Vehicle steering system, control method of vehicle steering system and vehicle

Abstract

The present application provides a vehicle steering system, a control method of the vehicle steering system and a vehicle, which relates to the field of vehicle steering technology and is used to solve the technical problem of poor energy conservation and environmental protection when the vehicle steering system is turned. The vehicle steering system includes a steering mechanism and an energy recovery device, the steering mechanism includes a steering rotating member and a steering moving member; the energy recovery device is arranged on at least one of the steering rotating member and the steering moving member, the energy recovery device includes a damping mechanism, and the damping mechanism is configured to provide a damping torque to the steering mechanism. The present application aims to save electric energy, thereby achieving the purpose of energy conservation and environmental protection.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle steering, and in particular to a vehicle steering system, a control method of a vehicle steering system, and a vehicle. Background Art

[0002] The vehicle steering system refers to a series of devices used to change or maintain the direction of the vehicle's travel or reverse. The vehicle steering system is mainly used to control the vehicle's travel direction according to the driver's will. During the steering process of the entire vehicle, when turning at high speed and small angle, the steering system needs to generate damping force to improve the vehicle's handling stability during steering.

[0003] In the related art, the steering system includes a steering column, a steering intermediate shaft, a steering gear input shaft and a steering gear rack. Usually, a power-assisted motor is arranged on the steering column, the steering gear input shaft and one of the steering gear racks. When steering, if it is determined that steering damping needs to be provided to the steering system, the power-assisted motor provides a reverse torque to the steering system to provide steering damping, so as to improve the handling stability of the vehicle during steering; if it is determined that steering damping does not need to be provided, the power-assisted motor provides a power-assisted torque to the steering system so that the vehicle can turn quickly.

[0004] However, in the related art, there is a technical problem of energy loss when the power-assisted motor applies reverse torque to the steering system, which results in poor energy conservation and environmental protection. Summary of the invention

[0005] In view of the above problems, the embodiments of the present application provide a vehicle steering system, a control method of a vehicle steering system and a vehicle, aiming to save electric energy, thereby achieving the purpose of energy saving and environmental protection.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] The present application provides a vehicle steering system, including:

[0008] A steering mechanism, the steering mechanism comprising a steering rotating member and a steering moving member;

[0009] The energy recovery device is arranged on at least one of the steering rotating member and the steering moving member, and the energy recovery device includes a damping mechanism, and the damping mechanism is configured to provide a damping torque to the steering mechanism.

[0010] In some embodiments, the energy recovery device further includes an energy storage device, which is connected to the damping mechanism. The energy generated by the damping mechanism when providing the damping torque is converted into electrical energy and stored in the energy storage device.

[0011] In some embodiments, the damping torque provided by the damping mechanism to the steering mechanism is adjustable.

[0012] In some embodiments, the energy recovery device includes a first damping mechanism configured to provide a damping torque to the steering swivel.

[0013] In some embodiments, the first damping mechanism includes a first magnetic component, a first electromagnetic induction component and a first connecting component, wherein the first magnetic component is arranged on the outer peripheral side of the steering rotating component and can be selectively connected to the steering rotating component through the first connecting component; the first electromagnetic induction component is arranged on the outer peripheral side of the first magnetic component, and the gap between the first electromagnetic induction component and the first magnetic component is adjustable, and the first electromagnetic induction component is electrically connected to the energy storage device; when it is necessary to provide a damping torque to the steering rotating component, the first connecting component connects the first magnetic component and the steering rotating component, and the steering rotating component drives the first magnetic component to rotate relative to the first electromagnetic induction component, so that an electromagnetic force is generated between the first magnetic component and the first electromagnetic induction component, and the electromagnetic force forms the damping torque, and converts the induced current generated by the first electromagnetic induction component cutting the magnetic flux lines of the first magnetic component into electrical energy, which is stored in the energy storage device.

[0014] In some embodiments, the first damping mechanism further includes a first elastic member, and the first elastic member is connected to the first electromagnetic induction member so as to adjust the size of the gap between the first magnetic member and the first electromagnetic induction member by adjusting the expansion and contraction amount of the first elastic member.

[0015] In some embodiments, the energy recovery device includes a second damping mechanism configured to provide a damping torque to the steering movable member.

[0016] In some embodiments, the second damping mechanism includes a second magnetic member, a second electromagnetic induction member, a rotating member and a second connecting member, the rotating member meshing with the steering movable member to convert the linear motion of the steering movable member into rotational motion; the second magnetic member is arranged on the outer peripheral side of the rotating member, and is selectively connected to the rotating member through the second connecting member; the second electromagnetic induction member is arranged on the outer peripheral side of the second magnetic member, and the gap between the second electromagnetic induction member and the second magnetic member is adjustable, and the second electromagnetic induction member is electrically connected to the energy storage device; when it is necessary to provide a damping torque to the steering movable member, the second connecting member connects the second magnetic member and the rotating member, and the rotating member drives the second magnetic member to rotate relative to the second electromagnetic induction member, so that an electromagnetic force is generated between the second magnetic member and the second electromagnetic induction member, and the electromagnetic force forms the damping torque, and the induced current generated by the second electromagnetic induction member cutting the magnetic flux lines of the second magnetic member is converted into electrical energy and stored in the energy storage device.

[0017] In some embodiments, the second damping mechanism further includes a second elastic member, and the second elastic member is connected to the second electromagnetic induction member so as to adjust the size of the gap between the second magnetic member and the second electromagnetic induction member by adjusting the expansion and contraction amount of the second elastic member.

[0018] In some embodiments, a power-assist motor is also included. A power-assist motor is provided on at least one of the steering rotating member and the steering movable member, and the power-assist motor is configured to provide steering damping and / or steering assistance to at least one of the steering rotating member and the steering movable member.

[0019] In some embodiments, a torque angle sensor is further included. The torque angle sensor is disposed on the steering mechanism and is configured to obtain at least one of a vehicle speed signal, an angle signal, and a steering wheel torque signal.

