Telescopic folding steer-by-wire road feel simulator with self-locking function

Abstract

The application discloses a telescopic and foldable steer-by-wire road feeling simulation device with a self-locking function, which comprises a foldable steering wheel, a telescopic mechanism, a locking mechanism and a road feeling simulation mechanism connected coaxially in sequence from top to bottom. When the telescopic mechanism is in telescopic motion between the shortening limit position and the intermediate specific position, the foldable steering wheel is in the folded state; when the telescopic mechanism is lengthened from the intermediate specific position to the lengthening limit position, the foldable steering wheel is driven to open from the folded state to the unfolded state; when the telescopic mechanism is shortened from the lengthening limit position to the intermediate specific position, the foldable steering wheel is driven to be folded from the unfolded state to the folded state; the road feeling simulation mechanism provides simulated road feeling in manual driving; and the locking mechanism locks the foldable steering wheel in automatic driving or vehicle power failure. The application can provide necessary road feeling in manual driving mode, increase the activity space of the cockpit in automatic driving mode, and lock the steering wheel in automatic driving mode and power failure.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, and in particular to a retractable and foldable steer-by-wire road feel simulation device with a self-locking function. Background Technology

[0002] The steer-by-wire system, which decouples the functions of the upper and lower steering gears, is considered the optimal steering method for intelligent vehicles. Under driver-driven conditions, the upper steering gear provides road feedback, while the lower steering gear tracks the steering angle. Under autonomous driving conditions, the upper steering gear's steering wheel remains stationary, achieving a silent function. However, in autonomous driving, the upper steering gear occupies space within the cockpit, and accidental driver intervention could lead to accidental disengagement of the automated driving system. Furthermore, after a power outage, the upper steering gear's steering wheel can rotate freely, potentially causing misalignment of the upper and lower steering gear angles upon the next power-on, and possibly exceeding the sensor's measurement range, resulting in incorrect angle signals measured upon subsequent power-on.

[0003] The current technical solution has the following problems: First, it uses multiple actuators to achieve the folding and extension functions of the steering mechanism, but the system integration is low, and the multiple motors require coordination, making control difficult. Second, it does not consider the self-locking problem of the system after the steering wheel is folded or after power failure. Any rotation of the steering wheel may exceed the range of the angle sensor, causing abnormal sensor data and affecting subsequent use. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a retractable and foldable steer-by-wire road feel simulation device with a self-locking function, which can provide the necessary road feel in manual driving mode and increase the driving cabin activity space in automatic driving mode, and can also lock the steering wheel in automatic driving mode and in the event of power failure.

[0005] According to an embodiment of the present invention, a retractable foldable steer-by-wire road feel simulation device with self-locking function includes a folding steering wheel, a telescopic mechanism, a locking mechanism and a road feel simulation mechanism connected coaxially from top to bottom.

[0006] The road feel simulation mechanism is used to control the telescopic mechanism to extend and retract between its shortening limit position and its extension limit position. There is a specific intermediate position between the shortening limit position and the extension limit position. When the telescopic mechanism extends and retracts between the shortening limit position and the specific intermediate position, the folding steering wheel is in a folded state. When the telescopic mechanism extends from the specific intermediate position to the extension limit position, it drives the folding steering wheel to open from the folded state to the unfolded state. When the telescopic mechanism shortens from the extension limit position to the specific intermediate position, it drives the folding steering wheel to retract from the unfolded state to the folded state.

[0007] The road feel simulation mechanism is also used to provide simulated road feel based on the steering angle and steering torque of the folding steering wheel measured by the locking mechanism when the folding steering wheel is steering in the unfolded state.

[0008] The road feel simulation mechanism is also used to control the power supply and de-energization of the locking mechanism. When the folding steering wheel is in the unfolded state, the locking mechanism is energized to release the folding steering wheel. When the folding steering wheel is not in the unfolded state or when the vehicle is powered off, the locking mechanism is de-energized to lock the folding steering wheel.

[0009] The following describes the working process of the retractable and foldable steer-by-wire road feel simulation device with self-locking function according to an embodiment of the present invention.

[0010] When a driver is in manual driving mode, the telescopic mechanism is at its maximum extension position, the folding steering wheel is unfolded, the locking mechanism is energized, and the folding steering wheel is released. At this time, the driver turns the folding steering wheel, and the locking mechanism can measure the steering angle and steering torque of the folding steering wheel in real time. The road feel simulation mechanism provides the driver with simulated road feel based on the real-time measured steering angle and steering torque, providing the driver with a good driving experience.

[0011] When the driver actively switches from manual driving mode to automatic driving mode, the road feel simulation mechanism controls the locking mechanism to de-energize, locking the folding steering wheel and preventing it from turning, thus preventing accidental activation by the driver during folding. Simultaneously, the road feel simulation mechanism also controls the telescopic mechanism to retract from its extended limit position to its shortened limit position. As the telescopic mechanism shortens from its extended limit position to a specific intermediate position, it gradually retracts the folding steering wheel from its unfolded state to its folded state, completing the folding process. Afterward, the telescopic mechanism further retracts from the intermediate position back to its shortened limit position, placing the folding steering wheel below the instrument panel and increasing the driver's space within the cockpit.

[0012] When switching from autonomous driving mode back to manual driving mode, the road feel simulation mechanism controls the locking mechanism to be de-energized. At this time, the locking mechanism locks the folding steering wheel, preventing it from turning and avoiding accidental activation by the driver. Simultaneously, the road feel simulation mechanism also controls the telescopic mechanism to extend from its shortened limit position to its extended limit position. During the extension process from the shortened limit position to a specific intermediate position, the folding steering wheel remains folded. As the telescopic mechanism extends from the intermediate position to its extended limit position, it gradually opens the folding steering wheel from its folded state to its unfolded state. When the telescopic mechanism reaches its extended limit position, the folding steering wheel is fully unfolded. At this point, the road feel simulation mechanism energizes the locking mechanism, releasing the folding steering wheel and allowing it to rotate, enabling the driver to manually drive.

