A steering power system for an all-terrain vehicle steering handle and a control method thereof

Abstract

The present invention discloses a steering power system for a steering handle of an all-terrain vehicle and a control method thereof, and relates to the field of vehicle limit control. The present invention provides a steering power system dedicated to an all-terrain vehicle, filling the gap that existing all-terrain vehicles do not have a steering power system. In addition, the present invention accurately obtains the speed and angle data of the vehicle through sensors working in collaboration (i.e., a speed sensor and a limit angle sensor), and realizes real-time dynamic adjustment of the steering power intensity by setting an EPS controller. At the same time, the emergency braking function can be realized by obtaining the speed and angle data of the vehicle, so that the all-terrain vehicle can be quickly braked under abnormal circumstances. In addition, the present invention also has a fault detection function, which can promptly detect and handle faults in the steering power system to ensure the safety of the driver.

Description

Technical Field

[0001] The invention relates to the field of vehicle limit control, and in particular to a steering assist system for a steering handle of an all-terrain vehicle and a control method thereof. Background Art

[0002] All Terrain Vehicle (ATV) is a vehicle with good off-road performance and is widely used in outdoor sports and agriculture. However, since the steering operation of an ATV on different terrains is relatively difficult and requires a certain amount of strength and skills, a convenient, flexible and safe steering power system is very important to improve the operating performance of the ATV.

[0003] However, there is currently no steering assist specifically for handlebars. The prior art has some problems and limitations in the power steering system for all-terrain vehicles. First, the sensor system in the prior art does not work fully together and cannot accurately obtain the speed and angle data of the vehicle, resulting in the adjustment of the steering assist not being precise and real-time. Secondly, the power steering system in the prior art has certain deficiencies in limit control and cannot ensure that the rotation range of the steering handle is within the design range, which can easily cause damage to the steering system. In addition, in an emergency, the power steering system in the prior art cannot quickly brake the vehicle and lacks the function of emergency braking. Finally, the fault detection system in the prior art is not timely and accurate enough, and cannot detect and handle sensor or system failures in a timely manner, which may cause safety risks to the driver. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a steering power assist system for an all-terrain vehicle handlebar and a control method thereof.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A power steering system for a steering handle of an all-terrain vehicle, comprising: a speed sensor, a limit angle sensor, an EPS controller and a power steering motor;

[0007] The speed sensor, the limit angle sensor and the power steering motor are all connected to the EPS controller;

[0008] The EPS controller is used to filter the speed data collected by the speed sensor, to calibrate the steering handle rotation angle data collected by the limit angle sensor, and to determine whether to perform steering assistance based on the filtered speed data and the calibrated steering handle rotation angle data, and to determine whether to generate a braking instruction and an alarm instruction based on the calibrated steering handle rotation angle data;

[0009] When performing steering assistance, the EPS controller determines a steering assistance value based on filtered speed data and calibrated steering handle rotation angle data; and the steering assistance motor drives the steering handle to steer based on the steering assistance value.

[0010] Optionally, the speed sensor is mounted on a wheel of the all-terrain vehicle.

[0011] Optionally, the limit angle sensor is mounted on a handlebar of the all-terrain vehicle.

[0012] Optionally, the EPS controller and the power-steering motor are integrated, and the power-steering motor is installed at the steering knuckle position of the steering handle of the all-terrain vehicle.

[0013] Optionally, the process of whether the EPS controller performs steering assistance based on the filtered speed data and the calibrated steering handle rotation angle data includes:

[0014] Based on the calibrated steering handle rotation angle data, determining whether the rotation angle of the steering handle of the all-terrain vehicle exceeds a limited range, and obtaining a determination result;

[0015] When the judgment result is yes, determining the dynamic steering assistance of the steering handle according to the filtered speed data;

[0016] Determining a braking force of the steering handle according to a rotation angle of the steering handle of the all-terrain vehicle, and using the braking force to slow down the rotation speed of the steering handle;

[0017] determining a compensating force for steering the steering handle according to a rotation angle of the steering handle of the all-terrain vehicle;

[0018] Determining a steering assist value of the steering handle based on the dynamic steering assist of the steering handle, the braking force of the steering handle, and the steering compensation force of the steering handle, and applying steering resistance to the steering handle based on the steering assist value;

[0019] When the determination result is negative, no steering resistance is applied to the steering handle.

