Steering module, steering system and vehicle

Abstract

The invention relates to a steering module, a steering system and a vehicle, the steering module comprises a first connecting piece and a second connecting piece, the first connecting piece and the second connecting piece are rotationally connected, and the first end, away from the first connecting piece, of the second connecting piece is suitable for being connected with a steering knuckle connected with a steering wheel; the end, away from the second connecting piece, of the first connecting piece is suitable for being in transmission connection with a steering driving mechanism, the first connecting piece can rotate under the action of the steering driving mechanism, and the length of at least one of the first connecting piece and the second connecting piece can be changed. By using the steering module, the steering angle range of the steering wheel of the vehicle can be increased.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle steering technology, specifically to a steering module, a steering system, and a vehicle. Background Technology

[0002] In related technologies, a vehicle's steering module is used for vehicle steering. The steering module includes a steering drive mechanism, a transmission mechanism, and a steering knuckle connected to the steering wheels. The steering drive mechanism is connected to the steering knuckle through the transmission mechanism, thereby controlling the steering of the steering wheels. However, the steering wheel's turning angle range is not ideal. Summary of the Invention

[0003] The purpose of this disclosure is to provide a steering module, steering system, and vehicle to at least partially solve the technical problems existing in the related art.

[0004] To achieve the above objectives, according to a first aspect of this disclosure, a steering module is provided, including a first connector and a second connector;

[0005] The first connecting member and the second connecting member are rotatably connected. The first end of the second connecting member away from the first connecting member is adapted to be connected to the steering knuckle of the steering wheel. The end of the first connecting member away from the second connecting member is adapted to be connected to the steering drive mechanism. The first connecting member can rotate under the action of the steering drive mechanism.

[0006] The length of at least one of the first connector and the second connector can vary.

[0007] Optionally, the first end of the second connector has a first position. When the longitudinal center plane of the first end is in the first position, the longitudinal center plane of the second connector enables the longitudinal center plane of the steering wheel to be located in a first steering position. In the first steering position, the longitudinal center plane of the steering wheel forms a 45° angle with the longitudinal center plane of the vehicle's longitudinal center plane, and the rear side of the longitudinal center plane of the steering wheel is closer to the longitudinal center plane of the vehicle's longitudinal center plane than the front side; and / or,

[0008] The first end of the second connector has a second position. When the longitudinal center plane of the first end is in the second position, the longitudinal center plane of the second connector enables the longitudinal center plane of the steering wheel to be located in a second steering position. In the second steering position, the longitudinal center plane of the steering wheel forms a 90° angle with the longitudinal center plane of the vehicle's longitudinal center plane, and the rear side of the longitudinal center plane of the steering wheel is farther away from the longitudinal center plane of the vehicle's longitudinal center plane than the front side.

[0009] Optionally, the first connecting member is a crank, and the second connecting member is a connecting member that can extend and retract along its own length.

[0010] Optionally, the second connector is a telescopic rod structure.

[0011] Optionally, the second connecting member is a hydraulic telescopic rod, an electromagnetic telescopic rod, an electric ball screw, or a linear motor.

[0012] Optionally, the second connecting member is a hydraulic telescopic rod, including a hydraulic cylinder and a piston rod, wherein the hydraulic cylinder is provided with a receiving cavity and an inlet and an outlet connected to the receiving cavity;

[0013] One end of the piston rod is hinged to the first connecting member, and one end of the hydraulic cylinder is adapted to be connected to the steering knuckle.

[0014] Optionally, the steering module has a first operating mode;

[0015] In the first working mode, the first connecting member is adapted to drive the second connecting member and the steering knuckle to rotate under the action of the steering drive mechanism;

[0016] In the first working mode, the lengths of the first connector and the second connector remain unchanged.

[0017] Optionally, the steering module has a second operating mode;

[0018] In the second operating mode, the rotation of the first connector relative to the steering drive mechanism is locked, and at least one of the first connector and the second connector extends or retracts along its own length.

[0019] Optionally, the first connector is connected to the second connector via a spherical joint; and / or,

[0020] The second connector is adapted to be connected to the steering knuckle via a spherical joint.