[0013] When the vehicle is powered off, the road feel simulation mechanism, locking mechanism, and telescopic mechanism are all de-energized. The locking mechanism locks the folding steering wheel in this de-energized state, preventing it from rotating. This prevents the folding steering wheel from rotating after a power outage, ensuring that the upper and lower steering structures are aligned when the vehicle is powered on again. This avoids the error in the measured steering angle signal caused by arbitrary rotation of the folding steering wheel during power outages, as is common in existing technologies. Furthermore, the locking mechanism also acts as a limit switch after a power outage, preventing the folding steering wheel from rotating beyond the upper limit measured by the locking mechanism, thus avoiding any impact on the vehicle's future use.

[0014] The retractable folding steer-by-wire road feel simulation device with self-locking function according to an embodiment of the present invention has the following advantages: First, it can provide the driver with simulated road feel in real time during manual driving, providing the driver with a good driving experience; second, during automatic driving, it allows the folding steering wheel to retract to a folded state and be brought under the dashboard via the telescopic mechanism, increasing the driver's activity space. Simultaneously, since the folding steering wheel is folded under the dashboard, it occupies less space; third, during the telescopic movement of the telescopic mechanism and in automatic driving mode, the locking mechanism can lock the folding steering wheel, preventing it from rotating and preventing accidental contact by the driver; fourth, in the event of vehicle disconnection... After power is applied, the locking mechanism can lock the folding steering wheel, preventing it from rotating. This ensures that the upper and lower steering structures are aligned when the vehicle is powered on again, avoiding the error in the steering angle signal measured when the vehicle is powered on again due to arbitrary rotation of the folding steering wheel after a power outage, as is common in existing technologies. It also acts as a limit switch, preventing the folding steering wheel from rotating beyond the upper limit measured by the locking mechanism, thus avoiding affecting the vehicle's future use. Fifth, the folding and unfolding of the steering wheel does not require an additional motor to drive it. The folding and unfolding functions of the steering wheel are integrated with the telescopic function of the telescopic mechanism, resulting in a high degree of system integration and eliminating the need to consider the coordination between multiple motors.

[0015] In some embodiments, the telescopic mechanism includes a steering input shaft, a lead screw, an outer sleeve, and a drive unit;

[0016] The lead screw is rotatably and axially slidably mounted on the steering input shaft, and the upper end of the lead screw and the upper end of the steering input shaft are respectively connected to the folding steering wheel;

[0017] The outer sleeve is located below the lead screw and rotatably sleeved on the steering input shaft; when the telescopic mechanism is between the shortening limit position and the intermediate specific position, the lead screw and the outer sleeve are always axially fixed, so that the lead screw, the outer sleeve and the steering input shaft move synchronously in the axial direction relative to the locking mechanism; when the telescopic mechanism is between the intermediate specific position and the extension limit position but not including the intermediate specific position, the lead screw separates from the outer sleeve, so that the outer sleeve and the steering input shaft are in a stationary state, and only the lead screw moves axially in the direction of extension and retraction relative to the locking mechanism;

[0018] The drive unit is connected to the lead screw to drive the lead screw to rotate and translate axially.

[0019] In some embodiments, the drive unit is connected to the lead screw via a ball screw or a threaded lead screw.

[0020] In some embodiments, the drive unit includes a telescopic folding motor, a belt, and a pulley. The telescopic folding motor is fixed to the frame. The belt is wound around the telescopic folding motor and the pulley. The pulley is sleeved on the lead screw. The inner circumference of the pulley is provided with a recirculating ball structure, and the recirculating ball structure and the lead screw form a ball screw engagement.

[0021] In some embodiments, a spring ball is provided on the upper inner peripheral wall of the outer sleeve, and an annular groove is provided on the lower outer peripheral wall of the lead screw. When the telescopic unit is in the specific intermediate position, the spring ball is directly opposite the annular groove, and the spring ball is engaged in the annular groove.

[0022] In some embodiments, a ball bearing is provided between the outer sleeve and the steering input shaft, and a sliding bearing is provided between the lead screw and the steering input shaft.

[0023] In some embodiments, the folding steering wheel includes a modified ball bearing, a plurality of grip levers, and a plurality of support rods; the inner ring of the modified ball bearing is fixed to the upper end of the lead screw; the plurality of grip levers are arranged radially around the outer periphery of the steering input shaft; the plurality of support rods are arranged above the plurality of grip levers in a corresponding manner; one end of the plurality of grip levers is rotatably connected to the outer ring of the modified ball bearing; the other end of the plurality of grip levers is rotatably connected to one end of the plurality of support rods in a corresponding manner; and the other end of the plurality of support rods is rotatably connected to the steering input shaft.

[0024] In some embodiments, the locking mechanism includes a torsion bar, a sensor, a worm gear, a worm, a housing, and an electromagnet assembly;

[0025] The upper section of the torsion bar is coaxially sleeved in the lower section of the steering input shaft, and the steering input shaft can slide axially but cannot rotate circumferentially relative to the torsion bar;

[0026] The sensor is coaxially mounted on the lower end of the torsion bar, and the sensor is coaxially connected to the worm gear, with the worm meshing with the worm gear;

[0027] The housing contains the torsion bar, the sensor, the worm gear, and the worm. The housing has a through hole. The electromagnet assembly is fixed to the housing. The electromagnet assembly includes an output rod, a spring, and a coil. The output rod passes through the through hole in the housing, and the through hole constrains the rotation of the output rod. When the coil is energized, the output rod retracts, separating it from the worm. When the coil is de-energized, the output rod extends under the action of the spring and is coaxially and fixedly connected to the worm.

[0028] In some embodiments, the locking mechanism further includes a connecting block, one end of which is engaged and fixed to the output end of the worm gear, and the other end of which is engaged and fixed to the output rod when the output rod extends.

[0029] In some embodiments, the road feel simulation mechanism includes a planetary gear reducer, a road feel motor, and a motor controller;

[0030] The planetary gear reducer is coaxially connected between the worm gear and the road sensor motor. The motor controller is mounted on the road sensor motor and is used to control the operation of the telescopic folding motor and the road sensor motor, as well as to control the energization and de-energization of the coil. Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0032] Figure 1 This is a schematic diagram of the retractable and foldable steer-by-wire road feel simulation device in its extended and unfolded state according to an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the retractable and foldable steer-by-wire road feel simulation device in a retracted and folded state according to an embodiment of the present invention.

