An ASIL-D level EPS torque angle sensor based on a gear structure

Abstract

The present invention discloses an ASIL-D level EPS torque angle sensor based on a gear structure, which adopts a new structure different from the prior art. Driving wheels are respectively installed on the input shaft and the output shaft of the electric power steering system EPS. The driving gears are connected to the driven gears, and linear Hall chips are used to collect the rotation angles of the respective driven gears, so as to obtain the rotation angles of the input shaft and the output shaft, calculate the angle difference between the two angles, and obtain the relative rotation angle of the torsion bar, which has good scalability. At the same time, in the present invention, the driving gear on the output shaft drives two other small gears containing magnets to rotate, and a set of output shaft rotation angle signals are measured, which also has good scalability. Moreover, the present invention adopts a multi-redundancy measurement method to finally meet the functional safety requirements of the ASIL-D level of the EPS torque angle sensor. The torque angle sensor architecture of the present invention has flexible scalability and can meet higher-level functional safety requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of torque angle sensors, and particularly to an ASIL-D level EPS torque angle sensor based on a gear structure. Background Art

[0002] Torque sensors are generally used to measure the magnitude and direction of the torque exerted by the driver on the steering wheel and convert it into an electrical signal. The power steering ECU receives this signal and the vehicle speed signal to determine the direction and magnitude of the auxiliary power, so as to control the steering torque to become smaller during low-speed driving and control the steering torque to increase moderately during high-speed driving. It is one of the important components of an electric power steering system (EPS).

[0003] Torque is linearly correlated with the torsion bar rotation angle, and the torque can be obtained by collecting the torsion bar rotation angle signal.

[0004] After retrieval, a torque sensor with four-way PWM signals, with the publication number of the Chinese utility model patent authorization being CN213932929U, has a structure as Figure 10 shown, specifically including: a magnetic ring 01 coupled to the input shaft of the vehicle steering wheel, with multiple pairs of magnetic poles evenly distributed on the outer surface of the magnetic ring; a magnetic conductor 02, two of which are sleeved on the outer periphery of the magnetic ring in an up-and-down position, the magnetic ring and the magnetic conductor can rotate relative to each other, and the protruding strips protruding along the axis of the magnetic ring of the two magnetic conductors are distributed in an interlaced and embedded manner and partially overlap in the axial position; a magnetic collecting block 03, each of the two magnetic conductors is provided with a magnetic collecting block, and the two magnetic collecting blocks are symmetrically distributed in an up-and-down position; a patch-type Hall chip 04, located in the gap between the upper and lower positions of the two magnetic collecting blocks, and having four-way PWM signal output pins.

[0005] The ESP system also needs to identify the real-time rotation angle of the steering wheel to judge the driver's driving intention, etc., so as to perform corresponding interventions when the vehicle is in working conditions such as excessive or insufficient steering, and ensure the stability of vehicle driving. Therefore, realizing the real-time measurement of the steering wheel rotation angle is an essential function in the electric power steering system. Summary of the Invention

[0006] In order to overcome the defects in the above-mentioned prior art, the present invention provides an ASIL-D level EPS torque angle sensor based on a gear structure, adopting a new structure different from the prior art structure, obtaining the torsion bar rotation angle and the steering wheel rotation angle by respectively measuring the input shaft rotation angle and the output shaft rotation angle, and having good scalability.

[0007] To achieve the above object, the present invention adopts the following technical solutions, including:

[0008] An ASIL-D level EPS torque angle sensor based on a gear structure has the following specific structure:

[0009] Connect an input shaft driving gear that rotates simultaneously with the input shaft to the input shaft. The input shaft driving gear is connected to a first input shaft driven gear. A magnet is installed on the first input shaft driven gear, and a first input shaft chip for measuring the rotation angle of the input shaft is arranged corresponding to the magnet on the first input shaft driven gear. The first input shaft chip is used to measure the rotation angle of the input shaft;

[0010] Connect an output shaft driving gear that rotates simultaneously with the output shaft to the output shaft. The output shaft driving gear is respectively connected to a first output shaft driven gear, a third output shaft driven gear, and a fourth output shaft driven gear. A magnet is installed on each output shaft driven gear, and a first output shaft chip, a third output shaft chip, and a fourth output shaft chip are respectively arranged corresponding to the magnets on the first output shaft driven gear, the third output shaft driven gear, and the fourth output shaft driven gear. Each output shaft chip is used to measure the rotation angle of the output shaft;

[0011] According to the rotation angle of the input shaft measured by the first input shaft chip and the rotation angle of the output shaft measured by the first output shaft chip, the torsion bar rotation angle is obtained.