[0021] Optionally, the steering module further includes a steering drive mechanism, which is drively connected to the end of the first connector away from the second connector.

[0022] Optionally, the steering module further includes a locking structure for locking the rotation of the first connector relative to the steering drive mechanism.

[0023] Optionally, the steering drive mechanism is adapted to be mounted on the vehicle body.

[0024] Optionally, the steering drive mechanism is adapted to be connected to the subframe of the vehicle body.

[0025] Optionally, the steering module further includes a steering knuckle adapted to be connected to the steering wheel, and the second connecting member is rotatably connected to the steering knuckle.

[0026] According to a second aspect of this disclosure, a steering system is provided, including a controller, a first steering angle sensor, and the aforementioned steering module;

[0027] Both the first angle sensor and the steering drive mechanism of the steering module are electrically connected to the controller. The first angle sensor is used to detect the steering wheel angle information. The controller is adapted to control the steering drive mechanism to drive the first connecting member to rotate based on the steering angle information detected by the first angle sensor.

[0028] Optionally, the steering system further includes a second steering angle sensor, which is electrically connected to the controller;

[0029] The second angle sensor is adapted to detect the angle information of the steering wheel, and the controller is adapted to control the steering drive mechanism to drive the first connecting member to rotate based on the angle information detected by the first angle sensor and the angle information detected by the second angle sensor; and / or to control at least one of the first connecting member and the second connecting member to extend or retract along its own length direction.

[0030] According to a third aspect of this disclosure, a vehicle is provided, comprising:

[0031] Steering wheels;

[0032] The aforementioned steering system, or the aforementioned steering module;

[0033] The steering wheel is rotatably connected to the second connector via the steering knuckle of the steering module.

[0034] Optionally, the vehicle further includes a suspension system, which includes an upper control arm and a lower control arm;

[0035] In the vertical direction, the steering drive mechanism is adapted to be disposed between the upper control arm and the lower control arm.

[0036] With the above technical solution, since the first connecting member and the second connecting member are rotatably connected, the first end of the second connecting member away from the first connecting member is suitable for connecting to the steering knuckle of the steering wheel, and the end of the first connecting member away from the second connecting member is suitable for transmission connection with the steering drive mechanism. Therefore, the first connecting member can rotate under the action of the steering drive mechanism, thereby driving the second connecting member to push or pull the steering knuckle to rotate, thereby realizing the steering of the steering wheel connected to the steering knuckle.

[0037] Since the length of at least one of the first and second connecting members can change, the steering module can further push or pull the steering knuckle by changing the length of the first connecting member, or the length of the second connecting member, or the length of the first and second connecting members. This helps to increase the turning angle of the steering wheel connected to the steering knuckle (e.g., the axis of the steering wheel is parallel to the longitudinal direction of the vehicle, in which case the steering wheel rotates 90° relative to the longitudinal center plane of the vehicle), thus facilitating the vehicle's passage in more scenarios.

[0038] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0040] Figure 1 This is a three-dimensional structural diagram of a steering module provided in one embodiment of the present disclosure, in which a vibration damping mechanism is also shown;

[0041] Figure 2 This is a front view schematic diagram of a steering module, suspension system and steering wheel in an assembled state according to one embodiment of the present disclosure;

[0042] Figure 3 This is a three-dimensional structural schematic diagram of the second connector provided in one embodiment of the present disclosure;

[0043] Figure 4 This is a top view of a vehicle provided in one embodiment of the present disclosure, showing the vehicle body and steering wheels, with the steering wheels in a diagonal driving mode position;

[0044] Figure 5 This is a top view of a vehicle provided in one embodiment of the present disclosure, showing the vehicle body and steering wheels, with the steering wheels in a lateral driving mode position;

[0045] Figure 6 This is a top view of a vehicle provided in one embodiment of the present disclosure, showing the vehicle body and steering wheels, with the steering wheels in a stationary U-turn mode or a circular steering mode.

[0046] Figure 7 This is a schematic block diagram of a steering system provided in one embodiment of the present disclosure.

