Unmanned racing car steering control mechanism

Abstract

The invention relates to an unmanned racing car steering control mechanism, and relates to the technical field of unmanned racing car steering, the unmanned racing car steering control mechanism comprises a racing car steering wheel, the bottom of the racing car steering wheel is connected with a steering wheel active reset device, and a direction auxiliary control device is arranged below the steering wheel active reset device; a steering gear is connected to the lower portion of the direction auxiliary control device. The manual driving mode and the unmanned driving mode can be automatically switched, in the unmanned driving process, the rotating action of the steering wheel of the racing car cannot affect the rotating action of the steering wheel of the racing car, and the rotating action of the steering wheel of the racing car cannot affect the rotating action of the steering wheel of the racing car; the position of the steering wheel of the racing car can be adjusted through the rotating position of the steering wheel, the braking force of the wheels can be controlled according to the rotating action of the wheels of the car, and therefore the situation that the car rolls over due to the fact that speed reduction cannot be conducted in time during turning is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of steering of unmanned racing cars, and in particular to a steering control mechanism of an unmanned racing car. Background Art

[0002] Unmanned racing is an intelligent racing car that is unmanned through a computer system. It relies on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together to allow the computer to automatically and safely operate the motor vehicle without any active human operation;

[0003] After searching, the existing patent publication number: CN201910485433.3 discloses an unmanned driving steering system, including a perception layer composed of laser radar, camera, inertial navigation system, steering wheel angle sensor, central processing unit and steering actuator; relying on the surrounding environment information obtained by laser radar, camera, inertial navigation system, combined with machine vision algorithm, information fusion algorithm, path planning algorithm, path tracking algorithm, after calculation and processing in the central processing unit, the target steering wheel angle and target vehicle speed are output in real time, and finally the central processing unit sends this information to the VCU vehicle controller via CAN communication, and finally realizes the execution of vehicle steering, acceleration, deceleration, braking, reversing and other actions. In the process of realizing the utility model, the inventor found that the prior art has the following problems:

[0004] When an existing driverless car is driving, the steering wheel will move along the trajectory of the movement. In the driverless mode, the rotation of the steering wheel can be easily affected by human factors, which can easily cause traffic accidents during road driving. In addition, since the driverless car will be used on the track for competition, and the car moves at a high speed on the track, the existing driverless steering control mechanism cannot perform timely deceleration adjustment according to the steering angle. If the car cannot be decelerated in time when turning, the vehicle may roll over.

[0005] Therefore, in view of the above-mentioned related technical problems, a steering control mechanism for an unmanned racing car is proposed.

[0006] Application Contents

[0007] In order to overcome the above-mentioned defects of the prior art, the present application provides a steering control mechanism for an unmanned racing car to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a steering control mechanism for an unmanned racing car, comprising a racing car steering wheel, a steering wheel active reset device is connected to the bottom of the racing car steering wheel, a direction assist control device is arranged below the steering wheel active reset device, a steering gear is connected below the direction assist control device, and a steering detection device is arranged below the steering gear;

[0009] A steering wheel steering rod is provided at the bottom of the racing steering wheel, a magnet wiring is connected inside the steering wheel steering rod, and the steering wheel steering rod passes through the steering wheel active reset device and is plugged into the steering auxiliary control device, a steering output shaft is connected to the bottom of the steering auxiliary control device, and a steering column is connected between the steering output shaft and the steering gear.

[0010] Preferably, a reset motor box is provided on one side of the steering wheel active reset device, and a reset motor is connected to the top of the reset motor box, a motor driver is provided on the top of the reset motor, and a reset driving gear is connected to the output shaft of the reset motor.

[0011] Preferably, the reset driving gear is arranged in the reset motor box, and the steering wheel steering rod is sequentially sleeved with the steering rod damping and angular displacement sensor and the reset transmission gear from top to bottom in the steering wheel active reset device, and a reset transmission gear belt is connected between the reset driving gear and the reset transmission gear.

