Electric power steering device and vehicle having the same

Abstract

The present invention provides an electric power steering device and a vehicle having the same, wherein the electric power steering device comprises: two electric power steering units and a wire control unit; the two electric power steering units are symmetrical with respect to a first direction, and the output ends of the two electric power steering units are coaxially arranged along a second direction perpendicular to the first direction, and the wire control unit is communicatively connected with the two electric power steering units; the wire control unit is configured to send a steering control signal, the input end of the electric power steering unit is configured to rotate according to the acquired steering control signal, and the output end of the electric power steering unit is configured to move along the second direction. The present invention can realize pure electric steering, adapt to lightweight front independent suspension, and flexible automatic driving steering control.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic driving, and in particular to an electric power steering device and a vehicle having the same. Background Art

[0002] Most of the current steering systems for medium and heavy-duty commercial vehicles use non-independent suspension steering transmission mechanisms matched with hydraulic power steering. Very few buses and special equipment vehicles use independent suspension steering transmission mechanisms matched with hydraulic power steering.

[0003] However, at present, both the non-independent suspension steering transmission mechanism and the independent suspension steering transmission mechanism still have many shortcomings. For example, the non-independent suspension steering transmission mechanism adopts an integral front axle, and the structural parts are heavy; for example, the existing pure electric recirculating ball steering gear has insufficient output torque and cannot meet the steering requirements of independent suspension heavy-duty commercial vehicles; for example, the existing steering transmission mechanism is suitable for the coordinated movement of the fixed wheels on the left and right sides of the steering axle, and cannot achieve steering modes such as "crab walking" driving. Summary of the invention

[0004] Based on this, it is necessary to provide an electric power steering device and a vehicle having the same to address the above problems.

[0005] The present invention provides an electric power steering device, comprising:

[0006] Two electric power steering units are symmetrical with respect to a first direction, and output ends of the two electric power steering units are coaxially arranged along a second direction perpendicular to the first direction; and

[0007] A wire control unit, communicatively connected to the two electric power steering units;

[0008] The wire control unit is configured to send a steering control signal; the input end of the electric power steering unit is configured to rotate according to the acquired steering control signal; and the output end of the electric power steering unit is configured to move along the second direction.

[0009] In one embodiment, the wire control unit includes:

[0010] a first control-by-wire sub-unit, connected in series communication with the two electric power steering units; and

[0011] The second wire control sub-unit is communicatively connected in parallel with the two electric power steering units, and the second wire control sub-unit is configured to send a steering control signal.

[0012] In one of the embodiments, the second wire control sub-unit is configured to send a first steering control signal to one of the electric power steering units; and the first wire control sub-unit is configured to send the first steering control signal to another of the electric power steering units.

[0013] In one of the embodiments, the first wire control sub-unit is configured to perform communication verification between the two electric power steering units; and the second wire control sub-unit is configured to send a second steering control signal and a third steering control signal to the two electric power steering units, respectively.

[0014] In one embodiment, the electric power steering unit comprises:

[0015] A steering drive subunit, wherein an input end of the steering drive subunit is configured to convert a rotational motion around a third direction into a linear motion along the third direction according to the acquired steering control signal; an output end of the steering drive subunit is configured to convert a linear motion along the third direction into a rotational motion around the first direction; wherein the third direction is perpendicular to the first direction and the second direction;

[0016] a transmission sub-unit, wherein an input end of the transmission sub-unit is pivotally connected to an output end of the steering drive sub-unit; the transmission sub-unit is configured to convert a rotational motion about a direction perpendicular to the third direction into a linear motion along the second direction; and

[0017] The steering knuckle sub-section is pivotally connected to the output end of the transmission sub-section, and the steering knuckle sub-section moves linearly along the second direction with the transmission sub-section.