[0047] Explanation of reference numerals in the attached figures

[0048] 100 - Vehicle; 1 - Steering module; 2 - Steering knuckle; 3 - Steering wheel; 10 - First connector; 20 - Second connector; 201 - First end; 202 - Second end; 21 - Hydraulic cylinder; 211 - Inlet; 212 - Outlet; 22 - Piston rod; 30 - Steering drive mechanism; 40 - Vehicle body; 50 - Suspension system; 51 - Upper control arm; 52 - Lower control arm; 53 - Vibration damping mechanism; 60 - Steering system; 61 - First angle sensor; 62 - Second angle sensor; 63 - Controller. Detailed Implementation

[0049] In this disclosure, unless otherwise stated, directional terms such as "up" and "down" are generally defined according to the orientation of the corresponding figures (see reference for details). Figure 2 (As shown), the symbols are for ease of description and simplification only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational construction and operation, and therefore should not be construed as a limitation of the disclosure. For example, "upper" and "lower" can refer to the upper and lower positions of a vehicle in normal use. "Inner" and "outer" refer to the inner and outer contours of the corresponding components. Furthermore, the terms "first," "second," etc., are used to distinguish one element from another and do not have sequential or importance implications.

[0050] In the description of this disclosure, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "connect," "link," and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0051] Research has found that the transmission mechanism in the relevant technology includes a crank and a tie rod that are hinged to each other. The steering drive mechanism is connected to the steering knuckle through the crank and the tie rod. When the vehicle turns, the steering drive mechanism drives the crank to rotate, and the crank drives the tie rod to push or pull the steering knuckle to rotate, thereby causing the steering wheel connected to the steering knuckle to turn. When the crank and the tie rod are collinear, the steering drive mechanism cannot drive the tie rod to push or pull the steering knuckle to rotate further by driving the crank to rotate further, thus resulting in a limited steering wheel turning angle range.

[0052] To solve the above problems, such as Figures 1 to 6As shown, according to a first aspect of this disclosure, a steering module 1 is provided, including a first connector 10 and a second connector 20, the first connector 10 and the second connector 20 being rotatably connected, a first end 201 of the second connector 20 away from the first connector 10 being adapted to be connected to a steering knuckle 2 connected to a steering wheel 3, and a end of the first connector 10 away from the second connector 20 being adapted to be drive-connected to a steering drive mechanism 30, the first connector 10 being rotatable under the action of the steering drive mechanism 30, wherein the length of at least one of the first connector 10 and the second connector 20 is variable, for example, at least one of the first connector 10 and the second connector 20 being a connector that can extend and retract along its own length direction.

[0053] With the above technical solution, since the first connecting member 10 and the second connecting member 20 are rotatably connected, the first end 201 of the second connecting member 20 away from the first connecting member 10 is suitable for being connected to the steering knuckle 2 connected to the steering wheel 3, and the end of the first connecting member 10 away from the second connecting member 20 is suitable for being connected to the steering drive mechanism 30 for transmission. Therefore, the first connecting member 10 can rotate under the action of the steering drive mechanism 30, thereby driving the second connecting member 20 to push or pull the steering knuckle 2 to rotate, thereby realizing the steering of the steering wheel 3 connected to the steering knuckle 2.

[0054] Since the length of at least one of the first connector 10 and the second connector 20 can change, the steering module 1 can also make the second connector 20 push or pull the steering knuckle 2 further by changing the length of the first connector 10, or the second connector 20, or the length of the first connector 10 and the second connector 20. This is beneficial to increase the turning angle of the steering wheel 3 connected to the steering knuckle 2 (e.g., the axis of the steering wheel 3 is parallel to the longitudinal direction of the vehicle 100, at which time the steering wheel 3 rotates 90° relative to the longitudinal center plane of the vehicle 100), which is beneficial to the vehicle 100 in more scenarios.

[0055] Furthermore, when the steering drive mechanism 30 malfunctions, the steering wheel 3 can be steered by changing the length of the first connector 10 and / or the second connector 20, enabling the vehicle 100 to steer to a safe position, which helps protect the safety of the vehicle 100 and the user.

[0056] Here, the first connector 10 and the second connector 20 can be rotatably connected at their ends (i.e., the second connector 20 is close to the second end 202 of the first connector 10 (e.g.) Figure 3 (as shown) is rotatably connected to the end of the first connector 10 near the second connector 20. The two can also be rotatably connected through a part near their own ends. This disclosure does not limit this.