[0012] Preferably, one end of the steering wheel steering rod close to the direction assist control device is connected to a transmission electromagnet, and one end of the magnet wiring is connected to the transmission electromagnet, one end of the steering output shaft close to the direction assist control device is connected to a driven wheel, and the centers of the transmission electromagnet and the driven wheel are on the same straight line.

[0013] Preferably, an automatic driving drive motor is provided on one side of the steering output shaft, and an intelligent driver is provided on one side of the automatic driving drive motor, and an active driving gear is connected to the output shaft of the intelligent driver, a driving transmission gear is sleeved on the outer side of the steering output shaft, and a driving gear belt is connected between the active driving gear and the driving transmission gear.

[0014] Preferably, a steering column joint and a steering power motor are connected to the top of the steering gear, both ends of the steering column are connected to a swivel column universal joint, and the steering column is slidingly connected to the steering column joint and the steering output shaft respectively through the swivel column universal joints at both ends of the steering column, both ends of the steering gear are connected to a steering tie rod, and a protective cover is provided at the connection between the steering tie rod and the steering gear.

[0015] Preferably, the end of the steering tie rod away from the steering gear is connected to a steering wheel, the steering wheel includes a tire and a wheel hub, the inner side of the wheel hub is provided with an electric brake pad, a steering gear joint and a detection device joint, and a steering ball head is provided at the connection between the steering tie rod and the steering gear joint.

[0016] Preferably, the steering detection device includes a detection box and two sets of axle frames and two sets of transmission connection boxes, and the axle frames are connected between the detection box and the transmission connection box, and the detection device joint and the transmission connection box are connected through a connecting shaft.

[0017] Preferably, a transmission gear shaft group is provided in the transmission connection box, a detection transmission shaft is provided in the axle frame, and the detection transmission shaft and the detection device joint form a transmission structure through the transmission gear shaft group, two groups of column shafts and a detection connection block are provided in the detection box, and the detection connection block is arranged on the symmetry axis of the two groups of column shafts.

[0018] Preferably, the column rotating shaft and the detection transmission rotating shaft are connected through a gear set, the top of the column rotating shaft is connected with a steering detection gear, the top of the detection connecting block is connected with a displacement sensor sleeve, and a detection gear plate is inserted in the displacement sensor sleeve, and the detection gear plate is meshed with the two sets of steering detection gears.

[0019] Technical effects and advantages of this application:

[0020] 1. Compared with the prior art, the steering control mechanism of the unmanned racing car can automatically switch between manual driving and unmanned driving modes. When the car is unmanned, the rotation of the racing car steering wheel will not affect the rotation of the steering wheel, and the rotation of the steering wheel will not affect the rotation of the racing car steering wheel. The transmission electromagnet can be energized through the magnet wiring in the steering wheel steering rod, and the switching of the active and automatic modes of the racing car steering can be controlled by controlling the on and off of the magnet wiring. After the transmission electromagnet is energized, the transmission electromagnet and the driven rotating wheel can form a contactless magnetic coupling through magnetic force, thereby realizing the transmission action of the steering wheel steering rod and the steering output shaft.

[0021] 2. Compared with the prior art, the steering control mechanism of the unmanned racing car can adjust the position of the racing car steering wheel by the rotation position of the steering wheel when switching to manual driving, and adjust the steering wheel steering rod to rotate to the rotation angle corresponding to the steering wheel according to the position of the steering wheel. The angular displacement sensor is used to identify the rotation action and the rotation position of the steering wheel steering rod, and the motor driver controls the reset motor through an external program to drive the reset driving gear to rotate in the reset motor box through the identified rotation position. During the rotation process, the reset driving gear drives the steering wheel steering rod to rotate through the reset transmission gear belt.

