Control method for steer-by-wire steering device of intelligent vehicle with redundant motors

Abstract

The invention discloses a control method for a steer-by-wire steering device of an intelligent vehicle with redundant motors, including an upper steering gear and a lower steering gear, and further including an assisted driving mode control method and an autonomous driving mode control method. The invention provides two control methods. The first is the assisted driving mode control method. In this mode, when three phases of the six phases of the road feel motor or the steering motor are damaged, the steering system can still work normally. The second is the autonomous driving mode control method. In this mode, even when the road feel motor is completely damaged, the steering motor can receive the steering instruction issued by the electronic control unit in the three-phase and six-phase states to achieve steering. In the invention, both the road feel motor and the steering motor adopt redundant motors, which occupy less space, have a more compact space layout, higher safety and reliability, and can be applied in the field of intelligent driving with a higher safety level.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive steering assist, and specifically to a control method for a steer-by-wire device of an intelligent vehicle with redundant motors. Background Art

[0002] Due to its compact structure, convenient installation and layout, and the ability to decouple the driver from vehicle motion control, the steer-by-wire system has broad application prospects in the fields of intelligent assisted driving and driverless driving. L2 / L3 intelligent assisted driving systems have put forward higher functional safety requirements for vehicle steering systems.

[0003] However, in actual use, since there is no mechanical connection between the steering wheel and the steering gear in the steer-by-wire system, when one of the steering motor or the road feel motor fails, it will bring serious safety hazards and even cause losses to personnel and property. The low safety restricts the application of the steer-by-wire system in the field of intelligent driving with higher safety levels. Summary of the Invention

[0004] The purpose of the present invention is to provide a control method for a steer-by-wire device of an intelligent vehicle with redundant motors, so as to solve the problem that when one of the steering motor or the road feel motor fails, it will bring serious safety hazards and even cause losses to personnel and property, and the low safety restricts the application of the steer-by-wire system in the field of intelligent driving with higher safety levels.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: including:

[0006] An upper steering gear, the upper steering gear includes a steering wheel, a steering column, a first TAS sensor, a road feel motor, and a worm gear reducer. The steering column is fixedly connected to the bottom of the steering wheel. The worm gear reducer is fixedly connected to the bottom of the steering column, and the first TAS sensor is arranged on the surface of the worm gear reducer to enable the first TAS sensor to detect the torque signal and the angular signal applied by the driver to the steering wheel. The road feel motor is fixedly connected to one end of the worm gear reducer to enable the road feel motor to provide power for the drive of the worm gear reducer. A first electrical angle sensor for performing angle calibration simultaneously with the first TAS sensor is provided inside the road feel motor;

[0007] Lower steering gear, the lower steering gear includes a second TAS sensor, a steering motor and a rack and pinion steering gear. One end of the second TAS sensor is rotatably provided with a pinion gear, and the pinion gear meshes on the surface of the rack and pinion steering gear. The number of the steering tie rods is two, and the steering tie rods are fixedly connected to both ends of the rack and pinion steering gear. One end of the steering tie rod far from the rack and pinion steering gear is rotatably connected to a wheel. One of the steering tie rods is fixedly provided with a pulley reducer for cooperating with the rack and pinion steering gear and the steering tie rod to drive the wheel to turn at the end opposite to the rack and pinion steering gear, and the steering motor is fixedly arranged at one end of the pulley reducer so that the steering motor provides power for the drive of the pulley reducer. A second electrical angle sensor for simultaneously performing angle rotation verification with the second TAS sensor is arranged inside the steering motor;

[0008] Electronic control unit, the connection ends of the electronic control unit are respectively connected to the connection ends of the first TAS sensor, the road feel motor, the second TAS sensor and the steering motor through wires.

[0009] Preferably, the angle resolution functions of the first TAS sensor and the second TAS sensor are respectively redundant with the same nature as the first electrical angle sensor and the second electrical angle sensor.

[0010] Preferably, the road feel motor and the steering motor are both dual-redundant motors respectively, and the coils inside the road feel motor and the steering motor are both dual-winding coils with two groups of A and B.

