Vehicle steering failure determination method and vehicle

Abstract

The application discloses a kind of vehicle steering failure judging methods, comprising the following steps: according to three-dimensional simulation model, the first theoretical relationship between steering wheel rotation angle and left side steering wheel theoretical steering angle is obtained, based on four-wheel alignment, the first standard relationship between steering wheel rotation angle and left side steering wheel standard steering angle is obtained;Based on the first theoretical relationship and the first standard relationship, the difference between the left side steering wheel theoretical steering angle and the left side steering wheel standard steering angle under the steering wheel rotation angle is obtained to obtain error zone A;The steering wheel rotation angle and left side steering wheel actual steering angle under the vehicle motion are obtained;Based on the first theoretical relationship, the left side steering wheel theoretical steering angle is obtained and the first deviation of left side steering wheel actual steering angle and left side steering wheel theoretical steering angle is calculated;Judge whether the first deviation is in error zone A;If yes, it is judged that mechanical transmission is normal, otherwise failure occurs.

Description

Technical Field

[0001] This invention relates to the field of vehicle fault diagnosis technology, and more specifically, to a method for diagnosing vehicle steering faults and a vehicle. Background Technology

[0002] Existing vehicle systems struggle to provide feedback on the actual wheel rotation angle, hindering precise control. Furthermore, most research on driver assistance systems and steer-by-wire focuses solely on the motor and electronic control components, assuming the mechanical transmission is reliable. However, in practice, the possibility of steering transmission system failures is not low and cannot be ignored, as these failures can pose safety hazards. Therefore, fault diagnosis of the vehicle's steering mechanical transmission is crucial to ensuring normal vehicle operation. This becomes especially important during the implementation of driver assistance systems, particularly in advanced driver assistance modes. Summary of the Invention

[0003] To overcome the problem of the lack of vehicle steering transmission mechanical fault diagnosis in the prior art, which leads to vehicle safety hazards, the present invention provides a vehicle steering fault diagnosis method and vehicle.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for judging vehicle steering faults, wherein the vehicle includes a steering wheel, and a first steering transmission mechanism is connected between the steering wheel and the left steering wheel, comprising the following steps:

[0005] S100: Based on the three-dimensional simulation model, the first theoretical relationship between the steering wheel rotation angle and the theoretical steering angle of the left steering wheel is obtained. Based on the four-wheel alignment system, the first standard relationship between the steering wheel rotation angle and the standard steering angle of the left steering wheel is obtained.

[0006] S200: Based on the first theoretical relationship and the first standard relationship, the difference between the theoretical steering angle of the left steering wheel and the standard steering angle of the left steering wheel at each rotation angle of the steering wheel is obtained to obtain the error band A;

[0007] S300: When the vehicle is in motion, it acquires the steering wheel rotation angle and the actual steering angle of the left steering wheel.

[0008] S400: Based on the steering wheel rotation angle obtained in step S300, and based on the first theoretical relationship, obtain the theoretical steering angle of the left steering wheel under the steering wheel rotation angle;

[0009] S500: Calculate the first deviation between the actual steering angle of the left steering wheel and the theoretical steering angle of the left steering wheel based on the actual steering angle of the left steering wheel obtained in step S300 and the theoretical steering angle of the left steering wheel obtained in step S400.

[0010] S600: Determine whether the first deviation calculated in step S500 is within the error band A of step S200;

[0011] S700: If yes, the first steering transmission mechanism between the steering wheel and the left steering wheel is normal; if no, the first steering transmission mechanism between the steering wheel and the left steering wheel is abnormal.

[0012] Preferably, in step S700, if it is determined that the first steering transmission mechanism between the steering wheel and the left steering wheel is abnormal, the following steps are also performed:

[0013] S701: After the steering wheel is turned by an angle θ, if the direction of rotation of the left steering wheel is different from the direction of rotation of the steering wheel, it is determined that the first steering transmission mechanism between the steering wheel and the left steering wheel is abnormal and the first steering transmission mechanism has disengaged. The vehicle issues a fault alarm, indicating that the first steering transmission mechanism between the steering wheel and the left steering wheel has disengaged.

