Steering system, control method of a steering system, and medium

Abstract

The present disclosure relates to a kind of steering system, the control method of steering system and medium, steering system includes: steering wheel component;Wheel steering device (2);Driving device (3) is driven connection with wheel steering device (2);Adjusting device (4) is connected between steering wheel component (1) and driving device (3);Processor (5) is signal connection with adjusting device (4), steering wheel component and driving device (3), is configured to make the driving device (3) drive wheel steering device (2) steering according to the target steering signal input by steering wheel component, determine whether the driving device (3) fails according to the first parameter corresponding with target steering signal and for the target steering value of wheel steering device (2) and the second parameter for the actual steering value of wheel steering device (2) is determined, and make adjusting device (4) provide torque to driving device (3) when determining failure, to make actual steering value tend to target steering value.

Description

Technical Field

[0001] This disclosure relates to the field of automotive steering systems, and more particularly to a steering system, a control method for the steering system, and a computer-readable storage medium. Background Technology

[0002] With the development of automotive technology, "intelligentization, connectivity, and electrification" are the future development directions of automobiles, and steer-by-wire systems are a key technology in the process of automotive intelligence. Compared with traditional steering systems, steer-by-wire systems eliminate some mechanical connections, are smaller in size, reduce the difficulty of chassis design and layout, and facilitate modular design of the automotive chassis. Summary of the Invention

[0003] The inventors discovered through research that the steer-by-wire system in the relevant technology has very high reliability requirements, is prone to precision failure or loss of steering control, and cannot maintain steering accuracy continuously.

[0004] In view of this, the present disclosure provides a steering system, a control method for the steering system, and a computer-readable storage medium, which are beneficial to improving the accuracy of the steering system.

[0005] In one aspect of this disclosure, a steering system is provided, comprising:

[0006] Steering wheel assembly;

[0007] Wheel steering mechanism;

[0008] The drive unit is connected to the wheel steering system.

[0009] Adjustment device, connected between the steering wheel assembly and the drive unit; and

[0010] The processor, which is signal-connected to the adjustment device, steering wheel assembly, and drive device, is configured to cause the drive device to turn the wheel steering device according to the target steering signal input from the steering wheel assembly, determine whether the drive device has malfunctioned based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the wheel steering device and a second parameter used to characterize the actual steering value of the wheel steering device, and when a malfunction is determined, cause the adjustment device to provide torque to the drive device so that the actual steering value of the wheel steering device tends to the target steering value.

[0011] In some embodiments, the processor is configured to cause the adjustment device to provide torque to the drive device via magnetic force when it is determined that the drive device has a precision failure.

[0012] In some embodiments, the steering wheel assembly includes a steering wheel and a first drive shaft, and the drive device includes a second drive shaft;

[0013] The adjustment device includes:

[0014] The first magnetic attraction device is disposed on the end face of the first drive shaft;

[0015] The second magnetic attraction device is located on the end face of the second drive shaft;

[0016] The processor is configured to cause the first magnetic attraction device to provide a magnetic force perpendicular to the extension direction of the first drive shaft and the second drive shaft to attract or repel the second magnetic attraction device, thereby providing torque to the drive device to adjust the rotation position of the wheel steering device.

[0017] In some embodiments, the adjustment device includes a plurality of first magnetic attraction devices, which are spaced apart along the end face of the first drive shaft.

[0018] The adjustment device includes a plurality of second magnetic attraction devices, which are spaced apart along the end face of the second drive shaft;

[0019] The first magnetic attraction device and the second magnetic attraction device are arranged alternately.

[0020] In some embodiments, the processor is further configured to:

[0021] The drive unit is determined to be faulty based on a first parameter that corresponds to the target steering signal and is used to characterize the target steering value of the steering unit and a second parameter that is used to characterize the actual steering value of the steering unit. If a fault is determined, the adjustment device provides torque to the drive unit so that the steering wheel assembly and the wheel steering unit are connected in transmission.

[0022] In some embodiments, the processor is further configured to:

[0023] When a drive unit failure is determined, the steering wheel assembly and the drive unit are connected by an adjustment device so that the steering wheel assembly can drive the wheel steering mechanism to turn.

[0024] In some embodiments, the adjustment device further includes:

[0025] The first pusher is disposed on one side of the first magnetic attraction device;

[0026] A first hydraulic circuit, connected to a first pusher, is configured to drive the first pusher to move;

[0027] The second pusher is located on one side of the second magnetic attraction device;

[0028] A second hydraulic circuit, connected to a second pusher, is configured to drive the second pusher to move;

[0029] The processor is signal-connected to both the first hydraulic circuit and the second hydraulic circuit, and is configured to adjust the first hydraulic circuit and the second hydraulic circuit so that the first pusher and the second pusher respectively push the first magnetic attraction device and the second magnetic attraction device, thereby pressing the first magnetic attraction device and the second magnetic attraction device tightly together.

[0030] In some embodiments, it also includes:

[0031] The first sensor, connected to the first drive shaft, is configured to detect the target steering signal received by the steering wheel;

[0032] The second sensor, connected to the drive unit, is configured to detect the actual displacement signal of the drive unit.

[0033] The processor is connected to the signals of the first sensor and the second sensor, and is configured to convert the target steering value of the steering device corresponding to the target steering signal detected by the first sensor into the target displacement value of the driving device, and to convert the actual displacement signal detected by the second sensor into the actual displacement value of the corresponding driving device.

[0034] In some embodiments, the driving device includes:

[0035] The motor has a gear shaft at its output end;

[0036] The rack meshes with the gear shaft and is connected to the steering mechanism;

[0037] The second sensor is connected to the rack and is configured to detect the actual displacement value of the rack.

[0038] The processor is configured to convert the target steering value of the steering device corresponding to the target steering signal detected by the first sensor into the target displacement value of the rack as the first parameter, and the actual displacement value of the rack as the second parameter.

[0039] In some embodiments, the processor is configured to:

[0040] when This indicates that the drive unit has a precision fault.

[0041] Where l(t) is the second parameter at time t. Let T1 be the first parameter at time t, and T1 be the accuracy fault threshold of the motor.