[0022] 3. Compared with the prior art, the steering control mechanism of the unmanned racing car can control the braking force of the wheel according to the rotation of the wheel of the car, so as to avoid the situation that the vehicle rolls over due to failure to decelerate in time when turning. The detection steering wheel drives the transmission gear shaft group in the transmission connection box to rotate during the rotation, and the detection transmission shaft can be driven to rotate by the transmission gear shaft group. The detection transmission shaft drives the column shaft to rotate during the rotation. The column shaft drives the steering detection gear to rotate tightly during the rotation. The steering detection gear drives the detection gear plate to move during the rotation. The displacement sensor sleeve detects the movement of the detection gear plate during the movement of the detection gear plate, so that the rotation of the detection steering wheel is judged by the movement of the detection gear plate, and the braking action of the electric brake pad is controlled by the rotation action. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the main body of this application;

[0024] Figure 2 This is a schematic diagram of the structure of the steering wheel of the racing car in this application;

[0025] Figure 3 This is a schematic structural diagram of the side section of the active steering wheel reset device of the present application;

[0026] Figure 4 This is a schematic diagram of the structure of the side section of the steering auxiliary control device of the present application;

[0027] Figure 5 This is a schematic diagram of the structure of the steering device of this application;

[0028] Figure 6 This is a schematic diagram of the structure of the steering wheel of this application;

[0029] Figure 7 This is a schematic diagram of the structure of the side section of the steering detection device of the present application;

[0030] Figure 8 This is a schematic diagram of the structure of the detection gear plate of this application.

[0031] The accompanying drawings are marked as follows: 1. Racing steering wheel; 11. Steering wheel steering rod; 111. Reset transmission gear; 112. Magnet wiring; 113. Transmission electromagnet; 2. Steering wheel active reset device; 21. Reset motor box; 22. Reset motor; 221. Reset active gear; 222. Reset transmission gear belt; 23. Motor driver; 24. Angular displacement sensor; 25. Steering rod damping; 3. Direction auxiliary control device; 31. Steering output shaft; 311. Driven wheel; 312. Drive transmission gear; 32. Automatic driving drive motor; 321. Active drive gear; 322. Drive gear belt; 323. Intelligent driver; 4 , steering column; 41, column universal joint; 5, steering gear; 51, steering column joint; 52, steering tie rod; 53, shield; 54, steering ball head; 55, power steering motor; 6, steering wheel; 61, tire; 62, wheel hub; 63, electric brake pad; 64, steering gear joint; 65, detection device joint; 7, steering detection device; 71, detection box; 711, column shaft; 712, steering detection gear; 713, detection connection block; 714, displacement sensor sleeve; 715, detection gear plate; 72, axle frame; 721, detection transmission shaft; 73, transmission connection box; 731, transmission gear shaft assembly. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 are within the scope of protection of this application.

[0033] As attached Figures 1 to 8 The steering control mechanism of an unmanned racing car shown in the figure comprises a racing car steering wheel 1, a steering wheel active reset device 2 is connected to the bottom of the racing car steering wheel 1, a direction auxiliary control device 3 is arranged below the steering wheel active reset device 2, a steering gear 5 is connected below the direction auxiliary control device 3, and a steering detection device 7 is arranged below the steering gear 5;

[0034] Among them, a steering wheel steering rod 11 is arranged at the bottom of the racing steering wheel 1, a magnet wiring 112 is connected inside the steering wheel steering rod 11, and the steering wheel steering rod 11 passes through the steering wheel active reset device 2 and is plugged into the steering auxiliary control device 3, a steering output shaft 31 is connected to the bottom of the steering auxiliary control device 3, and a steering column 4 is connected between the steering output shaft 31 and the steering gear 5; the racing steering wheel 1 is used for steering drive during active operation, and the steering wheel active reset device 2 is used to drive the follow-up reset work of the racing steering wheel 1 when switching the active operation, and the steering auxiliary control device 3 is used for auxiliary drive work during automatic driving, and the steering auxiliary control device 3 drives the steering column 4 to rotate through the steering output shaft 31, and the steering column 4 drives the steering drive action of the steering gear 5.

[0035] As a preferred embodiment, a reset motor box 21 is provided on one side of the steering wheel active reset device 2, and a reset motor 22 is connected to the top of the reset motor box 21, a motor driver 23 is provided on the top of the reset motor 22, and a reset driving gear 221 is connected to the output shaft of the reset motor 22; the motor driver 23 controls the reset motor 22 through an external program to drive the reset driving gear 221 to rotate in the reset motor box 21.