[0057] It is understood that, in addition to being applied to vehicle 100, steering module 1 can also be applied to any other device suitable for using the steering module 1 provided herein.

[0058] In this disclosure, the steering module 1 can be connected via at least one of the first connector 10 and the second connector 20 (e.g., ...). Figure 3 The length change of the hydraulic telescopic rod (shown) controls the steering wheel 3 to turn to various angles. For example, the length change of at least one of the first connector 10 and the second connector 20 can make the first end 201 of the second connector 20 have a first position. When the first end 201 is in the first position, the second connector 20 can make the steering wheel 3 be in the first steering position. In the first steering position, the steering wheel 3 forms a 45° angle with the longitudinal center plane of the vehicle 100 (i.e., the vertical plane containing the longitudinal axis of the vehicle 100), and the rear side of the steering wheel 3 is closer to the longitudinal center plane of the vehicle 100 than the front side.

[0059] The first end 201 of the second connector 20 can be positioned in a second position by changing the length of at least one of the first connector 10 and the second connector 20. When the first end 201 is in the second position, the second connector 20 can position the steering wheel 3 in a second steering position. In the second steering position, the steering wheel 3 forms a 90° angle with the longitudinal center plane of the vehicle 100, and the rear side of the steering wheel 3 is further away from the longitudinal center plane of the vehicle 100 than the front side.

[0060] Furthermore, multiple steering modules 1 can be installed on the vehicle 100, so that each wheel of the vehicle 100 is equipped with a steering module 1, thereby making each wheel of the vehicle 100 a steering wheel 3 with a large-angle steering capability, thus enabling the vehicle 100 to have multiple driving modes.

[0061] For example, the corresponding steering module 1 can control all the steering wheels 3 of the vehicle body 40 to rotate to an angle of 45° with the longitudinal center plane of the vehicle 100. Specifically, the rear side of the steering wheel 3 on the left side of the vehicle body 40 is further away from the longitudinal center plane of the vehicle 100 than its front side, while the rear side of the steering wheel 3 on the right side of the vehicle body 40 is closer to the longitudinal center plane of the vehicle 100 than its front side. This allows the vehicle 100 to travel at an angle (see reference). Figure 4 ).

[0062] For example, the corresponding steering module 1 can control all the steering wheels 3 of the vehicle body 40 to rotate to an angle of 90° with the longitudinal center plane of the vehicle 100. The rear sides of all the steering wheels 3 of the vehicle body 40 are further away from the longitudinal center plane of the vehicle 100 than the front sides, thus enabling the vehicle 100 to travel laterally (see reference). Figure 5 ).

[0063] For example, the corresponding steering module 1 can control all the steering wheels 3 of the vehicle body 40 to rotate to an angle of 45° with the longitudinal center plane of the vehicle 100. The rear sides of the steering wheels 3 on the front side of the vehicle body 40 are further away from the longitudinal center plane of the vehicle 100 than the front sides, while the rear sides of the steering wheels 3 on the rear side of the vehicle body 40 are closer to the longitudinal center plane of the vehicle 100 than the front sides. This allows the vehicle 100 to perform U-turns and circular turns (see reference). Figure 6 ).

[0064] Here, it can be understood that the front side of the steering wheel 3 is the front side when the steering wheel 3 is in the upright state, and the rear side of the steering wheel 3 is the rear side when the steering wheel 3 is in the upright state.

[0065] As one implementation method, such as Figure 1 As shown, the first connecting member 10 can be a crank, and the second connecting member 20 can be a connecting member that can extend and retract along its own length. That is, the extension and retraction of the second connecting member 20 can push or pull the steering knuckle 2 to rotate, thereby causing the steering wheel 3 connected to the steering knuckle 2 to turn.

[0066] The second connector 20 can be configured as any structure capable of extending and retracting along its own length direction; this disclosure does not limit this. As one embodiment, such as... Figures 1 to 3 As shown, the second connector 20 can be a telescopic rod structure.

[0067] As another embodiment of this disclosure, the second connector 20 can be a non-rod-shaped structure capable of extending and retracting along its own length, such as a telescopic block or telescopic plate.