[0042] In some embodiments, the processor is configured to:

[0043] when This confirms that the drive unit has failed;

[0044] Where l(t) is the second parameter at time t. Let be the first parameter at time t. T1 is the first parameter at time t-t0, and T2 is the failure threshold of the motor.

[0045] In another aspect of this disclosure, a control method for a steering system as described above is provided.

[0046] In some embodiments, including:

[0047] The drive unit drives the wheel steering device to turn according to the target steering signal input from the steering wheel assembly.

[0048] Determine the actual steering value of the wheel steering system;

[0049] Determine whether the drive unit has malfunctioned based on a first parameter that corresponds to the target steering signal and is used to characterize the target steering value of the wheel steering device and a second parameter that is used to characterize the actual steering value of the wheel steering device.

[0050] When a fault is detected, the adjustment device provides torque to the drive unit so that the actual steering value of the wheel steering device tends to the target steering value.

[0051] In some embodiments, the operation of providing torque to the drive device by the adjustment device when a fault is determined to have occurred specifically includes:

[0052] The adjusting device provides torque to the driving device through magnetic force.

[0053] In some embodiments, the steering wheel includes a first drive shaft, and the drive unit includes a second drive shaft;

[0054] The adjustment device includes:

[0055] The first magnetic attraction device is disposed on the end face of the first drive shaft;

[0056] The second magnetic attraction device is located on the end face of the second drive shaft;

[0057] Specifically, the operation of providing torque to the drive device via magnetic force when a fault is detected includes:

[0058] The first magnetic attraction device provides a magnetic force perpendicular to the extension direction of the first and second drive shafts to attract or repel the second magnetic attraction device, thereby providing torque to the drive device to adjust the rotational position of the wheel steering device.

[0059] In some embodiments, it also includes:

[0060] The failure of the drive unit is determined based on a first parameter that corresponds to the target steering signal and is used to characterize the target steering value of the wheel steering device, and a second parameter that is used to characterize the actual steering value of the wheel steering device.

[0061] When failure is detected, the adjustment device provides torque to the drive unit to drive the steering wheel assembly and wheel steering system.

[0062] In some embodiments, the operation of drivingly connecting the steering wheel assembly and the wheel steering mechanism specifically includes:

[0063] The steering wheel assembly and drive unit are connected by an adjustment device so that torque is supplied to the wheel steering unit through the steering wheel assembly to drive the wheel steering unit to turn.

[0064] In some embodiments, the adjustment device further includes:

[0065] The first pusher is disposed on one side of the first magnetic attraction device;

[0066] A first hydraulic circuit, connected to a first pusher, is configured to drive the first pusher to move;

[0067] The second pusher is located on one side of the second magnetic attraction device;

[0068] A second hydraulic circuit, connected to a second pusher, is configured to drive the second pusher to move;

[0069] Specifically, the operation of providing torque from the adjustment device to the drive device when a failure is determined includes:

[0070] Adjust the first hydraulic circuit and the second hydraulic circuit so that the first pusher and the second pusher respectively push the first magnetic attraction device and the second magnetic attraction device, thereby pressing the first magnetic attraction device and the second magnetic attraction device tightly together.

[0071] In some embodiments, it also includes:

[0072] The first sensor, connected to the first drive shaft, is configured to detect the target steering signal received by the steering wheel;

[0073] The second sensor, connected to the drive unit, is configured to detect the actual displacement signal of the drive unit.

[0074] Specifically, the operation of determining whether the drive unit has malfunctioned based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering device, and a second parameter used to characterize the actual steering value of the steering device, includes:

[0075] The target steering value of the steering device corresponding to the target steering signal detected by the first sensor is converted into the target displacement value of the drive device, and the actual displacement signal detected by the second sensor is converted into the actual displacement value of the corresponding drive device.

[0076] In some embodiments, the driving device includes:

[0077] The motor has a gear shaft at its output end;

[0078] The rack meshes with the gear shaft and is connected to the steering mechanism;

[0079] The second sensor is connected to the rack and is configured to detect the actual displacement value of the rack.

[0080] The operation of determining whether a drive unit has malfunctioned, based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering unit, and a second parameter used to characterize the actual steering value of the steering unit, specifically includes:

[0081] The target steering value of the steering device corresponding to the target steering signal detected by the first sensor is converted into the target displacement value of the rack as the first parameter, and the actual displacement value of the rack is used as the second parameter.

[0082] In some embodiments, the operation of determining whether a drive unit malfunctions based on a first parameter corresponding to a target steering signal and used to characterize a target steering value of the steering device and a second parameter used to characterize an actual steering value of the steering device specifically includes:

[0083] when This indicates that the drive unit has a precision fault.

[0084] Where l(t) is the second parameter at time t. Let T1 be the first parameter at time t, and T1 be the accuracy fault threshold of the motor.

[0085] In some embodiments, the operation of determining whether a drive unit malfunction has occurred based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering unit and a second parameter used to characterize the actual steering value of the steering unit further includes:

[0086] when This confirms that the drive unit has failed;

[0087] Where l(t) is the second parameter at time t. Let be the first parameter at time t. T1 is the first parameter at time t-t0, and T2 is the failure threshold of the motor.

[0088] In another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, wherein the program, when executed by a processor, implements a control method for a steering system as described above.

[0089] Therefore, according to the embodiments of this disclosure, when the drive device fails, torque can be provided to the drive device through the adjustment device. The user can adjust the drive device accordingly by turning the steering wheel assembly to adjust the actual steering value of the wheel steering device. This can gradually correct the error between the actual steering value of the wheel steering device and the target steering value of the wheel steering device corresponding to the input target steering signal, ensuring the steering accuracy of the steering system and improving the reliability of the steering system. Attached Figure Description

[0090] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0091] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0092] Figure 1 These are schematic diagrams illustrating the structure of some embodiments of the steering system according to this disclosure;

[0093] Figure 2 This is a schematic diagram of the structure of an adjustment device according to some embodiments of the steering system of this disclosure;

[0094] Figure 3 This is a schematic diagram of the structure of an adjustment device according to other embodiments of the steering system of this disclosure;

[0095] Figure 4 This is a flowchart of some embodiments of the control method for the steering system according to the present disclosure.