[0012] Preferably, the first input shaft chip and the first output shaft chip are both dual-Die Hall chips; the dual-Die Hall chip includes Die-A and Die-B, and outputs two independent signals.

[0013] Preferably, Die-A of the first input shaft chip is connected to Die-B of the first output shaft chip, and is used to receive the rotation angle of the output shaft measured by the first output shaft chip, and obtain a first torsion bar rotation angle signal T1 according to the rotation angle of the input shaft measured by the first input shaft chip and the rotation angle of the output shaft measured by the first output shaft chip;

[0014] Die-A of the first output shaft chip is connected to Die-B of the first input shaft chip, and is used to receive the rotation angle of the input shaft measured by the first input shaft chip, and obtain a second torsion bar rotation angle signal T2 that is correlated with the first torsion bar rotation angle signal T1 according to the rotation angle of the output shaft measured by the first output shaft chip and the rotation angle of the input shaft measured by the first input shaft chip.

[0015] Preferably, the input shaft driving gear is redundantly connected with a second input shaft driven gear, and the output shaft driving gear is redundantly connected with a second output shaft driven gear. Magnets are installed on both the second input shaft driven gear and the second output shaft driven gear. A second input shaft chip is arranged corresponding to the magnet on the second input shaft driven gear, and a second output shaft chip is arranged corresponding to the magnet on the second output shaft driven gear;

[0016] The second input shaft chip and the second output shaft chip are respectively used to measure the rotation angle of the input shaft and the rotation angle of the output shaft.

[0017] Preferably, both the second input shaft chip and the second output shaft chip are dual-Die Hall chips. The dual-Die Hall chip includes Die-A and Die-B and outputs two independent signals.

[0018] Die-A of the second input shaft chip is connected to Die-B of the second output shaft chip, and is used to receive the output shaft rotation angle measured by the second output shaft chip. According to the input shaft rotation angle measured by the second input shaft chip and the output shaft rotation angle measured by the second output shaft chip, a third torsion bar rotation angle signal T3 is obtained.

[0019] Die-A of the second output shaft chip is connected to Die-B of the second input shaft chip, and is used to receive the input shaft rotation angle measured by the second input shaft chip. According to the output shaft rotation angle measured by the second output shaft chip and the input shaft rotation angle measured by the second input shaft chip, a fourth torsion bar rotation angle signal T4 that is correlated with the third torsion bar rotation angle signal T3 is obtained.

[0020] Preferably, the third output shaft chip outputs an output shaft rotation angle P signal, and the fourth output shaft chip outputs an output shaft rotation angle S signal.

[0021] Both the third output shaft chip and the fourth output shaft chip are dual-Die Hall chips. The dual-Die Hall chip includes Die-A and Die-B and outputs two independent signals.

[0022] Die-A of the third output shaft chip is connected to Die-B of the fourth output shaft chip, and is used to receive the output shaft rotation angle S signal of the fourth output shaft chip. Die-A of the third output shaft chip outputs a first output shaft rotation angle P signal, namely signal P1, and outputs a first output shaft rotation angle S signal, namely signal S1.

[0023] Die-A of the fourth output shaft chip is connected to Die-B of the third output shaft chip, and is used to receive the output shaft rotation angle P signal of the third output shaft chip. Die-A of the fourth output shaft chip outputs a second output shaft rotation angle S signal, namely signal S2, and outputs a second output shaft rotation angle P signal, namely signal P2.

[0024] Preferably, signal P1 and signal S1 are output using SENT or SPC and share one output terminal, and signal P2 and signal S2 are output using SENT or SPC and share one output terminal.

[0025] Preferably, the input shaft chip and the output shaft chip are respectively located on the front and back sides of the PCB board. The input shaft driven gear and the output shaft driven gear are arranged staggeredly, and the input shaft chip and the output shaft chip are arranged staggeredly on the PCB board.

[0026] Preferably, the signal output by the chip is any one of PWM, digital SENT, and SPC signals.

[0027] Preferably, two torsion bar rotation angle signals that are correlated with each other are output by SENT or SPC and share one output terminal.