[0011] A control method for an intelligent vehicle by-wire steering device with redundant motors based on the above, including an assisted driving mode control method and an autonomous driving mode control method;

[0012] The assisted driving mode control method includes the following steps:

[0013] Step 1: The electronic control unit collects vehicle speed, gear position, steering wheel angle and torque signals to complete initialization;

[0014] Step 2: Check whether there are faults in the angle resolution of the first TAS sensor and the second TAS sensor and the detection of the first electrical angle sensor and the second electrical angle sensor. If "no", go to Step 3; if "yes", go to Step 5;

[0015] Step 3: Check whether both the A or B two-phase windings of the road feel motor and the A or B two-phase windings of the steering motor are simultaneously faulty. If "no", go to Step 4; if "yes", go to Step 5;

[0016] Step 4: Check whether both the A or B two-phase windings of the road feel motor are simultaneously faulty. If "no", go to Step 6; if "yes", go to Step 23;

[0017] Step Five: Send a stop steering signal to the electronic control unit;

[0018] Step Six: Check if there is a fault in the A-phase winding of the road feeling motor. If "yes", go to Step Seven; if "no", go to Step Twelve;

[0019] Step Seven: The B-phase winding of the road feeling motor operates normally for steering, and check if there are simultaneous faults in the A and B-phase windings of the steering motor. If "yes", go to Step Eight; if "no", go to Step Nine;

[0020] Step Eight: Send a stop steering signal to the electronic control unit;

[0021] Step Nine: Check if there is a fault in the A-phase winding of the steering motor. If "yes", go to Step Ten; if "no", go to Step Eleven;

[0022] Step Ten: The B-phase winding of the road feeling motor and the B-phase winding of the steering motor operate normally for steering;

[0023] Step Eleven: The B-phase winding of the road feeling motor and the A and B-phase windings of the steering motor operate simultaneously for steering;

[0024] Step Twelve: Check if there is a fault in the B-phase winding of the road feeling motor. If "yes", go to Step Thirteen; if "no", go to Step Eighteen;

[0025] Step Thirteen: Check if there are simultaneous faults in the A or B-phase windings of the steering motor. If "yes", go to Step Fourteen; if "no", go to Step Fifteen;

[0026] Step Fourteen: Send a stop steering signal to the electronic control unit;

[0027] Step Fifteen: Check if there is a fault in the A-phase winding of the steering motor. If "yes", go to Step Sixteen; if "no", go to Step Seventeen;

[0028] Step Sixteen: The A-phase winding of the road feeling motor and the B-phase winding of the steering motor operate normally for steering;

[0029] Step Seventeen: The A-phase winding of the road feeling motor and the A and B-phase windings of the steering motor operate simultaneously for steering;

[0030] Step Eighteen: The A or B-phase windings of the road feeling motor operate normally, and check if there are simultaneous faults in the A or B-phase windings of the steering motor. If "yes", go to Step Nineteen; if "no", go to Step Twenty;

[0031] Step Nineteen: Send a stop steering signal to the electronic control unit;

[0032] Step Twenty: Check if there is a fault in phase A of the steering motor. If "yes", go to Step Twenty-One; if "no", go to Step Twenty-Two.

[0033] Step Twenty-One: The A and B phase windings of the road feel motor and the A phase winding of the steering motor operate normally to perform steering.

[0034] Step Twenty-Two: The A and B phase windings of the road feel motor and the A and B phases of the steering motor operate simultaneously to perform steering.

[0035] Step Twenty-Three: Neither the A nor the B phase windings of the road feel motor operate. At this time, the road feel motor does not generate any resistance torque. The first TAS sensor normally detects the steering wheel angle, and the functional safety degrades. Check if there is a simultaneous fault in the A and B phase windings of the steering motor. If "yes", go to Step Twenty-Four; if "no", go to Step Twenty-Five.

[0036] Step Twenty-Four: Send a stop steering signal to the electronic control unit.

[0037] Step Twenty-Five: Check if there is a fault in the A phase winding of the steering motor. If "yes", go to Step Twenty-Six; if "no", go to Step Twenty-Seven.