[0034] Figure 3 This is an exploded view of a retractable and foldable steer-by-wire road feel simulation device according to an embodiment of the present invention.

[0035] Figure 4 This is a partially enlarged view of the locking mechanism of the retractable foldable steer-by-wire road feel simulation device according to an embodiment of the present invention in the energized state.

[0036] Figure 5 This is a partially enlarged view of the locking mechanism of the retractable foldable steer-by-wire road feel simulation device according to an embodiment of the present invention in the power-off state.

[0037] Figure 6 This is a schematic diagram of the movement of the spring ball in the retractable and foldable steer-by-wire road feel simulation device according to an embodiment of the present invention.

[0038] Reference numerals: 1000 telescopic folding steer-by-wire road feel simulation device; 100 folding steering wheel; 101 modified ball bearing; 102 handlebar; 103 support rod; 104 fixing block; 200 telescopic mechanism; 201 steering input shaft; 202 lead screw; 2021 annular groove; 203 outer sleeve; 2031 spring ball; 20311 spring; 20312 ball; 2032 mounting slot; 204 drive unit; 200 telescopic folding motor 41; Belt 2042; Pulley 2043; Ball bearing 205; Locking mechanism 300; Torsion bar 301; Sensor 302; Worm gear 303; Worm 304; Housing 305; Upper housing 3051; Lower housing 3052; End cap 3053; Electromagnet assembly 306; Output rod 3061; Connecting block 307; Road sense simulation mechanism 400; Planetary gear reducer 401; Road sense motor 402; Motor controller 403. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0040] The following will refer to Figures 1 to 6 This invention describes a retractable and foldable steer-by-wire road feel simulation device 1000 with a self-locking function, according to an embodiment of the present invention.

[0041] like Figures 1 to 3 As shown, the retractable foldable steer-by-wire road feel simulation device 1000 with self-locking function according to an embodiment of the present invention includes a folding steering wheel 100, a telescopic mechanism 200, a locking mechanism 300 and a road feel simulation mechanism 400 connected coaxially from top to bottom.

[0042] The road feel simulation mechanism 400 is used to control the telescopic mechanism 200 at its shortening limit position (reference). Figure 2 ) and elongation limit position (reference) Figure 1The telescopic mechanism 200 extends and retracts between its shortening limit position and its extension limit position, with a specific intermediate position between them. When the telescopic mechanism 200 extends and retracts between its shortening limit position and the specific intermediate position, the folding steering wheel 100 is in a folded state. That is, when the telescopic mechanism 200 extends from its shortening limit position to the specific intermediate position, the folding steering wheel 100 is in a folded state; when the telescopic mechanism 200 retracts from the specific intermediate position to its shortening limit position, the folding steering wheel 100 is in a folded state. When the telescopic mechanism 200 extends from the specific intermediate position to its extension limit position, it causes the folding steering wheel 100 to open from the folded state to the unfolded state. When the telescopic mechanism 200 retracts from its extension limit position to the specific intermediate position, it causes the folding steering wheel 100 to retract from the unfolded state to the folded state. In other words, the unfolding and folding of the folding steering wheel 100 is driven by the telescopic mechanism 200, without the need for an additional motor. As the telescopic mechanism 200 extends from a specific intermediate position to its maximum extension position, it drives the folding steering wheel 100 to gradually unfold from the folded state. As the telescopic mechanism 200 retracts from its maximum extension position to its maximum intermediate position, it drives the folding steering wheel 100 to gradually retract from the unfolded state back to the folded state. Thus, when the telescopic mechanism 200 is in the specific intermediate position, the folding steering wheel 100 is in the folded state; when the telescopic mechanism 200 is in its maximum extension position, the folding steering wheel 100 is in the unfolded state.

[0043] The road feel simulation mechanism 400 is also used to provide simulated road feel based on the steering angle and steering torque of the folding steering wheel 100 measured by the locking mechanism 300 when the folding steering wheel 100 is in the extended state and being used for steering. In other words, when the driver performs a steering operation on the folding steering wheel 100 in the extended and unfolded state, the locking mechanism 300 can measure the steering angle and steering torque of the folding steering wheel 100 in real time, and the road feel simulation mechanism 400 provides simulated road feel to the driver based on the real-time measured steering angle and steering torque.

[0044] The road feel simulation mechanism 400 also controls the energization and de-energization of the locking mechanism 300. When the folding steering wheel 100 is in the unfolded state, the locking mechanism 300 is energized to release the folding steering wheel 100, allowing it to steer. When the folding steering wheel 100 is not in the unfolded state or when the vehicle is powered off, the locking mechanism 300 is de-energized to lock the folding steering wheel 100, preventing it from steering. This prevents the driver from accidentally touching the folding steering wheel 100 during autonomous driving, or prevents the folding steering wheel 100 from rotating arbitrarily when the power is off, thus avoiding errors in the steering angle signal measured when the power is restored.

[0045] The following describes the working process of the retractable and foldable steer-by-wire road feel simulation device 1000 with self-locking function according to an embodiment of the present invention.

[0046] When a driver is in manual driving mode, the telescopic mechanism 200 is at its maximum extension position, the folding steering wheel 100 is in the unfolded state, the locking structure 300 is energized, and the folding steering wheel 100 is released. At this time, when the driver turns the folding steering wheel 100, the locking mechanism 300 can measure the steering angle and steering torque of the folding steering wheel 100 in real time. The road feel simulation mechanism 400 provides the driver with simulated road feel based on the real-time measured steering angle and steering torque, providing the driver with a good driving experience.

[0047] When the driver actively switches from manual driving mode to automatic driving mode, the road feel simulation mechanism 400 controls the locking mechanism 300 to de-energize. When the locking mechanism 300 is de-energized, it locks the folding steering wheel 100, preventing it from turning and thus preventing the driver from accidentally touching it during the folding process. The road feel simulation mechanism 400 also controls the telescopic mechanism 200 to shorten from its extended limit position to its shortened limit position. When the telescopic mechanism 200 shortens from its extended limit position to a specific intermediate position, it gradually retracts the folding steering wheel 100 from its unfolded state to its folded state, completing the folding of the steering wheel 100. Afterward, the telescopic mechanism 200 will further retract from the specific intermediate position back to its shortened limit position, placing the folding steering wheel 100 below the instrument panel and increasing the driver's space in the cockpit.

