Emergency steering test method, power steering control system, and vehicle

Abstract

The application provides an emergency steering test method, a power steering control system and a vehicle. The power steering control system comprises a steering motor high-voltage winding, a steering motor low-voltage winding, a steering oil pump high-voltage controller and an emergency steering low-voltage controller, and the power steering control system has switchable high-voltage steering working mode and emergency steering working mode. The method comprises the following steps: when it is necessary to perform emergency steering test on the vehicle, the VCU is controlled to forcibly open the low-voltage steering enable switch; when a key ON gear signal is received and the vehicle speed is greater than a predetermined vehicle speed threshold, the connection between the steering oil pump high-voltage controller and the steering motor high-voltage winding is controlled to be cut off, the emergency steering low-voltage controller is controlled to be connected with the steering motor low-voltage winding, and the emergency steering working mode is switched to perform emergency steering test on the vehicle. The application can perform emergency steering test on the vehicle in advance according to the need.

Description

Technical Field

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

[0002] When an emergency fault such as a battery burn occurs in the vehicle, the VCU (vehicle control unit) will immediately cut off the Class B high voltage power. At this time, the entire vehicle will instantly lose steering power, making the driver's steering wheel heavy or almost impossible to operate, posing a safety hazard. With the full implementation of GB 38032-2020 "Safety Requirements for Electric Buses", most bus companies have adopted power steering control systems equipped with emergency low-voltage steering functions. These can provide power backup in emergencies and provide emergency steering assistance to the vehicle when the high-voltage power supply is unavailable. This solves the problem of "when an abnormal vehicle situation occurs during driving that requires the entire vehicle to be disconnected from the Class B high voltage power, the steering system should maintain the power state or at least maintain the steering power state for 30 seconds when the vehicle speed is greater than 5km / h."

[0003] However, due to the low probability of "vehicle abnormalities requiring a complete disconnection of Class B high voltage power" during actual use, the probability of a shutdown failure of the steering oil pump high-voltage controller in the power steering control system is low, resulting in a low probability of the emergency steering low-voltage controller being activated. Therefore, the emergency steering function is generally not tested before the vehicle leaves the factory, or it is difficult to simulate a high-voltage steering failure to activate emergency steering, making it unclear how effective the emergency steering function is. The power steering control systems of existing vehicles only enter emergency steering mode when a high-voltage steering failure actually occurs. However, since the vehicles have not undergone preliminary testing and verification, there is no guarantee that the emergency steering mode will respond promptly during actual operation. This creates the risk of emergency steering not being activated when it is actually needed. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an emergency steering test method, a power steering control system and a vehicle, which can perform an emergency steering test on the vehicle in advance as needed.

[0005] One aspect of an embodiment of the present application provides an emergency steering test method for a power steering control system. The power steering control system includes a steering motor high-voltage winding, a steering motor low-voltage winding, a steering oil pump high-voltage controller for controlling the steering motor high-voltage winding, and an emergency steering low-voltage controller for controlling the steering motor low-voltage winding. The power steering control system has a switchable high-voltage steering operating mode and an emergency steering operating mode. The method includes: when an emergency steering test is required on a vehicle, controlling the VCU to force the low-voltage steering enable switch to turn on; when a key-on signal is received and the vehicle speed is greater than a predetermined speed threshold, controlling the disconnection between the steering oil pump high-voltage controller and the steering motor high-voltage winding, and controlling the connection between the emergency steering low-voltage controller and the steering motor low-voltage winding, thereby switching to the emergency steering operating mode to perform an emergency steering test on the vehicle.

[0006] Furthermore, the method further includes: when a shutdown condition of the emergency steering is met, controlling the emergency steering low-voltage controller to be disconnected from the low-voltage winding of the steering motor to cut off the emergency steering working mode.

[0007] Furthermore, when the emergency steering working mode operates for a predetermined time or the vehicle speed is less than or equal to the predetermined vehicle speed threshold, it is determined that the closing condition of the emergency steering is met.

[0008] Furthermore, the method also includes: after cutting off the emergency steering working mode, if the high-pressure steering start-up conditions are met, controlling the steering oil pump high-pressure controller to connect with the steering motor high-pressure winding to switch to the high-pressure steering working mode.