[0038] Step Twenty-Six: The B phase winding of the steering motor operates normally to perform steering.

[0039] Step Twenty-Seven: The A and B phase windings of the steering motor both operate normally to perform steering.

[0040] The automatic driving mode control method includes the following steps:

[0041] S1: The electronic control unit collects vehicle speed, gear position, steering wheel angle, and torque signals to complete initialization.

[0042] S2: Check if there are any faults in the angle parsing of the first TAS sensor and the second TAS sensor and the detections of the first electrical angle sensor and the second electrical angle sensor. If "no", go to S3; if "yes", go to S4.

[0043] S3: Check if the driver has taken over the steering wheel. If "yes", go to S4; if "no", go to S5.

[0044] S4: Switch from the automatic driving mode to the assisted driving mode.

[0045] S5: Check if there is a simultaneous fault in the A or B phase windings of the steering motor. If "yes", go to S6; if "no", go to S7.

[0046] S6: Send a stop steering signal to the electronic control unit;

[0047] S7: Check if there is a fault in the A-phase winding of the steering motor. If "yes", go to S8; if "no", go to S9;

[0048] S8: The B-phase winding of the steering motor operates normally;

[0049] S9: The A-phase and B-phase windings of the steering motor operate normally.

[0050] Preferably, the condition for switching from the autonomous driving mode to the assisted driving mode in step S4 is:

[0051] The first TAS sensor detects that the torque value applied by the driver to the steering wheel is greater than 2.5 Nm and the duration exceeds 0.5 s.

[0052] Compared with the prior art, the beneficial effects of the present invention are:

[0053] 1. The present invention provides two control methods. The first is the assisted driving mode control method. In this mode, when three out of six phases of the road feel motor or the steering motor are damaged, the steering system can still operate normally. The second is the autonomous driving mode control method. In this mode, even when the road feel motor is completely damaged, the steering motor can receive the steering command issued by the electronic control unit in the three-phase and six-phase states to achieve steering. Both the road feel motor and the steering motor of the present invention adopt redundant motors, which occupy less space and have a more compact layout, with higher safety and reliability, and can be applied in the field of intelligent driving with a higher safety level. Description of the Drawings

[0054] Figure 1 It is a schematic diagram of the overall structure of the steer-by-wire steering device of the intelligent vehicle with redundant motors according to the present invention;

[0055] Figure 2 It is a flowchart of the control method in the assisted driving mode according to the present invention;

[0056] Figure 3 It is a flowchart of the control method in the autonomous driving mode according to the present invention;

[0057] Figure 4 It is a schematic diagram of the internal winding structure of the redundant motor according to the present invention.

[0058] In the figure: 1. Steering wheel; 2. Steering column; 3. First TAS sensor; 4. Road feel motor; 5. Worm gear reducer; 6. Second TAS sensor; 7. Steering motor; 8. Wheel; 9. Steering tie rod; 10. Pinion; 11. Rack and pinion steering gear; 12. Pulley reducer; 13. Electronic control unit. Detailed Embodiments

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] Please refer to Figures 1-4 , the present invention provides a technical solution, including:

[0061] An upper steering gear, the upper steering gear includes a steering wheel 1, a steering column 2, a first TAS sensor 3, a road feeling motor 4 and a worm gear reducer 5. The steering column 2 is fixedly installed at the bottom of the steering wheel 1, the worm gear reducer 5 is fixedly installed at the bottom of the steering column 2, and the first TAS sensor 3 is installed on the surface of the worm gear reducer 5 so that the first TAS sensor 3 can detect the torque signal and the rotation angle signal applied by the driver to the steering wheel 1. The road feeling motor 4 is fixedly installed at one end of the worm gear reducer 5 so that the road feeling motor 4 provides power for the drive of the worm gear reducer 5. A first electrical angle sensor for performing angle calibration simultaneously with the first TAS sensor 3 is provided inside the road feeling motor 4. At the same time, the first electrical angle sensor transmits the fault to the electronic control unit 13;