[0028] The advantages of the present invention are as follows:

[0029] (1) The present invention adopts a new structure different from the prior art. Driving wheels are respectively installed on the input shaft and the output shaft of the electric power steering system EPS. The driven gears are connected through the driving gears. The rotation angles of each driven gear are respectively collected by using linear Hall chips, so as to obtain the rotation angles of the input shaft and the output shaft, calculate the angle difference between the two angles, and obtain the torsion bar rotation angle, which has good scalability. In addition, the present invention also drives two other small gears containing magnets to rotate through the driving gear on the output shaft, and measures a group of output shaft rotation angle signals, which also has good scalability.

[0030] (2) With the research and development of intelligent driving and driverless vehicles, the improvement of the overall vehicle functional safety also puts forward higher safety level requirements for automotive parts. Especially for core parts such as the electric power steering system (EPS), it is necessary to reach the functional safety index of ASIL-D level. Therefore, the EPS torque rotation angle sensor for position measurement feedback also needs to reach the ASIL-D level. By using the scalability of the structure, the present invention respectively connects multiple driven gears through the driving gear, and uses multiple linear Hall chips with multiple outputs to respectively collect the rotation angles of each driven gear, so as to obtain multiple groups of input shaft rotation angles and output shaft rotation angles, realize the multi-redundancy measurement of the EPS torsion bar rotation angle, redundantly output a group of torsion bar rotation angle signals T3 and T4, make the sensor safer, ensure the validity of data, and can self-check to a certain extent, improve the safety level of the EPS torque rotation angle sensor to reach the ASIL-D level, so as to meet the requirements of the current vehicle intelligent driving and future driverless system for the functional safety of the EPS torque rotation angle sensor.

[0031] (3) The present invention obtains multiple output shaft rotation angle signals through a dual-Die Hall chip, thereby redundantly outputting a group of output shaft rotation angle signals, making the sensor safer, ensuring the validity of data, and can self-check to a certain extent, improve the safety level of the EPS torque rotation angle sensor to reach the ASIL-D level, so as to meet the requirements of the current vehicle intelligent driving and future driverless system for the functional safety of the EPS torque rotation angle sensor.

[0032] (4) The input shaft chip and the output shaft chip are respectively located on the front and back sides of the same PCB board, with a simple structure. Moreover, the input shaft driven gear and the output shaft driven gear are arranged staggeredly, so that the input shaft chip and the output shaft chip are arranged staggeredly on the PCB board, preventing the bipolar magnets on the input shaft driven gear or the output shaft driven gear from interfering with the magnetic field of the Hall chip on the opposite side.

[0033] (5) SENT and SPC protocol outputs enable multiple signals to share a single wire harness, reducing the connecting wire harness and the number of sensor PIN pins, which is beneficial for cost reduction.

[0034] (6) In the prior art, analog signals or PWM signal output methods are mostly used. The signals cannot contain the fault diagnosis signals of the sensor. Moreover, as the redundancy of the output signals increases, the number of sensor pin pins also increases, resulting in increased costs. The output interface of the torque angle sensor of the present invention adopts SENT or SPC communication methods, which can increase the anti-interference ability of signal transmission. At the same time, signal verification can be added in this communication method, and the diagnostic information of the sensor can be transmitted, which better meets the safety and reliability requirements of the sensor.

[0035] (7) The torque angle sensor of the present invention can achieve multi-redundancy measurement of the EPS torsion bar angle and the steering wheel angle. The client can flexibly use this angle information to detect the absolute position of the steering wheel, and it has a high safety level. Description of the Drawings

[0036] Figure 1 It is the overall schematic diagram of the EPS torque angle sensor of this embodiment.

[0037] Figure 2 It is the schematic diagram of the input shaft end of the EPS torque angle sensor of this embodiment.

[0038] Figure 3 It is the schematic diagram of the output shaft end of the EPS torque angle sensor of this embodiment.

[0039] Figure 4 It is the circuit connection schematic diagram of the first input shaft chip 1A and the first output shaft chip 1B of the EPS torque angle sensor of this embodiment.

[0040] Figure 5 It is the circuit connection schematic diagram of the second input shaft chip 2A and the second output shaft chip 2B of the EPS torque angle sensor of this embodiment.

[0041] Figure 6 It is the circuit connection schematic diagram of the first gear chip 3B and the second gear chip 4B of the EPS torque angle sensor of this embodiment.