[0014] S702: Next, determine whether the second steering transmission mechanism connected between the left steering wheel and the right steering wheel is abnormal;

[0015] S703: If the judgment result is abnormal, a fault alarm is initiated and it is indicated that there is a mechanical transmission fault in the second steering transmission mechanism between the left steering wheel and the right steering wheel; otherwise, the driving mode is judged.

[0016] Preferably, in step S700, if it is determined that the first steering transmission mechanism between the steering wheel and the left steering wheel is abnormal, the following steps are also performed:

[0017] After the steering wheel is turned by an angle θ, if the left steering wheel rotates in the same direction as the steering wheel, it is determined that the first steering transmission mechanism between the steering wheel and the left steering wheel has malfunctioned, and the system sends a fault alarm.

[0018] Next, determine whether the second steering transmission mechanism connecting the left and right steering wheels is abnormal; if the result is abnormal, initiate a fault alarm and indicate that the second steering transmission mechanism between the left and right steering wheels has a mechanical transmission fault; otherwise, continue to determine the driving mode.

[0019] Preferably, the specific steps for determining whether the second steering transmission mechanism between the left and right steering wheels is abnormal are as follows:

[0020] In step S100, based on the three-dimensional simulation model, a second theoretical relationship between the theoretical steering angle of the left steering wheel and the theoretical steering angle of the right steering wheel is obtained; based on the four-wheel alignment system, a second standard relationship between the standard steering angle of the left steering wheel and the standard steering angle of the right steering wheel is obtained.

[0021] Based on the second theoretical relationship and the second standard relationship, the difference between the theoretical steering angle of the right steering wheel and the standard steering angle of the right steering wheel under the steering angle of the left steering wheel is obtained to obtain the error band B;

[0022] In step S300, the actual steering angle of the right steering wheel is also obtained. Based on the actual steering angle of the left steering wheel obtained in step S300, and the theoretical steering angle of the right steering wheel is obtained based on the second theoretical relationship, the second deviation between the theoretical steering angle of the right steering wheel and the actual steering angle of the right steering wheel is calculated.

[0023] Determine whether the second deviation is within the error band B. If it is, the second steering transmission mechanism is considered normal; if the second deviation is not within the error band B, the second steering transmission mechanism is considered abnormal.

[0024] Preferably, the second steering transmission mechanism between the left and right steering wheels is normal, and the driving mode is determined. If it is in manual driving mode, the vehicle enters steer-by-wire mode, reads the actual steering wheel angle under the vehicle's driving state, obtains the theoretical value of the left steering wheel angle under the actual steering wheel angle based on the first theoretical relationship, and sends the theoretical value of the left steering wheel angle to the steering drive. The steering drive drives the power steering system installed on the steering axle to operate, and the power steering system drives the left and right steering wheels to rotate. If it is in assisted driving mode, it switches to the assisted driving module for subsequent operations.

[0025] Preferably, the fault in the first steering transmission mechanism between the steering wheel and the left steering wheel is one or more of the following: plastic deformation of the steering tie rod, abnormal loosening of the ball joint, and wear fault.

[0026] This invention also provides a vehicle for implementing the aforementioned vehicle steering fault judgment method. The left and right steering wheels are mounted on a steering axle. Steering angle sensors for monitoring the left and right steering wheels are respectively mounted on the steering knuckles on both sides of the steering axle. A steering wheel is mounted on the steering column. The steering wheel is connected to the steering knuckle arm of the steering axle via a first steering transmission mechanism. The first steering transmission mechanism is connected to an angle and torque sensing device for monitoring the steering wheel angle and torque. A power steering system electrically connected to a steering drive is mounted on the steering axle. The output end of the power steering system is connected to the steering tie arm of the steering axle. The steering angle sensors, angle and torque sensing devices, and steering drive are each connected to a controller. The controller includes a storage module and a deviation verification module. The storage module stores a first theoretical relationship, a first standard relationship, and a deviation band A. The verification module calculates and verifies whether the first deviation is within the error band A.

[0027] Preferably, the first steering transmission mechanism includes a steering drive shaft, a steering drop arm, and a first steering tie rod. The steering wheel is connected to an angle torque sensing device via the steering drive shaft. The steering drop arm is mounted on the output shaft of the angle torque sensing device. The front end of the first steering tie rod is connected to the steering drop arm, and the rear end of the first steering tie rod is connected to the steering knuckle arm.