[0020] In some embodiments, the vehicle steering system further includes a speed change mechanism, wherein the speed change mechanism is disposed between the damping mechanism and the steering mechanism, and the speed change mechanism is configured to change a speed-torque ratio of the damping mechanism.

[0021] A second aspect of an embodiment of the present application provides a vehicle, comprising the vehicle steering system provided in the above embodiment.

[0022] According to a third aspect of an embodiment of the present application, there is provided a control method for a vehicle steering system, wherein the vehicle steering system comprises a steering mechanism and an energy recovery device, wherein the steering mechanism comprises a steering rotating member and a steering movable member, wherein the energy recovery device is disposed on at least one of the steering rotating member and the steering movable member, wherein the energy recovery device comprises a damping mechanism, wherein the damping mechanism is configured to provide steering damping to the steering mechanism; the control method comprises:

[0023] Get vehicle steering parameters;

[0024] Determining whether steering damping needs to be provided according to the obtained vehicle steering parameters;

[0025] If the steering damping needs to be provided, the damping mechanism is controlled to provide steering damping to the steering mechanism.

[0026] In some embodiments, the vehicle steering system further includes a power-assisting motor; after determining that steering damping needs to be provided according to the acquired vehicle steering parameters, the system further includes:

[0027] Determine the amount of steering damping required;

[0028] determining, according to the magnitude of the required steering damping, whether the steering damping provided by the damping mechanism is greater than the required steering damping;

[0029] If not, the power-assisting motor and the damping mechanism are controlled to jointly provide steering damping to the steering mechanism.

[0030] In some embodiments, the vehicle steering parameter includes at least one of a vehicle speed signal, a steering angle signal, and a steering wheel torque signal.

[0031] In the vehicle steering system provided in the embodiment of the present application, an energy recovery device is designed, which includes a damping mechanism. The damping mechanism is used to provide steering damping to at least one of the steering rotating member and the steering movable member. In this way, the damping mechanism does not need to consume electrical energy when providing damping to the steering mechanism, thereby achieving the purpose of energy saving and environmental protection.

[0032] The vehicle and the control method of the vehicle steering system provided in the embodiments of the present application have the same beneficial effects as the vehicle steering system provided in the above embodiments, which will not be described in detail here.

[0033] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the vehicle steering system, the control method of the vehicle steering system, and the vehicle provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of the structure of a vehicle steering system provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of a structure of an energy recovery device in a vehicle steering system provided in an embodiment of the present application;

[0037] Figure 3 Another schematic diagram of the structure of the energy recovery device in the vehicle steering system provided in an embodiment of the present application;

[0038] Figure 4 A schematic flow chart of a method for controlling a vehicle steering system provided in an embodiment of the present application;

[0039] Figure 5Another schematic flow chart of a method for controlling a vehicle steering system provided in an embodiment of the present application;

[0040] Figure 6 A logic diagram of damping torque generation of a vehicle steering system provided in an embodiment of the present application;

[0041] Figure 7 A logic diagram of steering damping energy recovery and damping torque generation of a vehicle steering system provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of the steering damping energy recovery control adjustment logic in the vehicle steering system provided in an embodiment of the present application.

[0043] Reference numerals:

[0044] 10-vehicle steering system; 100-steering mechanism; 110-steering rotating member; 111-steering column;

[0045] 112-steering intermediate shaft; 113-steering gear input shaft; 120-steering moving part;

[0046] 121-steering gear rack;

[0047] 200-energy recovery device; 210-damping mechanism;

[0048] 211-first damping mechanism; 2111-first magnetic member; 2112-first electromagnetic induction member;

[0049] 2113-first connecting member; 2114-first elastic member;

[0050] 212-second damping mechanism; 2121-second magnetic member; 2122-second electromagnetic induction member; 2123-rotating member; 2124-second connecting member; 2125-second elastic member;

[0051] 220-energy storage device; 230-conducting wire;

[0052] 300-Assist motor;

[0053] 400-Torque angle sensor. DETAILED DESCRIPTION

[0054] In the related art, the steering system includes a steering column, a steering intermediate shaft, a steering gear input shaft and a steering gear rack. Usually, a power-assisted motor is arranged on the steering column, the steering gear input shaft and one of the steering gear racks. When steering, if it is judged that steering damping needs to be provided to the steering system, the power-assisted motor provides a reverse torque to the steering system to provide steering damping, so as to improve the handling stability of the vehicle during steering; if it is judged that steering damping does not need to be provided, the power-assisted motor provides a power-assisted torque to the steering system so that the vehicle can turn quickly. However, when the power-assisted motor provides a reverse torque to the steering system to provide steering damping, energy will be generated, especially for small-angle steering under medium and high-speed conditions. The energy generated when providing steering damping is very substantial, and this part of energy is not recovered. In addition, when the power-assisted motor provides steering damping to the steering system, it also consumes electrical energy, thereby resulting in poor energy conservation and environmental protection.

[0055] In order to solve the above problems, the present application provides a vehicle steering system, a control method of a vehicle steering system and a vehicle. By designing an energy recovery device, the energy recovery device includes a damping mechanism, and the damping mechanism is used to provide steering damping to at least one of a steering rotating member and a steering movable member. In this way, the damping mechanism does not need to consume electrical energy when providing damping to the steering mechanism, thereby achieving the purpose of energy saving and environmental protection.

[0056] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0057] Please refer to Figure 1 As shown, an embodiment of the present application provides a vehicle steering system 10, which includes a steering mechanism 100, and the steering mechanism 100 includes a steering rotating member 110 and a steering movable member 120. Exemplarily, the steering rotating member 110 includes but is not limited to a steering column 111, a steering intermediate shaft 112 and a steering gear input shaft 113, that is, the steering rotating member 110 can rotate around its own axis; the steering movable member 120 includes but is not limited to a steering gear rack 121, and the steering movable member 120 can run along a straight line; wherein, the steering column 111 is connected to the steering intermediate shaft 112, the steering intermediate shaft 112 is connected to the steering gear input shaft 113, the steering gear input shaft 113 has gear teeth matching the steering gear rack 121, and the steering gear input shaft 113 is gear-engaged with the steering gear rack 121 to convert the rotational motion into linear motion.