[0068] This disclosure does not limit the type of telescopic rod structure; the second connecting member 20 can be a hydraulic telescopic rod, an electromagnetic telescopic rod, an electric ball screw, or a linear telescopic rod.

[0069] like Figure 3 As shown, in one embodiment of this disclosure, the second connecting member 20 can be a hydraulic telescopic rod, which may include a hydraulic cylinder 21 and a piston rod 22. The hydraulic cylinder 21 is provided with a receiving cavity and an inlet 211 and an outlet 212 connected to the receiving cavity. One end of the piston rod 22 is hinged to the first connecting member 10, and one end of the hydraulic cylinder 21 is adapted to be connected to the steering knuckle 2. The piston rod 22 includes a piston and a movable rod connected to the piston. The piston is movably disposed within the receiving cavity along the axial direction of the hydraulic cylinder 21. The end of the movable rod away from the piston is hinged to the first connecting member 10, and the end of the hydraulic cylinder 21 away from the movable rod is adapted to be connected to the steering knuckle 2.

[0070] When the hydraulic telescopic rod needs to be extended, hydraulic medium (such as hydraulic oil) can be pumped into the hydraulic cylinder 21 through the inlet 211. The hydraulic medium pushes the moving rod to the end away from the piston, thereby extending the hydraulic telescopic rod. When the hydraulic telescopic rod needs to be shortened, hydraulic medium (such as hydraulic oil) can be withdrawn from the hydraulic cylinder 21 through the outlet 212. The negative pressure in the hydraulic cylinder 21 causes the moving rod to move towards the end closer to the piston, thereby shortening the hydraulic telescopic rod.

[0071] Here, the inlet 211 can be connected to the hydraulic medium container (such as a hydraulic cylinder) in sequence through the first switching valve and the first hydraulic pump, and the outlet 212 can be connected to the hydraulic medium container in sequence through the second hydraulic pump and the second switching valve.

[0072] When the hydraulic telescopic rod needs to be extended, the first switch valve can be opened and the second switch valve can be closed, and the hydraulic medium in the hydraulic medium container can be pumped into the hydraulic cylinder 21 by the first hydraulic pump.

[0073] When the hydraulic telescopic rod needs to be shortened, the first switch valve can be closed and the second switch valve can be opened, and the hydraulic medium in the hydraulic cylinder 21 can be pumped into the hydraulic medium container by the second hydraulic pump.

[0074] In this disclosure, the steering module 1 can have a first operating mode. In the first operating mode, the first connecting member 10 is adapted to drive the second connecting member 20 and the steering knuckle 2 to rotate under the action of the steering drive mechanism 30. In the first operating mode, the lengths of both the first connecting member 10 and the second connecting member 20 remain unchanged. That is, the first connecting member 10 is driven to rotate by the steering drive mechanism 30, thereby causing the second connecting member 20 to push or pull the steering knuckle 2 to rotate, thus realizing the steering of the wheels.

[0075] The steering module 1 of this disclosure may also have a second operating mode, in which the rotation of the first connecting member 10 relative to the steering drive mechanism 30 is locked, and at least one of the first connecting member 10 and the second connecting member 20 extends or retracts along its own length. That is, by extending or retracting the first connecting member 10 and / or the second connecting member 20, the second connecting member 20 pushes or pulls the steering knuckle 2 to rotate, thereby achieving wheel steering.

[0076] The steering module 1 may also have a third working mode. In the third working mode, the first connecting member 10 is adapted to drive the second connecting member 20 and the steering knuckle 2 to rotate under the action of the steering drive mechanism 30, and at least one of the first connecting member 10 and the second connecting member 20 extends and retracts along its own length direction.

[0077] It is understood that the steering wheel 3's angle can be controlled by operating in two steps using the first and second working modes, or by operating in the third working mode; this disclosure does not limit this. Among these, controlling the steering wheel 3's angle by operating in two steps using the first and second working modes has a simpler control logic and is easier to design than the third working mode. Designers can choose the appropriate working mode according to actual needs.