[0028] Preferably, the power steering system includes a reducer, a housing, a guide ring, and a rack mounted on the steering axle. The rack has an annular groove, and the guide ring is fitted onto the annular groove. The housing has a hole, and the guide ring is installed in the hole and slidably connected thereto. A gear is mounted on the output shaft of the reducer, and the rack meshes with the gear. Second steering tie rods are connected to both ends of the rack, and the other end of the second steering tie rod is connected to the steering pull arm.

[0029] Preferably, the kingpin of the steering axle is provided with a cylindrical boss, the cylindrical boss has a groove structure, the rotating ring of the steering angle sensor is provided with a driving protrusion, the driving protrusion is installed in the groove structure, and the body of the steering angle sensor is installed on the steering knuckle.

[0030] Compared with the prior art, the beneficial effects of the present invention are: the vehicle steering fault judgment method of the present invention can determine whether the first steering transmission mechanism between the steering wheel and the left steering wheel has malfunctioned, thereby providing a guarantee for the safe driving of the vehicle.

[0031] The vehicle of the present invention can determine whether there is a malfunction in the first steering transmission mechanism between the left steering wheel and the steering wheel, thereby ensuring the safe driving of the vehicle. Attached Figure Description

[0032] Figure 1 This is a flowchart of the vehicle steering fault judgment method of Embodiment 1 of the present invention;

[0033] Figure 2 These are curves showing the relationship between the steering wheel rotation angle and the left steering wheel rotation angle in embodiments 1 to 3 of the present invention. The solid line represents the relationship curve between the steering wheel rotation angle and the theoretical steering angle of the left steering wheel, and the dashed line represents the relationship curve between the steering wheel rotation angle and the standard steering angle of the left steering wheel.

[0034] Figure 3 These are the curves showing the relationship between the rotation angle of the left steering wheel and the rotation angle of the right steering wheel in embodiments 1 to 3 of the present invention. The solid line represents the curve showing the relationship between the theoretical rotation angle of the left steering wheel and the theoretical steering angle of the right steering wheel, and the dashed line represents the curve showing the relationship between the rotation angle of the left steering wheel and the standard steering angle of the right steering wheel.

[0035] Figure 4 This is a schematic diagram of the vehicle structure in Embodiment 4 of the present invention;

[0036] Figure 5 This is a schematic diagram of the power steering system in the vehicle according to Embodiment 4 of the present invention;

[0037] Figure 6 This is a partial structural diagram of the power steering system in Embodiment 4 of the present invention;

[0038] Figure 7 This is a partial structural schematic diagram of the steering bridge in Embodiment 4 of the present invention;

[0039] Figure 8 This is a schematic diagram of the installation position of the steering angle sensor in Embodiment 4 of the present invention.

[0040] In the attached diagram: 1. Steering axle; 2. Steering angle sensor; 3. Steering wheel; 4. Steering column; 5. First steering transmission mechanism; 11. Steering knuckle arm; 6. Angle and torque sensing device; 51. Steering drive shaft; 52. Steering drop arm; 53. First steering tie rod; 71. Reducer; 72. Housing; 73. Guide ring; 74. Rack; 75. Gear; 76. Second steering tie rod; 13. Cylindrical boss; 14. Groove structure; 31. Rotating ring; 32. Drive bump. Detailed Implementation

[0041] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0042] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0043] The technical solution of the present invention will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0044] Example 1

[0045] like Figures 1 to 3 As shown, a method for diagnosing vehicle steering faults includes a steering wheel 3 and a first steering transmission mechanism 5 connected between the steering wheel 3 and the left steering wheel. The method includes the following steps:

[0046] S100: Based on the three-dimensional simulation model, the first theoretical relationship between the steering wheel 3 rotation angle and the theoretical steering angle of the left steering wheel is obtained. Based on the four-wheel alignment system, the first standard relationship between the steering wheel 3 rotation angle and the standard steering angle of the left steering wheel is obtained.