[0020] Optionally, the process of the EPS controller determining whether to generate a braking instruction and a warning instruction based on the calibrated steering handle rotation angle data includes:

[0021] Determine whether the calibrated steering handle rotation angle data is less than the set emergency stop limit angle;

[0022] When the calibrated steering handle rotation angle data is less than the set emergency stop limit angle, no braking command and alarm command are generated;

[0023] When the calibrated steering handle rotation angle data is greater than or equal to the set emergency stop limit angle, a braking instruction and an alarm instruction are generated; the braking instruction is used to control the all-terrain vehicle to brake.

[0024] Optionally, the system further comprises: a display screen;

[0025] The display screen is connected to the EPS controller and is used for displaying braking instruction prompt information and alarm instruction prompt information.

[0026] A control method for a steering power system of an all-terrain vehicle steering handle, wherein the steering power system of the all-terrain vehicle steering handle is the system provided by the present invention; the method comprises:

[0027] Introducing a safety state variable and acquiring operating state data of components in the power steering system;

[0028] determining whether there is an abnormality in a component of the power steering system based on the operating status data;

[0029] When there is an abnormality in a component of the power steering system, the safety state variable is set to an abnormal state, and a cut-off instruction and a fault warning instruction are generated; the cut-off instruction is used to control the power steering system to stop working; the fault warning instruction is used to generate a warning message;

[0030] When there is no abnormality in the components of the power steering system, the safety state variable is set to a normal state, and an operation instruction is generated; the operation instruction is used to control the operation state of the power steering system.

[0031] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0032] The present invention provides a steering power system dedicated to all-terrain vehicles, filling the gap that existing all-terrain vehicles do not have a steering power system. In addition, the present invention accurately obtains the speed and angle data of the vehicle through sensors (i.e., speed sensors and limit angle sensors) working in coordination, and realizes real-time dynamic adjustment of the steering power intensity by setting an EPS controller. At the same time, by obtaining the speed and angle data of the vehicle, an emergency braking function can be realized, so that the all-terrain vehicle can be quickly braked under abnormal circumstances. In addition, the present invention also has a fault detection function, which can promptly detect and handle faults in the steering power system to ensure the safety of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of the structure of a power steering system for an all-terrain vehicle handlebar provided by an embodiment of the present invention;

[0035] Figure 2 A flow chart of the implementation of the limit control strategy provided by the embodiment of the present invention;

[0036] Figure 3 A control flow chart of a power steering system for an all-terrain vehicle handlebar provided by an embodiment of the present invention.

[0037] Explanation of symbols:

[0038] Steering handle—1, limit angle sensor—2, EPS controller—3, speed sensor—4, power steering motor—5. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The purpose of the present invention is to provide a steering power system for an all-terrain vehicle steering handle and a control method thereof, aiming to achieve real-time dynamic adjustment of the steering power intensity, while ensuring that the rotation range of the steering handle is within the designed range to prevent damage to the steering system, and also being able to quickly brake the vehicle under abnormal circumstances.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Example 1

[0043] This embodiment provides a steering assist system for an all-terrain vehicle handlebar, such as Figure 1 As shown, the system includes: a speed sensor 4, a limit angle sensor 2, an EPS controller 3 and a steering assist motor 5.

[0044] The speed sensor 4, the limit angle sensor 2 and the power steering motor 5 are all connected to the EPS controller 3. The speed sensor 4 is installed on the wheel of the all-terrain vehicle. The limit angle sensor 2 is installed on the steering handle 1 of the all-terrain vehicle. The EPS controller 3 and the power steering motor 5 are integrated, and the power steering motor 5 is installed at the knuckle position of the steering handle 1 of the all-terrain vehicle.

[0045] The EPS controller 3 is used to filter the speed data collected by the speed sensor 4, to calibrate the steering handle rotation angle data collected by the limit angle sensor 2, and to determine whether to perform steering assistance based on the filtered speed data and the calibrated steering handle rotation angle data, and to determine whether to generate braking instructions and alarm instructions based on the calibrated steering handle rotation angle data.