[0062] A lower steering gear, the lower steering gear includes a second TAS sensor 6, a steering motor 7 and a rack and pinion steering gear 11. A pinion 10 is rotatably provided at one end of the second TAS sensor 6, and the pinion 10 meshes on the surface of the rack and pinion steering gear 11. The number of steering tie rods 9 is two, and the steering tie rods 9 are fixedly installed at both ends of the rack and pinion steering gear 11. One end of the steering tie rod 9 away from the rack and pinion steering gear 11 is rotatably connected to a wheel 8. A pulley reducer 12 for cooperating with the rack and pinion steering gear 11 and the steering tie rod 9 to drive the wheel 8 to turn is fixedly provided at one end of one of the steering tie rods 9 opposite to the rack and pinion steering gear 11. The steering motor 7 is fixedly installed at one end of the pulley reducer 12 so that the steering motor 7 provides power for the drive of the pulley reducer 12. A second electrical angle sensor for performing angle rotation calibration simultaneously with the second TAS sensor 6 is provided inside the steering motor 7. At the same time, the second electrical angle sensor transmits the fault to the electronic control unit 13;

[0063] An electronic control unit 13, and the connection ends of the electronic control unit 13 are respectively connected to the connection ends of the first TAS sensor 3, the road feeling motor 4, the second TAS sensor 6 and the steering motor 7 through wires.

[0064] The angle resolution functions of the first TAS sensor 3 and the second TAS sensor 6 are redundantly of the same nature as those of the first electrical angle sensor and the second electrical angle sensor respectively. The first electrical angle sensor and the second electrical angle sensor can verify the angles resolved by the first TAS sensor 3 and the second TAS sensor 6 within a certain measurement range and upload the angle faults to the electronic control unit 13.

[0065] The road feel motor 4 and the steering motor 7 are both dual-redundancy motors respectively, and the coils inside the road feel motor 4 and the steering motor 7 are both dual-winding coils with two groups A and B respectively. Each group of coils has a separate power supply module, motor control module, power management module, and MCU main control module. The two sets of motor drive modules receive control signals from the electronic control unit 13 through SPI communication. When working normally, the two sets of windings A and B work together to provide the torque or rotation angle required for steering for the road feel motor 4 and the steering motor 7. When a problem occurs in one set of windings and the control system, the main controller coordinates the other set of windings and the controller system to increase the current output to meet the torque required for steering.

[0066] A control method for an intelligent vehicle by-wire steering device with redundant motors based on the above, including an assisted driving mode control method and an autonomous driving mode control method;

[0067] The assisted driving mode control method includes the following steps:

[0068] Step 1: The electronic control unit 13 collects the vehicle speed, gear position, rotation angle and torque signals of the steering wheel 1 to complete initialization;

[0069] Step 2: Check whether there are any faults in the angle resolution of the first TAS sensor 3 and the second TAS sensor 6 and the detection of the first electrical angle sensor and the second electrical angle sensor. If "no", go to Step 3; if "yes", go to Step 5;

[0070] Step 3: Check whether both the A or B two-phase windings of the road feel motor 4 and the A or B two-phase windings of the steering motor 7 are faulty at the same time. If "no", go to Step 4; if "yes", go to Step 5;

[0071] Step 4: Check whether both the A or B two-phase windings of the road feel motor 4 are faulty at the same time. If "no", go to Step 6; if "yes", go to Step 23;

[0072] Step 5: Send a stop steering signal to the electronic control unit 13;

[0073] Step 6: Check whether the A-phase winding of the road feel motor 4 is faulty. If "yes", go to Step 7; if "no", go to Step 12;

[0074] Step Seven: The B-phase winding of the road feel motor 4 operates in the normal steering direction, and it is determined whether the A-phase and B-phase windings of the steering motor 7 both fail. If "yes", proceed to Step Eight; if "no", proceed to Step Nine;

[0075] Step Eight: Send a stop steering signal to the electronic control unit 13;

[0076] Step Nine: Determine whether the A-phase winding of the steering motor 7 fails. If "yes", proceed to Step Ten; if "no", proceed to Step Eleven;

[0077] Step Ten: The B-phase winding of the road feel motor 4 and the B-phase winding of the steering motor 7 operate normally to perform steering;