[0009] Furthermore, controlling the VCU to force the low-pressure steering enable switch to turn on includes: using a rain and snow mode switch of the vehicle, triggering the VCU to force the low-pressure steering enable switch to turn on by pressing the rain and snow mode switch a predetermined number of times within a predetermined time.

[0010] Another aspect of the embodiments of the present application provides a power steering control system. The power steering control system includes a vehicle controller, a high-voltage winding of a steering motor, a low-voltage winding of a steering motor, a high-voltage controller for a steering oil pump for controlling the high-voltage winding of the steering motor, and an emergency steering low-voltage controller for controlling the low-voltage winding of the steering motor. The power steering control system has a switchable high-voltage steering operating mode and an emergency steering operating mode. In the high-voltage steering operating mode, the high-voltage controller of the steering oil pump is connected to the high-voltage winding of the steering motor, and the emergency steering low-voltage controller is disconnected from the low-voltage winding of the steering motor. In the emergency steering operating mode, the emergency steering low-voltage controller is connected to the low-voltage winding of the steering motor, and the high-voltage controller of the steering oil pump is disconnected from the high-voltage winding of the steering motor. Among them, the vehicle controller is used to control the connection between the steering oil pump high-voltage controller and the steering motor high-voltage winding when the VCU forced low-voltage steering enable switch is turned on, and when the key ON signal is received and the vehicle speed is greater than a predetermined speed threshold, to cut off the connection between the steering oil pump high-voltage controller and the steering motor high-voltage winding, and to control the emergency steering low-voltage controller to be connected to the steering motor low-voltage winding, switching to the emergency steering working mode to perform an emergency steering test on the vehicle.

[0011] Furthermore, the vehicle controller is also used to control the emergency steering low-voltage controller to disconnect from the steering motor low-voltage winding to cut off the emergency steering working mode when the emergency steering shutdown condition is met.

[0012] Furthermore, when the vehicle operates in the emergency steering working mode for a predetermined time or the vehicle speed is less than or equal to the predetermined vehicle speed threshold, the vehicle controller determines that the emergency steering shutdown condition is met.

[0013] Furthermore, the vehicle controller is also used to control the steering oil pump high-pressure controller to connect with the steering motor high-voltage winding to switch to the high-pressure steering working mode after cutting off the emergency steering working mode if the high-pressure steering start conditions are met.

[0014] Furthermore, the vehicle controller is used to receive an on signal of the VCU forced low-voltage steering enable switch which is triggered when the vehicle's rain and snow mode switch is pressed a predetermined number of times within a predetermined time.

[0015] Another aspect of the embodiments of the present application provides a vehicle, wherein the vehicle includes the power steering control system as described above.

[0016] The emergency steering test method, power steering control system and vehicle of one or more embodiments of the present application can utilize the VCU forced low-voltage steering enable switch to "force low-voltage steering enable" for the power steering control system of the entire vehicle by formulating corresponding control strategies. Thus, the vehicle can be tested for emergency steering in advance according to actual needs, and there is no need to simulate a high-voltage steering failure to activate the emergency steering function. The application is generalizable and easy to operate.

[0017] The emergency steering test method of the power steering control system of one or more embodiments of the present application can perform emergency steering tests on the vehicle in advance as needed to ensure the effectiveness of the emergency steering function, so that when a high-voltage steering failure occurs during actual use, the emergency steering function can be enabled in time to ensure timely response of the emergency steering and improve the active safety performance of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of a power steering control system in a high-pressure steering working mode according to an embodiment of the present application.

[0019] Figure 2 This is a schematic diagram of a power steering control system in an emergency steering working mode according to an embodiment of the present application.

[0020] Figure 3 This is a flow chart of an emergency steering test method for a power steering control system according to an embodiment of the present application.

[0021] Figure 4 This is a flow chart of an emergency steering test method for a power steering control system according to another embodiment of the present application. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of devices consistent with certain aspects of the present application, as detailed in the appended claims.