[0047] S200: Based on the first theoretical relationship and the first standard relationship, the difference between the theoretical steering angle of the left steering wheel and the standard steering angle of the left steering wheel is obtained under each rotation angle of the steering wheel 3 to obtain the error band A;

[0048] S300: When the vehicle is in motion, obtain the steering wheel 3 rotation angle and the actual steering angle of the left steering wheel.

[0049] S400: Based on the steering wheel 3 rotation angle obtained in step S300, and based on the first theoretical relationship, the theoretical steering angle of the left steering wheel under the steering wheel 3 rotation angle is obtained;

[0050] S500: Calculate the first deviation between the actual steering angle of the left steering wheel and the theoretical steering angle of the left steering wheel based on the actual steering angle of the left steering wheel obtained in step S300 and the theoretical steering angle of the left steering wheel obtained in step S400.

[0051] S600: Determine whether the first deviation calculated in step S500 is within the error band A of step S200;

[0052] S700: If yes, the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is normal; if no, the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is abnormal.

[0053] Example 2

[0054] A method for diagnosing vehicle steering malfunctions, the vehicle including a steering wheel 3, a first steering transmission mechanism 5 connected between the steering wheel 3 and the left steering wheel, comprising the following steps:

[0055] S100: Based on the three-dimensional simulation model, the first theoretical relationship between the steering wheel 3 rotation angle and the theoretical steering angle of the left steering wheel is obtained. Based on the four-wheel alignment system, the first standard relationship between the steering wheel 3 rotation angle and the standard steering angle of the left steering wheel is obtained.

[0056] S200: Based on the first theoretical relationship and the first standard relationship, the difference between the theoretical steering angle of the left steering wheel and the standard steering angle of the left steering wheel is obtained under each rotation angle of the steering wheel 3 to obtain the error band A;

[0057] S300: When the vehicle is in motion, obtain the steering wheel 3 rotation angle and the actual steering angle of the left steering wheel.

[0058] S400: Based on the steering wheel 3 rotation angle obtained in step S300, and based on the first theoretical relationship, the theoretical steering angle of the left steering wheel under the steering wheel 3 rotation angle is obtained;

[0059] S500: Calculate the first deviation between the actual steering angle of the left steering wheel and the theoretical steering angle of the left steering wheel based on the actual steering angle of the left steering wheel obtained in step S300 and the theoretical steering angle of the left steering wheel obtained in step S400.

[0060] S600: Determine whether the first deviation calculated in step S500 is within the error band A of step S200;

[0061] S700: If yes, the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is normal; if no, the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is abnormal.

[0062] In step S700, if it is determined that the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is abnormal, the following steps are also performed:

[0063] S701: After the steering wheel 3 is turned by an angle θ, if the direction of rotation of the left steering wheel is different from the direction of rotation of the steering wheel 3, it is determined that the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is abnormal and the first steering transmission mechanism 5 is disengaged. The vehicle issues a fault alarm, indicating that the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel has disengaged.

[0064] S702: Next, determine whether the second steering transmission mechanism connected between the left steering wheel and the right steering wheel is abnormal;

[0065] S703: If the judgment result is abnormal, a fault alarm is initiated and a mechanical transmission fault is indicated in the second steering transmission mechanism between the left and right steering wheels; otherwise, the judgment of the driving mode continues. Specifically, in manual driving mode, the second steering transmission mechanism between the left and right steering wheels is normal, the vehicle enters the steer-by-wire mode, the actual turning angle of the steering wheel 3 in the vehicle's driving state is read, and based on the first theoretical relationship, the theoretical value of the turning angle of the left steering wheel corresponding to the actual turning angle of the steering wheel 3 is obtained. The theoretical value of the turning angle of the left steering wheel is sent to the steering drive, and the steering drive drives the power steering system installed on the steering axle 1 to operate. The power steering system drives the left and right steering wheels to rotate; if in assisted driving mode, the subsequent operation is performed in the assisted driving module.

[0066] The reason for performing the above steps even when the first steering transmission mechanism 5 malfunctions or disengages is that, in manned driving mode, even after the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is disconnected, the driver can still control the vehicle through the steering wheel. In this case, the vehicle's steering system enters drive-by-wire mode. The system reads the rotation angle of the steering wheel 3, queries the rotation angle value of the left steering wheel, and then drives the left steering wheel to the corresponding value through the power steering system. This forms a closed-loop control between the steering wheel 3 and the left steering wheel under the power steering system, improving control precision and thus enhancing safety, rather than causing the vehicle to lose control immediately after the first steering transmission mechanism 5 disengages, thus ensuring safety.