[0036] As a preferred embodiment, the reset driving gear 221 is arranged in the reset motor box 21, and the steering wheel steering rod 11 is sleeved with the steering rod damping 25, the angular displacement sensor 24 and the reset transmission gear 111 from top to bottom in the steering wheel active reset device 2, and the reset transmission gear belt 222 is connected between the reset driving gear 221 and the reset transmission gear 111; the racing steering wheel 1 drives the steering wheel steering rod 11 to rotate, or the racing steering wheel 11 drives the steering wheel steering rod 11 to rotate, and the steering rod damping 25 can be used to increase the resistance of the steering wheel steering rod 11 during rotation, so as to prevent the racing steering wheel 1 from rotating and deviating due to excessive movement or turning amplitude under high-speed movement, and the angular displacement sensor 24 is used to identify the rotation action and rotation position of the steering wheel steering rod 11, and the reset driving gear 221 drives the steering wheel steering rod 11 to rotate through the reset transmission gear belt 222 during the rotation process.

[0037] As a preferred embodiment, the end of the steering wheel steering rod 11 close to the direction auxiliary control device 3 is connected to the transmission electromagnet 113, and one end of the magnet wiring 112 is connected to the transmission electromagnet 113, and the end of the steering output shaft 31 close to the direction auxiliary control device 3 is connected to the driven rotating wheel 311, and the centers of the transmission electromagnet 113 and the driven rotating wheel 311 are on the same straight line; the transmission electromagnet 113 can be energized through the magnet wiring 112 in the steering wheel steering rod 11, and the switching of the active and automatic modes of the racing car steering can be controlled by controlling the on and off of the magnet wiring 112. After the transmission electromagnet 113 is energized, the transmission electromagnet 113 and the driven rotating wheel 311 can form a contactless magnetic coupling through magnetic force, thereby realizing the transmission action of the steering wheel steering rod 11 and the steering output shaft 31.

[0038] As a preferred embodiment, an automatic driving drive motor 32 is provided on one side of the steering output shaft 31, and an intelligent driver 323 is provided on one side of the automatic driving drive motor 32, and an active driving gear 321 is connected to the output shaft of the intelligent driver 323, a driving transmission gear 312 is sleeved on the outer side of the steering output shaft 31, and a driving gear belt 322 is connected between the active driving gear 321 and the driving transmission gear 312; the operation of the intelligent driver 323 is controlled by an external automatic driving system, and the automatic driving drive motor 32 is controlled by the intelligent driver 323 to rotate, the automatic driving drive motor 32 drives the active driving gear 321 to rotate, and the active driving gear 321 drives the driving transmission gear 312 and the steering output shaft 31 connected thereto to rotate through the driving gear belt 322, and the intelligent driver 323 and the motor driver 23 are both control system drivers of model ZDRVS10-400L-RCB.

[0039] As a preferred embodiment, the top of the steering gear 5 is connected to a steering column joint 51 and a steering power motor 55, both ends of the steering column 4 are connected to a rotating column universal joint 41, and the steering column 4 is slidably connected to the steering column joint 51 and the steering output shaft 31 through the rotating column universal joints 41 at both ends, and both ends of the steering gear 5 are connected to a steering tie rod 52, and a shield 53 is provided at the connection between the steering tie rod 52 and the steering gear 5; the steering output shaft 31 drives the steering column 4 to rotate through the rotating column universal joint 41, and the steering column 4 is driven by the rotating column universal joint 41 to rotate. 41 drives the steering column joint 51 on the steering gear 5 to rotate, and the steering work driven by the steering gear 5 is an existing mature technology. The signal of the vehicle speed is collected through the steering power motor 55, and the size of the steering power is adjusted according to the vehicle speed. The steering power motor 55 rotates the motor worm inside the steering power motor 55 according to the control instruction, and then the worm drives the worm wheel to rotate, and drives the coaxial intermediate gear to rotate, and the intermediate gear is engaged with the rack on the steering screw, so as to apply a certain amount of power to the shield 53 and the steering tie rod 52.