[0046] When performing steering assistance, the EPS controller 3 determines the steering assistance value based on the filtered speed data and the calibrated steering handle rotation angle data. The steering assistance motor 5 drives the steering handle to steer based on the steering assistance value.

[0047] Furthermore, the process of whether the EPS controller 3 performs steering assistance based on the filtered speed data and the calibrated steering handle rotation angle data includes:

[0048] (1) Based on the calibrated steering handle rotation angle data, it is determined whether the rotation angle of the steering handle 1 of the all-terrain vehicle exceeds a specified range, and a determination result is obtained.

[0049] (2) When the judgment result is yes, the dynamic steering assist of the steering handle 1 is determined based on the filtered speed data.

[0050] (3) The braking force of the steering handle 1 is determined according to the rotation angle of the steering handle 1 of the all-terrain vehicle, and the braking force is used to slow down the rotation speed of the steering handle 1.

[0051] (4) Determine the steering compensation force of the steering handle 1 according to the rotation angle of the steering handle 1 of the all-terrain vehicle.

[0052] (4) The steering assist value of the steering handle 1 is determined based on the dynamic steering assist of the steering handle 1, the braking force of the steering handle 1 and the compensation force of the steering of the steering handle 1, and the steering resistance of the steering handle 1 is applied based on the steering assist value. At this time, the steering handle 1 is mainly rotated in manual mode.

[0053] (5) When the judgment result is negative, no steering resistance is applied to the steering handle 1.

[0054] Further, the process of the EPS controller 3 determining whether to generate a braking instruction and a warning instruction based on the calibrated steering handle rotation angle data includes:

[0055] (1) Determine whether the calibrated steering handle rotation angle data is less than the set emergency stop limit angle. The set emergency stop limit angle is recorded as θ_emergency. The calibrated steering handle rotation angle data is recorded as θ_angle.

[0056] (2) When the calibrated steering handle rotation angle data is less than the set emergency stop limit angle, no braking command and alarm command are generated.

[0057] (3) When the calibrated steering handle rotation angle data is greater than or equal to the set emergency stop limit angle, a braking command and an alarm command are generated. The braking command is used to control the all-terrain vehicle to brake. That is, if θ_angle exceeds or equals θ_emergency, it means that the steering handle 1 rotates beyond the emergency stop limit and emergency stop measures need to be taken. This may include sending a signal to the vehicle's braking system to implement emergency braking and stop the vehicle.

[0058] At the same time, the alarm system is triggered to inform the driver that an emergency stop situation has occurred. The alarm system gives the driver a clear warning through sound, visual indication or other means to make the driver aware of the emergency stop situation.

[0059] Furthermore, after handling the emergency stop event, a system reset is required to ensure that the power steering system returns to normal working state. The reset process includes clearing the alarm state, restoring the power steering system control, etc.

[0060] Based on the above description, in order to facilitate the driver to obtain emergency braking information and alarm information in a timely manner, a display screen can be set to display braking command prompt information and alarm command prompt information.

[0061] Furthermore, in actual application, the speed sensor 4 measures the vehicle speed in real time, and the obtained speed data is represented as V_mid. The speed data is processed using a Kalman filter algorithm to reduce noise and improve data stability, and the filtered speed data is obtained, represented as V.

[0062] The limit angle sensor 2 measures the rotation angle of the steering handle 1 to obtain the steering handle rotation angle data. The process of calibrating the steering handle rotation angle data includes:

[0063] (1) Zero point calibration: Ensure that when the steering handle 1 is at the zero position, the output value of the limit angle sensor 2 is zero.

[0064] (2) Range calibration: Ensure that the output range of the limit angle sensor 2 is consistent with the actual measurement range.

[0065] The accuracy of the limit angle sensor 2 is considered and the value output by the limit angle sensor 2 is linearly mapped to the actual angle range to obtain the calibrated direction handle rotation angle data, which is expressed as θ_angle.

[0066] When the rotation angle of the steering handle 1 exceeds θ_limit, the system will adopt the corresponding limit control strategy.