[0067] It should be noted that the specific steps for determining whether the second steering transmission mechanism between the left and right steering wheels is abnormal are as follows:

[0068] In step S100, based on the three-dimensional simulation model, a second theoretical relationship between the theoretical steering angle of the left steering wheel and the theoretical steering angle of the right steering wheel is obtained; based on the four-wheel alignment system, a second standard relationship between the standard steering angle of the left steering wheel and the standard steering angle of the right steering wheel is obtained.

[0069] Based on the second theoretical relationship and the second standard relationship, the difference between the theoretical steering angle of the right steering wheel and the standard steering angle of the right steering wheel under the steering angle of the left steering wheel is obtained to obtain the error band B;

[0070] In step S300, the actual steering angle of the right steering wheel is also obtained. Based on the actual steering angle of the left steering wheel obtained in step S300, and the theoretical steering angle of the right steering wheel is obtained based on the second theoretical relationship, the second deviation between the theoretical steering angle of the right steering wheel and the actual steering angle of the right steering wheel is calculated.

[0071] Determine whether the second deviation is within the error band B. If it is, the second steering transmission mechanism is considered normal; if the second deviation is not within the error band B, the second steering transmission mechanism is considered abnormal.

[0072] Example 3

[0073] A method for diagnosing vehicle steering malfunctions, the vehicle including a steering wheel 3, a first steering transmission mechanism 5 connected between the steering wheel 3 and the left steering wheel, comprising the following steps:

[0074] S100: Based on the three-dimensional simulation model, the first theoretical relationship between the steering wheel 3 rotation angle and the theoretical steering angle of the left steering wheel is obtained. Based on the four-wheel alignment system, the first standard relationship between the steering wheel 3 rotation angle and the standard steering angle of the left steering wheel is obtained.

[0075] S200: Based on the first theoretical relationship and the first standard relationship, the difference between the theoretical steering angle of the left steering wheel and the standard steering angle of the left steering wheel is obtained under the steering wheel 3 rotation angle to obtain the error band A;

[0076] S300: When the vehicle is in motion, obtain the steering wheel 3 rotation angle and the actual steering angle of the left steering wheel.

[0077] S400: Based on the steering wheel 3 rotation angle obtained in step S300, and based on the first theoretical relationship, the theoretical steering angle of the left steering wheel under the steering wheel 3 rotation angle is obtained;

[0078] S500: Calculate the first deviation between the actual steering angle of the left steering wheel and the theoretical steering angle of the left steering wheel based on the actual steering angle of the left steering wheel obtained in step S300 and the theoretical steering angle of the left steering wheel obtained in step S400.

[0079] S600: Determine whether the first deviation calculated in step S500 is within the error band A of step S200;

[0080] S700: If yes, the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is normal; if no, the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is abnormal.

[0081] In step S700, if it is determined that the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is abnormal, the following steps are also performed:

[0082] After the steering wheel 3 is turned by an angle θ, if the left steering wheel rotates in the same direction as the steering wheel 3, it is determined that the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel has malfunctioned. The system sends a fault alarm. The malfunction of the first steering transmission mechanism 5 between the steering wheel 3 and the left steering wheel is one or more of the following: plastic deformation of the steering tie rod, abnormal loosening of the ball joint, or wear.

[0083] Then, determine whether the second steering transmission mechanism connecting the left and right steering wheels is abnormal; if the result is abnormal, initiate a fault alarm and indicate that the second steering transmission mechanism between the left and right steering wheels has a mechanical transmission fault.

[0084] It should be noted that the specific steps for determining whether the second steering transmission mechanism between the left and right steering wheels is abnormal are as follows:

[0085] In step S100, based on the three-dimensional simulation model, a second theoretical relationship between the theoretical steering angle of the left steering wheel and the theoretical steering angle of the right steering wheel is obtained; based on the four-wheel alignment system, a second standard relationship between the standard steering angle of the left steering wheel and the standard steering angle of the right steering wheel is obtained.