[0096] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0097] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0098] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0099] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0100] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0101] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0102] While steer-by-wire systems in related technologies eliminate mechanical connections compared to traditional steering systems, they cannot achieve steering intent when a malfunction occurs. Therefore, in one aspect of this disclosure, a steering system is provided.

[0103] Figure 1 These are schematic diagrams illustrating the structure of some embodiments of the steering system according to this disclosure, with reference to... Figure 1 The steering system includes: a steering wheel assembly, a wheel steering mechanism 2, a drive unit 3, an adjustment mechanism 4, and a processor 5. The user can input a target steering signal to the steering wheel assembly by turning it or performing other operations. The processor 5 is connected to the steering wheel assembly to receive this target steering signal. The processor 5 includes, but is not limited to, ECUs (Electronic Control Units) used in automobiles.

[0104] The steering wheel assembly includes a steering wheel 1 and a first drive shaft 11. A drive unit 3 is driven to the wheel steering device 2, and an adjustment device 4 is connected between the steering wheel assembly and the drive unit 3. The wheel steering device 2 includes a wheel 21 and a linkage mechanism 22. The drive unit 3 is connected to one end of the linkage mechanism 22, and the other end of the linkage mechanism 22 is connected to the wheel 21. During normal operation of the steering system, the drive unit 3 provides steering drive to the wheel steering device 2.

[0105] The processor 5 is signal-connected to the adjustment device 4, the steering wheel assembly, and the drive device 3. It is configured to drive the wheel steering device 2 to turn according to the target steering signal input by the steering wheel assembly, determine whether the drive device 3 has malfunctioned according to a first parameter corresponding to the target steering signal and used to characterize the target steering value of the wheel steering device 2 and a second parameter used to characterize the actual steering value of the wheel steering device 2, and when a malfunction is determined, to cause the adjustment device 4 to provide torque to the drive device 3 so that the actual steering value of the wheel steering device 2 tends to the target steering value.

[0106] The processor 5 can convert the target steering value of the wheel steering device 2 corresponding to the target steering signal input by the steering wheel assembly into a first parameter, and convert the actual steering value of the wheel steering device 2 into a second parameter, so as to judge the operating status of the drive device 3. The faults of the drive device 3 include, but are not limited to, accuracy faults and failure faults. When the drive device 3 has an accuracy fault, there is an error between the target steering value and the actual steering value of the wheel steering device 2. When the drive device 3 has a failure fault, it cannot drive the wheel steering device 2 to turn.

[0107] In this embodiment, when the drive device 3 malfunctions, torque can be supplied to the drive device 3 by the adjustment device 4. The user can adjust the drive device 3 accordingly by rotating the steering wheel assembly to adjust the actual steering value of the wheel steering device 2. This can gradually correct the error between the actual steering value of the wheel steering device 2 and the target steering value of the wheel steering device 2 corresponding to the input target steering signal, ensuring the steering accuracy of the steering system and improving the reliability of the steering system.

[0108] In some embodiments, the processor 5 is configured to cause the adjustment device 4 to provide torque to the drive device 3 via magnetic force when a precision fault is determined in the drive device 3. In this embodiment, the adjustment device 4 can provide torque to the drive device 3 in the form of magnetic force so as to adjust the magnitude and direction of the torque at any time.

[0109] Figure 2This is a schematic diagram of the adjustment device according to some embodiments of the steering system disclosed herein. In some embodiments, the steering wheel assembly includes a steering wheel 1 and a first drive shaft 11, which can be connected to the pivot of the steering wheel 1. The drive device 3 includes a second drive shaft 31, which can be connected to the output shaft of the drive device 3. The radial dimensions of the first drive shaft 11 and the second drive shaft 31 can be set to be the same, and their axes coincide during installation.

[0110] The adjustment device 4 includes a first magnetic attraction device 41 and a second magnetic attraction device 42. The first magnetic attraction device 41 is disposed on the end face of the first drive shaft 11 near the drive device 3, and the second magnetic attraction device 42 is disposed on the end face of the second drive shaft 31 near the steering wheel assembly. The first magnetic attraction device 41 and the second magnetic attraction device 42 at least partially overlap along the length direction of the first drive shaft 11 and the second drive shaft 31. The first magnetic attraction device 41 includes, but is not limited to, an electromagnetic coil, and the second magnetic attraction device 42 includes, but is not limited to, a magnet. The first magnetic attraction device 41 and the second magnetic attraction device 42 can be fixed to the end faces of the first drive shaft 11 and the second drive shaft 31 respectively by springs disposed on the end faces of the first drive shaft 11 and the second drive shaft 31.

[0111] The processor 5 is configured to, in the event of an accuracy failure, cause the first magnetic attraction device 41 to provide a magnetic attraction force perpendicular to the extension direction of the first drive shaft 11 and the second drive shaft 31 to attract or repel the second magnetic attraction device 42, thereby adjusting the rotational position of the wheel steering device 2. The processor 5 can supply current to the first magnetic attraction device 41 to generate magnetic force. The magnitude of the supplied current can be adjusted based on the error between the target steering value of the wheel steering device 2 corresponding to the target steering signal at the current moment and the actual steering value of the wheel steering device 2. If the actual steering value is too small, the first magnetic attraction device 41 can attract the second magnetic attraction device 42; if the actual steering value is too large, an opposite current can be supplied to the first magnetic attraction device 41 to generate a repulsive force on the second magnetic attraction device 42.

[0112] In this embodiment, when the drive device 3 experiences a precision failure, the user can correct the drive device 3. The processor 5 causes the first magnetic attraction device 41 to pass current to generate magnetic force, and the user can then adjust the steering wheel 1 to drive the second transmission shaft 31 to rotate accordingly, thereby moving the steering position of the wheel steering device 2, correcting the steering error caused by the precision failure of the drive device 3, and ensuring the steering accuracy of the steering system.