[0048] When switching from automatic driving mode back to manual driving mode, the road feel simulation mechanism 400 controls the locking mechanism 300 to be in a de-energized state. At this time, the locking mechanism 300 locks the folding steering wheel 100, preventing it from turning and thus preventing the driver from accidentally touching it. Simultaneously, the road feel simulation mechanism 400 also controls the telescopic mechanism 200 to extend from its shortened limit position to its extended limit position. During the extension process from the shortened limit position to a specific intermediate position, the folding steering wheel 100 remains in a controlled position. In the folded state; as the telescopic mechanism 200 extends from a specific middle position to its extension limit position, the telescopic mechanism drives the folding steering wheel 100 to gradually open from the folded state to the unfolded state. When the telescopic mechanism 200 reaches the extension limit position, the folding steering wheel 100 is fully unfolded. At this time, the road feel simulation mechanism 400 controls the locking mechanism 300 to be energized. The locking mechanism 300 releases the folding steering wheel 100 in the energized state, so that the folding steering wheel 100 can be rotated, so that the driver can turn the folding steering wheel 100 for manual driving.

[0049] When the vehicle is powered off, the road feel simulation mechanism 400, locking mechanism 300, and telescopic mechanism 200 are all in a de-energized state. The locking mechanism 300 locks the folding steering wheel 100 in this de-energized state, preventing it from rotating. This prevents the folding steering wheel 100 from rotating after a power outage, ensuring that the upper and lower steering structures are aligned when the vehicle is powered on again. This avoids the error in the measured steering angle signal of the folding steering wheel 100 caused by arbitrary rotation of the folding steering wheel 100 during a power outage, as is common in existing technologies. Furthermore, the locking mechanism 300's locking of the folding steering wheel 100 after a power outage also acts as a limit, preventing the folding steering wheel from rotating beyond the upper limit measured by the locking mechanism 300, thus avoiding any impact on the vehicle's future use.

[0050] The retractable foldable steer-by-wire road feel simulation device 1000 with self-locking function according to an embodiment of the present invention has the following advantages: First, it can provide the driver with simulated road feel in real time during manual driving, providing the driver with a good driving experience; second, during automatic driving, the folding steering wheel 100 is retracted to a folded state and brought under the dashboard via the telescopic mechanism 200, increasing the driver's activity space. Simultaneously, since the folding steering wheel 100 is folded under the dashboard, it occupies less space; third, during the telescopic movement of the telescopic mechanism 200 and in automatic driving mode, the locking mechanism 300 can lock the folding steering wheel 100, preventing it from rotating and preventing accidental contact by the driver; fourth, after the vehicle is powered off... The locking mechanism 300 can lock the folding steering wheel 100, preventing it from rotating. This ensures that the upper and lower steering structures are aligned when the vehicle is powered on again, avoiding the error in the steering angle signal measured when the vehicle is powered on again due to arbitrary rotation of the folding steering wheel 100 after a power outage, as is common in existing technologies. It also acts as a limit switch, preventing the folding steering wheel 100 from rotating beyond the upper limit measured by the locking mechanism 300, thus avoiding impacting the vehicle's future use. Furthermore, the folding and unfolding of the folding steering wheel 100 does not require an additional motor. The folding and unfolding functions of the folding steering wheel 100 are integrated with the telescopic function of the telescopic mechanism 200, resulting in a high degree of system integration and eliminating the need to consider the coordination between multiple motors.

[0051] In some embodiments, the telescopic mechanism 200 includes a steering input shaft 201, a lead screw 202, an outer sleeve 203, and a drive unit 204. The lead screw 202 is rotatably and axially slidably sleeved on the steering input shaft 201, and the upper end of the lead screw 202 and the upper end of the steering input shaft 201 are respectively connected to the folding steering wheel 100. The outer sleeve 203 is located below the lead screw 202 and rotatably mounted on the steering input shaft 201. When the telescopic mechanism 200 is between its shortened limit position and a specific intermediate position, the lead screw 202 and the outer sleeve 203 are always axially fixed, allowing the lead screw 202, the outer sleeve 203, and the steering input shaft 201 to synchronously extend and retract axially relative to the locking mechanism 300. When the telescopic mechanism 200 is between, but not including, the intermediate specific position and the extended limit position, the lead screw 202 separates from the outer sleeve 203, leaving the outer sleeve 203 and the steering input shaft 201 stationary, while only the lead screw 202 extends and retracts axially relative to the locking mechanism 300. The drive unit 204 is connected to the lead screw 202 to drive its rotation and axial translation.

[0052] Specifically, when the telescopic mechanism 200 is at its shortened limit position, the drive unit 204 drives the lead screw 202 to rotate forward. At the same time, the lead screw 202 drives the outer sleeve 203 and the steering input shaft 201 to perform synchronous axial extension relative to the locking mechanism 300 until the telescopic mechanism 200 is at a specific intermediate position. After that, the drive unit 204 drives the lead screw 202 to continue rotating forward, and the lead screw 202 separates from the outer sleeve 203, causing the outer sleeve 203 and the steering input shaft 201 to stop axial movement. The lead screw 202 then extends axially relative to the outer sleeve 203 and the steering input shaft 201 until it extends to its extension limit position. When the lead screw 202 extends axially from the specific intermediate position to the extension limit position, it drives the folding steering wheel 100 to open from the folded state to the unfolded state.

[0053] When the telescopic mechanism 200 is at its extension limit position, the drive unit 204 drives the lead screw 202 to rotate in the opposite direction. The outer sleeve 203 and the steering input shaft 201 are stationary. The lead screw 202 axially shortens relative to the outer sleeve 203 and the steering input shaft 201 until the lead screw 202 is shortened to a specific intermediate position. When the lead screw 202 axially shortens from the extension limit position to the specific intermediate position, it drives the folding steering wheel 100 to retract from the unfolded state to the folded state. After that, the drive unit 204 drives the lead screw 202 to continue to rotate in the opposite direction. The lead screw 202 is fixed to the outer sleeve 203, so that the lead screw 202 drives the outer sleeve 203 and the steering input shaft 201 to perform synchronous axial shortening motion relative to the locking mechanism 300 until the lead screw 202 is shortened to the shortening limit position.