[0023] The emergency steering test method and power steering control system of the power steering control system provided by the present application can be used to force the actual vehicle to undergo an emergency steering test in advance before an actual high-voltage steering failure occurs in the vehicle, for example, before the vehicle leaves the factory or when the certification is announced, that is, to forcibly cut off the high-voltage steering and switch to the emergency steering, and force the actual vehicle to run the emergency steering working mode in advance, so as to test in advance whether the emergency steering function of the actual vehicle can respond normally, so as to ensure that the actual vehicle can respond in time when emergency steering is actually needed. In other words, the emergency steering test method of the power steering control system of the present application is not a "preparatory work" before the product is launched, but a test for a formal automobile product (i.e., an actual vehicle). The purpose of the test is to test whether the emergency steering function equipped on the actual vehicle can respond normally and in time.

[0024] The emergency steering test method of the power steering control system, the power steering control system and the vehicle of the present application are described in detail below with reference to the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0025] The present application provides a power steering control system. Figure 1 and Figure 2 The working principle diagram of the power steering control system 100 of one embodiment of the present application is disclosed. Figure 1 and Figure 2 As shown, the power steering control system 100 of an embodiment of the present application can be, for example, an electric hydraulic power steering control system, which includes a power steering control device 110, a power steering power supply device 120 and a power steering actuator 130, the power steering power supply device 120 is electrically connected to the power steering control device 110, and the power steering control device 110 is fixedly connected to the power steering actuator 130.

[0026] The power steering control device 110 includes a vehicle control unit (VCU) 111, a steering oil pump high-voltage controller 112, an emergency steering low-voltage controller 114, a steering motor high-voltage winding 113, and a steering motor low-voltage winding 115. Both the steering motor high-voltage winding 113 and the steering motor low-voltage winding 115 are installed inside the steering motor.

[0027] The vehicle controller 111 is connected to the steering oil pump high pressure controller 112 and the emergency steering low pressure controller 114. For example, the vehicle controller 111 can be connected to the steering oil pump high pressure controller 112 and the emergency steering low pressure controller 114 via a CAN (Controller Area Network) bus.

[0028] The steering oil pump high-voltage controller 112 is electrically connected to the power steering power supply device 120. The power steering power supply device 120 can be used to supply power to the steering oil pump high-voltage controller 112. The steering oil pump high-voltage controller 112 is connected to the steering motor high-voltage winding 113 and can be used to control the steering motor high-voltage winding 113.

[0029] The emergency steering low-voltage controller 114 is electrically connected to the power steering power supply device 120. The power steering power supply device 120 can be used to supply power to the emergency steering low-voltage controller 114. The emergency steering low-voltage controller 114 is connected to the steering motor low-voltage winding 115 and can be used to control the steering motor low-voltage winding 115.

[0030] In some embodiments, the power steering power supply device 120 may include a high voltage power supply 121 and an emergency steering low voltage power supply 122. The high voltage power supply 121 is electrically connected to the steering oil pump high voltage controller 112, and the emergency steering low voltage power supply 122 is electrically connected to the emergency steering low voltage controller 114.

[0031] The steering motor's high-voltage winding 113 and low-voltage winding 115 are fixedly connected to the power steering actuator 130. In some embodiments, the power steering actuator 130 may include a steering oil tank 131, a steering oil pump 132, a steering motor, a steering gear 133, and a steering wheel 134. The steering oil tank 131 primarily stores, filters, and cools the working oil. The steering oil tank 131 is fixedly connected to one end of the steering oil pump 132 via an oil pipe. The other end of the steering oil pump 132 is fixedly connected to the steering gear 133 via an oil pipe. The steering motor and steering oil pump 132 work together to provide power steering to the power steering control system 100, thereby improving the system's response speed and power assistance effect. The steering oil pump 132 pumps the output high-pressure oil into the steering gear 133, driving the transmission mechanism within the steering gear 133. The steering gear 133 is rotationally connected to the steering wheel 134 via a universal joint, thereby providing hydraulic power assistance to the steering wheel 134 operated by the driver.

[0032] The power steering control system 100 of the present application has a high-pressure steering working mode and an emergency steering working mode. The power steering control system 100 of the present application can switch between the high-pressure steering working mode and the emergency steering working mode.

[0033] like Figure 1 As shown, in the high-voltage steering working mode, the steering oil pump high-voltage controller 112 is connected to the steering motor high-voltage winding 113, and the steering motor high-voltage winding 113 is controlled by the steering oil pump high-voltage controller 112. At this time, the emergency steering low-voltage controller 114 is disconnected from the steering motor low-voltage winding 115, and the low voltage does not participate in the work.