[0113] refer to Figure 2In some embodiments, the adjustment device 4 includes a plurality of first magnetic attraction devices 41, which are spaced apart along the end face of the first drive shaft 11. The adjustment device 4 also includes a plurality of second magnetic attraction devices 42, which are spaced apart along the end face of the second drive shaft 31. The first magnetic attraction devices 41 and the second magnetic attraction devices 42 are staggered.

[0114] In this embodiment, the adjustment device may be provided with multiple first magnetic attraction devices 41 and multiple second magnetic attraction devices 42. The first magnetic attraction devices 41 and the second magnetic attraction devices 42 are arranged adjacent to each other to generate a larger magnetic force when current is applied, so that the correction operation of accuracy faults is more efficient and more sensitive.

[0115] In some embodiments, the processor 5 is further configured to: determine whether the drive unit 3 has failed based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering device 2 and a second parameter used to characterize the actual steering value of the steering device 2, and when a failure is determined, cause the adjustment device 4 to provide torque to the drive unit 3 so that the steering wheel assembly and the wheel steering device 2 are connected in transmission.

[0116] In this embodiment, it is also possible to further determine whether the drive device 3 has failed. When the drive device 3 fails, the adjustment device 4 further provides the drive device 3 with the torque that enables the steering wheel assembly and the wheel steering device 2 to be connected, so that the user can turn the wheel steering device 2 by rotating the steering wheel 1. This allows for rapid emergency response when the drive device 3 fails, thereby improving driving and passenger safety.

[0117] In some embodiments, the processor 5 is further configured to, upon determining that the drive unit 3 has failed, connect the steering wheel assembly and the drive unit 3 via the adjustment device 4, so as to drive the wheel steering device 2 to turn via the steering wheel assembly. In this embodiment, when the drive unit 3 fails, the first drive shaft 11 and the second drive shaft 31 are connected via the adjustment device 4, so as to drive the wheel steering device 2 to turn via the steering wheel assembly.

[0118] Figure 3 This is a schematic diagram of the adjustment device according to other embodiments of the steering system of this disclosure, with reference to... Figure 2 and Figure 3 In some embodiments, the adjusting device 4 further includes: a first pusher 43, a first hydraulic circuit 44, a second pusher 45, and a second hydraulic circuit 46. The first pusher 43 and the first hydraulic circuit 44 are disposed on one side of the first drive shaft 11 and the second drive shaft 31, and the second pusher 45 and the second hydraulic circuit 46 are disposed on the other side of the first drive shaft 11 and the second drive shaft 31 relative to the first pusher 43 and the first hydraulic circuit 44.

[0119] The first hydraulic circuit 44 includes a first hydraulic clamp 71, a first piston 72, a first outlet solenoid valve 73, a first inlet solenoid valve 74, and a first hydraulic chamber 75. The second hydraulic circuit 46 includes a second hydraulic clamp 81, a second piston 82, a second outlet solenoid valve 83, a second inlet solenoid valve 84, and a second hydraulic chamber 85. When the processor 5 is activated, the first inlet solenoid valve 74 and the second inlet solenoid valve 84 are opened, and hydraulic fluid enters the first hydraulic chamber 75 and the second hydraulic chamber 85 respectively, thereby pushing the first piston 72 and the second piston 82 to move.

[0120] The first pusher 43 is disposed on one side of the first magnetic attraction device 41, and the first hydraulic circuit 44 is connected to the first pusher 43 and configured to drive the first pusher 43 to move. The second pusher 45 is disposed on one side of the second magnetic attraction device 42, and the second hydraulic circuit 46 is connected to the second pusher 45 and configured to drive the second pusher 45 to move. When the drive device 3 is not in the failure working mode, pressure can be quickly released by opening the first oil outlet solenoid valve 73 and the second oil outlet solenoid valve 83 to exit the failure working mode.

[0121] The processor 5 is signal-connected to both the first hydraulic circuit 44 and the second hydraulic circuit 46, and is configured to adjust the first hydraulic circuit 44 and the second hydraulic circuit 46 so that the first pusher 43 and the second pusher 45 respectively push the first magnetic attraction device 41 and the second magnetic attraction device 42, thereby pressing the first magnetic attraction device 41 and the second magnetic attraction device 42 tightly together.

[0122] When the drive device 3 fails, based on the first pusher 43 and the second pusher 45 pushing the first magnetic attraction device 41 and the second magnetic attraction device 42 respectively, current can be supplied to the first magnetic attraction device 41, so that the first magnetic attraction device 41 generates a magnetic attraction force on the second magnetic attraction device 42, thereby accelerating the relative movement of the first magnetic attraction device 41 and the second magnetic attraction device 42, so that the wheel steering device 2 can respond to the torque transmitted by the steering wheel assembly more quickly.

[0123] In this embodiment, the first hydraulic circuit 44 and the second hydraulic circuit 46 can be equipped with solenoid valves respectively. When the drive device 3 fails, the processor 5 causes the first hydraulic circuit 44 and the second hydraulic circuit 46 to receive oil respectively, thereby driving the first pusher 43 to push the first magnetic attraction device 41 toward the second magnetic attraction device 42, and driving the second pusher 45 to push the second magnetic attraction device 42 toward the first magnetic attraction device 41 to overcome the preload of the spring, so that the first magnetic attraction device 41 and the second magnetic attraction device 42 approach each other until they are connected as one. At this time, the steering wheel assembly and the drive device 3 are mechanically connected, and the steering system switches from steer-by-wire to mechanical steering. The steering wheel assembly can directly transmit torque to the wheel steering device 2 so that the steering angle of the steering wheel assembly can be transmitted to the drive device 3 through the adjustment device 4 and then to the wheel steering device 2 to achieve emergency steering in case of failure.

[0124] refer to Figure 1 In some embodiments, the steering system further includes a first sensor 61 and a second sensor 62. The first sensor 61 is connected to the first drive shaft 11 and is configured to detect the target steering signal received by the steering wheel assembly. The second sensor 62 is connected to the drive unit 3 and is configured to detect the actual displacement signal of the drive unit 3. The processor 5 is signal-connected to the first sensor (61) and the second sensor 62 and is configured to convert the target steering value of the steering unit 2 corresponding to the target steering signal detected by the first sensor 61 into the target displacement value of the drive unit 3, and to convert the actual displacement signal detected by the second sensor 62 into the corresponding actual displacement value of the drive unit 3.