[0067] In actual application, Figure 2 As shown, the limit control strategy is mainly implemented by the EPS controller 3, and its implementation process can be:

[0068] (1) Dynamic steering power control:

[0069] According to the vehicle speed (i.e. the speed data after filtering), the power of the steering assist is dynamically adjusted. This can be achieved through the following mathematical expression:

[0070] P_dynamic=K_dynamic*v.

[0071] Among them, P_dynamic is the dynamic steering assistance, K_dynamic is the adjustment coefficient, and v is the vehicle speed.

[0072] (2) Angle limit of steering handle 1:

[0073] Set the safe working range of the steering handle 1 to prevent excessive rotation. If the calibrated steering handle rotation angle data θ_angle exceeds the limited range, apply braking force to slow down the rotation speed of the handle. Based on this, the following formula is used for calculation:

[0074] P_brake=K_brake*(θ_angle-θ_limit).

[0075] Among them, P_brake is the braking force, K_brake is the braking coefficient, and θ_limit is the angle of safety limit.

[0076] (3) Power steering compensation:

[0077] According to the rotation angle of the steering handle 1, the power assistance is compensated. At low speed, the power assistance is increased to improve the maneuverability. At high speed, the power assistance is reduced to prevent over-sensitivity. Based on this, the following formula is used for calculation:

[0078] P_compensation=K_compensation*θ_angle.

[0079] Among them, P_compensation is the compensation force, K_compensation is the compensation coefficient, and this compensation coefficient K_dynamic is a dynamic value that changes according to the size of the vehicle speed v, and K_dynamic=f(v). f(v) is a nonlinear Sigmoid function that adjusts according to the change of vehicle speed, and has:

[0080] f(v)=1 / (1+e^(-a(vb))).

[0081] Here, a and b are adjustment parameters that will determine the slope and position of the S-shaped curve.

[0082] Specifically, the Sigmoid function is explained as follows:

[0083] When v approaches b, the e^(-a(vb)) in the denominator approaches 1, and f(v) approaches 1 / 2.

[0084] When v is much smaller than b, the exponential term becomes smaller, causing f(v) to approach 1.

[0085] When v is much larger than b, the exponential term becomes larger, causing f(v) to approach 0.

[0086] Adjustment parameters:

[0087] a controls the steepness of the S-curve. A larger a makes the S-curve steeper, and a smaller a makes the S-curve flatter.

[0088] b is the center position of the S-shaped curve, which affects the speed at which the power assist changes most significantly. A smaller b will make the power assist change more significant at lower speeds, and a larger b will make the power assist change more significant at higher speeds.

[0089] Function diagram:

[0090] The system performance requirements can be met by adjusting a and b. With this design, when the vehicle speed is low, the power assistance is large. When the vehicle speed is high, the power assistance gradually decreases, which is in line with the expected behavior of the intelligent steering power system.

[0091] (4) Integrated power steering:

[0092] The final steering assist force is composed of the above three parts, expressed as P_total:

[0093] P_total=P_dynamic+P_brake+P_compensation.

[0094] In practical applications, appropriate weight coefficients can be used to balance the influence of the three aspects.

[0095] Based on the above description, the electric power steering system for the steering handle of an all-terrain vehicle provided by the present invention includes an innovative solution that integrates speed, limit angle sensors and intelligent control algorithms. Its key innovations include the collaborative work of sensors, processing speed data and accurately processing angle data through filtering algorithms, and realizing real-time dynamic adjustment of the steering assist strength. In addition, the patent covers the limit control function to ensure that the rotation range of the steering handle is within the design range to prevent damage to the steering system. To ensure safety, an emergency braking algorithm is introduced to quickly brake the vehicle under abnormal circumstances. Fault detection promptly detects and handles sensor or system faults, monitors the system status, and if a fault or abnormality is detected, promptly cuts off the steering assist system and switches to manual mode to ensure safety. These innovations together constitute the core of the patent, covering sensor integration, data processing, steering assist control, limit control, emergency braking and fault detection.