[0040] As a preferred embodiment, the end of the steering tie rod 52 away from the steering gear 5 is connected to the steering wheel 6, and the steering wheel 6 includes a tire 61 and a wheel hub 62. The inner side of the wheel hub 62 is provided with an electric brake pad 63, a steering gear joint 64 and a detection device joint 65, and a steering ball head 54 is provided at the connection between the steering tie rod 52 and the steering gear joint 64; the steering tie rod 52 drives the steering gear joint 64 and the wheel hub 62 connected thereto to perform an offset movement through the steering ball head 54, and the wheel hub 62 drives the steering wheel 6 to perform an offset steering action, so that the steering wheel 6 is driven to steer the racing car through the rotation action of the steering wheel 6, and the braking action of the steering wheel 6 can be controlled by the electric brake pad 63.

[0041] As a preferred embodiment, the steering detection device 7 includes a detection box 71 and two groups of axle frames 72 and two groups of transmission connection boxes 73, and the axle frames 72 are connected between the detection box 71 and the transmission connection box 73, and the detection device connector 65 and the transmission connection box 73 are connected through a connecting shaft; the steering detection device 7 is used to detect the rotation movement of the steering wheel 6, and the detection box 71 is connected to the bottom of the vehicle, and the detection box 71 is connected to the steering wheel 6 through the transmission connection box 73 connected to the axle frame 72.

[0042] As a preferred embodiment, a transmission gear shaft group 731 is provided in the transmission connection box 73, a detection transmission shaft 721 is provided in the axle frame 72, and the detection transmission shaft 721 and the detection device joint 65 form a transmission structure through the transmission gear shaft group 731, two groups of column shafts 711 and a detection connection block 713 are provided in the detection box 71, and the detection connection block 713 is provided on the symmetry axis of the two groups of column shafts 711; the detection steering wheel 6 drives the transmission gear shaft group 731 in the transmission connection box 73 to rotate during the rotation, and can drive the detection transmission shaft 721 to rotate through the transmission gear shaft group 731, and the detection transmission shaft 721 drives the column shaft 711 to rotate during the rotation.

[0043] As a preferred embodiment, the column shaft 711 is connected to the detection transmission shaft 721 through a gear set, the top of the column shaft 711 is connected to the steering detection gear 712, the top of the detection connection block 713 is connected to the displacement sensor sleeve 714, and the detection gear plate 715 is inserted into the displacement sensor sleeve 714, and the detection gear plate 715 is meshed with the two sets of steering detection gears 712; the column shaft 711 drives the steering detection gear 712 to rotate intensively during the rotation process, and the steering detection gear 712 drives the detection gear plate 715 to move during the rotation process, and the displacement sensor sleeve 714 detects the movement of the detection gear plate 715 during the movement of the detection gear plate 715, so that the rotation movement of the detection steering wheel 6 is judged and detected by the movement movement of the detection gear plate 715, and the braking action of the electric brake pad 63 is controlled by the rotation action, and the displacement sensor built into the displacement sensor sleeve 714 is a high-precision laser displacement sensor of model ELE.

[0044] The working process of the present application is as follows: when the unmanned racing car is performing unmanned driving, the operation of the intelligent driver 323 is controlled by the external automatic driving system, and the intelligent driver 323 controls the automatic driving driving motor 32 to rotate, and the automatic driving driving motor 32 drives the active driving gear 321 to rotate, and the active driving gear 321 drives the driving transmission gear 312 and the steering output shaft 31 connected thereto to rotate through the driving gear belt 322, and the steering output shaft 31 drives the steering column 4 to rotate through the rotating column universal joint 41, and the steering column 4 drives the steering column joint 51 on the steering gear 5 to rotate through the rotating column universal joint 41;