[0086] Based on the second theoretical relationship and the second standard relationship, the difference between the theoretical steering angle of the right steering wheel and the standard steering angle of the right steering wheel under the steering angle of the left steering wheel is obtained to obtain the error band B;

[0087] In step S300, the actual steering angle of the right steering wheel is also obtained. Based on the actual steering angle of the left steering wheel obtained in step S300, and the theoretical steering angle of the right steering wheel is obtained based on the second theoretical relationship, the second deviation between the theoretical steering angle of the right steering wheel and the actual steering angle of the right steering wheel is calculated.

[0088] Determine whether the second deviation is within the error band B. If it is, the second steering transmission mechanism is considered normal; if the second deviation is not within the error band B, the second steering transmission mechanism is considered abnormal.

[0089] Example 4

[0090] like Figures 4 to 8 As shown, a vehicle has a left steering wheel and a right steering wheel mounted on a steering axle 1. Steering angle sensors 2 for monitoring the left and right steering wheels are respectively mounted on the steering knuckles on both sides of the steering axle 1. A steering wheel 3 is mounted on a steering column 4 and is connected to the steering knuckle arm 11 of the steering axle 1 via a first steering transmission mechanism 5. The first steering transmission mechanism 5 is connected to an angle and torque sensing device 6 for monitoring the angle and torque of the steering wheel 3. A power steering system electrically connected to a steering drive is mounted on the steering axle 1, and the output end of the power steering system is connected to the steering tie arm of the steering axle 1. The steering angle sensor 2, the angle and torque sensing device 6, and the steering drive are respectively connected to a controller. The controller includes a storage module and a deviation verification module. The storage module is used to store a first theoretical relationship, a first standard relationship, and a deviation band A. The verification module is used to calculate and verify whether the first deviation is within the error band A. In this embodiment, during vehicle operation, the steering angle sensor 2 acquires the steering angle of the left steering wheel, the angle torque sensor 6 acquires the steering angle of the steering wheel and transmits the acquired data to the controller, the controller obtains the theoretical rotation angle of the left steering wheel according to the first theoretical relationship of the storage module, and the verification module calculates whether the first deviation between the theoretical rotation angle of the left steering wheel and the steering angle of the left steering wheel is within the deviation band A and makes a judgment.

[0091] It should also be noted that the storage module is also used to store the second theoretical relationship and the deviation band B, and the verification module is also used to calculate and verify whether the second deviation is within the error band B.

[0092] The first steering transmission mechanism 5 includes a steering transmission shaft 51, a steering drop arm 52, and a first steering tie rod 53. The steering wheel 3 is connected to the angle torque sensing device 6 through the steering transmission shaft 51. The steering drop arm 52 is mounted on the output shaft of the angle torque sensing device 6. The front end of the first steering tie rod 53 is connected to the steering drop arm 52, and the rear end of the first steering tie rod 53 is connected to the steering knuckle arm 11.

[0093] Additionally, the power steering system includes a reducer 71, a housing 72, a guide ring 73, and a rack 74 mounted on the steering axle 1. The rack 74 has an annular groove, and the guide ring 73 is fitted onto the annular groove. The housing 72 has a hole, and the guide ring 73 is installed in the hole, with its circumferential surface slidingly connected to the inner wall of the hole. A gear 75 is mounted on the output shaft of the reducer 71, and the rack 74 meshes with the gear 75. Second steering tie rods 76 are connected to both ends of the rack 74, and the other end of the second steering tie rods 76 is connected to the steering pull arm. In this embodiment, when the reducer 71 is running, it drives the gear 75 to rotate, and the gear 75 drives the rack 74 to move left and right within the hole in the housing 72. The second steering tie rods 76 mounted at both ends of the rack 74 are connected to the steering pull arm of the front axle. When the vehicle turns right, as... Figure 5 As shown, when the rack 74 moves to the left, the second steering tie rod 76 installed at the left end of the rack 74 extends, causing the left steering wheel to rotate to the right. At the same time, the second steering tie rod installed at the right end of the rack 74 moves to the left with the rack 74, causing the right steering wheel to rotate to the right, thus realizing the right steering function of the vehicle.