[0018] In one embodiment, the transmission sub-unit includes:

[0019] a steering arm, a first end of which is pivotally connected to an output end of the steering drive sub-unit; and

[0020] A straight pull rod, wherein the first end of the straight pull rod is pivotally connected to the second end of the steering arm; and the second end of the straight pull rod is pivotally connected to the steering knuckle sub-portion.

[0021] In one embodiment, the steering drive subunit includes:

[0022] a steering torsion bar, configured to perform rotational movement about a third direction according to the acquired steering control signal;

[0023] An input shaft, coaxially connected to the first end of the steering torsion bar and rotating with the steering torsion bar;

[0024] A steering screw rod, coaxially connected to the second end of the steering torsion bar and rotating with the steering torsion bar;

[0025] a steering nut, sleeved on the steering screw and meshingly connected with the steering screw, wherein the steering nut converts a rotational motion around a third direction into a linear motion along the third direction; and

[0026] A steering rocker arm is meshed and connected with the steering nut, and the steering rocker arm converts the linear motion along the third direction into the rotational motion around the first direction.

[0027] In one embodiment, the steering drive subunit further includes:

[0028] a torque sensor, wherein a sensing end of the torque sensor is respectively connected to the input shaft and the steering screw, and a torque signal is obtained when a relative displacement occurs between the input shaft and the steering screw; and

[0029] The controller is connected to the torque sensor and the wire control unit for communication, receives the torque signal sent by the torque sensor and sends it to the wire control unit, and the wire control unit updates the steering control signal and outputs the updated steering control signal.

[0030] In one embodiment, it also includes:

[0031] a kingpin rotating assembly, wherein a first end of the kingpin rotating assembly is coaxially connected to the output end of the electric power steering unit in a second direction so that the output end of the electric power steering unit rotates around the kingpin rotating assembly; and

[0032] The cross arm assembly is rotationally connected to the second end of the kingpin rotating assembly, and the cross arm assembly rotates along with the kingpin rotating assembly around a third direction perpendicular to the first direction and the second direction.

[0033] The present invention also provides a vehicle, comprising the electric power steering device as described above, which is mainly used in medium and heavy-duty commercial vehicles.

[0034] The two electric power steering units provided by the present invention are arranged symmetrically and have no mechanical hardware connection. The two electric power steering units are independently controlled by the wire control unit, providing sufficient steering torque, meeting lightweight requirements, providing a variety of different steering modes, and achieving more flexible steering control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic structural diagram of an electric power steering device in one embodiment of the present invention is shown.

[0036] Figure 2 Shows Figure 1 Schematic diagram of the side cross-sectional structure of the central steering drive sub-unit.

[0037] Figure 3 The figure shows a wiring diagram of the steering drive sub-unit in an embodiment of the present invention.

[0038] Description of labels:

[0039] 1000-Electric power steering unit;

[0040] 1100-steering drive subunit;

[0041] 1110-steering torsion bar;

[0042] 1120-input shaft;

[0043] 1130-steering screw;

[0044] 1140-steering nut;

[0045] 1150-steering rocker arm;

[0046] 1160-Torque sensor;

[0047] 1170-controller;

[0048] 1171-first line control interface;

[0049] 1172-second line control interface;

[0050] 1173-controller power interface;

[0051] 1174-controller internal sensor interface;

[0052] 1180-housing;

[0053] 1190-cylindrical pin;

[0054] 1200-transmission sub-unit;

[0055] 1210-Steering arm;

[0056] 1220-straight pull rod;

[0057] 1300-steering knuckle subsection;

[0058] 1310-steering knuckle;

[0059] 1320-section arm;

[0060] 1400-suspension subsection;

[0061] 1410-kingpin rotating assembly;

[0062] 1420-upper cross arm;

[0063] 1430-lower cross arm;

[0064] 2000-Line Control Department;

[0065] 2100-First line control sub-unit;

[0066] 2110-First line controls;

[0067] 2200-second line control subunit;

[0068] 2210-Vehicle controller;

[0069] 2220 - Second line controls. DETAILED DESCRIPTION

[0070] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0071] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0073] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0075] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0076] See also Figure 1 As shown, Figure 1 A schematic structural diagram of an electric power steering device in one embodiment of the present invention is shown.