[0042] Figure 7 Schematic diagram of the output of a set of torsion bar rotation signals.

[0043] Figure 8 Schematic diagram of the output of the output shaft rotation angle P signal.

[0044] Figure 9 Schematic diagram of the output of the output shaft rotation angle S signal.

[0045] Figure 10 Schematic diagram of the structure of a four-channel PWM signal torque sensor disclosed in the prior art. Specific implementation mode

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] As Figures 1-3 shown, a gear structure-based ASIL-D grade EPS torque rotation angle sensor of the present invention has the following structure:

[0048] A drive input shaft gear 10 is directly connected to the input shaft L of the vehicle steering wheel, and the drive input shaft gear 10 rotates simultaneously with the input shaft L; the drive input shaft gear 10 is connected to two driven input shaft gears according to a certain transmission ratio, namely the first driven input shaft gear 11 and the second driven input shaft gear 12; bipolar magnets 30 are installed on both driven input shaft gears, and each magnet 30 is provided with a dual Die Hall chip, namely an input shaft chip, which are respectively the first input shaft chip 1A and the second input shaft chip 2A. The two input shaft chips are respectively used to measure the rotation angles of the first driven input shaft gear 11 and the second driven input shaft gear 12, and according to the transmission ratios of the drive input shaft gear 10 to the first driven input shaft gear 11 and the second driven input shaft gear 12, the rotation angle of the drive input shaft gear 10 is obtained respectively, so as to obtain the input shaft rotation angle respectively.

[0049] A drive gear 20 of the output shaft is directly connected to an output shaft K of an automotive steering wheel, and the drive gear 20 of the output shaft rotates simultaneously with the output shaft K; the drive gear 20 of the output shaft is connected to four driven gears of the output shaft respectively according to a certain transmission ratio, namely, a first driven gear 21 of the output shaft, a second driven gear 22 of the output shaft, a third driven gear 23 of the output shaft, and a fourth driven gear 22 of the output shaft; bipolar magnets 30 are installed on the four driven gears of the output shaft, and a dual Die Hall chip, namely an output shaft chip, is provided corresponding to each magnet 30, which are respectively a first output shaft chip 1B, a second output shaft chip 2B, a third output shaft chip 3B, and a fourth output shaft chip 4B. The four output shaft chips are respectively used to measure the rotation angles of the four driven gears of the output shaft, and according to the transmission ratio between the drive gear 20 of the output shaft and the four driven gears of the output shaft, the rotation angle of the drive gear 20 of the output shaft is obtained respectively, so as to obtain the rotation angle of the output shaft respectively.

[0050] The dual Die Hall chip includes two independent Dies, namely Die-A and Die-B, and can output two independent signals.

[0051] As Figure 1 shown, the input shaft chip and the output shaft chip are respectively located on the front and back sides of the same PCB board. The driven gear of the input shaft and the driven gear of the output shaft are arranged axially staggered, and the input shaft chip and the output shaft chip are arranged staggered on the PCB board to prevent the bipolar magnet 30 on the driven gear of the input shaft or the driven gear of the output shaft from interfering with the magnetic field of the Hall chip on the opposite side.

[0052] As Figures 4-6 shown, the circuit connection method of an ASIL-D grade EPS torque rotation angle sensor based on a gear structure according to the present invention is as follows:

[0053] As Figure 4 shown, Die-A of the first input shaft chip 1A is connected to Die-B of the first output shaft chip 1B, which is used to receive the rotation angle of the output shaft measured by the first output shaft chip 1B, and according to the rotation angle of the input shaft measured by the first input shaft chip 1A and the rotation angle of the output shaft measured by the first output shaft chip 1B, the relative rotation angle of the torsion bar between the input shaft and the output shaft, that is, the torsion bar rotation angle, is obtained. Die-A of the first input shaft chip 1A outputs a first path of torsion bar rotation angle signal T1, and the torsion bar rotation angle signal is output in PWM or digital SENT or SPC signal.

[0054] As Figure 4As shown, Die-A of the first output shaft chip 1B is connected to Die-B of the first input shaft chip 1A, and is used to receive the input shaft rotation angle measured by the first input shaft chip 1A. According to the output shaft rotation angle measured by the first output shaft chip 1B and the input shaft rotation angle measured by the first input shaft chip 1A, the relative rotation angle of the torsion bar between the input shaft and the output shaft is obtained. Die-A of the first output shaft chip 1B outputs the second torsion bar rotation angle signal T2, and the torsion bar rotation angle signal is output in PWM or digital SENT or SPC signal.