[0034] like Figure 2 As shown, in the emergency steering working mode, the emergency steering low-voltage controller 114 is connected to the steering motor low-voltage winding 115, and the emergency steering low-voltage controller 114 controls the operation of the steering motor low-voltage winding 115. At this time, the steering oil pump high-voltage controller 112 is disconnected from the steering motor high-voltage winding 113, and the high voltage does not participate in the work.

[0035] The main working principles of the power steering control system 100 of this application are as follows:

[0036] Under normal circumstances, the steering oil pump high pressure controller 112 operates at a given frequency, and the emergency steering low pressure controller 114 does not operate at this time. Figure 1 The solid line process shown performs high-pressure steering control.

[0037] When a vehicle requires emergency steering testing, such as before shipment or during certification, the VCU forced low-voltage steering enable switch can be activated. In one embodiment, the existing rain / snow mode switch on the vehicle's dashboard can be utilized. The vehicle's computer system can be pre-programmed to trigger the VCU forced low-voltage steering enable switch by pressing the rain / snow mode switch a predetermined number of times within a predetermined time. For example, pressing the rain / snow mode switch 10 times within 20 seconds can trigger the VCU forced low-voltage steering enable switch to activate.

[0038] Therefore, when the vehicle's rain and snow mode switch is pressed a predetermined number of times within a predetermined time, the VCU forced low-voltage steering enable switch is triggered to turn on. At this time, the vehicle controller 111 can receive the turn-on signal of the VCU forced low-voltage steering enable switch.

[0039] In the case where the VCU forced low-voltage steering enable switch is turned on, when the vehicle controller 111 receives the key ON signal and the received vehicle speed signal is greater than the predetermined vehicle speed threshold, it controls the connection between the steering oil pump high-voltage controller 112 and the steering motor high-voltage winding 113 to be cut off, and controls the emergency steering low-voltage controller 114 to be connected to the steering motor low-voltage winding 115, switching to the emergency steering working mode, according to Figure 2 The solid line process shown performs emergency steering control, so that the vehicle can be tested for emergency steering in advance. After the emergency steering is turned on, the steering oil pump high pressure controller 112 is disconnected to form an interlocking relationship.

[0040] After emergency steering is turned on, when the emergency steering shutdown conditions are met, the vehicle controller 111 can also control the emergency steering low-voltage controller 114 to disconnect from the steering motor low-voltage winding 115, thereby cutting off the emergency steering working mode. In one embodiment, when the emergency steering working mode operates for a predetermined period of time or the vehicle speed is less than or equal to a predetermined speed threshold, the vehicle controller 111 can determine that the emergency steering shutdown conditions are met. For example, when the emergency steering operates for 60 seconds or the vehicle speed is ≤5 km / h, the vehicle controller 111 can automatically cut off the emergency steering.

[0041] After the emergency steering mode is cut off, if the high-voltage steering start condition is met, the vehicle controller 111 can also control the steering oil pump high-voltage controller 112 to connect to the steering motor high-voltage winding 113, thereby switching to the emergency steering mode. Figure 1 If the high-pressure steering operating mode is not satisfied at this time, the vehicle controller 111 controls both the high-pressure steering and the emergency steering to stop working.

[0042] After the emergency steering test is completed and the vehicle is powered on again, the vehicle returns to normal power steering mode.

[0043] The power steering control system 100 of the present application utilizes the VCU forced low-pressure steering enable switch and, by formulating corresponding control strategies, performs "forced low-pressure steering enablement" on the power steering control system of the entire vehicle. Thus, the vehicle can be tested for emergency steering in advance according to actual needs, and there is no need to simulate a high-pressure steering failure to activate the emergency steering function. The system is scalable and easy to operate.

[0044] The power steering control system 100 of the present application can ensure the effectiveness of the emergency steering function, so that when a high-voltage steering failure occurs during actual use, the emergency steering function can be enabled in time, ensuring timely response of the emergency steering and improving the active safety performance of the entire vehicle.

[0045] The present application also provides an emergency steering test method for a power steering control system 100. The power steering control system 100 includes a steering motor high-voltage winding 113, a steering motor low-voltage winding 115, a steering oil pump high-voltage controller 112 for controlling the steering motor high-voltage winding 113, and an emergency steering low-voltage controller 114 for controlling the steering motor low-voltage winding 115. The power steering control system 100 has a switchable high-voltage steering operating mode and an emergency steering operating mode.