[0045] The signal of the vehicle speed is collected by the power steering motor 55, and the magnitude of the power steering is adjusted according to the vehicle speed. The power steering motor 55 rotates the motor worm inside the power steering motor 55 according to the control command, and then the worm drives the worm wheel to rotate, and drives the coaxial intermediate gear to rotate, and the intermediate gear is meshed with the rack on the steering screw, so as to apply a certain power to the shield 53 and the steering tie rod 52;

[0046] The steering tie rod 52 drives the steering gear joint 64 and the wheel hub 62 connected thereto to perform offset movement through the steering ball head 54, and the wheel hub 62 drives the steering wheel 6 to perform offset steering action, so that the racing car is driven to steer through the rotation action of the steering wheel 6, and the braking action of the steering wheel 6 can be controlled by the electric brake pad 63;

[0047] The detection steering wheel 6 drives the transmission gear shaft group 731 in the transmission connection box 73 to rotate during the rotation, and can drive the detection transmission shaft 721 to rotate through the transmission gear shaft group 731, and the detection transmission shaft 721 drives the column shaft 711 to rotate during the rotation, and the column shaft 711 drives the steering detection gear 712 to rotate tightly during the rotation, and the steering detection gear 712 drives the detection gear plate 715 to move during the rotation, and the displacement sensor sleeve 714 detects the movement of the detection gear plate 715 during the movement of the detection gear plate 715, so as to judge the rotation of the detection steering wheel 6 through the movement of the detection gear plate 715, and control the braking action of the electric brake pad 63 through the rotation action;

[0048] When switching to the active driving mode, the steering wheel steering rod 11 is first adjusted according to the position of the steering wheel 6 to rotate to a rotation angle corresponding to the steering wheel 6, and the angular displacement sensor 24 is used to identify the rotation action and the rotation position of the steering wheel steering rod 11. According to the identified rotation position, the motor driver 23 controls the reset motor 22 through an external program to drive the reset driving gear 221 to rotate in the reset motor box 21. During the rotation process, the reset driving gear 221 drives the steering wheel steering rod 11 to rotate through the reset transmission gear belt 222;

[0049] The transmission electromagnet 113 can be energized through the magnet connection 112 in the steering wheel steering rod 11, and the switching between the active and automatic modes of the racing car steering can be controlled by controlling the on and off of the magnet connection 112. When the transmission electromagnet 113 is powered off, the rotation of the racing car steering wheel 1 will not affect the rotation of the steering wheel 6, and the rotation of the steering wheel 6 will not affect the rotation of the racing car steering wheel 1. After the transmission electromagnet 113 is energized, the transmission electromagnet 113 and the driven rotating wheel 311 can form a contactless magnetic coupling through magnetic force, thereby realizing the transmission action of the steering wheel steering rod 11 and the steering output shaft 31. At this time, the racing car steering wheel 1 can drive the steering wheel steering rod 11 to rotate, or the steering wheel steering rod 11 can drive the racing car steering wheel 1 to rotate, and when rotating, the steering wheel steering rod damping 25 can be used to increase the resistance to the rotation of the steering wheel steering rod 11, thereby preventing the racing car steering wheel 1 from rotating and deviating due to excessive movement or turning amplitude in the case of high-speed movement. The above is the working principle of the steering control mechanism of the unmanned racing car.

[0050] Finally: The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A steering control mechanism for an unmanned racing car, comprising a racing car steering wheel (1), characterized in that: The bottom of the racing car steering wheel (1) is connected to a steering wheel active reset device (2), a direction assist control device (3) is arranged below the steering wheel active reset device (2), a steering gear (5) is connected below the direction assist control device (3), and a steering detection device (7) is arranged below the steering gear (5); The bottom of the racing car steering wheel (1) is provided with a steering wheel steering rod (11), a magnet wiring (112) is connected inside the steering wheel steering rod (11), and the steering wheel steering rod (11) passes through the steering wheel active reset device (2) and is plugged into the steering auxiliary control device (3), the bottom of the steering auxiliary control device (3) is connected with a steering output shaft (31), and a steering column (4) is connected between the steering output shaft (31) and the steering gear (5).