[0125] In this embodiment, a first sensor 61 is installed on the first drive shaft 11 to collect the target steering signal input through the steering wheel assembly, and the processor 5 converts it into the target displacement value of the drive device 3, and converts the actual displacement signal detected by the second sensor into the actual displacement value of the drive device 3, so as to determine the fault of the drive device 3.

[0126] refer to Figure 1 In some embodiments, the drive device 3 includes a motor 32 and a rack 34. The output end of the motor 32 has a gear shaft 33 connected to a second transmission shaft 31. The rack 34 meshes with the gear shaft 33, and both ends of the rack 34 are connected to the wheel steering device 2. The motor 32 drives the gear shaft 33 to rotate, causing the rack 34 to translate in a specified direction, thereby steering the wheel steering device 2. A second sensor 62 is connected to the rack 34 and configured to detect the actual displacement value of the rack 34.

[0127] The processor 5 is configured to convert the target steering value of the steering device 2 corresponding to the target steering signal detected by the first sensor 61 into the target displacement value of the rack 34 as a first parameter, and the actual displacement value of the rack 34 as a second parameter.

[0128] In this embodiment, the target displacement value of the rack 34 can be used as the first parameter, and the actual displacement value of the rack 34 can be used as the second parameter, so as to calculate and judge the fault condition of the motor 32 more efficiently and intuitively.

[0129] In some embodiments, processor 5 is configured to when This determines that the drive unit 3 has a precision fault; where l(t) is the second parameter at time t. Let T1 be the first parameter at time t, and T1 be the accuracy fault threshold of motor 32.

[0130] In this embodiment, the first and second parameters at the current moment are calculated, and the calculated structure is compared with the accuracy fault threshold of the motor 32 to determine the accuracy fault of the motor 32, thereby more accurately judging the fault condition of the motor 32.

[0131] In some embodiments, processor 5 is configured to when Then it is determined that drive device 3 has failed; where l(t) is the second parameter at time t. Let be the first parameter at time t. T1 is the first parameter at time t-t0, and T2 is the failure threshold of motor 32. The value of t0 can be adjusted according to the actual situation, including but not limited to taking 1.

[0132] In this embodiment, by comparing the first and second parameters at the current moment with the target first parameter during the time period and the failure threshold of the motor 32, it is possible to further determine whether the motor 32 has failed under the condition that the motor 32 meets the requirements for precision failure, so as to complete the emergency operation in case of failure and effectively improve the safety of users and vehicles.

[0133] Figure 4 This is a flowchart of some embodiments of the control method for the steering system according to this disclosure, with reference to... Figures 1-4 In another aspect of the embodiments of this disclosure, a control method for a steering system as described above is provided. In some embodiments, an aspect provides a control method for a steering system including steps S1 to S4.

[0134] In step S1, the target steering signal input by the steering wheel assembly causes the drive unit 3 to drive the wheel steering device 2 to turn.

[0135] In step S2, the actual steering value of the wheel steering device 2 is determined.

[0136] In step S3, it is determined whether the drive device 3 has malfunctioned based on a first parameter that corresponds to the target steering signal and is used to characterize the target steering value of the wheel steering device 2 and a second parameter that is used to characterize the actual steering value of the wheel steering device 2.

[0137] In step S4, when a fault is determined to have occurred, the adjusting device 4 provides torque to the drive device 3 so that the actual steering value of the wheel steering device 2 tends to the target steering value.

[0138] In this embodiment, when the drive device 3 malfunctions, the adjustment device 4 provides torque to the drive device 3. The user can rotate the steering wheel assembly to drive the drive device 3 to adjust the rotation position of the wheel steering device 2, thereby gradually correcting the error between the actual steering value and the target steering value of the wheel steering device 2, ensuring the steering accuracy of the steering system and improving the reliability of the steering system.

[0139] In some embodiments, when a precision failure is determined in the drive device 3, the adjustment device 4 provides torque to the drive device 3 via magnetic force. In this embodiment, the adjustment device 4 can provide torque to the drive device 3 via magnetic force to adjust the magnitude and direction of the torque at any time.

[0140] In some embodiments, the steering wheel assembly includes a first drive shaft 11, and the drive unit 3 includes a second drive shaft 31. The adjustment device 4 includes a first magnetic attraction device 41 and a second magnetic attraction device 42. The first magnetic attraction device 41 is disposed on the end face of the first drive shaft 11 near the end of the drive unit 3, and the second magnetic attraction device 42 is disposed on the end face of the second drive shaft 31 near the end of the steering wheel assembly.

[0141] When a malfunction is detected, the operation of the adjustment device 4 to provide torque to the drive device 3 by magnetic force specifically includes: the first magnetic attraction device 41 providing a magnetic attraction force perpendicular to the extension direction of the first drive shaft 11 and the second drive shaft 31 to attract or repel the second magnetic attraction device 42, thereby adjusting the rotation position of the wheel steering device 2.

[0142] A current can be passed through the first magnetic attraction device 41 to generate magnetic force. The magnitude of the current can be adjusted according to the error between the target steering value of the wheel steering device 2 corresponding to the target steering signal at the current moment and the actual steering value of the wheel steering device 2. When the actual steering value is too small, the first magnetic attraction device 41 can attract the second magnetic attraction device 42. When the actual steering value is too large, an opposite current can be passed through the first magnetic attraction device 41 to generate a repulsive force on the second magnetic attraction device 42.

[0143] In this embodiment, when the drive device 3 experiences a precision failure, the user can correct the drive device 3 and apply current to the first magnetic attraction device 41 to generate magnetic force. The user can then adjust the steering wheel 1 to drive the second transmission shaft 31 to rotate accordingly, thereby moving the steering position of the wheel steering device 2, correcting the steering error caused by the precision failure of the drive device 3, and ensuring the steering accuracy of the steering system.

[0144] In some embodiments, the control method for the steering system further includes: determining whether the drive unit 3 has failed based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the wheel steering device 2 and a second parameter used to characterize the actual steering value of the wheel steering device 2; and when a failure is determined, causing the adjustment device 4 to provide torque to the drive unit 3 so that the steering wheel assembly and the wheel steering device 2 are connected in transmission.