[0046] Figure 3 The flowchart of the emergency steering test method of the power steering control system 100 according to one embodiment of the present application is disclosed. Figure 3As shown, the emergency steering test method of the power steering control system 100 according to one embodiment of the present application may include steps S11 to S15.

[0047] In step S11 , an emergency steering test needs to be performed on the vehicle.

[0048] In step S12, when an emergency steering test is required for the vehicle, the VCU is controlled to force the low-voltage steering enable switch to be turned on.

[0049] For example, the vehicle's rain and snow mode switch may be used to trigger the VCU to force the low-voltage steering enable switch to turn on by pressing the vehicle's rain and snow mode switch a predetermined number of times within a predetermined time.

[0050] In step S13, it is determined whether a key-on signal and a vehicle speed exceeding a predetermined threshold value have been received. If the result of the determination is "yes," the process proceeds to step S14. Otherwise, the process returns to continue monitoring and determining.

[0051] In step S14, when the key-on signal is received and the vehicle speed is greater than a predetermined speed threshold, the steering oil pump high-voltage controller 112 is disconnected from the steering motor high-voltage winding 113, and the emergency steering low-voltage controller 114 is connected to the steering motor low-voltage winding 115. The process then proceeds to step S15.

[0052] In step S15 , the system switches to an emergency steering working mode to perform an emergency steering test on the vehicle.

[0053] Figure 4 A flow chart of an emergency steering test method of a power steering control system 100 according to another embodiment of the present application is disclosed. Figure 4 As shown, in some embodiments, after entering the emergency steering working mode in step S15, the emergency steering test method of the power steering control system 100 of the present application may further include steps S21 and S22.

[0054] In step S21, it is determined whether the emergency steering shutdown condition is met. If the result of the determination is "yes", the process proceeds to step S22. Otherwise, the process returns to continue monitoring and determining.

[0055] In step S22 , when the emergency steering shutdown condition is met, the emergency steering low-voltage controller 114 is controlled to be disconnected from the steering motor low-voltage winding 115 to cut off the emergency steering working mode.

[0056] In one embodiment, when the emergency steering working mode operates for a predetermined time or the vehicle speed is less than or equal to a predetermined vehicle speed threshold, it can be determined that the emergency steering shutdown condition is met.

[0057] Continue to refer to Figure 4 In some embodiments, after the emergency steering working mode is cut off, the emergency steering test method of the power steering control system 100 of the present application may further include steps S23 to S25.

[0058] In step S23, it is determined whether the high-pressure steering activation condition is met. If the result of the determination is "yes", the process proceeds to step S24. Otherwise, the process proceeds to step S25.

[0059] In step S24 , if the high-pressure steering start condition is met, the steering oil pump high-pressure controller 112 is controlled to be connected to the steering motor high-pressure winding 113 to switch to the high-pressure steering working mode.

[0060] In step S25 , if the activation condition of the high-pressure steering is not met at this time, both the high-pressure steering and the emergency steering may be controlled to stop working.

[0061] The emergency steering test method of the power steering control system 100 of the present application can utilize the VCU forced low-voltage steering enable switch, and by formulating corresponding control strategies, the power steering control system 100 of the entire vehicle can be "forced to enable low-voltage steering". Therefore, the vehicle can be tested for emergency steering in advance according to actual needs, and there is no need to simulate a high-voltage steering failure to start the emergency steering function. It is popularizable and easy to operate.

[0062] The emergency steering test method of the power steering control system 100 of the present application can perform emergency steering tests on the vehicle in advance as needed to ensure the effectiveness of the emergency steering function, so that when a high-voltage steering failure occurs during actual use, the emergency steering function can be enabled in time to ensure timely response of the emergency steering and improve the active safety performance of the entire vehicle.

[0063] The present application also provides a vehicle, which includes the power steering control system 100 described above.

[0064] The above is a detailed introduction to the emergency steering test method, power steering control system and vehicle provided in the embodiments of the present application. Specific examples are used herein to illustrate the emergency steering test method, power steering control system and vehicle in the embodiments of the present application. The description of the above embodiments is only used to help understand the core idea of ​​the present application and is not intended to limit the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the spirit and principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall within the scope of protection of the claims attached to the present application.

