Steering device, steering control method thereof, steering system and vehicle

Abstract

The invention discloses a steering device, a steering control method thereof, a steering system and a vehicle. The steering device comprises a hand feeling module and a steering execution module. The hand feeling module comprises a steering shaft, a position detection assembly and a hand feeling control assembly, the position detection assembly and the hand feeling control assembly are both mechanically connected with the steering shaft, the position detection assembly monitors rotation of the steering shaft and outputs a signal representing a target rotation angle, and the hand feeling control assembly monitors rotation of the steering shaft and provides steering torque for the steering shaft. The steering execution module comprises a driving assembly, the driving assembly is in communication connection with the position detection assembly, and the driving assembly outputs driving force according to the target rotation angle after receiving the signal representing the target rotation angle from the position detection assembly. In the application, when the driving assembly obtains the signal representing the target rotation angle, the signal does not need to be processed and forwarded by the hand feeling control assembly, so that the time difference between steering of the steering shaft and steering of the wheels can be shortened, and synchronous rotation of the wheels and the steering shaft can be realized.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a steering device and a steering control method thereof, a steering system and a vehicle. Background Art

[0002] With the development of vehicle technology, users have higher and higher requirements for vehicle performance, and the wire steering system has gradually become a symbol of vehicle autonomous intelligence. In the related art, the wire steering system includes a feel module and a steering execution module. The feel module includes a steering wheel, an angle sensor and a feel control component. The angle sensor is used to detect the actual rotation angle of the steering wheel. The feel control component provides the steering feel to the steering wheel according to the actual rotation angle, and processes the actual rotation angle to obtain the target steering angle of the execution drive in the steering execution module. The steering execution module is connected to the wheel and can drive the wheel to turn after receiving the target steering angle. However, after the steering wheel is turned, the wire steering system needs to first detect the actual rotation angle of the steering wheel using the angle sensor, and then process the actual rotation angle through the feel control component to obtain the target steering angle, and then forward the target steering angle to the execution drive so that the execution drive obtains the target steering angle. At this time, the execution drive can drive the wheel to turn according to the target rotation angle. Therefore, there is a time difference between the steering wheel turning and the wheel turning, which makes it difficult for the wheel and the steering wheel to rotate synchronously. Summary of the invention

[0003] Embodiments of the present application provide a steering device and a steering control method thereof, a steering system and a vehicle.

[0004] The steering device of the embodiment of the present application includes a hand feeling module and a steering execution module. The hand feeling module includes a steering shaft, a position detection component and a hand feeling control component. The position detection component and the hand feeling control component are both mechanically connected to the steering shaft. The position detection component monitors the rotation of the steering shaft and outputs a signal representing the target rotation angle. The hand feeling control component monitors the rotation of the steering shaft and provides steering torque to the steering shaft. The steering execution module includes a drive component, which is communicatively connected to the position detection component. After receiving the signal representing the target rotation angle from the position detection component, the drive component outputs a driving force according to the target rotation angle.

[0005] In certain embodiments, the drive assembly is wirelessly coupled to the position detection assembly.

[0006] In some embodiments, the driving component and the position detection component are electrically connected via a first wire.

[0007] In some embodiments, the driving component is wirelessly connected to the position detection component. The driving component is electrically connected to the position detection component via a first wire.

[0008] In some embodiments, the position detection component includes a first transmission member, a second transmission member, and a collection unit. The first transmission member is disposed on the steering shaft. The second transmission member cooperates with the first transmission member, and the first transmission member can move synchronously with the steering shaft and drive the second transmission member to move relative to the steering shaft. The collection unit detects the motion information of the second transmission member and outputs a signal representing the target rotation angle according to the motion information.

[0009] In some embodiments, the drive assembly includes an actuator, which is used to output a driving force; the angular velocity of rotation of the second transmission member is the same as the angular velocity of rotation of the output shaft of the actuator.

[0010] In some embodiments, the target rotation angle is θ', and θ'=n*θ; wherein n is the gear reduction ratio between the first transmission member and the second transmission member; and θ is the actual rotation angle of the steering shaft.