[0058] In some embodiments, the vehicle steering system 10 further includes a power-assisting motor 300, which is disposed on at least one of the steering column 111, the steering gear input shaft 113, and the steering gear rack 121. Typically, the power-assisting motor 300 is one, for example, Figure 1 In the embodiment, a power-assist motor 300 can be arranged on the steering column 111, or on the steering gear input shaft 113 or on the steering gear rack 121. Of course, in special cases, if one power-assist motor 300 cannot meet the actual working conditions, the number of power-assist motors 300 can also be two or more. In this way, two or more power-assist motors 300 can be respectively arranged on the steering column 111, the steering gear input shaft 113 and the steering gear rack 121.

[0059] It should be noted that Figure 1 What is shown are the positions where the energy recovery device 200 and the power-assisted motor 300 can be set when they are respectively set on the steering column 111, the steering gear input shaft 113 and the steering gear rack 121. It does not mean that the energy recovery device 200 and the power-assisted motor 300 are all set on the steering column 111, the steering gear input shaft 113 and the steering gear rack 121. Usually, the energy recovery device 200 and the power-assisted motor 300 are set on one of the steering column 111, the steering gear input shaft 113 and the steering gear rack 121.

[0060] When the vehicle is turning, the vehicle controller determines whether steering damping is needed to improve the vehicle's handling stability and other performance based on the vehicle speed signal, the steering wheel torque signal and the steering angle signal. When it is determined that steering damping is needed, the vehicle controller controls the power-assisted motor 300 to provide reverse torque to provide steering damping; when steering damping is not needed, the controller controls the power-assisted motor 300 to provide assistance to facilitate rapid steering of the vehicle; wherein, when providing steering damping, the power-assisted motor 300 consumes the vehicle's electrical energy, and the energy generated by the power-assisted motor 300 when providing steering damping will also be wasted, especially for medium and high speed small-angle steering, the energy generated by the power-assisted motor 300 when providing steering damping is very considerable, so for example, new energy vehicles, the power-assisted motor 300 consumes electrical energy, there is energy waste, will directly affect the vehicle's endurance or other aspects of user experience, and is poor in energy saving and environmental protection.

[0061] Therefore, in order to achieve energy conservation and environmental protection and reduce electricity loss, in an embodiment of the present application, an energy recovery device 200 is designed in the vehicle steering system 10, wherein the energy recovery device 200 can be arranged on at least one of the steering column 111, the steering gear input shaft 113 and the steering gear rack 121 in the steering mechanism 100. When the vehicle turns and needs to provide steering damping to the vehicle steering system 10, the energy recovery device 200 provides steering damping to the vehicle steering system 10, and the energy generated when providing the steering damping is recovered. Without consuming electric energy, the energy generated when providing the steering damping can also be recycled, thereby achieving the purpose of energy conservation and environmental protection.

[0062] Among them, the number of energy recovery devices 200 can be one, and one energy recovery device 200 can be arranged on one of the steering column 111, the steering gear input shaft 113 and the steering gear rack 121; of course, it is not ruled out that the number of energy recovery devices 200 is two or more to meet the needs of the vehicle steering system 10 under special working conditions. The specific design can be adaptively performed according to the actual working conditions, and no limitation is made here.

[0063] In some embodiments, the energy recovery device 200 includes a damping mechanism 210, which is used to provide steering damping of reverse torque to the steering mechanism 100 to improve the handling stability of the vehicle during steering without consuming electrical energy, thereby achieving the purpose of energy saving and environmental protection, improving the vehicle's endurance, and further enhancing the user experience.

[0064] In some embodiments, the energy recovery device 200 also includes an energy storage device 220, and the damping mechanism 210 is connected to the energy storage device 220. The energy generated by the work done by the damping mechanism 210 when providing steering damping is converted into electrical energy through the damping mechanism 210 and stored in the energy storage device 220. In this way, the electrical energy recovered by the energy storage device 220 can be used for the closed loop of the vehicle steering system 10, and can also be used for electrical energy applications of the entire vehicle without consuming electrical energy. The recovered energy can be converted into electrical energy for storage, thereby achieving the purpose of energy saving and environmental protection, improving the vehicle's endurance, and thereby enhancing the user's experience.

[0065] It should be noted that, the structure of the damping mechanism 210 in the energy recovery device 200 is different depending on whether the energy recovery device 200 is set on the steering rotating member 110 and the steering movable member 120. However, no matter whether the energy recovery device 200 is set on the steering rotating member 110 or the steering movable member 120, the energy storage device 220 in the energy recovery device 200 is the same. Therefore, the structure of the damping mechanism 210 will be introduced separately below according to whether the energy recovery device 200 is set on the steering rotating member 110 and the steering movable member 120.

[0066] In some embodiments, the damping torque provided by the damping mechanism 210 to the steering mechanism 100 is adjustable, that is, the damping mechanism 210 can provide steering damping of different magnitudes, thereby providing appropriate steering damping to the steering mechanism 100 according to specific needs, thereby improving the handling stability of the vehicle during steering. Figure 2 As shown, the energy recovery device 200 is disposed on the steering rotary member 110 in the steering mechanism 100, and the steering rotary member 110 may be at least one of a steering column 111 and a steering gear input shaft 113. The energy recovery device 200 includes a first damping mechanism 211 and an energy storage device 220. When steering damping is required, the first damping mechanism 211 provides a reverse torque to the steering mechanism 100 to provide steering damping, and converts the energy generated when providing steering damping into electrical energy and stores it in the energy storage device 220.