[0055] As shown by Figure 5 As shown, Die-A of the second input shaft chip 2A is connected to Die-B of the second output shaft chip 2B, and is used to receive the output shaft rotation angle measured by the second output shaft chip 2B. According to the input shaft rotation angle measured by the second input shaft chip 2A and the output shaft rotation angle measured by the second output shaft chip 2B, the relative rotation angle of the torsion bar between the input shaft and the output shaft is obtained. Die-A of the second input shaft chip 2A outputs the third torsion bar rotation angle signal T3, and the torsion bar rotation angle signal is output in PWM or digital SENT or SPC signal.

[0056] As shown by Figure 5 As shown, Die-A of the second output shaft chip 2B is connected to Die-B of the second input shaft chip 2A, and is used to receive the input shaft rotation angle measured by the second input shaft chip 2A. According to the output shaft rotation angle measured by the second output shaft chip 2B and the input shaft rotation angle measured by the second input shaft chip 2A, the relative rotation angle of the torsion bar between the input shaft and the output shaft is obtained. Die-A of the second output shaft chip 2B outputs the fourth torsion bar rotation angle signal T4, and the torsion bar rotation angle signal is output in PWM or digital SENT or SPC signal.

[0057] As shown by Figure 6 As shown, Die-A of the third output shaft chip 3B is connected to Die-B of the fourth output shaft chip 4B, and is used to receive the output shaft rotation angle S signal measured by the fourth output shaft chip 4B; Die-A of the third output shaft chip 3B outputs the output shaft rotation angle P signal measured by the third output shaft chip 3B, that is, the first output shaft rotation angle P signal, that is, signal P1, and outputs the output shaft rotation angle S signal measured by the fourth output shaft chip 4B, that is, the first output shaft rotation angle S signal, that is, signal S1.

[0058] As shown by Figure 6As shown, Die-A of the fourth output shaft chip 4B is connected to Die-B of the third output shaft chip 3B, and is used to receive the measured output shaft rotation angle P signal of the third output shaft chip 3B; Die-A of the fourth output shaft chip 4B outputs the measured output shaft rotation angle S signal of the fourth output shaft chip 4B, that is, the second output shaft rotation angle S signal, that is, signal S2, and outputs the measured output shaft rotation angle P signal of the third output shaft chip 3B, that is, the second output shaft rotation angle P signal, that is, signal P2.

[0059] In the present invention, there are at least 2 groups of independent power supply circuits, and the specific power supply methods are as follows:

[0060] As Figure 4 shown, Die-A of the first input shaft chip 1A and Die-B of the first output shaft chip 1B are powered by the first power supply VCC1; Die-A of the first output shaft chip 1B and Die-B of the first input shaft chip 1A are powered by the second power supply VCC2.

[0061] As Figure 5 shown, Die-A of the second input shaft chip 2A and Die-B of the second output shaft chip 2B are powered by the first power supply VCC1, and Die-A of the second output shaft chip 2B and Die-B of the second input shaft chip 2A are powered by the second power supply VCC2.

[0062] As Figure 6 shown, Die-A of the third output shaft chip 3B and Die-B of the fourth output shaft chip 4B are powered by the first power supply VCC1, and Die-A of the fourth output shaft chip 4B and Die-B of the third output shaft chip 3B are powered by the second power supply VCC2.

[0063] In the present invention, the first torsion bar rotation angle signal T1 and the second torsion bar rotation angle signal T2 are output by SENT or SPC and share one output terminal. The third torsion bar rotation angle signal T3 and the fourth torsion bar rotation angle signal T4 are output by SENT or SPC and share one output terminal. Under the condition of ensuring the overall safety level, the number of PIN pins and the number of client-side wire harnesses can be reduced, which is beneficial to cost reduction.

[0064] In the present invention, the first output shaft rotation angle P signal, that is, signal P1, and the first output shaft rotation angle S signal, that is, signal S1, are output by SENT or SPC and share one output terminal. The second output shaft rotation angle S signal, that is, signal S2, and the second output shaft rotation angle P signal, that is, signal P2, are output by SENT or SPC and share one output terminal. Under the condition of ensuring the overall safety level, the number of PIN pins and the number of client-side wire harnesses can be reduced, which is beneficial to cost reduction.