[0077] An embodiment of the present invention provides an electric power steering device, including: two electric power steering units 1000 and a control-by-wire unit 2000 .

[0078] The two electric power steering units 1000 are symmetrical with respect to a first direction, and the output ends of the two electric power steering units 1000 are coaxially arranged along a second direction perpendicular to the first direction. The wire control unit 2000 is communicatively connected with the two electric power steering units 1000. The wire control unit 2000 is configured to send a steering control signal; the input end of the electric power steering unit 1000 is configured to rotate according to the steering control signal obtained; and the output end of the electric power steering unit 1000 is configured to move along the second direction.

[0079] In some embodiments, the first direction may be equivalent to the direction of travel of the vehicle, and the second direction may be equivalent to a direction perpendicular to the direction of travel of the vehicle, which is also equivalent to the left and right direction of the vehicle.

[0080] Since the present invention adopts pure electric power steering, it can consume energy only when steering, thereby reducing energy consumption. Since the hydraulic components such as hydraulic pumps, hydraulic pipelines and steering oil tanks in the traditional hydraulic steering system are eliminated in the present invention, the risk of hydraulic leakage is reduced. The present invention adopts two independent electric power steering parts arranged separately, with motion decoupling and independent control, to achieve single-sided electric power steering that takes into account steering modes such as ordinary fixed circle steering and "crab-shaped" steering, thereby achieving more flexible steering control.

[0081] In one embodiment of the present invention, the electric power steering unit 1000 includes a steering drive sub-unit 1100 , a transmission sub-unit 1200 and a steering knuckle sub-unit 1300 .

[0082] The input end of the steering drive subunit 1100 is configured to convert the rotational motion around the third direction into the linear motion along the third direction according to the steering control signal obtained; the output end of the steering drive subunit 1100 is configured to convert the linear motion along the third direction into the rotational motion around the first direction; wherein the third direction is perpendicular to the first direction and the second direction. The input end of the transmission subunit 1200 is pivotally connected to the output end of the steering drive subunit 1100; the transmission subunit 1200 is configured to convert the rotational motion around the direction perpendicular to the third direction into the linear motion along the second direction. The knuckle arm 1320 of the steering knuckle subunit 1300 is pivotally connected to the output end of the transmission subunit 1200, and the steering knuckle subunit 1300 moves linearly along the second direction with the transmission subunit 1200.

[0083] See also Figure 2 As shown, Figure 2 Shows Figure 1 Schematic diagram of the side cross-sectional structure of the central steering drive sub-unit.

[0084] In a specific embodiment, the steering drive subunit 1100 can choose to use an electric recirculating ball steering gear, wherein the steering drive subunit 1100 includes: a steering torsion bar 1110, an input shaft 1120, a steering screw 1130, a steering nut 1140, and a steering rocker arm 1150. The steering torsion bar 1110 is configured to rotate around a third direction according to the steering control signal obtained. The input shaft 1120 is coaxially connected to the first end of the steering torsion bar 1110 and fixed by a cylindrical pin 1190, so that the input shaft 1120 rotates with the steering torsion bar 1110. The steering screw 1130 is coaxially connected to the second end of the steering torsion bar 1110 and rotates with the steering torsion bar 1110. The steering nut 1140 is sleeved on the steering screw 1130 and meshed with the steering screw 1130. The steering nut 1140 converts the rotational motion around the third direction into a linear motion along the third direction. The steering rocker arm 1150 is meshed and connected with the steering nut 1140, and the steering rocker arm 1150 converts the linear motion along the third direction into the rotational motion around the first direction.