2. The steering control mechanism of an unmanned racing car according to claim 1, characterized in that: A reset motor box (21) is provided on one side of the steering wheel active reset device (2), and a reset motor (22) is connected to the top of the reset motor box (21), a motor driver (23) is provided on the top of the reset motor (22), and a reset driving gear (221) is connected to the output shaft of the reset motor (22).

3. The steering control mechanism of an unmanned racing car according to claim 2, characterized in that: The reset driving gear (221) is arranged in a reset motor box (21); the steering wheel steering rod (11) is sleeved with a steering rod damper (25), an angular displacement sensor (24) and a reset transmission gear (111) in sequence from top to bottom in the steering wheel active reset device (2); and a reset transmission gear belt (222) is connected between the reset driving gear (221) and the reset transmission gear (111).

4. The steering control mechanism of an unmanned racing car according to claim 3, characterized in that: One end of the steering wheel steering rod (11) close to the direction auxiliary control device (3) is connected to a transmission electromagnet (113), and one end of the magnet connection (112) is connected to the transmission electromagnet (113); one end of the steering output shaft (31) close to the direction auxiliary control device (3) is connected to a driven rotating wheel (311), and the centers of the transmission electromagnet (113) and the driven rotating wheel (311) are on the same straight line.

5. The steering control mechanism of an unmanned racing car according to claim 4, characterized in that: An automatic driving drive motor (32) is arranged on one side of the steering output shaft (31), and an intelligent driver (323) is arranged on one side of the automatic driving drive motor (32), and an active driving gear (321) is connected to the output shaft of the intelligent driver (323), a driving transmission gear (312) is sleeved on the outer side of the steering output shaft (31), and a driving gear belt (322) is connected between the active driving gear (321) and the driving transmission gear (312).

6. The steering control mechanism of an unmanned racing car according to claim 1, characterized in that: The top of the steering gear (5) is connected to a steering column joint (51) and a steering power motor (55); both ends of the steering column (4) are connected to a rotating column universal joint (41); and the steering column (4) is slidably connected to the steering column joint (51) and the steering output shaft (31) through the rotating column universal joints (41) at both ends; both ends of the steering gear (5) are connected to a steering tie rod (52); and a shield (53) is provided at the connection between the steering tie rod (52) and the steering gear (5).

7. The steering control mechanism of an unmanned racing car according to claim 6, characterized in that: The end of the steering tie rod (52) away from the steering gear (5) is connected to a steering wheel (6), the steering wheel (6) comprises a tire (61) and a wheel hub (62), an electric brake pad (63), a steering gear joint (64) and a detection device joint (65) are arranged on the inner side of the wheel hub (62), and a steering ball head (54) is arranged at the connection between the steering tie rod (52) and the steering gear joint (64).

8. The steering control mechanism of an unmanned racing car according to claim 7, characterized in that: The steering detection device (7) comprises a detection box (71), two groups of axle frames (72) and two groups of transmission connection boxes (73), wherein the axle frames (72) are connected between the detection box (71) and the transmission connection box (73), and the detection device connector (65) and the transmission connection box (73) are connected via a connecting shaft.

9. The steering control mechanism of an unmanned racing car according to claim 8, characterized in that: A transmission gear shaft group (731) is arranged in the transmission connection box (73), a detection transmission shaft (721) is arranged in the axle frame (72), and the detection transmission shaft (721) and the detection device joint (65) form a transmission structure through the transmission gear shaft group (731), and two groups of column shafts (711) and a detection connection block (713) are arranged in the detection box (71), and the detection connection block (713) is arranged on the symmetric axes of the two groups of column shafts (711).

10. The steering control mechanism of an unmanned racing car according to claim 9, characterized in that: The column rotating shaft (711) is connected to the detection transmission rotating shaft (721) via a gear set; the top of the column rotating shaft (711) is connected to a steering detection gear (712); the top of the detection connecting block (713) is connected to a displacement sensor sleeve (714); a detection gear plate (715) is inserted into the displacement sensor sleeve (714); and the detection gear plate (715) and the two sets of steering detection gears (712) are meshed with each other.

Images