[0067] Please continue to refer to Figure 2 As shown, the first damping mechanism 211 includes a first magnetic member 2111 and a first electromagnetic induction member 2112. The first magnetic member 2111 is disposed on the outer peripheral side of the steering rotary member 110 and is selectively connected to the steering rotary member 110. The first electromagnetic induction member 2112 is disposed on the outer peripheral side of the first magnetic member 2111, that is, the first magnetic member 2111 is disposed between the steering rotary member 110 and the first electromagnetic induction member 2112, and the first electromagnetic induction member 2112 is electrically connected to the energy storage device 220. In this way, when the vehicle turns, the vehicle controller determines that it is necessary to provide steering damping to the vehicle steering mechanism 100, then the first magnetic member 2111 is electrically connected to the steering rotary member 110. The first electromagnetic induction member 2112 is connected to the steering member 110. When the steering rotating member 110 rotates, it drives the first magnetic member 2111 to rotate relative to the first electromagnetic induction member 2112. Electromagnetic force is generated between the first electromagnetic induction member 2112 and the first magnetic member 2111. The electromagnetic force provides steering damping for the steering mechanism 100. There is no need for the power-assist motor 300 to provide steering damping, thereby saving the electric energy consumed by the power-assist motor 300 when providing steering damping. In addition, the first electromagnetic induction member 2112 converts the induced current generated when cutting the magnetic flux lines of the first magnetic member 2111 into electric energy and stores it in the energy storage device 220, so as to recycle the energy generated when providing steering damping, thereby achieving the purpose of energy saving and environmental protection.

[0068] It should be noted that the positions of the first magnetic member 2111 and the first electromagnetic induction member 2112 can be exchanged. For example, the first electromagnetic induction member 2112 can be located between the steering rotary member 110 and the first magnetic member 2111. The first magnetic member 2111 is arranged on the side of the first electromagnetic induction member 2112 away from the steering rotary member 110. The first electromagnetic induction member 2112 can be selectively connected to the steering rotary member 110. In this way, when the vehicle turns, when the vehicle controller determines that steering damping needs to be provided to the vehicle steering mechanism 100, the first electromagnetic induction member 2112 is connected to the steering rotary member 110. When the steering rotary member 110 rotates, it drives the first electromagnetic induction member 2112 to rotate relative to the first magnetic member 2111. In this way, an electromagnetic force is generated between the first electromagnetic induction member 2112 and the first magnetic member 2111, and the electromagnetic force provides steering damping to the steering mechanism 100.

[0069] When the vehicle determines that steering damping is not required, the first electromagnetic induction component 2112 or the first magnetic component 2111 is disconnected from the steering rotating component 110, wherein the connection or disconnection between the first electromagnetic induction component 2112 or the first magnetic component 2111 and the steering rotating component 110 can be achieved by electronic control, that is, when the vehicle controller determines that steering damping is required, the vehicle controller controls the first electromagnetic induction component 2112 or the first magnetic component 2111 to be connected or disconnected from the steering rotating component 110.

[0070] In some embodiments, the first magnetic component 2111 includes but is not limited to a permanent magnet, and the first electromagnetic induction component 2112 includes but is not limited to an electromagnetic induction coil. As long as the first magnetic component 2111 and the first electromagnetic induction component 2112 can generate electromagnetic force during relative motion, no limitation is made here.

[0071] It should be noted that, no matter whether the first magnetic component 2111 is arranged close to the steering rotating component 110 or the first electromagnetic induction component 2112 is arranged close to the steering rotating component 110, the first electromagnetic induction component 2112 is electrically connected to the energy storage device 220. For example, the first electromagnetic induction component 2112 is electrically connected to the energy storage device 220 through the wire 230 so as to convert the induced current generated between the first electromagnetic induction component 2112 and the first magnetic component 2111 into electrical energy and store it in the energy storage device 220.

[0072] For the convenience of description, the structure of the first damping mechanism 211 will be introduced below by taking the example that the first magnetic member 2111 is disposed between the steering rotating member 110 and the first electromagnetic induction member 2112 .

[0073] In some embodiments, please refer to Figure 2As shown, the first damping mechanism 211 also includes a first connecting member 2113, which is movably arranged between the first magnetic member 2111 and the steering rotating member 110, and the first connecting member 2113 is used to connect or disconnect the first magnetic member 2111 and the steering rotating member 110, so that the first damping mechanism 211 can provide or not provide steering damping to the steering rotating member 110.

[0074] Exemplarily, the first connecting member 2113 includes but is not limited to a controllable locking pin, which can be connected to a vehicle controller, and the controller can selectively control the controllable locking pin to connect or disconnect the first magnetic member 2111 and the steering rotating member 110 according to whether steering damping is required; for example, when it is necessary to provide steering damping to the steering mechanism 100, the controller controls the controllable locking pin to move between the first magnetic member 2111 and the steering rotating member 110 to connect the first magnetic member 2111 to the steering rotating member 110, so that the steering rotating member 110 can drive the first magnetic member 2111 to rotate; when it is necessary to provide steering damping to the steering mechanism 100, the controller controls the controllable locking pin to move away from the steering rotating member 110 to release the connection between the first magnetic member 2111 and the steering rotating member 110.

[0075] In addition, due to different steering angles, the required steering damping is also different. In order to provide the steering mechanism 100 with steering damping of different sizes, in an embodiment of the present application, the gap between the first magnetic member 2111 and the first electromagnetic induction member 2112 is adjustable, so that the size of the electromagnetic force can be adjusted by the size of the gap between the first magnetic member 2111 and the first electromagnetic induction member 2112, so that appropriate steering damping can be provided to the steering mechanism 100 according to specific needs, thereby improving the handling stability of the vehicle during steering.