[0078] Step Eleven: The B-phase winding of the road feel motor 4 and the A-phase and B-phase windings of the steering motor 7 operate simultaneously to perform steering;

[0079] Step Twelve: Determine whether the B-phase winding of the road feel motor 4 fails. If "yes", proceed to Step Thirteen; if "no", proceed to Step Eighteen;

[0080] Step Thirteen: Determine whether the A-phase or B-phase windings of the steering motor 7 both fail. If "yes", proceed to Step Fourteen; if "no", proceed to Step Fifteen;

[0081] Step Fourteen: Send a stop steering signal to the electronic control unit 13;

[0082] Step Fifteen: Determine whether the A-phase winding of the steering motor 7 fails. If "yes", proceed to Step Sixteen; if "no", proceed to Step Seventeen;

[0083] Step Sixteen: The A-phase winding of the road feel motor 4 and the B-phase winding of the steering motor 7 operate normally to perform steering;

[0084] Step Seventeen: The A-phase winding of the road feel motor 4 and the A-phase and B-phase windings of the steering motor 7 operate simultaneously to perform steering;

[0085] Step Eighteen: The A-phase or B-phase windings of the road feel motor 4 both operate normally, and it is determined whether the A-phase or B-phase windings of the steering motor 7 both fail. If "yes", proceed to Step Nineteen; if "no", proceed to Step Twenty;

[0086] Step Nineteen: Send a stop steering signal to the electronic control unit 13;

[0087] Step Twenty: Determine whether the A-phase of the steering motor 7 fails. If "yes", proceed to Step Twenty-One; if "no", proceed to Step Twenty-Two;

[0088] Step 21: The A and B phase windings of the road feel motor 4 and the A phase winding of the steering motor 7 operate normally for steering;

[0089] Step 22: The A and B phase windings of the road feel motor 4 and the A and B phases of the steering motor 7 operate simultaneously for steering;

[0090] Step 23: The A and B phase windings of the road feel motor 4 do not operate. At this time, the road feel motor 4 does not generate any resistance torque. The first TAS sensor 3 normally detects the steering angle of the steering wheel 1. The functional safety degrades, and it is judged whether the A and B phase windings of the steering motor 7 fail simultaneously. If "yes", go to Step 24; if "no", go to Step 25;

[0091] Step 24: Send a stop steering signal to the electronic control unit 13;

[0092] Step 25: Whether the A phase winding of the steering motor 7 fails. If "yes", go to Step 26; if "no", go to Step 27;

[0093] Step 26: The B phase winding of the steering motor 7 operates normally for steering;

[0094] Step 27: The A and B phase windings of the steering motor 7 operate normally for steering;

[0095] The automatic driving mode control method includes the following steps:

[0096] S1: The electronic control unit 13 collects the vehicle speed, gear position, steering angle and torque signals of the steering wheel 1 to complete initialization;

[0097] S2: Whether the angle parsing of the first TAS sensor 3 and the second TAS sensor 6 and the detections of the first electrical angle sensor and the second electrical angle sensor fail. If "no", go to S3; if "yes", go to S4;

[0098] S3: Judge whether the driver takes over the steering wheel 1. If "yes", go to S4; if "no", go to S5;

[0099] S4: Switch from the automatic driving mode to the assisted driving mode;

[0100] S5: Whether the A or B phase windings of the steering motor 7 fail simultaneously. If "yes", go to S6; if "no", go to S7;

[0101] S6: Send a stop steering signal to the electronic control unit 13;

[0102] S7: Whether there is a fault in the A-phase winding of the steering motor 7. If "yes", go to S8; if "no", go to S9;

[0103] S8: The B-phase winding of the steering motor 7 operates normally;

[0104] S9: The A-phase and B-phase windings of the steering motor 7 operate normally.

[0105] The conditions for switching the autopilot mode to the assisted driving mode in step S4 are:

[0106] The first TAS sensor 3 monitors that the torque value applied by the driver to the steering wheel 1 is greater than 2.5 Nm and the duration exceeds 0.5 s.