[0078] To improve the vibration damping capability of vehicle 100, the first connecting member 10 may optionally be connected to the second connecting member 20 via a spherical joint. The connection between the first connecting member 10 and the second connecting member 20 via the spherical joint allows the second connecting member 20 to move vertically with the steering wheel 3, which facilitates the cooperation between the steering wheel 3 and the vibration damping mechanism 53 of vehicle 100, thereby improving the vibration damping capability of vehicle 100 and making the vehicle body more stable.

[0079] Optionally, the second connecting member 20 can be connected to the steering knuckle 2 via a spherical joint. The connection of the second connecting member 20 to the steering knuckle 2 via the spherical joint allows the steering knuckle 2 to move vertically along with the steering wheel 3, which facilitates the cooperation between the steering wheel 3 and the damping mechanism 53 of the vehicle 100, thereby improving the damping capability of the vehicle 100 and making the vehicle body more stable.

[0080] Optionally, such as Figure 1 and Figure 2 As shown, the steering module 1 may also include a steering drive mechanism 30, which is connected to the end of the first connector 10 away from the second connector 20.

[0081] Here, the steering drive mechanism 30 can be any suitable drive mechanism, such as a motor, a hydraulic drive mechanism, etc., and this disclosure does not limit it.

[0082] In order to prevent the second connector 20 from pushing or pulling the first connector 10 to rotate when the second connector 20 pushes or pulls the steering knuckle 2 to rotate, the steering module 1 may also include a locking structure that can lock the rotation of the first connector 10 relative to the steering drive mechanism 30, thereby preventing the second connector 20 from pushing or pulling the first connector 10 to rotate when the second connector 20 pushes or pulls the steering knuckle 2 to rotate.

[0083] The steering drive mechanism 30 and the locking structure can be separate or integrated. This disclosure does not limit this. As one implementation, the steering drive mechanism 30 and the locking structure can be integrated into one unit, such as a self-locking motor.

[0084] To improve the vibration damping capability of vehicle 100, as one implementation method, the steering drive mechanism 30 can be mounted on the vehicle body 40 of vehicle 100. Compared to connecting the steering drive mechanism 30 to the vibration damping mechanism 53, connecting the steering drive mechanism 30 to the vehicle body 40 of vehicle 100 helps to reduce the weight borne by the vibration damping mechanism 53, thereby improving the sensitivity of the vibration damping mechanism 53, and further improving the vibration damping capability of vehicle 100 and enhancing the stability of the vehicle body.

[0085] In this disclosure, the steering drive mechanism 30 can be connected to the subframe of the vehicle body 40 or to other structures of the vehicle body 40, and this disclosure does not limit this connection.

[0086] Optionally, such as Figure 1 and Figure 2 As shown, the steering module 1 also includes a steering knuckle 2, which is adapted to be connected to the steering wheel 3, and a second connecting member 20 is rotatably connected to the steering knuckle 2.

[0087] To enable users to control the steering wheel 3's angle, according to a second aspect of this disclosure, a steering system is provided, including a controller 63, a first steering angle sensor 63, and the aforementioned steering module 1. The first steering angle sensor 63 and the steering drive mechanism 30 of the steering module 1 are both electrically connected to the controller 63. The first steering angle sensor 61 is used to detect the steering wheel's angle information. The controller 63 is adapted to control the steering drive mechanism 30 to drive the first connecting member 10 to rotate based on the steering angle information detected by the first steering angle sensor 61.

[0088] To facilitate user control of steering wheels 3 at greater angles, steering system 60 may also include a second angle sensor 62. The second angle sensor 62 is electrically connected to controller 63. The second angle sensor 62 is adapted to detect the angle information of steering wheels 3. Controller 63 is adapted to control steering drive mechanism 30 to drive first connecting member 10 to rotate, and / or control at least one of first connecting member 10 and second connecting member 20 to extend or retract along its own length direction, based on the angle information detected by first angle sensor 61 and second angle sensor 62.