[0076] Please continue to refer to Figure 2 As shown, in some embodiments, the first damping mechanism 211 also includes a first elastic member 2114, and the first elastic member 2114 is connected to the first electromagnetic induction member 2112 to adjust the gap size between the first magnetic member 2111 and the first electromagnetic induction member 2112 by adjusting the expansion and contraction amount of the first elastic member 2114; wherein, the first elastic member 2114 includes but is not limited to a controllable spring sheet, and the first elastic member 2114 can be connected to the controller of the vehicle, and the controller can control the elastic expansion and contraction amount of the first elastic member 2114 according to the required steering damping size, so that the first elastic member 2114 drives the first electromagnetic induction member 2112 to move toward or away from the first magnetic member 2111, so as to change the gap size between the first magnetic member 2111 and the first electromagnetic induction member 2112, so that the first magnetic member 2111 and the first electromagnetic induction member 2112 can generate electromagnetic forces of different sizes when they move relative to each other, thereby meeting the appropriate steering damping required under different working conditions.

[0077] In other embodiments, when the energy recovery device 200 is disposed on the steering movable member 120 in the steering mechanism 100, for example, when the energy recovery device 200 is disposed on the steering gear rack 121, the energy recovery device 200 includes a second damping mechanism 212 adapted to the steering gear rack 121, and when the vehicle controller determines that steering damping is required, the second damping mechanism 212 is used to provide a reverse torque to the steering mechanism 100 to provide steering damping, and convert the energy generated when providing steering damping into electrical energy and store it in the energy storage device 220.

[0078] In some embodiments, please refer to Figure 3 As shown, the second damping mechanism 212 includes a second magnetic member 2121, a second electromagnetic induction member 2122 and a rotating member 2123, the rotating member 2123 meshes with the steering movable member 120 to convert the linear motion of the steering movable member 120 into a rotary motion. For example, when the steering movable member 120 is a steering gear rack 121, the rotating member 2123 includes but is not limited to a ball screw pair, the second magnetic member 2121 is arranged on the outer peripheral side of the rotating member 2123, and is selectively connected to the rotating member 2123; the second electromagnetic induction member 2122 is arranged on the outer peripheral side of the second magnetic member 2121, and the second electromagnetic induction member 2122 is electrically connected to the energy storage device, for example, the second electromagnetic induction member 2122 and the energy storage device are electrically connected to the energy storage device 220 through a wire 230, so that when the vehicle turns, the vehicle When the controller determines that steering damping needs to be provided to the vehicle steering mechanism 100, the second magnetic member 2121 is connected to the rotating member 2123. When the steering movable member 120 moves, the rotating member 2123 is driven to rotate. The rotating member 2123 drives the second magnetic member 2121 to rotate relative to the second electromagnetic induction member 2122. Electromagnetic force is generated between the second electromagnetic induction member 2122 and the second magnetic member 2121. The electromagnetic force provides steering damping to the steering mechanism 100. There is no need for the power-assisted motor 300 to provide steering damping, thereby saving the electric energy consumed by the power-assisted motor 300 when providing steering damping. In addition, the second electromagnetic induction member 2122 converts the induced current generated when cutting the magnetic flux lines of the second magnetic member 2121 into electric energy and stores it in the energy storage device 220, so as to recycle the energy generated when providing steering damping, thereby achieving the purpose of energy saving and environmental protection.

[0079] It should be noted that the positions of the second magnetic member 2121 and the second electromagnetic induction member 2122 can be exchanged. For example, the second electromagnetic induction member 2122 can be located between the rotating member 2123 and the second magnetic member 2121. The second magnetic member 2121 is arranged on the side of the second electromagnetic induction member 2122 away from the rotating member 2123. The second electromagnetic induction member 2122 can be selectively connected to the rotating member 2123. In this way, when the vehicle turns, when the vehicle controller determines that steering damping needs to be provided to the vehicle steering mechanism 100, the second electromagnetic induction member 2122 is connected to the rotating member 2123. When the steering movable member 120 moves in a straight line, the rotating member 2123 is driven to rotate. The rotating member 2123 drives the second electromagnetic induction member 2122 to rotate relative to the second magnetic member 2121. In this way, an electromagnetic force is generated between the second electromagnetic induction member 2122 and the second magnetic member 2121, and the electromagnetic force provides steering damping for the steering mechanism 100.

[0080] When the vehicle determines that steering damping is not required, the second electromagnetic induction component 2122 or the second magnetic component 2121 is disconnected from the rotating component 2123, wherein the connection or disconnection between the second electromagnetic induction component 2122 or the second magnetic component 2121 and the rotating component 2123 may be achieved by electronic control, that is, when the vehicle controller determines that steering damping is required, the vehicle controller controls the second electromagnetic induction component 2122 or the second magnetic component 2121 to be connected or disconnected from the rotating component 2123.

[0081] In some embodiments, the second magnetic component 2121 includes but is not limited to a permanent magnet, and the second electromagnetic induction component 2122 includes but is not limited to an electromagnetic induction coil. As long as the second magnetic component 2121 and the second electromagnetic induction component 2122 can generate electromagnetic force during relative motion, no limitation is made here.

[0082] It should be noted that, no matter whether the second magnetic member 2121 is arranged close to the rotating member 2123 or the second electromagnetic induction member 2122 is arranged close to the rotating member 2123, the second electromagnetic induction member 2122 and the energy storage device 220 are electrically connected. For example, the second electromagnetic induction member 2122 is electrically connected to the energy storage device 220 through the wire 230 so as to convert the induced current generated between the second electromagnetic induction member 2122 and the second magnetic member 2121 into electrical energy and store it in the energy storage device 220.

[0083] For the convenience of description, the structure of the second damping mechanism 212 will be introduced below by taking the second magnetic member 2121 disposed between the rotating member 2123 and the second electromagnetic induction member 2122 as an example.