[0054] It needs to be explained that when the telescopic mechanism 200 is at its extension limit position (e.g.) Figure 1As shown, there is a certain distance between the lead screw 202 and the outer sleeve 203 to meet the retraction requirements of the folding steering wheel 100. When the lead screw 202 is between its extension limit position and the intermediate special position, only the lead screw 202 moves along the steering input shaft 201 under the drive of the drive unit 204; when the lead screw 202 is between the intermediate special position and the shortening limit position, the drive unit 204 drives the lead screw 202 to rotate. At this time, the lead screw 202 is fixed to the outer sleeve 203 and can retract together with the steering input shaft 201 and the outer sleeve 203, providing the driver with room to maneuver.

[0055] In some embodiments, the drive unit 204 and the lead screw 202 are connected by a ball screw 202 or a threaded screw 202, which can transmit the force on the drive unit 204 to the lead screw 202, so that the lead screw 202 rotates and translates.

[0056] In some embodiments, the drive unit 204 includes a telescopic folding motor 2041, a belt 2042, and a pulley 2043. The telescopic folding motor 2041 is fixed on the frame. The belt 2042 is wound around the telescopic folding motor 2041 and the pulley 2043. The pulley 2043 is sleeved on the lead screw 202. The inner circumference of the pulley 2043 is provided with a recirculating ball structure, and the recirculating ball structure and the lead screw 202 form a ball screw 202 engagement.

[0057] Specifically, the telescopic folding motor 2041 is fixed on the frame and can rotate forward or backward under the control of the road feel simulation mechanism 400. When the telescopic folding motor 2041 rotates, it can cause the pulley 2043 to rotate through the belt 2042. The inner circumference of the pulley 2043 is provided with a circulating ball structure that can cooperate with the lead screw 202 to form a ball screw, thereby causing the lead screw 202 to rotate and translate. In other words, the rotation direction of the lead screw 202 can be indirectly controlled by the rotation direction of the telescopic folding motor 2041, and thus the translation direction of the lead screw 202 can be controlled. For example, when the telescopic folding motor 2041 rotates forward, the lead screw 202 performs axial extension relative to the locking mechanism 300.

[0058] It should be noted that the telescopic folding motor 2041 alone can perform the telescopic function of the telescopic mechanism 200 and the folding and unfolding function of the folding steering wheel 100. This high level of integration eliminates the need to consider coordination between multiple motors, resulting in low control complexity. The telescopic folding motor 2041 can use a brushed DC motor, saving costs and installation space; other motors can also be selected according to actual needs. The belt drive 2042 has damping and vibration-absorbing characteristics, making the retraction process smoother. The belt drive 2042 can also be converted to other drive types depending on the specific requirements.

[0059] In some embodiments, a spring ball 2031 is provided on the upper inner peripheral wall of the outer sleeve 203, and an annular groove 2021 is provided on the lower outer peripheral wall of the lead screw 202. When the telescopic mechanism 200 is in a specific intermediate position, the spring ball 2031 is directly opposite the annular groove 2021, and the spring ball 2031 is engaged in the annular groove 2021. In this way, the lead screw 202 can perform translational motion while rotating, and can not drive the outer sleeve 203 to rotate, but can drive the outer sleeve 203 and the steering input shaft 201 to move axially together.

[0060] It should be noted that the spring ball 2031 is essentially composed of a spring 20311 and a ball 20312. One end of the spring 20311 is fixed to the upper inner circumferential wall of the outer sleeve 203, and the other end is connected to the ball 20312. The spring ball 2031 essentially connects the lead screw 202 and the outer sleeve 203 through the cooperation of the ball 20312 and the annular groove 2021.

[0061] In some embodiments, there are multiple spring balls 2031, which are circumferentially spaced on the inner peripheral wall of the upper end of the outer sleeve 203. For example... Figure 6 As shown at point A, when the telescopic mechanism 200 is in a specific intermediate position, multiple spring balls 2031 are directly opposite to the annular groove 2021, and multiple spring balls 2031 are simultaneously engaged in the annular groove 2021, ensuring that the outer sleeve 203 and the lead screw 202 are reliably connected, and ensuring that the lead screw 202, the outer sleeve 203 and the steering input shaft 201 move axially synchronously.

[0062] In some embodiments, an installation groove 2032 is provided on the inner peripheral wall of one end of the outer sleeve 203, and the spring ball 2031 is installed in the installation groove 2032.

[0063] In some embodiments, the outer peripheral wall surface of the lead screw 202 between the annular groove 2021 and the lower end face of the lead screw 202, and the lower side wall of the annular groove 2021 are both sloping surfaces, which facilitates the spring ball 2031 to be inserted into the annular groove 2021 and to be disengaged from the annular groove 2021.

[0064] In some embodiments, a ball bearing 205 is provided between the outer sleeve 203 and the steering input shaft 201, which can realize the relative rotation between the outer sleeve 202 and the steering input shaft 201 and realize the synchronous axial movement of the outer sleeve 202 and the steering input shaft 201; a sliding bearing is provided between the lead screw 202 and the steering input shaft 201.

[0065] Specifically, the steering input shaft 201 is fixed in the outer sleeve 203 by a ball bearing 205. The ball bearing 205 is axially positioned by a shoulder on the steering input shaft 201 and a retaining ring, enabling relative rotation between the outer sleeve 203 and the steering input shaft 201, as well as synchronous axial movement between the outer sleeve 203 and the steering input shaft 201. The lead screw 202 is coaxial with the steering input shaft 201, and a sliding bearing exists between them. When the lead screw 202 is not connected to the outer sleeve 203, that is, when the lead screw 202 moves between a specific intermediate position and its extension limit position, the steering input shaft 201 can remain stationary, and the lead screw 202 can slide axially along the steering input shaft 201.