[0089] For example, as an exemplary implementation of controlling the steering of the steering wheel 3: when the driver or the autonomous driving system operates the steering wheel to turn, the first steering angle sensor 61 can detect the steering wheel angle information and send it to the controller 63. If the controller 63 determines that the steering wheel angle is less than the preset steering wheel angle, then when the steering drive mechanism 30 drives the first connecting member 10 to rotate, the second connecting member 20 pushes the steering knuckle 2, and the first connecting member 10 and the second connecting member 20 do not extend or retract. If the controller 63 determines that the steering wheel angle is greater than the preset steering wheel angle, then the controller 63 controls the steering drive mechanism 30 to drive the first connecting member 10 to rotate, and judges the steering wheel 3 angle information detected by the second steering angle sensor 62. If the second steering angle sensor 62 detects that the steering wheel 3 is equal to the preset steering wheel 3 angle, then the controller 63 controls the steering drive mechanism 30 to stop working, and controls the locking structure to lock the rotation of the first connecting member 10 relative to the steering drive mechanism 30, and then controls at least one of the first connecting member 10 and the second connecting member 20 (e.g., Figure 3 The second connecting member 20 of the hydraulic telescopic rod extends along its own length, further pushing the steering knuckle 2 and steering wheel 3 to continue rotating. When the steering angle information of the steering wheel 3 detected by the second steering angle sensor 62 corresponds to the steering wheel angle information detected by the first steering angle sensor 61, the first connecting member 10 and / or the second connecting member 20 (such as...) are controlled. Figure 3 The second connecting piece 20 of the hydraulic telescopic rod stops extending and retracting, at which point the steering wheel 3 completes the steering.

[0090] As an exemplary implementation of controlling the steering wheel 3 to return to center: when the driver or the autonomous driving system operates the steering wheel to return to center, the second steering angle sensor 62 can detect the steering angle information of the steering wheel 3 and send it to the controller 63. If the controller 63 determines that the steering angle of the steering wheel 3 is less than the preset steering wheel 3 steering angle, it controls at least one of the first connecting member 10 and the second connecting member 20 (e.g., Figure 3 The second connecting member 20 of the hydraulic telescopic rod shortens along its own length, pulling the steering knuckle 2 and steering wheel 3 back to center. If the controller 63 determines that the rotation angle of the steering wheel 3 is equal to the preset rotation angle of the steering wheel 3, then the controller 63 controls the first connecting member 10 and the second connecting member 20 (e.g., Figure 3 The second connector 20 of the hydraulic telescopic rod stops extending and retracting along its own length direction, and controls the locking structure to lock and unlock the rotation of the first connector 10 relative to the steering drive mechanism 30. Then, the steering drive mechanism 30 is controlled to drive the first connector 10 to rotate, so that the second connector 20 further pulls the steering knuckle 2 and the steering wheel 3 to rotate. When the steering angle information of the steering wheel 3 detected by the second angle sensor 62 corresponds to the steering wheel angle information detected by the first angle sensor 61, the controller 63 controls the steering drive mechanism 30 to stop working. At this time, the return of the steering wheel 3 to center is completed.

[0091] According to a third aspect of this disclosure, a vehicle 100 is provided, comprising: a steering wheel 3 and the steering system described above, or a steering wheel 3 and a steering module 1 described above, wherein the steering wheel 3 is rotatably connected to a second connector 20 via a steering knuckle 2 of the steering module 1.

[0092] Optionally, the vehicle 100 also includes a suspension system 50, which includes an upper control arm 51 and a lower control arm 52. In the vertical direction, the steering drive mechanism 30 is adapted to be disposed between the upper control arm 51 and the lower control arm 52, which helps to reduce the space occupied by the steering module 1 and the overall suspension system 50, avoids interference between the steering drive mechanism 30 and the vehicle body 40, and makes the steering module 1 provided in this disclosure applicable to small vehicles (such as passenger cars).

[0093] Optionally, the suspension system 50 may also include a damping mechanism 53 connected to the upper control arm 51 and / or the lower control arm 52.

[0094] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0095] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0096] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A steering module, characterized in that, Includes a first connector and a second connector; The first connecting member and the second connecting member are rotatably connected. The first end of the second connecting member away from the first connecting member is adapted to be connected to the steering knuckle of the steering wheel. The end of the first connecting member away from the second connecting member is adapted to be connected to the steering drive mechanism. The first connecting member can rotate under the action of the steering drive mechanism. The length of at least one of the first connector and the second connector can vary.