[0084] In some embodiments, please refer to Figure 3As shown, the second damping mechanism 212 also includes a second connecting member 2124, which is movably arranged between the second magnetic member 2121 and the rotating member 2123. The second connecting member 2124 is used to connect or disconnect the second magnetic member 2121 and the rotating member 2123, so that the second damping mechanism 212 can provide or not provide steering damping to the steering movable member 120.

[0085] Exemplarily, the second connecting member 2124 includes but is not limited to a controllable locking pin, which can be connected to a vehicle controller, and the controller can selectively control the controllable locking pin to connect or disconnect the second magnetic member 2121 and the rotating member 2123 according to whether steering damping is required; for example, when it is necessary to provide steering damping to the steering mechanism 100, the controller controls the controllable locking pin to move between the second magnetic member 2121 and the rotating member 2123 to connect the second magnetic member 2121 to the rotating member 2123, for example, the controllable locking pin is plugged into the rotating member 2123 so that the rotating member 2123 can drive the second magnetic member 2121 to rotate; when it is necessary to provide steering damping to the steering mechanism 100, the controller controls the controllable locking pin to move away from the rotating member 2123 to release the connection between the second magnetic member 2121 and the steering movable member 120, for example, the controllable locking pin is disconnected from the ball screw pair.

[0086] In addition, due to different steering angles, the required steering damping is also different. In order to provide the steering mechanism 100 with steering damping of different sizes, in an embodiment of the present application, the gap between the second magnetic member 2121 and the second electromagnetic induction member 2122 is adjustable, so that the size of the electromagnetic force can be adjusted by the size of the gap between the second magnetic member 2121 and the second electromagnetic induction member 2122, so that appropriate steering damping can be provided to the steering mechanism 100 according to specific needs, thereby improving the handling stability of the vehicle during steering.

[0087] Please continue to refer to Figure 3As shown, in some embodiments, the second damping mechanism 212 also includes a second elastic member 2125, and the second elastic member 2125 is connected to the second electromagnetic induction member 2122 to adjust the gap size between the second magnetic member 2121 and the second electromagnetic induction member 2122 by adjusting the expansion and contraction amount of the second elastic member 2125; wherein, the second elastic member 2125 includes but is not limited to a controllable spring sheet, and the second elastic member 2125 can be connected to the controller of the vehicle, and the controller can control the elastic expansion and contraction amount of the second elastic member 2125 according to the required steering damping size, so that the second elastic member 2125 drives the second electromagnetic induction member 2122 to move toward or away from the first magnetic member 2111, so as to change the gap size between the second magnetic member 2121 and the second electromagnetic induction member 2122, so that the second magnetic member 2121 and the second electromagnetic induction member 2122 can generate electromagnetic forces of different sizes when they move relative to each other, thereby meeting the appropriate steering damping required under different working conditions.

[0088] It can be seen that the first damping mechanism 211 is suitable for components with rotational motion, the second damping mechanism 212 is suitable for components with linear motion, and the energy storage device 220 can be an energy storage structure such as a battery or a capacitor.

[0089] In addition, it should be noted that no matter it is the first connecting member 2113, the first elastic member 2114, the second connecting member 2124 or the second elastic member 2125, its movement form includes but is not limited to electrical control, and can also be mechanical control, hydraulic control or other control forms. As long as it can be achieved, there is no limitation here.

[0090] In some embodiments, at least one of the steering column 111, the steering gear input shaft 113 and the steering gear rack 121 is further provided with a power-assisting motor 300. When the vehicle is turning, the power-assisting motor 300 can provide steering assistance to the steering mechanism 100 through the power-assisting motor 300 when the vehicle controller determines that it is not necessary to provide steering damping to the vehicle, so that the vehicle can turn quickly; or, when the vehicle controller determines that it is necessary to provide steering damping to the steering mechanism 100, but the damping mechanism 210 in the energy recovery device 200 cannot provide the required steering damping to the steering mechanism 100 alone. In this case, the power-assisted motor 300 can jointly provide steering damping to the steering mechanism 100 together with the damping mechanism 210 to meet the steering damping required when the vehicle is steering. That is to say, the power-assisted motor 300 can assist the damping mechanism 210 in providing steering damping, and can also provide steering damping to the steering mechanism 100 when the damping mechanism 210 is unable to provide steering damping to the steering mechanism 100. In short, in any case, the vehicle controller can provide steering damping to the steering mechanism 100 as long as it determines that steering damping is needed, so as to ensure driving safety, stability and driving experience.

[0091] In addition, the vehicle steering system 10 also includes a torque angle sensor 400, which is arranged on the steering mechanism 100. For example, the torque angle sensor 400 includes but is not limited to being arranged on the steering gear input shaft 113, so as to obtain the vehicle's current speed signal, angle signal and steering wheel torque signal, so as to judge the driving intention at this time according to the obtained speed signal, angle signal and steering wheel torque signal, and the vehicle controller judges whether it is necessary to provide steering damping to improve the vehicle's handling performance according to the obtained driving intention.

[0092] In some embodiments, the vehicle steering system 10 also includes a speed change mechanism, which can be arranged between the damping mechanism 210 and the steering mechanism 100 to change the speed-torque ratio of the damping mechanism 210 through the speed change mechanism to obtain reverse torques of different sizes and provide different steering damping.

[0093] Exemplarily, when the energy recovery device 200 is disposed on the steering rotating member 110 of the steering mechanism 100, the speed changing mechanism can be disposed between the steering rotating member 110 and the first magnetic member 2111. Thus, when the steering rotating member 110 rotates around its own axis, the speed of the first magnetic member 2111 can be changed by the speed changing mechanism, thereby improving the speed-torque ratio of the damping mechanism 210.

[0094] Among them, the speed changing mechanism includes but is not limited to a gear transmission group, so as to achieve the purpose of speed changing through parameters such as the number of gear transmission groups and the number of teeth of each gear. The speed changing principle of the speed changing mechanism can refer to the principle of the reducer in the relevant technology, which will not be repeated here.