[0096] Based on the above description, compared with the prior art, the present invention also has the following advantages:

[0097] 1. Traditional ATVs do not have dedicated electronic power steering systems. Traditional power steering systems are all used in steering wheel-type steering. This patent is intended to protect an ATV all-terrain vehicle steering handlebar electric power steering system.

[0098] 2. Intelligent dynamic adjustment of power assistance: The nonlinear Sigmoid function is used to intelligently adjust the strength of the steering assist, so that the system provides greater power assistance at low speeds to improve handling, and reduces the power assistance at high speeds to maintain stability. Compared with traditional methods, it is more flexible and intelligent.

[0099] 3. Comprehensive steering assistance algorithm: Through the synergy of dynamic control, angle limitation and compensation force, comprehensive steering assistance is achieved, making the vehicle perform more smoothly, flexibly and better adaptable in different situations.

[0100] 4. Intelligent emergency braking mechanism: Through real-time monitoring of the steering handle rotation angle, intelligent triggering of the emergency braking system, and the introduction of the emergency stop limit angle, the accuracy and timeliness of emergency braking are improved.

[0101] Example 2

[0102] This embodiment provides a method for controlling a steering assist system of an all-terrain vehicle steering handle, which can control the steering assist system provided in the above embodiment 1. Figure 3 As shown, the implementation process of this method includes:

[0103] Step 1: Introduce the safety status variable and obtain the operating status data of the components in the power steering system. The introduced safety status variable is a binary variable, denoted as Safety_Status, which indicates the current safety status of the system. In the following control process, when Safety_Status is normal, the system operates normally and the power steering system is in working state. When Safety_Status becomes abnormal, the system should immediately cut off the power steering system and switch to manual mode.

[0104] Further, multiple sensors may be used to monitor the state of the power steering system, including but not limited to the state of the electronic control unit (ECU), sensor data anomalies, power supply state, etc. These sensors may be fault detection sensors, power supply sensors, etc.

[0105] Furthermore, the purpose of setting the above fault detection algorithm is to check the operating status of each part of the steering power system regularly or in real time. If an abnormality is detected, Safety_Status is set to an abnormal state.

[0106] Step 2: Determine whether there is an abnormality in components of the power steering system based on the operating status data.

[0107] Step 3: When there is an abnormality in a component of the power steering system, the safety state variable is set to an abnormal state, and a cut-off instruction and a fault warning instruction are generated. The cut-off instruction is used to control the power steering system to stop working, that is, to immediately cut off the power steering system. At the same time, it switches to manual mode so that the driver can fully control the direction of the vehicle. The fault warning instruction is used to generate a warning message.

[0108] Step 4: When there is no abnormality in the components of the power steering system, the safety state variable is set to a normal state, and an operation instruction is generated. The operation instruction is used to control the operation state of the power steering system.

[0109] Furthermore, a user interface or an alarm system may be provided to warn the driver that the power steering system is in an abnormal state.

[0110] Furthermore, after resolving the fault or abnormal situation, the power steering system should have an automatic or manual reset process to restore Safety_Status to a normal state and re-enable the power steering system.

[0111] Based on the above description, if a fault or abnormal situation is detected, the present invention can promptly cut off the power steering system and switch to manual mode, and monitor and respond to the system safety status in real time, which is safer and more reliable than traditional systems.

[0112] In summary, the present invention can accurately obtain the speed and angle data of the vehicle through the cooperative sensor system, and realize the real-time dynamic adjustment of the steering assist strength. At the same time, the present invention also has a limit control function, which can ensure that the rotation range of the steering handle is within the design range to prevent damage to the steering system. In addition, the present invention should also have an emergency braking function, which can quickly brake the vehicle under abnormal circumstances. Finally, the present invention has a fault detection system that can promptly detect and handle sensor or system failures to ensure the safety of the driver.

[0113] Example 3

[0114] A computer device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steering assist system control method for a steering handle of an all-terrain vehicle in Embodiment 2.

[0115] Example 4

[0116] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steering power system control method for an all-terrain vehicle handlebar in embodiment 2.

[0117] Example 5

[0118] A computer program product includes a computer program, which, when executed by a processor, implements the method for controlling a steering assist system of an all-terrain vehicle handlebar in embodiment 2.