[0085] The steering drive subunit 1100 further includes: a torque sensor 1160 and a controller 1170. The two magnetic rings of the torque sensor 1160 are respectively connected to the input shaft 1120 and the steering screw 1130. When relative displacement occurs between the input shaft 1120 and the steering screw 1130, the magnetic rings can measure torque signals such as the torsion angle and torque change generated by the input shaft 1120 and the steering screw 1130. The controller 1170 is connected in communication with the torque sensor 1160 and the wire control unit 2000, receives the torque signal sent by the torque sensor 1160 and sends it to the wire control unit 2000, and the wire control unit 2000 updates the steering control signal and outputs the updated steering control signal.

[0086] Optionally, the controller 1170 may be mounted on the housing 1180 of the steering drive sub-unit 1100, and the controller may be provided with a first-line control interface 1171, a second-line control interface 1172, a controller power interface 1173, and a controller internal sensor interface 1174. The first-line control interface 1171 and the second-line control interface 1172 are used to connect to the control line unit. The controller power interface 1173 is used for external power supply. The controller internal sensor interface 1174 is used to connect to the torque sensor 1160.

[0087] refer to Figure 3 As shown, Figure 3 The figure shows a wiring diagram of the steering drive sub-unit in an embodiment of the present invention.

[0088] In one embodiment of the present invention, the wire control unit 2000 includes: a first wire control sub-unit 2100 and a second wire control sub-unit 2200. The first wire control sub-unit 2100 is connected in series communication with the two electric power steering units 1000. The second wire control sub-unit 2200 is connected in parallel communication with the two electric power steering units 1000, and the second wire control sub-unit is configured to send a steering control signal.

[0089] In a specific embodiment, the first wire control subunit may be a first wire control 2110, and the second wire control subunit may include a vehicle controller 2210 and a second wire control 2220. The first wire control interface 1171 on the controller 1170 in the two steering drive subunits 1100 is connected to the vehicle controller 2210 through the first wire control 2110. The second wire control interface 1172 on the controller 1170 in the two steering drive subunits 1100 is connected to the vehicle controller 2210 through the second wire control 2220. The first wire control 2110 may be a private CAN line. The second wire control 2220 may be a public CAN line.

[0090] After the electric power steering device is turned on, communication verification can be performed first. The communication verification of a first line control 2110 and two second line controls 2220 in the wire control unit 2000 is completed. That is, the communication verification between the two electric power steering units 1000 is performed through the private CAN line. If a verification error occurs in one of the electric power steering units 1000, it will be immediately exited. Through two public CAN lines, the verification between the left steering drive subunit 1100 and the vehicle controller 2210 and the right steering drive subunit 1100 and the vehicle controller 2210 is completed respectively. If a verification error occurs, it will be immediately exited. After completing the communication verification, a mode selection can be performed, such as a crab mode or a normal mode. In the crab mode, the left and right wheel angles are required to remain consistent and equal in real time. The left and right steering drive subunits 1100 are reversed by the vehicle controller, and the left and right steering drive subunits 1100 and the right steering drive subunits 1100 are respectively sent through two common CAN lines. The angle control command (or the second steering control signal and the third steering control signal) is sent to the left steering drive subunit 1100 and the right steering drive subunit 1100, thereby driving the wheels on both sides to rotate. In the normal mode, the left and right wheel steering angles are required to conform to the Ackerman steering relationship. The vehicle controller reversely calculates the left and right steering drive sub-units 1100, and sends the steering angle control instructions (or the second steering control signal and the third steering control signal) to the left steering drive sub-unit 1100 and the right steering drive sub-unit 1100 through two common CAN lines, thereby driving the wheels on both sides to rotate. In this control mode, the two steering drive sub-units 1100 are not connected to the steering control mechanism, which is more suitable for unmanned driving or wire control steering.