Claims

1. A method for testing emergency steering of a power steering control system, characterized in that: The power steering control system includes a steering motor high-voltage winding, a steering motor low-voltage winding, a steering oil pump high-voltage controller for controlling the steering motor high-voltage winding, and an emergency steering low-voltage controller for controlling the steering motor low-voltage winding. The power steering control system has a switchable high-voltage steering working mode and an emergency steering working mode. The method includes: When an emergency steering test is required on the vehicle, the VCU is controlled to force the low-voltage steering enable switch to be turned on; When a key ON signal is received and the vehicle speed is greater than a predetermined speed threshold, the connection between the steering oil pump high-voltage controller and the steering motor high-voltage winding is cut off, and the emergency steering low-voltage controller is controlled to be connected to the steering motor low-voltage winding, switching to the emergency steering working mode to perform an emergency steering test on the vehicle.

2. The method according to claim 1, wherein Also includes: When the emergency steering shutdown condition is met, the emergency steering low-voltage controller is controlled to be disconnected from the steering motor low-voltage winding to cut off the emergency steering working mode.

3. The method according to claim 2, wherein When the emergency steering working mode operates for a predetermined time or the vehicle speed is less than or equal to the predetermined vehicle speed threshold, it is determined that the emergency steering shutdown condition is met.

4. The method according to claim 2, wherein Also includes: After the emergency steering working mode is cut off, if the high-pressure steering start condition is met, the steering oil pump high-pressure controller is controlled to be connected to the steering motor high-pressure winding to switch to the high-pressure steering working mode.

5. The method according to claim 1, wherein Controlling the VCU to force the low-voltage steering enable switch to turn on includes: The vehicle's rain and snow mode switch is used to trigger the VCU to force the low-pressure steering enable switch to turn on by pressing the rain and snow mode switch a predetermined number of times within a predetermined time.

6. A power steering control system, characterized in that: It includes a vehicle controller, a steering motor high-voltage winding, a steering motor low-voltage winding, a steering oil pump high-voltage controller for controlling the steering motor high-voltage winding, and an emergency steering low-voltage controller for controlling the steering motor low-voltage winding. The power steering control system has a switchable high-voltage steering working mode and an emergency steering working mode. In the high-voltage steering working mode, the steering oil pump high-voltage controller is connected to the high-voltage winding of the steering motor, and the emergency steering low-voltage controller is disconnected from the low-voltage winding of the steering motor; in the emergency steering working mode, the emergency steering low-voltage controller is connected to the low-voltage winding of the steering motor, and the steering oil pump high-voltage controller is disconnected from the high-voltage winding of the steering motor. Among them, the vehicle controller is used to control the connection between the steering oil pump high-voltage controller and the steering motor high-voltage winding when the VCU forced low-voltage steering enable switch is turned on, and when the key ON signal is received and the vehicle speed is greater than a predetermined speed threshold, to cut off the connection between the steering oil pump high-voltage controller and the steering motor high-voltage winding, and to control the emergency steering low-voltage controller to be connected to the steering motor low-voltage winding, switching to the emergency steering working mode to perform an emergency steering test on the vehicle.

7. The power steering control system according to claim 6, wherein: The vehicle controller is further configured to control the emergency steering low-voltage controller to be disconnected from the steering motor low-voltage winding to cut off the emergency steering working mode when the emergency steering shutdown condition is met.

8. The power steering control system according to claim 7, wherein: When the emergency steering working mode operates for a predetermined time or the vehicle speed is less than or equal to the predetermined vehicle speed threshold, the vehicle controller determines that the emergency steering shutdown condition is met.

9. The power steering control system according to claim 7, wherein: The vehicle controller is also used to control the steering oil pump high-pressure controller to connect with the steering motor high-pressure winding to switch to the high-pressure steering working mode after the emergency steering working mode is cut off if the high-pressure steering start condition is met.

10. The power steering control system according to claim 6, wherein: The vehicle controller is used to receive an on signal of the VCU forced low-voltage steering enable switch which is triggered when the vehicle's rain and snow mode switch is pressed a predetermined number of times within a predetermined time.

11. A vehicle, characterized in that: The method comprises the power steering control system according to any one of claims 6 to 10.

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