[0065] In the present invention, the torque signal is a signal linearly related to the rotation angle of the torque rod. As Figure 7 shown, the two related torque rod rotation angle signals T1 and T2 can be cross-complementary outputs or can be output in a certain proportion.

[0066] The steering wheel rotation angle signals, that is, the output shaft rotation angle signals P1 and P2, come from the first gear chip 3A corresponding to the driven gear 31, and reflect the periodic change of the output shaft rotation angle. The period of this signal is determined by the gear ratio between the driving gear 30 and the driven gear 31. The relationship curves between the output shaft rotation angle signals P1, P2 and the output shaft rotation angle are as Figure 8 shown.

[0067] The steering wheel rotation angle signals, that is, the output shaft rotation angle signals S1 and S2, come from the second gear chip 3B corresponding to the driven gear 32, and reflect the periodic change of the output shaft rotation angle. The period of this signal is determined by the gear ratio between the driving gear 30 and the driven gear 32. The relationship curves between the output shaft rotation angle signals S1, S2 and the output shaft rotation angle are as Figure 9 shown.

[0068] Based on the Hall induction sensor principle, the present invention respectively installs driving wheels on the input shaft and the output shaft of the electric power steering system EPS, connects multiple driven gears through the driving gear respectively, and uses multiple linear Hall chips with multiple outputs to respectively collect the rotation angles of each driven gear, so as to obtain the rotation angles of the input shaft and the output shaft, realize the multi-redundancy measurement of the EPS torque rod rotation angle and the steering wheel rotation angle, and thus realize the ASIL-D level functional safety requirements of the EPS torque rotation angle sensor. The torque rotation angle sensor architecture of the present invention has flexible scalability and can meet higher-level functional safety requirements.

[0069] The torque rotation angle sensor of the present invention outputs multiple channels of angle information that can calculate the steering wheel rotation angle signal. Using two Die-independent linear Hall chips can achieve a higher level of rotation angle safety level. The client can flexibly use this angle information to detect the absolute position of the steering wheel, and the safety level is high.

[0070] The output interface of the torque rotation angle sensor of the present invention adopts the SENT or SPC communication method, which can increase the anti-interference ability of signal transmission. At the same time, signal verification can be added in this communication method, and the diagnostic information of the sensor can be transmitted, which can better meet the safety and reliability requirements of the sensor. In addition, the communication protocol method can reduce the connection wire harness and reduce costs.

[0071] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An ASIL-D grade EPS torque angle sensor based on a gear structure, characterized in that: The specific structure is as follows: An input shaft driving gear (10) is connected to the input shaft and rotates simultaneously with the input shaft. The input shaft driving gear (10) is connected to a first input shaft driven gear (11). A magnet (30) is mounted on the first input shaft driven gear (11). A first input shaft chip (1A) for measuring the input shaft rotation angle is provided corresponding to the magnet (30) on the first input shaft driven gear (11). The first input shaft chip (1A) is used to measure the input shaft rotation angle. An output shaft driving gear (20) is connected to the output shaft and rotates simultaneously with the output shaft. The output shaft driving gear (20) is respectively connected to a first output shaft driven gear (21), a third output shaft driven gear (23), and a fourth output shaft driven gear (24). A magnet (30) is installed on each output shaft driven gear. A first output shaft chip (1B), a third output shaft chip (3B), and a fourth output shaft chip (4B) are respectively provided corresponding to the magnets (30) on the first output shaft driven gear (21), the third output shaft driven gear (23), and the fourth output shaft driven gear (24). Each output shaft chip is used to measure the output shaft rotation angle. Obtaining a torsion bar rotation angle based on an input shaft rotation angle measured by a first input shaft chip (1A) and an output shaft rotation angle measured by a first output shaft chip (1B); The first input axis chip (1A) and the first output axis chip (1B) are both double-die Hall effect chips; the double-die Hall effect chips include Die-A and Die-B, and output two independent signals; Die-A of the first input shaft chip (1A) is connected to Die-B of the first output shaft chip (1B), and is used to receive the output shaft rotation angle measured by the first output shaft chip (1B), and obtain a first torsion bar rotation angle signal T1 based on the input shaft rotation angle measured by the first input shaft chip (1A) and the output shaft rotation angle measured by the first output shaft chip (1B); Die-A of the first output shaft chip (1B) is connected to Die-B of the first input shaft chip (1A) and is used to receive the input shaft rotation angle measured by the first input shaft chip (1A), and obtain a second torsion bar rotation angle signal T2 that is correlated with the first torsion bar rotation angle signal T1 based on the output shaft rotation angle measured by the first output shaft chip (1B) and the input shaft rotation angle measured by the first input shaft chip (1A).