[0091] It should be noted that the present invention can also be applied to the control mode of unilateral electric power steering, the input end of the unilateral steering drive subunit 1100 is connected to the steering control mechanism (such as steering wheel, steering column, steering transmission shaft, etc.), and the driver can operate the steering wheel as a steering control signal input, and the driver's operation action is assisted to complete the unilateral steering control signal input. Specifically, the steering control mechanism is connected to the input end of the steering drive subunit 1100 arranged on the left side, which is applicable to left-hand steering vehicles. Similarly, the steering control mechanism is connected to the input end of the steering drive subunit 1100 arranged on the right side, which is applicable to right-hand steering vehicles. After completing the input of the unilateral steering control signal (or the first steering control signal), the steering drive subunits 1100 on both sides are connected through the CAN signal communication provided by the first wire control subunit 2100, so as to realize the linkage control of the steering drive subunits 1100 on both sides.

[0092] In a specific embodiment, the transmission sub-unit 1200 includes: a steering arm 1210 and a straight pull rod 1220. The first end of the steering arm 1210 is pivotally connected to the rotating shaft of the steering rocker arm 1150 at the output end of the steering drive sub-unit 1100; the first end of the straight pull rod 1220 is pivotally connected to the second end of the steering arm 1210; the second end of the straight pull rod 1220 is pivotally connected to the steering knuckle sub-unit 1300, and the straight pull rod 1220 drives the steering knuckle sub-unit 1300 to steer left and right.

[0093] In one embodiment of the present invention, it further comprises: a suspension sub-unit 1400. One end of the suspension sub-unit 1400 rotates around the third direction in response to the movement along the third direction (up and down), and the output end of the electric power steering unit rotates around the other end of the suspension sub-unit 1400.

[0094] The suspension sub-unit 1400 may include: a kingpin rotating assembly 1410, an upper cross arm 1420, and a lower cross arm 1430. The first end of the kingpin rotating assembly 1410 is coaxially connected to the output end of the electric power steering unit 1000 (i.e., the knuckle 1310) in a second direction so that the output end of the electric power steering unit 1000 (i.e., the knuckle 1310) rotates around the kingpin rotating assembly 1410. The cross arm assembly is connected to the second end of the kingpin rotating assembly 1410 in a rotational manner, and the cross arm assembly rotates around the third direction with the kingpin rotating assembly 1410.

[0095] In a specific embodiment, the left kingpin rotating assembly 1410 is connected to the left upper cross arm 1420 through an upper pin shaft and to the left lower cross arm 1430 through a lower pin shaft. The right kingpin rotating assembly 1410 is connected to the right upper cross arm 1420 through an upper pin shaft and to the right lower cross arm 1430 through a lower pin shaft, forming a quadrilateral mechanism that swings as the tire jumps up and down.

[0096] The present invention also provides a vehicle having an electric power steering device as described above, which is mainly used in medium and heavy-duty commercial vehicles. The front axle load of medium and heavy-duty commercial vehicles is greater than 5000kg, and the in-situ steering condition requires the output torque of the steering gear to be greater than 4500Nm. At present, the hydraulic circulating ball steering gear can meet the use requirements of medium and heavy-duty commercial vehicles. However, the maximum output torque of the existing electric circulating ball steering gear is about 2500Nm, and the direction cannot be turned under the in-situ steering condition due to insufficient output torque using an electric circulating ball steering gear. The present invention uses two electric circulating ball steering gears to meet the use requirements of medium and heavy-duty commercial vehicles.

[0097] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An electric power steering device, characterized in that: include: Two electric power steering units are symmetrical with respect to a first direction, and the output ends of the two electric power steering units are coaxially arranged along a second direction perpendicular to the first direction; as well as A wire control unit is connected to the two electric power steering units in communication; the wire control unit includes a first wire control sub-unit and a second wire control sub-unit, the first wire control sub-unit is connected to the two electric power steering units in series in communication, the second wire control sub-unit is connected to the two electric power steering units in parallel in communication, the second wire control sub-unit is configured to send a steering control signal, the input end of the electric power steering unit is configured to rotate according to the acquired steering control signal; the output end of the electric power steering unit is configured to move along the second direction; Wherein, the second wire control sub-unit is configured to send the first steering control signal to one of the electric power steering units; the first wire control sub-unit is configured to send the first steering control signal to another of the electric power steering units; and / or The first wire control sub-unit is configured to perform communication verification between the two electric power steering units; the second wire control sub-unit is configured to send a second steering control signal and a third steering control signal to the two electric power steering units respectively.