[0094] The steering axle 1 has a cylindrical boss 13 on its kingpin, and the cylindrical boss 13 has a groove structure 14. The rotating ring 31 of the steering angle sensor 2 has a driving protrusion 32, which is installed in the groove structure 14. The body of the steering angle sensor is installed on the steering knuckle. The driving protrusion 32 of the steering angle sensor 3 is installed in the groove structure 14 on the cylindrical boss 13. When the left or right steering wheel rotates, the cylindrical boss 13 is stationary, and the rotating ring 31 of the steering angle sensor 3 is also stationary. The steering knuckle rotates with the body of the steering angle sensor 3, thereby sensing the positional change of the steering knuckle and the kingpin.

[0095] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for diagnosing vehicle steering malfunctions, wherein the vehicle includes a steering wheel (3), and a first steering transmission mechanism (5) is connected between the steering wheel (3) and the left steering wheel, characterized in that, Includes the following steps: S100: Based on the three-dimensional simulation model, the first theoretical relationship between the steering wheel (3) rotation angle and the theoretical steering angle of the left steering wheel is obtained. Based on the four-wheel alignment system, the first standard relationship between the steering wheel (3) rotation angle and the standard steering angle of the left steering wheel is obtained. S200: Based on the first theoretical relationship and the first standard relationship, the difference between the theoretical steering angle of the left steering wheel and the standard steering angle of the left steering wheel is obtained under each rotation angle of the steering wheel (3) to obtain the error band A; S300: When the vehicle is in motion, obtain the steering wheel (3) rotation angle and the actual steering angle of the left steering wheel; S400: Based on the steering wheel (3) rotation angle obtained in step S300, and based on the first theoretical relationship, the theoretical steering angle of the left steering wheel under the steering wheel (3) rotation angle is obtained; S5 00: Calculate the first deviation between the actual steering angle of the left steering wheel and the theoretical steering angle of the left steering wheel based on the actual steering angle of the left steering wheel obtained in step S300 and the theoretical steering angle of the left steering wheel obtained in step S400; S600: Determine whether the first deviation calculated in step S500 is within the error band A of step S200; S700: If yes, then the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel is normal; if no, then the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel is abnormal.

2. The vehicle steering fault diagnosis method according to claim 1, characterized in that, In step S700, if it is determined that the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel is abnormal, the following steps are also performed: S701: After the steering wheel (3) is turned by an angle θ, if the direction of rotation of the left steering wheel is different from the direction of rotation of the steering wheel (3), it is determined that the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel is abnormal and the first steering transmission mechanism (5) is disengaged. The vehicle issues a fault alarm, indicating that the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel has disengaged. S702: Next, determine whether the second steering transmission mechanism connected between the left steering wheel and the right steering wheel is abnormal; S703: If the judgment result is abnormal, a fault alarm is initiated and it is indicated that there is a mechanical transmission fault in the second steering transmission mechanism between the left steering wheel and the right steering wheel; otherwise, the driving mode is judged.

3. The vehicle steering fault diagnosis method according to claim 2, characterized in that, The second steering transmission mechanism between the left steering wheel and the right steering wheel is normal. The driving mode is judged. If the vehicle enters the steer-by-wire mode in the manual driving mode, the actual turning angle of the steering wheel (3) under the vehicle driving state is read. Based on the first theoretical relationship, the theoretical value of the turning angle of the left steering wheel under the actual turning angle of the steering wheel (3) is obtained. The theoretical value of the turning angle of the left steering wheel is sent to the steering driver. The steering driver drives the power steering system installed on the steering axle to operate. The power steering system drives the left steering wheel and the right steering wheel to rotate. If in assisted driving mode, then switch to the assisted driving module for subsequent operations.

4. The vehicle steering fault diagnosis method according to claim 1, characterized in that, In step S700, if it is determined that the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel is abnormal, the following steps are also performed: After the steering wheel (3) is rotated by an angle θ, if the left steering wheel rotates in the same direction as the steering wheel (3), it is determined that the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel has malfunctioned, and the system sends a fault alarm. Next, determine whether the second steering transmission mechanism connected between the left and right steering wheels is abnormal; if the determination result is abnormal, initiate a fault alarm and indicate that the second steering transmission mechanism between the left and right steering wheels has a mechanical transmission fault.