[0145] In this embodiment, it is also possible to further determine whether the drive device 3 has failed. When the drive device 3 fails, the adjustment device 4 further provides the drive device 3 with the torque that enables the steering wheel assembly and the wheel steering device 2 to be connected, so that the user can turn the wheel steering device 2 by rotating the steering wheel 1. This allows for rapid emergency response when the drive device 3 fails, thereby improving driving and passenger safety.

[0146] In some embodiments, the operation of drivingly connecting the steering wheel assembly and the wheel steering device 2 specifically includes: connecting the steering wheel assembly and the drive device 3 by means of the adjusting device 4 so as to provide torque to the wheel steering device 2 through the steering wheel assembly to drive the wheel steering device 2 to turn.

[0147] In this embodiment, when the drive device 3 fails, the first drive shaft 11 and the second drive shaft 31 are connected by the adjustment device 4 so that the wheel steering device 2 can be driven to turn by the steering wheel assembly.

[0148] In some embodiments, the adjusting device 4 further includes: a first pusher 43, a first hydraulic circuit 44, a second pusher 45, and a second hydraulic circuit 46. The first pusher 43 and the first hydraulic circuit 44 are disposed on one side of the first drive shaft 11 and the second drive shaft 31, and the second pusher 45 and the second hydraulic circuit 46 are disposed on the other side of the first drive shaft 11 and the second drive shaft 31 relative to the first pusher 43 and the first hydraulic circuit 44.

[0149] The operation of the adjustment device 4 to provide torque to the drive device 3 when failure is determined specifically includes: adjusting the first hydraulic circuit 44 and the second hydraulic circuit 46 so that the first pusher 43 and the second pusher 45 respectively push the first magnetic attraction device 41 and the second magnetic attraction device 42, thereby pressing the first magnetic attraction device 41 and the second magnetic attraction device 42 tightly together.

[0150] When the drive device 3 fails, based on the first pusher 43 and the second pusher 45 pushing the first magnetic attraction device 41 and the second magnetic attraction device 42 respectively, current can be supplied to the first magnetic attraction device 41, so that the first magnetic attraction device 41 generates a magnetic attraction force on the second magnetic attraction device 42, thereby accelerating the relative movement of the first magnetic attraction device 41 and the second magnetic attraction device 42, so that the wheel steering device 2 can respond to the torque transmitted by the steering wheel assembly more quickly.

[0151] In this embodiment, the first hydraulic circuit 44 and the second hydraulic circuit 46 can be equipped with solenoid valves respectively. When the drive device 3 fails, the first hydraulic circuit 44 and the second hydraulic circuit 46 are respectively supplied with oil, thereby driving the first pusher 43 to push the first magnetic attraction device 41 towards the second magnetic attraction device 42, and driving the second pusher 45 to push the second magnetic attraction device 42 towards the first magnetic attraction device 41 to overcome the preload of the spring, so that the first magnetic attraction device 41 and the second magnetic attraction device 42 are close to each other until they are connected as one. At this time, the steering wheel assembly and the drive device 3 are mechanically connected, and the steering system switches from steer-by-wire to mechanical steering. The steering wheel assembly can directly transmit torque to the wheel steering device 2 so that the steering angle of the steering wheel assembly is transmitted to the drive device 3 through the adjustment device 4 and then to the wheel steering device 2 to achieve emergency steering in case of failure.

[0152] In some embodiments, the steering system further includes a first sensor 61 and a second sensor 62. The first sensor 61 is connected to the first drive shaft 11 and is configured to detect a target steering signal received by the steering wheel assembly. The second sensor 62 is connected to the drive unit 3 and is configured to detect the actual displacement signal of the drive unit 3.

[0153] The operation of determining whether the drive device 3 has malfunctioned based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering device 2 and a second parameter used to characterize the actual steering value of the steering device 2 specifically includes: converting the target steering value of the steering device 2 corresponding to the target steering signal detected by the first sensor 61 into the target displacement value of the drive device 3, and converting the actual displacement signal detected by the second sensor 62 into the corresponding actual displacement value of the drive device 3.

[0154] In this embodiment, a first sensor 61 is installed on the first drive shaft 11 to collect the target steering signal input through the steering wheel assembly and convert it into the target displacement value of the drive device 3. The actual displacement signal detected by the second sensor is also converted into the actual displacement value of the drive device 3 so as to determine the fault of the drive device 3.

[0155] refer to Figure 1 In some embodiments, the drive device 3 includes a motor 32 and a rack 34. The output end of the motor 32 has a gear shaft 33 connected to a second transmission shaft 31. The rack 34 meshes with the gear shaft 33, and both ends of the rack 34 are connected to the wheel steering device 2. The motor 32 drives the gear shaft 33 to rotate, causing the rack 34 to translate in a specified direction, thereby steering the wheel steering device 2. A second sensor 62 is connected to the rack 34 and configured to detect the actual displacement value of the rack 34.

[0156] The operation of determining whether the drive unit 3 has malfunctioned based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering device 2, and a second parameter used to characterize the actual steering value of the steering device 2, specifically includes:

[0157] The target steering value of the steering device 2 corresponding to the target steering signal detected by the first sensor 61 is converted into the target displacement value of the rack 34 as the first parameter, and the actual displacement value of the rack 34 is used as the second parameter.

[0158] In this embodiment, the target displacement value of the rack 34 can be used as the first parameter, and the actual displacement value of the rack 34 can be used as the second parameter, so as to calculate and judge the fault condition of the motor 32 more efficiently and intuitively.

[0159] In some embodiments, the operation of determining whether the drive unit 3 has malfunctioned based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering device 2 and a second parameter used to characterize the actual steering value of the steering device 2 specifically includes:

[0160] when This determines that the drive unit 3 has a precision fault; where l(t) is the second parameter at time t. Let T1 be the first parameter at time t, and T1 be the accuracy fault threshold of motor 32.