[0119] Example 6

[0120] A computer device, which may be a database. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the steering power system control method of the steering handle of an all-terrain vehicle in Example 2 is implemented.

[0121] It should be noted that the object information (including but not limited to object device information, object personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present invention may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor involved in each embodiment provided by the present invention may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited thereto.

[0123] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. The same and similar parts between the embodiments can be referred to each other. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A power steering system for an all-terrain vehicle handlebar, characterized in that: The system includes: a speed sensor, a limit angle sensor, an EPS controller and a steering assist motor; The speed sensor, the limit angle sensor and the power steering motor are all connected to the EPS controller; The EPS controller is used to filter the speed data collected by the speed sensor, to calibrate the steering handle rotation angle data collected by the limit angle sensor, and to determine whether to perform steering assistance based on the filtered speed data and the calibrated steering handle rotation angle data, and to determine whether to generate a braking instruction and an alarm instruction based on the calibrated steering handle rotation angle data; When performing steering assistance, the EPS controller determines a steering assistance value based on the filtered speed data and the calibrated steering handle rotation angle data; the steering assistance motor drives the steering handle to steer based on the steering assistance value; The process of whether the EPS controller performs steering assistance based on the filtered speed data and the calibrated steering handle rotation angle data includes: Based on the calibrated steering handle rotation angle data, determining whether the rotation angle of the steering handle of the all-terrain vehicle exceeds a limited range, and obtaining a determination result; When the judgment result is yes, determining the dynamic steering assistance of the steering handle according to the filtered speed data; Determining a braking force of the steering handle according to a rotation angle of the steering handle of the all-terrain vehicle, and using the braking force to slow down the rotation speed of the steering handle; determining a compensating force for steering the steering handle according to a rotation angle of the steering handle of the all-terrain vehicle; Determining a steering assist value of the steering handle based on the dynamic steering assist of the steering handle, the braking force of the steering handle, and the steering compensation force of the steering handle, and performing steering assist on the steering handle based on the steering assist value; When the determination result is negative, no steering assistance is performed on the steering handle.

2. The power steering system for the ATV handlebar according to claim 1, characterized in that: The speed sensor is mounted on the wheel of the all-terrain vehicle.

3. The power steering system for the ATV handlebar according to claim 1, characterized in that: The limit angle sensor is installed on the steering handle of the all-terrain vehicle.

4. The power steering system for the ATV handlebar according to claim 1, characterized in that: The EPS controller and the power steering motor are integrated, and the power steering motor is installed at the steering knuckle position of the steering handle of the all-terrain vehicle.

5. The power steering system for the ATV handlebar according to claim 1, characterized in that: The process of the EPS controller determining whether to generate a braking instruction and an alarm instruction based on the calibrated steering handle rotation angle data includes: Determine whether the calibrated steering handle rotation angle data is less than the set emergency stop limit angle; When the calibrated steering handle rotation angle data is less than the set emergency stop limit angle, no braking command and alarm command are generated; When the calibrated steering handle rotation angle data is greater than or equal to the set emergency stop limit angle, a braking instruction and an alarm instruction are generated; the braking instruction is used to control the all-terrain vehicle to brake.

6. The power steering system for the ATV handlebar according to claim 1, characterized in that: The system further comprises: a display screen; The display screen is connected to the EPS controller and is used for displaying braking instruction prompt information and alarm instruction prompt information.

7. A method for controlling a power steering system of an all-terrain vehicle steering handle, characterized in that: The power steering system of the all-terrain vehicle handlebar is a system according to any one of claims 1 to 6; the method comprises: Introducing a safety state variable and acquiring operating state data of components in the power steering system; determining whether there is an abnormality in a component of the power steering system based on the operating status data; When there is an abnormality in a component of the power steering system, the safety state variable is set to an abnormal state, and a cut-off instruction and a fault warning instruction are generated; the cut-off instruction is used to control the power steering system to stop working; the fault warning instruction is used to generate a warning message; When there is no abnormality in the components of the power steering system, the safety state variable is set to a normal state, and an operation instruction is generated; the operation instruction is used to control the operation state of the power steering system.

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