2. The steering module according to claim 1, characterized in that, The first end of the second connector has a first position. When the first end is in the first position, the second connector enables the steering wheel to be in a first steering position, wherein, in the first steering position, the steering wheel forms a 45° angle with the longitudinal center plane of the vehicle, and the rear side of the steering wheel is closer to the longitudinal center plane of the vehicle than the front side; and / or, The first end of the second connector has a second position. When the first end is in the second position, the second connector enables the steering wheel to be in a second steering position, wherein, in the second steering position, the steering wheel forms a 90° angle with the longitudinal center plane of the vehicle, and the rear side of the steering wheel is further away from the longitudinal center plane of the vehicle than the front side.

3. The steering module according to claim 1, characterized in that, The first connecting member is a crank, and the second connecting member is a connecting member that can extend and retract along its own length.

4. The steering module according to claim 3, characterized in that, The second connecting component is a telescopic rod structure.

5. The steering module according to claim 4, characterized in that, The second connecting component is a hydraulic telescopic rod, an electromagnetic telescopic rod, an electric ball screw, or a linear motor.

6. The steering module according to claim 5, characterized in that, The second connecting member is a hydraulic telescopic rod, including a hydraulic cylinder and a piston rod. The hydraulic cylinder is provided with a receiving cavity and an inlet and an outlet connected to the receiving cavity. One end of the piston rod is hinged to the first connecting member, and one end of the hydraulic cylinder is adapted to be connected to the steering knuckle.

7. The steering module according to any one of claims 1-6, characterized in that, The steering module has a first operating mode; In the first working mode, the first connecting member is adapted to drive the second connecting member and the steering knuckle to rotate under the action of the steering drive mechanism; In the first working mode, the lengths of the first connector and the second connector remain unchanged.

8. The steering module according to any one of claims 1-6, characterized in that, The steering module has a second operating mode; In the second operating mode, the rotation of the first connector relative to the steering drive mechanism is locked, and at least one of the first connector and the second connector extends or retracts along its own length.

9. The steering module according to any one of claims 1-6, characterized in that, The first connector is connected to the second connector via a spherical joint; and / or, The second connector is adapted to be connected to the steering knuckle via a spherical joint.

10. The steering module according to any one of claims 1-6, characterized in that, The steering module further includes a steering drive mechanism, which is connected to the end of the first connector away from the second connector in a transmission connection.

11. The steering module according to any one of claims 1-6, characterized in that, The steering module further includes a locking structure for locking the rotation of the first connector relative to the steering drive mechanism.

12. The steering module according to claim 10, characterized in that, The steering drive mechanism is adapted to be installed on the vehicle body.

13. The steering module according to claim 12, characterized in that, The steering drive mechanism is adapted to be connected to the subframe of the vehicle body.

14. The steering module according to any one of claims 1-6, characterized in that, The steering module further includes a steering knuckle adapted to be connected to the steering wheel, and the second connecting member is rotatably connected to the steering knuckle.

15. A steering system, characterized in that, Includes a controller, a first steering angle sensor, and a steering module according to any one of claims 1-14; Both the first angle sensor and the steering drive mechanism of the steering module are electrically connected to the controller. The first angle sensor is used to detect the steering wheel angle information. The controller is adapted to control the steering drive mechanism to drive the first connecting member to rotate based on the steering angle information detected by the first angle sensor.

16. The steering system according to claim 15, characterized in that, The steering system also includes a second steering angle sensor, which is electrically connected to the controller. The second angle sensor is adapted to detect the angle information of the steering wheel, and the controller is adapted to control the steering drive mechanism to drive the first connecting member to rotate based on the angle information detected by the first angle sensor and the angle information detected by the second angle sensor; and / or, Control at least one of the first connector and the second connector to extend or retract along its own length direction.

17. A vehicle, characterized in that, include: Steering wheels; The steering system according to claim 15 or 16, or the steering module according to any one of claims 1-14; The steering wheel is rotatably connected to the second connector via the steering knuckle of the steering module.

18. The vehicle according to claim 17, characterized in that, The vehicle also includes a suspension system, which includes an upper control arm and a lower control arm; In the vertical direction, the steering drive mechanism is adapted to be disposed between the upper control arm and the lower control arm.

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