[0066] In some embodiments, the folding steering wheel 100 includes a modified ball bearing 101, a plurality of grip levers 102, and a plurality of support rods 103; the inner ring of the modified ball bearing 101 is fixed to the upper end of the lead screw 202; the plurality of grip levers 102 are arranged radially on the outer periphery of the steering input shaft 201; the plurality of support rods 103 are arranged one-to-one above the plurality of grip levers 102; one end of the plurality of grip levers 102 is rotatably connected to the outer ring of the modified ball bearing 101; the other end of the plurality of grip levers 102 is rotatably connected to one end of the plurality of support rods 103; and the other end of the plurality of support rods 103 is rotatably connected to the steering input shaft 201.

[0067] Specifically, the inner ring of the modified ball bearing 101 mates with the lead screw 202, and the outer ring mates with the grip lever 102. The grip lever 102 is rotatably mounted on the outer ring of the modified ball bearing 101, and the support rods 103 are rotatably mounted on the outer periphery of the steering input shaft 201, thus forming a three-bar linkage. When the lead screw 202 moves from its extended limit position to its intermediate limit position, the lead screw 202 drives the modified ball bearing 101 to move. The modified ball bearing 101 then drives the grip lever 102 to move downward, causing multiple support rods 103 to move closer to the steering input shaft 201, thereby folding the folding steering wheel 100. The inner ring of the modified ball bearing 100 is coaxially fitted with the lead screw 202, and axial positioning is achieved using the shoulder and retaining spring on the lead screw 202, ensuring that the rotation of the lead screw 202 does not cause the folding steering wheel 100 or the steering input shaft 201 to rotate.

[0068] Preferably, the grip rod 102 and support rod 103 of the foldable steering wheel 100 can be arranged symmetrically with respect to the steering input shaft 201. The grip portion of the grip rod 102 can be designed in an arc shape, and the grip portions of multiple grip rods 102 can form a circular steering wheel, thus providing a better user experience when manually operating the foldable steering wheel 100.

[0069] In some embodiments, the folding steering wheel 100 further includes a fixing block 104, the other ends of a plurality of support rods 103 being rotatably connected to the fixing block 104, and the fixing block 104 being fixed to the upper end of the steering input shaft 201. By providing the fixing block 104, the folding steering wheel 100 can be easily assembled.

[0070] Specifically, the fixing block 104 can be a spline key, which is fixed to the upper end of the steering input shaft 201 by spline engagement.

[0071] In some embodiments, the locking mechanism 300 includes a torsion bar 301, a sensor 302, a worm gear 303, a worm 304, a housing 305, and an electromagnet assembly 306. The upper section of the torsion bar 301 is coaxially sleeved in the lower section of the steering input shaft 201, and the steering input shaft 201 can slide axially relative to the torsion bar 301 but cannot rotate circumferentially, thereby facilitating the telescopic mechanism 200 to extend and retract between its shortened limit position and a specific intermediate position. The sensor 302 is coaxially disposed on the lower end of the torsion bar 301, and the sensor 302 is coaxially connected to the worm gear 303. The worm 304 meshes with the worm gear 303. It should be noted that, by design, the engagement of the worm gear 303 and the worm 304 does not involve self-locking. The housing 305 houses the torsion bar 301, sensor 302, worm gear 303, and worm 304. The housing 305 has a through hole. An electromagnet assembly 306 is fixed to the housing 305. The electromagnet assembly 306 includes an output rod 3061, a spring, and a coil. The output rod 3061 passes through the through hole in the housing 305, constraining its rotation. When the coil is energized, the output rod 3061 retracts, separating it from the worm 304. When the coil is de-energized, the output rod 3061 extends under the action of the spring and is coaxially fixedly connected to the worm 304, preventing the worm 304 from rotating. Consequently, the worm gear 303 cannot rotate, thus locking the folding steering wheel 100 and preventing accidental activation by the driver. Furthermore, the locking mechanism 300 is easy to modify, compatible with column-assisted electric power steering systems, and has strong applicability.

[0072] Specifically, such as Figures 1 to 5As shown, the housing 305 is fixed to the frame, protecting the internal torsion bar 301, sensor 302, worm gear 303, and worm 304. The electromagnet assembly 306 is fixed to the housing 305 with screws, and the output rod 3061 fits through a polygonal through-hole (e.g., a square through-hole) on the housing 305. The output rod 3061 is a polygonal rod (e.g., a square rod) with a four-jaw chuck at the output end. The polygonal through-hole on the housing 305 prevents the polygonal output rod 3061 from rotating. A certain gap exists between the through-hole on the housing 305 and the output rod 3061 to reduce friction, allowing slight misalignment of the output rod 3061 within the through-hole. It should be noted that because the reduction ratio of the reducer formed by the worm gear 303 and worm 304 is very large, the mechanical strength requirement of the locking mechanism 300 is not high, the required electromagnetic force is small, and the energy consumption of energizing the electromagnet assembly 306 is very small, reducing manufacturing difficulty and saving costs.

[0073] In some embodiments, the housing 305 includes an upper housing 3051, a lower housing 3052, and an end cap 3053. The upper housing 3051 and the lower housing 3052 are fixed to the frame to protect the internal torsion bar 301, sensor 302, worm gear 303, and worm 304. The end cap 3053 can be fixed to the protective shell formed by the upper housing 3051 and the lower housing 3052 by screws, but the fixing method is not limited to this. The end cap 3053 has a through hole to prevent the output rod 3061 from rotating. The electromagnet assembly 306 is fixed to the end cap 3053 by screws, but the fixing method is not limited to this.

[0074] In some embodiments, the locking mechanism 300 further includes a connecting block 307, one end of which is engaged and fixed to the output end of the worm gear 304, and the other end of which is used to engage and fix to the output rod 3061 when the output rod 3061 extends. Figure 4 and Figure 5 As shown, the output end of the worm gear 304 is a four-jaw chuck, and the output end of the output rod 3061 is also a four-jaw chuck. The outer periphery of the connecting block 307 has a tooth groove that is adapted to engage with the four-jaw chuck at the output end of the worm gear 304 and the four-jaw chuck at the output end of the output rod 3061.

[0075] In some embodiments, such as Figures 1 to 3 As shown, the road feel simulation mechanism 400 includes a planetary gear reducer 401, a road feel motor 402, and a motor controller 403. The planetary gear reducer 401 is coaxially connected between the worm gear 303 and the road feel motor 402. The motor controller 403 is mounted on the road feel motor 402 and is used to control the operation of the telescopic folding motor 2041 and the road feel motor 402, as well as to control the energization and de-energization of the coil.