2. The ASIL-D grade EPS torque angle sensor based on a gear structure according to claim 1 is characterized in that: The input shaft driving gear (10) is also redundantly connected to a second input shaft driven gear (12), and the output shaft driving gear (20) is also redundantly connected to a second output shaft driven gear (22). Magnets (30) are both installed on the second input shaft driven gear (12) and the second output shaft driven gear (22). A second input shaft chip (2A) is provided corresponding to the magnet (30) on the second input shaft driven gear (12), and a second output shaft chip (2B) is provided corresponding to the magnet (30) on the second output shaft driven gear (22). The second input shaft chip (2A) and the second output shaft chip (2B) are used to measure the input shaft rotation angle and the output shaft rotation angle respectively.

3. The ASIL-D grade EPS torque angle sensor based on a gear structure according to claim 2, characterized in that: The second input axis chip (2A) and the second output axis chip (2B) are both double-die Hall effect chips, and the double-die Hall effect chips include Die-A and Die-B, and output two independent signals; Die-A of the second input shaft chip (2A) is connected to Die-B of the second output shaft chip (2B), and is used to receive the output shaft rotation angle measured by the second output shaft chip (2B), and obtain a third torsion bar rotation angle signal T3 based on the input shaft rotation angle measured by the second input shaft chip (2A) and the output shaft rotation angle measured by the second output shaft chip (2B); Die-A of the second output shaft chip (2B) is connected to Die-B of the second input shaft chip (2A) and is used to receive the input shaft rotation angle measured by the second input shaft chip (2A), and obtain a fourth torsion bar rotation angle signal T4 that is correlated with the third torsion bar rotation angle signal T3 based on the output shaft rotation angle measured by the second output shaft chip (2B) and the input shaft rotation angle measured by the second input shaft chip (2A).

4. The ASIL-D grade EPS torque angle sensor based on a gear structure according to claim 1, characterized in that: The third output shaft chip (3B) outputs an output shaft rotation angle P signal, and the fourth output shaft chip (4B) outputs an output shaft rotation angle S signal; The third output axis chip (3B) and the fourth output axis chip (4B) are both double-die Hall effect chips; the double-die Hall effect chips include Die-A and Die-B, and output two independent signals; Die-A of the third output shaft chip (3B) is connected to Die-B of the fourth output shaft chip (4B) and is used to receive the output shaft rotation angle S signal of the fourth output shaft chip (4B); Die-A of the third output shaft chip (3B) outputs the first output shaft rotation angle P signal, i.e., signal P1, and outputs the first output shaft rotation angle S signal, i.e., signal S1; Die-A of the fourth output shaft chip (4B) is connected to Die-B of the third output shaft chip (3B) and is used to receive the output shaft angle P signal of the third output shaft chip (3B); Die-A of the fourth output shaft chip (4B) outputs a second output shaft angle S signal, i.e., signal S2, and outputs a second output shaft angle P signal, i.e., signal P2.

5. The ASIL-D grade EPS torque angle sensor based on a gear structure according to claim 4 is characterized in that: The signal P1 and the signal S1 are outputted using SENT or SPC and share an output terminal, and the signal P2 and the signal S2 are outputted using SENT or SPC and share an output terminal.

6. The ASIL-D grade EPS torque angle sensor based on a gear structure according to any one of claims 1 to 5, characterized in that: The input shaft chip and the output shaft chip are respectively located on the front and back sides of the PCB board, the input shaft driven gear and the output shaft driven gear are arranged alternately, and the input shaft chip and the output shaft chip are arranged alternately on the PCB board.

7. The ASIL-D grade EPS torque angle sensor based on a gear structure according to any one of claims 1 to 5, characterized in that: The signal output by the chip is any one of PWM, digital SENT, and SPC signals.

8. The ASIL-D grade EPS torque angle sensor based on a gear structure according to claim 1 or 3, characterized in that: The two mutually related torsion bar angle signals are outputted via SENT or SPC and share one output terminal.

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