[0161] In this embodiment, the first and second parameters at the current moment are calculated, and the calculated structure is compared with the accuracy fault threshold of the motor 32 to determine the accuracy fault of the motor 32, thereby more accurately judging the fault condition of the motor 32.

[0162] In some embodiments, the operation of determining whether the drive unit 3 has malfunctioned based on a first parameter corresponding to the target steering signal and used to characterize the target steering value of the steering device 2 and a second parameter used to characterize the actual steering value of the steering device 2 further includes:

[0163] when Then determine the driver installation

[0164] Set 3 to fail; where l(t) is the second parameter at time t. Let be the first parameter at time t. T1 is the first parameter at time t-t0, and T2 is the failure threshold of motor 32. The value of t0 can be adjusted according to the actual situation, including but not limited to taking 1.

[0165] In this embodiment, by comparing the first and second parameters at the current moment with the target first parameter during the time period and the failure threshold of the motor 32, it is possible to further determine whether the motor 32 has failed under the condition that the motor 32 meets the requirements for precision failure, so as to complete the emergency operation in case of failure and effectively improve the safety of users and vehicles.

[0166] In another aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor 5, implements a control method for a steering system as described above.

[0167] In one or more exemplary embodiments, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functionality may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. A computer-readable medium includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used in this article, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of computer-readable media.

[0168] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0169] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A steering system characterized by, The application relates to a vehicle wheel steering system. The vehicle wheel steering system comprises: a steering wheel assembly comprising a steering wheel (1) and a first transmission shaft (11); a wheel steering device (2); a driving device (3) drivingly connected with the wheel steering device (2) and comprising a second transmission shaft (31); an adjusting device (4) connected between the steering wheel assembly and the driving device (3) and comprising a first magnetic attraction device (41) arranged on an end surface of the first transmission shaft (11) and a second magnetic attraction device (42) arranged on an end surface of the second transmission shaft (31); and a processor (5) signal-connected with the adjusting device (4), the steering wheel assembly and the driving device (3) and configured to drive the driving device (3) to steer the wheel steering device (2) according to a target steering signal input by the steering wheel assembly, determine whether the driving device (3) is faulty according to a first parameter corresponding to the target steering signal and used for representing a target steering value of the wheel steering device (2) and a second parameter used for representing an actual steering value of the wheel steering device (2), and drive the adjusting device (4) to provide a torque to the driving device (3) to make the actual steering value of the wheel steering device (2) tend to the target steering value when it is determined that the driving device (3) is faulty. The adjusting device (4) further comprises: a first pushing member (43) arranged on one side of the first magnetic attraction device (41); a first hydraulic circuit (44) connected with the first pushing member (43) and configured to drive the first pushing member (43) to move; a second pushing member (45) arranged on one side of the second magnetic attraction device (42); a second hydraulic circuit (46) connected with the second pushing member (45) and configured to drive the second pushing member (45) to move; 2. The steering system of claim 1, wherein, The processor (5) is signal-connected with the first hydraulic circuit (44) and the second hydraulic circuit (46) and configured to adjust the first hydraulic circuit (44) and the second hydraulic circuit (46) to make the first pushing member (43) and the second pushing member (45) respectively push the first magnetic attraction device (41) and the second magnetic attraction device (42) so that the first magnetic attraction device (41) and the second magnetic attraction device (42) are tightly connected, and the processor (5) is further configured to make the first magnetic attraction device (41) provide a magnetic force perpendicular to the extending direction of the first transmission shaft (11) and the second transmission shaft (31) to attract or repel the second magnetic attraction device (42) so as to provide a torque to the driving device (3) to adjust the rotating position of the wheel steering device (2).

3. The steering system of claim 1, wherein, The processor (5) is configured to make the adjusting device (4) provide a torque to the driving device (3) through a magnetic force when it is determined that the driving device (3) is faulty in precision. The adjusting device (4) comprises a plurality of first magnetic attraction devices (41) arranged at intervals on the end surface of the first transmission shaft (11). The adjusting device (4) comprises a plurality of second magnetic attraction devices (42) arranged at intervals along the end surface of the second transmission shaft (31); The first magnetic attraction devices (41) and the second magnetic attraction devices (42) are staggered.

4. The steering system of claim 1, wherein, The processor (5) is further configured to: determine whether the driving device (3) fails according to a first parameter corresponding to the target steering signal and representing a target steering value of the steering device (2) and a second parameter representing an actual steering value of the steering device (2), and make the adjusting device (4) provide torque to the driving device (3) to drive the steering wheel assembly and the wheel steering device (2) to be connected in transmission when it is determined that the driving device (3) fails.

5. The steering system of claim 4, wherein, The processor (5) is further configured to: connect the steering wheel assembly and the driving device (3) through the adjusting device (4) when it is determined that the driving device (3) fails, so as to drive the wheel steering device (2) to steer through the steering wheel assembly.

6. The steering system of claim 1, wherein, Further comprising: a first sensor (61) connected with the first transmission shaft (11) and configured to detect a target steering signal received by the steering wheel (1); a second sensor (62) connected with the driving device (3) and configured to detect an actual displacement signal of the driving device (3); The processor (5) is signal connected with the first sensor (61) and the second sensor (62) and configured to convert the target steering value of the steering device (2) corresponding to the target steering signal detected by the first sensor (61) into a target displacement value of the driving device (3), and convert the actual displacement signal detected by the second sensor (62) into a corresponding actual displacement value of the driving device (3).

7. The steering system of claim 6, wherein, The driving device (3) comprises: a motor (32) having a gear shaft (33) at its output end; a rack (34) engaged with the gear shaft (33) and connected with the steering device (2); The second sensor (62) is connected with the rack (34) and configured to detect an actual displacement value of the rack (34); The processor (5) is configured to convert the target steering value of the steering device (2) corresponding to the target steering signal detected by the first sensor (61) into a target displacement value of the rack (34) as a first parameter, and convert the actual displacement value of the rack (34) as a second parameter.

8. The steering system of claim 7, wherein, The processor (5) is configured to: When then it is determined that the drive device (3) has an accuracy fault; wherein, is a second parameter at time t, is a first parameter at time t, T1 is a precision fault threshold value of the electric machine (32).