5. The vehicle steering fault diagnosis method according to claim 2 or 4, characterized in that, The specific steps to determine whether the second steering transmission mechanism between the left and right steering wheels is abnormal are as follows: In step S100, based on the three-dimensional simulation model, a second theoretical relationship between the theoretical steering angle of the left steering wheel and the theoretical steering angle of the right steering wheel is obtained; based on the four-wheel alignment system, a second standard relationship between the standard steering angle of the left steering wheel and the standard steering angle of the right steering wheel is obtained. Based on the second theoretical relationship and the second standard relationship, the difference between the theoretical steering angle and the standard steering angle of the right steering wheel under each steering angle of the left steering wheel is obtained to obtain the error band B; In step S300, the actual steering angle of the right steering wheel is also obtained. Based on the actual steering angle of the left steering wheel obtained in step S300, and the theoretical steering angle of the right steering wheel is obtained based on the second theoretical relationship, the second deviation between the theoretical steering angle of the right steering wheel and the actual steering angle of the right steering wheel is calculated. Determine whether the second deviation is within the error band B. If it is, the second steering transmission mechanism is considered normal; if the second deviation is not within the error band B, the second steering transmission mechanism is considered abnormal.

6. The vehicle steering fault diagnosis method according to claim 3, characterized in that, The fault that occurs in the first steering transmission mechanism (5) between the steering wheel (3) and the left steering wheel is one or more of the following: plastic deformation of the steering tie rod, abnormal loosening of the ball joint, and wear fault.

7. A vehicle for implementing the vehicle steering fault judgment method as described in any one of claims 1 to 6, wherein the left steering wheel and the right steering wheel are mounted on the steering axle (1), characterized in that: Steering angle sensors (2) for monitoring the left and right steering wheels are respectively installed on the steering knuckles on both sides of the steering axle (1). The steering wheel (3) is installed on the steering column (4). The steering wheel (3) is connected to the steering knuckle arm (11) of the steering axle (1) through the first steering transmission mechanism (5). The first steering transmission mechanism (5) is connected to an angle torque sensor (6) for monitoring the angle and torque of the steering wheel (3). A power steering system (7) electrically connected to the steering drive is installed on the steering axle (1). The output end of the power steering system (7) is connected to the steering tie arm (12) of the steering axle (1). The steering angle sensor (2), the angle torque sensor (6) and the steering drive are respectively connected to a controller. The controller includes a storage module and a deviation verification module. The storage module is used to store the first theoretical relationship, the first standard relationship and the deviation band A. The verification module is used to calculate and verify whether the first deviation is within the error band A.

8. The vehicle according to claim 7, characterized in that: The first steering transmission mechanism (5) includes a steering transmission shaft (51), a steering drop arm (52), and a first steering tie rod (53). The steering wheel (3) is connected to the angle torque sensing device (6) through the steering transmission shaft (51). The steering drop arm (52) is mounted on the output shaft of the angle torque sensing device (6). The front end of the first steering tie rod (53) is connected to the steering drop arm (52), and the rear end of the first steering tie rod (53) is connected to the steering knuckle arm (11).

9. The vehicle according to claim 7, characterized in that: The power steering system (7) includes a reducer (71), a housing (72), a guide ring (73), and a rack (74) mounted on the steering axle (1). The rack (74) is provided with an annular groove, and the guide ring (73) is sleeved on the annular groove. The housing (72) is provided with a hole, and the guide ring (73) is installed in the hole and slidably connected thereto. A gear (75) is mounted on the output shaft of the reducer (71), and the rack (74) meshes with the gear (75). The two ends of the rack (74) are respectively connected to a second steering tie rod (76), and the other end of the second steering tie rod (76) is connected to the steering pull arm (12).

10. The vehicle according to claim 7, characterized in that: The kingpin of the steering axle (1) is provided with a cylindrical boss (13), the cylindrical boss (13) is provided with a groove structure (14), the rotating ring (31) of the steering angle sensor (2) is provided with a driving protrusion (32), the driving protrusion (32) is installed in the groove structure (14), and the body of the steering angle sensor (2) is installed on the steering knuckle.

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