[0095] An embodiment of the present application also provides a vehicle, which includes a vehicle body and the vehicle steering system provided in the above embodiment.

[0096] Among them, the structure of the vehicle steering system has been described in detail in the above embodiments and will not be repeated here.

[0097] In addition, the vehicle body includes but is not limited to new energy vehicles, such as electric vehicles.

[0098] An embodiment of the present application also provides a method for controlling a vehicle steering system. The method for controlling a vehicle steering system is applicable to the vehicle steering system and the vehicle provided in the above embodiment.

[0099] Please combine Figure 1 As shown, the vehicle steering system 10 includes a steering mechanism 100 and an energy recovery device 200 . The energy recovery device 200 includes a damping mechanism 210 . The steering mechanism 100 includes a steering rotating member 110 and a steering moving member 120 . The damping mechanism 210 is configured to provide steering damping to the steering mechanism 100 .

[0100] Among them, the steering mechanism 100 includes a steering column 111, a steering intermediate shaft 112, a steering gear input shaft 113 and a steering gear rack 121, etc. The energy recovery device 200 can be arranged on at least one of the steering column 111, the steering gear input shaft 113 and the steering gear rack 121 to provide steering damping to the steering mechanism 100 through the damping mechanism 210.

[0101] In some embodiments, the energy recovery device 200 further includes an energy storage device 220 , which is connected to the damping mechanism 210 . The energy generated by the damping mechanism 210 when providing the damping torque is converted into electrical energy, and the electrical energy is stored in the energy storage device 220 .

[0102] In some embodiments, the vehicle steering system 10 also includes a power-assisted motor 300, which can be arranged on at least one of the steering column 111, the steering gear input shaft 113 and the steering gear rack 121 to provide steering assistance to the steering mechanism 100 through the power-assisted motor 300. When necessary, for example, when the energy recovery device 200 cannot provide the steering damping required to meet the current operating conditions of the vehicle, or when the energy recovery device 200 fails to work, when it is necessary to provide steering damping to the steering mechanism 100, the power-assisted motor 300 can provide steering damping to the steering mechanism 100.

[0103] Please refer to Figure 4 As shown, the control method of the vehicle steering system provided in the embodiment of the present application includes:

[0104] Step S101: Obtain vehicle steering parameters.

[0105] Step S102: determining whether steering damping needs to be provided according to the obtained vehicle steering parameters;

[0106] Step S103: If steering damping is required, the damping mechanism is controlled to provide steering damping to the steering mechanism.

[0107] The damping mechanism 210 provides steering damping to the steering mechanism 100 . Damping is electromagnetic force and is an operation mode that can generate energy. Therefore, the energy generated when providing steering damping can be converted into electrical energy and stored in the energy storage device.

[0108] In some embodiments, the vehicle steering parameter includes at least one of a vehicle speed signal, a steering angle signal, and a steering wheel torque signal.

[0109] In some embodiments, please combine Figure 1As shown, a torque angle sensor 400 may be provided on the steering mechanism 100. When the vehicle is turning, the torque angle sensor 400 may obtain vehicle steering parameters such as the vehicle speed signal, angle signal, and steering wheel torque signal at this time. The vehicle controller determines the driving intention at this time based on the obtained vehicle steering parameters, and thereby determines whether steering damping needs to be provided based on the driving intention at this time.

[0110] The following will introduce the methods of providing steering damping respectively.

[0111] In some embodiments, Figure 6 As shown in , the vehicle controller determines the driving intention at this time based on the vehicle speed signal, steering angle signal and steering wheel torque signal. The vehicle controller determines whether steering damping is needed to improve the vehicle's handling performance based on the driving intention at this time. When it is determined that steering damping is needed, the vehicle controller controls the power-assisted motor to provide damping torque. When damping is not needed, the controller controls the power-assisted motor to provide power-assisted torque to facilitate rapid steering of the vehicle. It should be noted that if steering damping is provided by a power-assisted motor, electric energy will be consumed. Therefore, electric energy needs to be provided to the power-assisted motor externally. This solution is applicable to situations where the vehicle is not equipped with an energy recovery device or the controller determines that the energy recovery device is faulty and cannot be used.

[0112] In other embodiments, Figure 7 As shown in , the vehicle controller determines the driving intention at this time according to the vehicle speed signal, steering angle signal and steering wheel torque signal. The vehicle controller determines whether it is necessary to provide steering damping to improve the vehicle's handling performance according to the driving intention at this time. When it is determined that steering damping is needed, the vehicle controller controls the damping mechanism in the energy recovery device to provide a damping torque, wherein the damping torque is an electromagnetic force and is an operating mode that can generate energy. Therefore, the generated energy can be converted into electrical energy and stored in the energy storage device in the energy recovery device, thereby achieving the purpose of energy saving and environmental protection; and when it is determined that damping is not needed, the controller controls the power-assisted motor to provide a power-assisted torque to the steering mechanism, so as to facilitate quick steering of the vehicle.

[0113] In some embodiments, please refer to Figure 5 As shown, after determining that steering damping needs to be provided according to the acquired vehicle steering parameters, the method further includes:

[0114] Step S104: Determine the required steering damping.

[0115] Step S105: determining whether the steering damping provided by the damping mechanism is greater than the required steering damping according to the required steering damping;

[0116] Step S106: If not, control the power-assisting motor and the damping mechanism to jointly provide steering damping to the steering mechanism.