2. The electric power steering device according to claim 1, characterized in that: The electric power steering unit comprises: A steering drive subunit, wherein an input end of the steering drive subunit is configured to convert a rotational motion around a third direction into a linear motion along the third direction according to the acquired steering control signal; an output end of the steering drive subunit is configured to convert a linear motion along the third direction into a rotational motion around the first direction; wherein the third direction is perpendicular to the first direction and the second direction; a transmission sub-unit, wherein an input end of the transmission sub-unit is pivotally connected to an output end of the steering drive sub-unit; the transmission sub-unit is configured to convert a rotational motion about a direction perpendicular to the third direction into a linear motion along the second direction; and The steering knuckle sub-section is pivotally connected to the output end of the transmission sub-section, and the steering knuckle sub-section moves linearly along the second direction with the transmission sub-section.

3. The electric power steering device according to claim 2, characterized in that: The transmission sub-unit comprises: a steering arm, a first end of which is pivotally connected to an output end of the steering drive sub-unit; and A straight pull rod, wherein the first end of the straight pull rod is pivotally connected to the second end of the steering arm; and the second end of the straight pull rod is pivotally connected to the steering knuckle sub-portion.

4. The electric power steering device according to claim 2, characterized in that: The steering drive subunit comprises: a steering torsion bar, configured to perform rotational movement about a third direction according to the acquired steering control signal; An input shaft, coaxially connected to the first end of the steering torsion bar and rotating with the steering torsion bar; A steering screw rod is coaxially connected to the second end of the steering torsion bar and rotates with the steering torsion bar; a steering nut, sleeved on the steering screw and meshingly connected with the steering screw, wherein the steering nut converts a rotational motion around a third direction into a linear motion along the third direction; and A steering rocker arm is meshed and connected with the steering nut, and the steering rocker arm converts the linear motion along the third direction into the rotational motion around the first direction.

5. The electric power steering device according to claim 4, characterized in that: The steering drive subunit also includes: a torque sensor, wherein a sensing end of the torque sensor is respectively connected to the input shaft and the steering screw, and a torque signal is obtained when a relative displacement occurs between the input shaft and the steering screw; and The controller is connected to the torque sensor and the wire control unit for communication, receives the torque signal sent by the torque sensor and sends it to the wire control unit, and the wire control unit updates the steering control signal and outputs the updated steering control signal.

6. The electric power steering device according to claim 5, characterized in that: The controller is mounted on the housing of the steering drive subunit.

7. The electric power steering device according to claim 5, characterized in that: The controller is provided with a first-line control interface, a second-line control interface, a controller power interface and a controller internal sensor interface; The first-line control interface and the second-line control interface are used to connect to the control line part, the controller power interface is used for external power supply, and the controller internal sensor interface is used to connect to the torque sensor.

8. The electric power steering device according to claim 2, characterized in that: The steering drive subsection is configured as an electric recirculating ball steering gear.

9. The electric power steering device according to any one of claims 1 to 8, characterized in that: Also includes: A kingpin rotating assembly, wherein a first end of the kingpin rotating assembly is coaxially connected to the output end of the electric power steering unit in a second direction so that the output end of the electric power steering unit rotates around the kingpin rotating assembly; as well as The cross arm assembly is rotationally connected to the second end of the kingpin rotating assembly, and the cross arm assembly rotates along with the kingpin rotating assembly around a third direction perpendicular to the first direction and the second direction.

10. A vehicle, characterized in that: The invention comprises the electric power steering device as claimed in any one of claims 1 to 9.

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