[0076] Specifically, the road feel motor 402 and the planetary gear reducer 401 are connected via a coupling. When the driver operates the folding steering wheel 100, the sensor 302 measures the steering angle and steering torque of the folding steering wheel 100 and transmits the signals to the motor controller 403. The motor controller 403 controls the road feel motor 402, which, after being reduced in speed and increased in torque by the planetary gear reducer 401, simulates road feel for the driver. Compared with common worm gear reducers, the planetary gear reducer 401 has a moderate reduction ratio and low noise; compared with belt drives, its transmission ratio is accurate and more suitable for simulating road feel. The road feel motor 402 can be a dual-winding motor to facilitate redundancy, or a single-winding permanent magnet synchronous motor, brushless DC motor, or other motors can be selected according to actual needs.

[0077] In some embodiments, since the required feedback torque range is small, the road feel simulation mechanism 400 employs a single-stage planetary gear reducer 401 with a small reduction ratio. Here, the road feel simulation mechanism 400 can be combined with the locking mechanism 300, sharing the worm gear 303 and worm 304 reducer. For example, the worm 304 shaft has two inputs, one end being the road feel motor 402 input and the other end being the locking mechanism 300; or two worm gear 304 shafts can have the road feel motor 402 and the locking mechanism 300 as inputs respectively, sharing a single worm gear 303. This application also protects similar structures.

[0078] The following describes the operation of a retractable and foldable steer-by-wire road feel simulation device 1000 with self-locking function according to a specific embodiment of the present invention:

[0079] When a driver is in manual driving mode, the steering input shaft 201, ball bearing 205, outer sleeve 203, and lead screw 202 are at their extended limit positions. The three-bar linkage consisting of the grip lever 102, support rod 103, and modified ball bearing 101 is in the unfolded state, i.e., the folding steering wheel 100 is in the unfolded state. The locking mechanism 300 is energized, and the electromagnet assembly 306 is energized. The output rod 3061 of the electromagnet assembly 306 is not in contact with the connecting block 307. In this state, when the driver rotates the folding steering wheel 100, the sensor 302 in the locking mechanism 300 can measure the steering angle and steering torque of the folding steering wheel 100 in real time and transmit them to the road feel simulation mechanism 400. The motor controller 403 in the road feel simulation mechanism 400 will control the road feel motor 402 according to the data measured by the sensor 302. After being reduced in speed and increased in torque by the planetary gear reducer 401, the road feel is simulated for the driver.

[0080] When the driver actively switches from manual driving mode to automatic driving mode, the road feel simulation mechanism 400 controls the locking mechanism 300 to de-energize. After the locking mechanism 300 is de-energized, the output rod 3061 of the electromagnet assembly 306 extends under the action of the spring and locks the connecting block 307, thereby locking the worm gear 304, making the worm wheel 303 unable to rotate, and thus preventing the folding steering wheel 100 from rotating, preventing the folding steering wheel 100 from being accidentally touched by the driver during the retraction and folding process. Then, the motor controller 403 controls the telescopic folding motor 2041 to rotate in the opposite direction. After being decelerated by the belt 2042, the belt pulley 2043 drives the lead screw 202 to rotate and move horizontally. The lead screw 202 cooperates with the inner ring of the modified ball bearing 101, and when the lead screw 202 rotates, it does not... The foldable steering wheel 100 and steering input shaft 201 will rotate. When the lead screw 202 moves from the extension limit position to the middle specific position, the lead screw 202 will drive the foldable steering wheel 100 to retract from the unfolded state to the folded state. When the lead screw 202 is at the middle specific position, the foldable steering wheel 100 retracts to the folded state, and the spring ball 2031 in the outer sleeve 203 will fall into the annular groove 2021 of the lead screw 202, thereby fixing the lead screw 202 and the outer sleeve 203. The lead screw 202 drives the outer sleeve 203 to perform synchronous axial extension movement relative to the locking mechanism 300 until the lead screw 202 reaches the shortening limit position. The motor controller 403 no longer controls the telescopic folding motor 2041 to rotate, completing the retraction and folding of the foldable steering wheel 100.

[0081] When switching from automatic driving mode back to manual driving mode, the road feel simulation mechanism 400 controls the locking mechanism 300 to be in a de-energized state. At this time, the locking mechanism 300 locks the folding steering wheel 100, preventing the folding steering wheel 100 from rotating and preventing the driver from accidentally touching it. The road feel simulation mechanism 400 also controls the telescopic folding motor 2041 to rotate forward, which is decelerated by the belt 2042, causing the pulley 2043 to drive the lead screw 202 to move horizontally. Since the spring ball 2031 of the outer sleeve 203 is stuck in the annular groove 2021 of the lead screw 202, the lead screw 202 drives the outer sleeve 203 to perform synchronous axial shortening motion relative to the locking mechanism 300 until the outer sleeve 203 can no longer extend. The continued movement of the lead screw 202 can disengage the spring ball 2031 of the outer sleeve 203 from the annular groove 2021 of the lead screw 202, thus separating the lead screw 202 from the outer sleeve 203. The lead screw 202 continues to move until it reaches its extension limit position, causing the folding steering wheel 100 to open from the folded state to the unfolded state. When the lead screw 202 reaches its extension limit position, the folding steering wheel 100 opens to the unfolded state, and the motor controller 403 no longer controls the rotation of the telescopic folding motor 2041. The motor controller 403 will energize the electromagnet assembly 306, and the output rod 3061 will retract the electromagnet assembly 306, thereby releasing the steering of the folding steering wheel 100 so that the driver can turn the folding steering wheel 100 for manual driving. After the driver turns the folding steering wheel 100, the sensor 302 in the locking mechanism 300 can measure the steering angle and steering torque of the folding steering wheel 100 in real time and transmit them to the road feel simulation mechanism 400. The motor controller 403 in the road feel simulation mechanism 400 will control the road feel motor 402 according to the data measured by the sensor 302. After the planetary gear reducer 401 reduces the speed and increases the torque, it simulates the road feel for the driver.