[0107] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0108] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Control method for steer-by-wire steering device of intelligent vehicle with redundant motors, Characterized in that: The control method includes an assisted driving mode control method and an autonomous driving mode control method; The assisted driving mode control method includes the following steps: Step 1: The electronic control unit (13) collects vehicle speed, gear position, steering wheel (1) angle and torque signals to complete initialization; Step 2: Angle analysis of the first TAS sensor (3) and the second TAS sensor (6) and detection of whether the first and second electrical angle sensors malfunction. If "no", proceed to Step 3; if "yes", proceed to Step 5; Step 3: Whether the A or B phase windings of the road feel motor (4) and the A or B phase windings of the steering motor (7) malfunction simultaneously. If "no", proceed to Step 4; if "yes", proceed to Step 5; Step 4: Whether the A or B phase windings of the road feel motor (4) malfunction simultaneously. If "no", proceed to Step 6; if "yes", proceed to Step 23; Step 5: Send a stop steering signal to the electronic control unit (13); Step 6: Whether the A phase winding of the road feel motor (4) malfunctions. If "yes", proceed to Step 7; if "no", proceed to Step 12; Step 7: The B phase winding of the road feel motor (4) operates normally for steering, and determine whether the A and B phase windings of the steering motor (7) malfunction simultaneously. If "yes", proceed to Step 8; if "no", proceed to Step 9; Step 8: Send a stop steering signal to the electronic control unit (13); Step 9: Whether the A phase winding of the steering motor (7) malfunctions. If "yes", proceed to Step 10; if "no", proceed to Step 11; Step 10: The B phase winding of the road feel motor (4) and the B phase winding of the steering motor (7) operate normally for steering; Step 11: The B phase winding of the road feel motor (4) and the A and B phase windings of the steering motor (7) operate simultaneously for steering; Step 12: Whether the B phase winding of the road feel motor (4) malfunctions. If "yes", proceed to Step 13; if "no", proceed to Step 18; Step 13: Whether the A or B phase windings of the steering motor (7) malfunction simultaneously. If "yes", proceed to Step 14; if "no", proceed to Step 15; Step 14: Send a stop steering signal to the electronic control unit (13); Step 15: Whether the A phase winding of the steering motor (7) malfunctions. If "yes", proceed to Step 16; if "no", proceed to Step 17; Step 16: The A phase winding of the road feel motor (4) and the B phase winding of the steering motor (7) operate normally for steering; Step 17: The A phase winding of the road feel motor (4) and the A and B phase windings of the steering motor (7) operate simultaneously for steering; Step 18: The A or B phase windings of the road feel motor (4) both operate normally, and determine whether the A or B phase windings of the steering motor (7) malfunction simultaneously. If "yes", proceed to Step 19; if "no", proceed to Step 20; Step Nineteen: Send a steering stop signal to the electronic control unit (13); Step Twenty: Check if there is a fault in phase A of the steering motor (7). If "yes", go to Step Twenty-One; if "no", go to Step Twenty-Two; Step Twenty-One: The A and B phase windings of the road feel motor (4) and the A phase winding of the steering motor (7) operate normally for steering; Step Twenty-Two: The A and B phase windings of the road feel motor (4) and the A and B phases of the steering motor (7) operate simultaneously for steering; Step Twenty-Three: Neither the A nor the B phase windings of the road feel motor (4) operate. At this time, the road feel motor (4) does not generate any resistance torque, and the first TAS sensor (3) normally detects the steering angle of the steering wheel (1). The functional safety degrades, and check if both the A and B phase windings of the steering motor (7) have faults simultaneously. If "yes", go to Step Twenty-Four; if "no", go to Step Twenty-Five; Step Twenty-Four: Send a steering stop signal to the electronic control unit (13); Step Twenty-Five: Check if there is a fault in the A phase winding of the steering motor (7). If "yes", go to Step Twenty-Six; if "no", go to Step Twenty-Seven; Step Twenty-Six: The B phase winding of the steering motor (7) operates normally for steering; Step Twenty-Seven: Both the A and B phase windings of the steering motor (7) operate normally for steering.