[0117] For specific implementation, please refer to Figure 8 As shown, when the vehicle is turning, the torque angle sensor obtains the vehicle speed signal, the steering angle signal and the steering wheel torque signal of the vehicle at this time, so as to obtain the driving intention according to the vehicle speed signal, the steering angle signal and the steering wheel torque signal at this time. The vehicle controller determines whether it is necessary to provide steering damping according to the driving intention at this time. If steering damping is required, the vehicle controller can first determine the required steering damping according to the obtained parameters such as the vehicle speed signal, the steering angle signal and the steering wheel torque signal at this time. The vehicle controller determines whether the maximum steering damping that the damping mechanism can provide is greater than the required steering damping according to the required steering damping. If the condition is satisfied, the vehicle controller controls the damping size of the damping mechanism in the energy recovery device and outputs steering damping to the steering mechanism; if the controller determines that the damping size provided by the damping mechanism does not meet the damping size required by the steering mechanism, the controller controls the power-assisted motor to intervene and assist in providing steering damping, that is, the vehicle controller controls the power-assisted motor and the damping mechanism to jointly provide the required steering damping to the steering mechanism. In this way, it can be ensured that the vehicle provides a certain degree of redundancy in steering damping, and can provide the steering damping required for driving under any circumstances, thereby bringing a better driving experience to the driver and improving the vehicle's handling stability when turning.

[0118] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle steering system, characterized in that: include: A steering mechanism (100), the steering mechanism (100) comprising a steering rotating member (110) and a steering moving member (120); an energy recovery device (200), arranged on at least one of the steering rotating member (110) and the steering moving member (120), the energy recovery device (200) comprising a damping mechanism (210), the damping mechanism (210) being configured to provide a damping torque to the steering mechanism (100); A vehicle controller, wherein the vehicle controller determines whether steering damping needs to be provided according to a vehicle steering parameter, and if the steering damping needs to be provided, the vehicle controller controls the damping mechanism (210) to provide the steering damping for the steering mechanism (100).

2. The vehicle steering system according to claim 1, characterized in that: The energy recovery device (200) further comprises an energy storage device (220), wherein the energy storage device (220) is connected to the damping mechanism (210), and the energy generated by the damping mechanism (210) when providing the damping torque is converted into electrical energy and stored in the energy storage device (220).

3. The vehicle steering system according to claim 2, characterized in that: The damping torque provided by the damping mechanism (210) to the steering mechanism (100) is adjustable.

4. The vehicle steering system according to claim 3, characterized in that: The energy recovery device (200) comprises a first damping mechanism (211), wherein the first damping mechanism (211) is configured to provide a damping torque to the steering rotary member (110).

5. The vehicle steering system according to claim 4, characterized in that: The first damping mechanism (211) comprises a first magnetic member (2111), a first electromagnetic induction member (2112) and a first connecting member (2113); the first magnetic member (2111) is arranged on the outer peripheral side of the steering rotating member (110), and is selectively connected to the steering rotating member (110) via the first connecting member (2113); the first electromagnetic induction member (2112) is arranged on the outer peripheral side of the first magnetic member (2111), and the gap between the first electromagnetic induction member (2112) and the first magnetic member (2111) is adjustable; the first electromagnetic induction member (2112) is electrically connected to the energy storage device (220); When it is necessary to provide a damping torque to the steering rotating member (110), the first connecting member connects the first magnetic member (2111) and the steering rotating member (110), and the steering rotating member (110) drives the first magnetic member (2111) to rotate relative to the first electromagnetic induction member (2112), so that an electromagnetic force is generated between the first magnetic member (2111) and the first electromagnetic induction member (2112), the electromagnetic force forms the damping torque, and converts the induced current generated by the first electromagnetic induction member (2112) cutting the magnetic flux lines of the first magnetic member (2111) into electrical energy, which is stored in the energy storage device (220).

6. The vehicle steering system according to claim 5, characterized in that: The first damping mechanism (211) further comprises a first elastic member (2114), wherein the first elastic member (2114) is connected to the first electromagnetic induction member (2112) so as to adjust the size of the gap between the first magnetic member (2111) and the first electromagnetic induction member (2112) by adjusting the expansion and contraction amount of the first elastic member (2114).

7. The vehicle steering system according to claim 3, characterized in that: The energy recovery device (200) comprises a second damping mechanism (212), wherein the second damping mechanism (212) is configured to provide a damping torque to the steering movable member (120).

8. The vehicle steering system according to claim 7, characterized in that: The second damping mechanism (212) comprises a second magnetic member (2121), a second electromagnetic induction member (2122), a rotating member (2123) and a second connecting member (2124); the rotating member (2123) meshes with the steering movable member (120) to convert the linear motion of the steering movable member (120) into rotary motion; The second magnetic member (2121) is arranged on the outer peripheral side of the rotating member (2123), and is selectively connected to the rotating member (2123) via the second connecting member (2124); the second electromagnetic induction member (2122) is arranged on the outer peripheral side of the second magnetic member (2121), and the gap between the second electromagnetic induction member (2122) and the second magnetic member (2121) is adjustable, and the second electromagnetic induction member (2122) is electrically connected to the energy storage device (220); When it is necessary to provide a damping torque to the steering movable member (120), the second connecting member (2124) connects the second magnetic member (2121) and the rotating member (2123), and the rotating member (2123) drives the second magnetic member (2121) to rotate relative to the second electromagnetic induction member (2122), so that an electromagnetic force is generated between the second magnetic member (2121) and the second electromagnetic induction member (2122), and the electromagnetic force forms the damping torque, and converts the induced current generated by the second electromagnetic induction member (2122) cutting the magnetic flux lines of the second magnetic member (2121) into electrical energy, which is stored in the energy storage device (220).

9. A vehicle, characterized in that: Comprising a vehicle steering system as described in any one of claims 1-8.

10. A method for controlling a vehicle steering system, characterized in that: The vehicle steering system comprises a steering mechanism and an energy recovery device, wherein the steering mechanism comprises a steering rotating member and a steering movable member, the energy recovery device is arranged on at least one of the steering rotating member and the steering movable member, and the energy recovery device comprises a damping mechanism, wherein the damping mechanism is configured to provide steering damping to the steering mechanism; the control method comprises: Get vehicle steering parameters; Determining whether steering damping needs to be provided according to the obtained vehicle steering parameters; If the steering damping needs to be provided, the damping mechanism is controlled to provide steering damping to the steering mechanism.

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