnection relation and internal hydraulic pressure of the vibration reduction sliding column assemblies in the four steering angle modules can be changed, four-wheel movement interconnection is achieved, the change response to the road surface is better and more rapid, then the inclination angle of a vehicle body is controlled, and the purpose of regulating and controlling the posture of the vehicle body is achieved.

Technical solutions described herein include a method of controlling an electric power steering system includes determining that one or more hand wheel torque sensors of electric power steering system are not operational and in response generating an assist torque command by estimating a front slip angle based on a motor angle of a motor of the electric power steering system and a vehicle speed. The method also includes converting the front slip angle to a rack force. The method also includes determining an amount of assist torque based on the rack force and controlling the electric power steering system using the generated assist torque command.

The invention relates to an omni-directional moving multi-differential-wheel-set AGV and a control method thereof.The omni-directional moving multi-differential-wheel-set AGV comprises a chassis, differential wheel sets and vertical rotating shafts, the vertical rotating shafts are installed on the chassis, gears are arranged on the vertical rotating shafts, the number of the vertical rotating shafts is the same as that of the differential wheel sets, and each vertical rotating shaft is connected with the corresponding differential wheel set; the differential wheel set comprises a pair of independently-controlled power wheels and a transversely-placed driving motor, and the driving motor is in driving connection with the power wheels on the two sides. Each vertical rotating shaft is connected with a corresponding offset encoder and is used for recording rotation of the vertical rotating shaft. Compared with the prior art, the device has the advantages of being high in automation degree, capable of reducing manual carrying requirements, stable in motion control and the like.

The invention discloses an electric power steering fault diagnosis and self-adaption system based on torque offset, which relates to the technical field of fault diagnosis and comprises a data acquisition unit, a model establishment unit, a torque offset evaluation unit, a fault judgment unit and a power output adjustment unit. According to the method, the return-to-power torque model is constructed based on the vehicle dynamics law and experience adjustment, the model parameters are optimized to obtain the return-to-power torque model, meanwhile, the real-time output torque of the EPS system is calculated according to the steering wheel torque signal, the deviation coefficient of the EPS system is comprehensively calculated, and the accuracy of the EPS system is improved. The deviation coefficient is evaluated according to a preset fault grading interval, a multi-grade fault judgment mechanism is established according to the change rule of the deviation coefficient, dynamic health evaluation of the EPS system motor performance is achieved, the evaluation serves as the basis of control strategy adjustment, the output assistance value can be dynamically adjusted, return control can be enhanced or a safety mode can be switched, and the reliability of the EPS system motor performance is improved. Therefore, the redundancy control capability and the driving safety are improved.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

The assisted steering unit includes a motor drive unit and a ring assembly constructed and arranged to couple to and rotate a steering wheel. The assisted steering unit may include a ring assembly where the ring assembly includes a housing, a ring gear disposed within the housing, an anti-rotation pin operatively engaged with the housing. The assisted steering unit may also include a motor drive unit (MDU) including a motor and a drive gear rotatably engaged with the motor. The ring assembly and motor drive unit are constructed and arranged to be releasably engaged to each other.

A method for handwheel actuator bind and / or steering column detection includes receiving, in response to a signal indicating a change in position of power steering column, a handwheel torque signal from a sensor associated with a handwheel of a vehicle. The method also includes determining whether a torque value associated with the handwheel torque signal is greater than a threshold. The method also includes, in response to a determination that the torque value associated with the handwheel torque signal is greater than the threshold, initiating at least one countermeasure.

The invention relates to a chassis structure of a vehicle based on corner modules and a control system, the chassis structure of the vehicle comprises the corner modules corresponding to four wheels of the vehicle respectively, in each corner module, a wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module, and the wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module. The 90-degree two-way steering execution system is used for driving wheels corresponding to the angle module to realize positive and negative 90-degree steering; the wheel side motor driving assembly and the 90-degree bidirectional steering execution system are separately arranged; the suspension and supporting structure is used for keeping geometric stability of the suspension when the wheels corresponding to the angle modules steer and buffering road impact. The electronic mechanical braking unit is used for achieving braking of wheels corresponding to the angle modules. In this way, synchronous control over steering, driving, vibration reduction and braking of the vehicle in different running modes can be achieved through cooperative work of the angle modules in the wheels of the vehicle, and a vehicle chassis has higher flexibility and more scene adaptability in the running process of the vehicle.

The steering angle module comprises a wheel mechanism, the wheel mechanism comprises a hub motor and a wheel assembly in transmission connection with the hub motor, the hub motor comprises a stator and a rotor arranged on the periphery of the stator, and the wheel assembly is fixedly connected with the rotor; the brake mechanism comprises an annular brake disc fixedly connected with the rotor and a brake caliper fixedly connected with the stator; the steering mechanism comprises a steering knuckle and a steering assembly, the lower portion of the steering knuckle is fixed to the stator, the upper end of the steering knuckle extends to the axial outer side of the wheel assembly and is in transmission connection with the steering assembly, and an included angle is formed between the steering axis of the steering assembly and the vertical direction; the suspension mechanism comprises an upper swing arm and a lower swing arm, one end of the upper swing arm is rotationally connected with the frame, the other end of the upper swing arm is spherically hinged to the upper end of the steering assembly, and one end of the lower swing arm is rotationally connected with the frame, and the other end of the lower swing arm is spherically hinged to the steering knuckle. According to the steering angle module and the steering system with the steering angle module, the flexibility of the vehicle can be improved, and the high-speed steering running stability and safety of the vehicle are improved.