[0082] When the vehicle is powered off, the retractable folding steer-by-wire road feel simulation device 1000 is in a de-energized state. The output rod 3061 of the electromagnet assembly 306 extends under the action of the spring and locks the connecting block 307, thereby locking the worm gear 304, preventing the worm wheel 303 from rotating, and thus preventing the folding steering wheel 100 from rotating. This prevents the folding steering wheel 100 from being accidentally touched by the driver during the power-off process, and ensures that the upper and lower steering structures are aligned when the vehicle is powered on again. This avoids the error in the steering angle signal measured by the folding steering wheel 100 when the vehicle is powered off due to arbitrary rotation of the folding steering wheel 100 during the next power-on, as is the case in the prior art. At the same time, after the vehicle is powered off, the locking mechanism 300 locks the folding steering wheel 100 and also acts as a limit, preventing the folding steering wheel 100 from rotating beyond the upper limit measured by the sensor 302 in the locking mechanism 300, thus avoiding affecting the next use of the vehicle.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0084] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A retractable and foldable steer-by-wire road feel simulation device with self-locking function, characterized in that, It includes a folding steering wheel, a telescopic mechanism, a locking mechanism, and a road feel simulation mechanism that are coaxially connected from top to bottom; The road feel simulation mechanism is used to control the telescopic mechanism to extend and retract between its shortening limit position and its extension limit position. There is a specific intermediate position between the shortening limit position and the extension limit position. When the telescopic mechanism extends and retracts between the shortening limit position and the specific intermediate position, the folding steering wheel is in a folded state. When the telescopic mechanism extends from the specific intermediate position to the extension limit position, it drives the folding steering wheel to open from the folded state to the unfolded state. When the telescopic mechanism shortens from the extension limit position to the specific intermediate position, it drives the folding steering wheel to retract from the unfolded state to the folded state. The road feel simulation mechanism is also used to provide simulated road feel based on the steering angle and steering torque of the folding steering wheel measured by the locking mechanism when the folding steering wheel is steering in the unfolded state. The road feel simulation mechanism is also used to control the power supply and de-energization of the locking mechanism. When the folding steering wheel is in the unfolded state, the locking mechanism is energized to release the folding steering wheel. When the folding steering wheel is not in the unfolded state or when the vehicle is powered off, the locking mechanism is de-energized to lock the folding steering wheel. The telescopic mechanism includes a steering input shaft, a lead screw, an outer sleeve, and a drive unit; The lead screw is rotatably and axially slidably mounted on the steering input shaft, and the upper end of the lead screw and the upper end of the steering input shaft are respectively connected to the folding steering wheel; The outer sleeve is located below the lead screw and rotatably sleeved on the steering input shaft; when the telescopic mechanism is between the shortening limit position and the intermediate specific position, the lead screw and the outer sleeve are always axially fixed, so that the lead screw, the outer sleeve and the steering input shaft move synchronously in the axial direction relative to the locking mechanism; when the telescopic mechanism is between the intermediate specific position and the extension limit position but not including the intermediate specific position, the lead screw separates from the outer sleeve, so that the outer sleeve and the steering input shaft are in a stationary state, and only the lead screw moves axially in the direction of extension and retraction relative to the locking mechanism; The drive unit is connected to the lead screw to drive the lead screw to rotate and translate axially.

2. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 1, characterized in that, The drive unit is connected to the lead screw via a ball screw or a threaded lead screw.

3. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 2, characterized in that, The drive unit includes a telescopic folding motor, a belt, and a pulley. The telescopic folding motor is fixed on the frame. The belt is wound around the telescopic folding motor and the pulley. The pulley is sleeved on the lead screw. The inner circumference of the pulley is provided with a recirculating ball structure. The recirculating ball structure and the lead screw form a ball screw engagement.

4. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 1, characterized in that, A spring ball is provided on the inner peripheral wall of the upper end of the outer sleeve, and an annular groove is provided on the outer peripheral wall of the lower end of the lead screw. When the telescopic mechanism is in the specific intermediate position, the spring ball is directly opposite the annular groove, and the spring ball is engaged in the annular groove.

5. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 1, characterized in that, A ball bearing is provided between the outer sleeve and the steering input shaft, and a sliding bearing is provided between the lead screw and the steering input shaft.

6. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 1, characterized in that, The folding steering wheel includes a modified ball bearing, multiple grip levers, and multiple support rods. The inner ring of the modified ball bearing is fixed to the upper end of the lead screw. The multiple grip levers are arranged radially around the outer periphery of the steering input shaft. The multiple support rods are arranged above the multiple grip levers in a corresponding manner. One end of each grip lever is rotatably connected to the outer ring of the modified ball bearing, and the other end of each grip lever is rotatably connected to one end of each support rod in a corresponding manner. The other end of each support rod is rotatably connected to the steering input shaft.

7. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 3, characterized in that, The locking mechanism includes a torsion bar, a sensor, a worm gear, a worm, a housing, and an electromagnet assembly; The upper section of the torsion bar is coaxially sleeved in the lower section of the steering input shaft, and the steering input shaft can slide axially but cannot rotate circumferentially relative to the torsion bar; The sensor is coaxially mounted on the lower end of the torsion bar, and the sensor is coaxially connected to the worm gear, with the worm meshing with the worm gear; The housing contains the torsion bar, the sensor, the worm gear, and the worm. The housing has a through hole. The electromagnet assembly is fixed to the housing. The electromagnet assembly includes an output rod, a spring, and a coil. The output rod passes through the through hole in the housing, and the through hole constrains the rotation of the output rod. When the coil is energized, the output rod retracts, separating it from the worm. When the coil is de-energized, the output rod extends under the action of the spring and is coaxially and fixedly connected to the worm.

8. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 7, characterized in that, The locking mechanism further includes a connecting block, one end of which is engaged and fixed to the output end of the worm gear, and the other end of which is engaged and fixed to the output rod when the output rod extends.

9. The retractable and foldable steer-by-wire road feel simulation device with self-locking function according to claim 7, characterized in that, The road feel simulation mechanism includes a planetary gear reducer, a road feel motor, and a motor controller; The planetary gear reducer is coaxially connected between the worm gear and the road sensor motor. The motor controller is mounted on the road sensor motor and is used to control the operation of the telescopic folding motor and the road sensor motor, as well as to control the energization and de-energization of the coil.

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