9. The steering system of claim 7, wherein, The processor (5) is configured to: When then it is determined that the drive device (3) is defective; wherein, is a second parameter at time t, is a first parameter at time t, is a first parameter at time t, T2 is a failure threshold of the electric machine (32).

10. A control method for a steering system according to any one of claims 1 to 9, characterized by comprise: drive the wheel steering device (2) to steer through the driving device (3) according to the target steering signal input by the steering wheel assembly; determine an actual steering value of the wheel steering device (2); determine whether the driving device (3) fails according to a first parameter corresponding to the target steering signal and representing a target steering value of the wheel steering device (2) and a second parameter representing an actual steering value of the wheel steering device (2); determining that a failure occurs, causing the adjusting device (4) to provide torque to the driving device (3) to make the actual steering value of the wheel steering device (2) tend to the target steering value.

11. The control method of the steering system according to claim 10, characterized by, The operation of causing the adjusting device (4) to provide torque to the driving device (3) when determining that a failure occurs specifically includes: Causing the adjusting device (4) to provide torque to the driving device (3) by magnetic force.

12. The control method of a steering system according to claim 11, characterized by, The steering wheel assembly includes a steering wheel (1) and a first transmission shaft (11), and the driving device (3) includes a second transmission shaft (31); The adjusting device (4) includes: A first magnetic attraction device (41) arranged on the end face of the first transmission shaft (11); A second magnetic attraction device (42) arranged on the end face of the second transmission shaft (31); The operation of causing the adjusting device (4) to provide torque to the driving device (3) by magnetic force when determining that a failure occurs specifically includes: Causing the first magnetic attraction device (41) to provide magnetic force perpendicular to the extension direction of the first transmission shaft (11) and the second transmission shaft (31) to attract or repel the second magnetic attraction device (42), thereby providing torque to the driving device (3) to adjust the rotation position of the wheel steering device (2).

13. The control method of the steering system according to claim 12, characterized by, Further comprising: Determining whether the driving device (3) fails according to a first parameter corresponding to the target steering signal and representing the target steering value of the wheel steering device (2) and a second parameter representing the actual steering value of the wheel steering device (2); Causing the adjusting device (4) to provide torque to the driving device (3) when determining that a failure occurs, to make the steering wheel assembly and the wheel steering device (2) drivingly connected.

14. The control method of a steering system according to claim 13, characterized by, The operation of causing the adjusting device (4) to provide torque to the driving device (3) when determining that a failure occurs, to make the steering wheel assembly and the wheel steering device (2) drivingly connected specifically includes: Connecting the steering wheel assembly and the driving device (3) by the adjusting device (4) to provide torque to the wheel steering device (2) through the steering wheel assembly to drive the wheel steering device (2) to steer.

15. The control method of the steering system according to claim 14, characterized by, The adjusting device (4) further includes: A first pusher (43) arranged on one side of the first magnetic attraction device (41); A first hydraulic circuit (44) connected with the first pusher (43) and configured to drive the first pusher (43) to move; A second pusher (45) arranged on one side of the second magnetic attraction device (42); A second hydraulic circuit (46) connected with the second pusher (45) and configured to drive the second pusher (45) to move; The operation of causing the adjusting device (4) to provide torque to the driving device (3) when determining that a failure occurs specifically includes: Adjusting the first hydraulic circuit (44) and the second hydraulic circuit (46) to cause the first pusher (43) and the second pusher (45) to push the first magnetic attraction device (41) and the second magnetic attraction device (42) respectively, so that the first magnetic attraction device (41) and the second magnetic attraction device (42) are connected in compression.

16. The control method of a steering system according to claim 12, characterized by, Further comprising: A first sensor (61) connected with the first transmission shaft (11) is configured to detect a target steering signal received by the steering wheel (1); A second sensor (62) connected with the driving device (3) is configured to detect an actual displacement signal of the driving device (3); The operation of determining whether the driving device (3) is malfunctioning according to the first parameter corresponding to the target steering signal and representing a target steering value of the steering device (2) and the second parameter representing an actual steering value of the steering device (2) specifically comprises: The target steering value of the steering device (2) corresponding to the target steering signal detected by the first sensor (61) is converted into a target displacement value of the driving device (3), and the actual displacement signal detected by the second sensor (62) is converted into a corresponding actual displacement value of the driving device (3).

17. The control method of a steering system according to claim 16, characterized by, The driving device (3) comprises: A motor (32) having a gear shaft (33) at its output end; A rack (34) engaged with the gear shaft (33) and connected with the steering device (2); The second sensor (62) is connected with the rack (34) and configured to detect an actual displacement value of the rack (34); The operation of determining whether the driving device (3) is malfunctioning according to the first parameter corresponding to the target steering signal and representing a target steering value of the steering device (2) and the second parameter representing an actual steering value of the steering device (2) specifically comprises: The target steering value of the steering device (2) corresponding to the target steering signal detected by the first sensor (61) is converted into a target displacement value of the rack (34) as the first parameter, and the actual displacement value of the rack (34) is taken as the second parameter.

18. The control method of a steering system according to claim 17, characterized by, The operation of determining whether the driving device (3) is malfunctioning according to the first parameter corresponding to the target steering signal and representing a target steering value of the steering device (2) and the second parameter representing an actual steering value of the steering device (2) specifically comprises: When then it is determined that the drive device (3) has an accuracy fault; wherein, is a second parameter at time t, is a first parameter at time t, and T1 is a precision fault threshold value for the electric machine (32).

19. The control method of the steering system according to claim 17, characterized by, The operation of determining whether the driving device (3) is malfunctioning according to the first parameter corresponding to the target steering signal and representing a target steering value of the steering device (2) and the second parameter representing an actual steering value of the steering device (2) further comprises: When then the drive device (3) is determined to be defective; wherein, is a second parameter at time t, is a first parameter at time t, is a first parameter at time t, T2 is a failure threshold of the electric machine (32).

20. A computer-readable storage medium, characterized in that, A computer program is stored thereon, wherein the program is executed by the processor (5) to realize the control method of the steering system according to any one of claims 10-19.

Images