2. The control method of an intelligent vehicle steer-by-wire device with redundant motors according to claim 1, characterized in that: The intelligent vehicle steer-by-wire device with redundant motors includes: An upper steering gear, which includes a steering wheel (1), a steering column (2), a first TAS sensor (3), a road feel motor (4), and a worm gear reducer (5). The steering column (2) is fixedly connected to the bottom of the steering wheel (1), the worm gear reducer (5) is fixedly connected to the bottom of the steering column (2), and the first TAS sensor (3) is arranged on the surface of the worm gear reducer (5) so that the first TAS sensor (3) can detect the torque signal and steering angle signal applied by the driver to the steering wheel (1). The road feel motor (4) is fixedly connected to one end of the worm gear reducer (5) so that the road feel motor (4) provides power for the drive of the worm gear reducer (5). The first electrical angle sensor for angle calibration simultaneously with the first TAS sensor (3) is provided inside the road feel motor (4); Lower steering gear, the lower steering gear includes a second TAS sensor (6), a steering motor (7) and a rack and pinion steering gear (11). One end of the second TAS sensor (6) is rotatably provided with a pinion gear (10), and the pinion gear (10) meshes on the surface of the rack and pinion steering gear (11). The number of steering tie rods (9) is two, and the steering tie rods (9) are fixedly connected to both ends of the rack and pinion steering gear (11). One end of the steering tie rod (9) away from the rack and pinion steering gear (11) is rotatably connected to a wheel (8). One end of the steering tie rod (9) opposite to the rack and pinion steering gear (11) is fixedly provided with a pulley reducer (12) for cooperating with the rack and pinion steering gear (11) and the steering tie rod (9) to drive the wheel (8) to turn, and the steering motor (7) is fixedly arranged at one end of the pulley reducer (12) so that the steering motor (7) provides power for the drive of the pulley reducer (12). A second electrical angle sensor for simultaneously performing angle rotation verification with the second TAS sensor (6) is provided inside the steering motor (7); Electronic control unit (13), the connection ends of the electronic control unit (13) are respectively connected to the connection ends of the first TAS sensor (3), the road feel motor (4), the second TAS sensor (6) and the steering motor (7) through wires. The angle resolution functions of the first TAS sensor (3) and the second TAS sensor (6) are redundant with the first electrical angle sensor and the second electrical angle sensor respectively in the same nature.

3. A control method for a steer-by-wire steering device of an intelligent vehicle with redundant motors according to claim 1, characterized in that: Both the road feel motor (4) and the steering motor (7) are respectively dual-redundant motors, and the coils inside the road feel motor (4) and the steering motor (7) are respectively dual-winding coils with two groups of A and B.

4. A control method for a steer-by-wire steering device of an intelligent vehicle with redundant motors according to claim 1, characterized in that: The automatic driving mode control method includes the following steps: S1: The electronic control unit (13) collects vehicle speed, gear position, steering angle and torque signals of the steering wheel (1) to complete initialization; S2: Whether the angle resolution of the first TAS sensor (3) and the second TAS sensor (6) and the detection of the first electrical angle sensor and the second electrical angle sensor are faulty. If "no", go to S3. If "yes", go to S4; S3: Judge whether the driver takes over the steering wheel (1). If "yes", go to S4. If "no", go to S5; S4: Switch from the automatic driving mode to the assisted driving mode; S5: Whether both the A or B phase windings of the steering motor (7) fail simultaneously. If "yes", go to S6. If "no", go to S7; S6: Send a stop steering signal to the electronic control unit (13); S7: Whether the A phase winding of the steering motor (7) fails. If "yes", go to S8. If "no", go to S9; S8: The B-phase winding of the steering motor (7) operates normally; S9: The A-phase and B-phase windings of the steering motor (7) operate normally.

5. The control method of an intelligent vehicle steer-by-wire system with redundant motors according to claim 4, characterized in that: In the step S4, the condition for switching from the autonomous driving mode to the assisted driving mode is: The first TAS sensor (3) monitors that the torque value applied by the driver to the steering wheel (1) is greater than 2.5 Nm and the duration exceeds 0.5 s.

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