[0011] In some embodiments, the acquisition unit includes a magnetic member, a circuit board, and an acquisition controller. The magnetic member is disposed on the second transmission member and can move with the second transmission member. A detection member is disposed on the circuit board, and the detection member cooperates with the magnetic member and outputs a detection signal, and the detection signal carries the movement information of the second transmission member. The acquisition controller is electrically connected to the circuit board, and the acquisition controller outputs a signal representing the rotation angle of the target after receiving the detection signal.

[0012] In certain embodiments, the steering execution module further includes a transmission assembly, and the transmission assembly is mechanically connected to the drive assembly.

[0013] In some embodiments, the drive assembly includes an execution drive and an execution controller. The execution drive is connected to the transmission assembly. The execution controller is electrically connected to the execution drive and is in communication connection with the position detection assembly. After receiving a signal representing the target rotation angle, the execution controller controls the execution drive to output a driving force according to the target rotation angle.

[0014] In certain embodiments, the hand feel control component outputs a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft; the execution controller is also communicatively connected to the hand feel control component, and after the execution controller receives the signal representing the reference rotation angle from the hand feel control component, it updates the target rotation angle or issues a prompt signal based on the reference rotation angle and the target rotation angle.

[0015] In some embodiments, the actuator controller is wirelessly connected to the touch control component.

[0016] In some embodiments, the execution controller is electrically connected to the hand feeling control component via a second wire.

[0017] In some embodiments, the execution controller is wirelessly connected to the hand feeling control component. The execution controller is electrically connected to the hand feeling control component via a second wire.

[0018] In some embodiments, the transmission assembly includes a first transmission member and a second transmission member connected to each other, one end of the first transmission member is connected to the driving assembly, and the first transmission member is used to transmit the driving force of the driving assembly to the second transmission member to drive the second transmission member to move.

[0019] In some embodiments, the steering device also includes an angle detection component, which is mechanically connected to the transmission component and communicatively connected to the execution controller. After detecting the movement of the transmission component, the angle detection component outputs a signal representing the detection angle to the execution controller. After receiving the signal representing the detection angle from the angle detection component, the execution controller updates the target rotation angle or issues a prompt signal based on the detection angle and the target rotation angle.

[0020] In some embodiments, the detection assembly includes a third transmission member and a detection unit. The third transmission member cooperates with the second transmission member of the transmission assembly and can move relative to the second transmission member. The detection unit is connected to the execution controller for communication, and the detection unit outputs a signal representing the detection angle to the execution controller after detecting the movement of the third transmission member.

[0021] In some embodiments, the detection unit is wirelessly connected to the execution controller.

[0022] In some embodiments, the detection unit is electrically connected to the execution controller via a third wire.

[0023] In some embodiments, the detection unit is wirelessly connected to the execution controller. The detection unit is electrically connected to the execution controller via a third wire.

[0024] In some embodiments, the hand feeling control component includes a hand feeling drive, an angle sensor and a hand feeling controller. The hand feeling drive is connected to the steering shaft. The angle sensor is connected to the steering shaft and is used to detect the actual rotation angle of the steering shaft. The hand feeling controller is electrically connected to the hand feeling drive and the angle sensor, and is used to receive the actual rotation angle of the steering shaft and control the hand feeling drive to provide the steering torque to the steering shaft according to the steering angle of the steering shaft.

[0025] In some embodiments, the steering device further includes a steering wheel, wherein the steering wheel is connected to the steering shaft, and when the steering wheel rotates, the steering shaft rotates synchronously with the steering wheel.

[0026] The steering system of the embodiment of the present application includes the steering device described in any of the above embodiments.

[0027] The vehicle according to the embodiment of the present application includes wheels and the steering system described in any one of the above embodiments, and the steering system is connected to the wheels and is used to drive the wheels to steer.

[0028] In some embodiments, the steering angle of the wheel is β, and β=m*θ', wherein m is a fixed transmission ratio, which is determined by the reduction ratio between the driving component of the steering execution module and the transmission component of the steering execution module, and the corresponding coefficient of the transmission component and the steering angle of the wheel; θ' is the target rotation angle.

[0029] In certain embodiments, when the first transmission member of the position detection assembly and the second transmission member of the position detection assembly are both gears, the steering angle of the wheel is β, and β=m*k*n*θ, wherein m is a variable transmission ratio determined by the vehicle speed and steering; k is a variable transmission ratio determined by the vehicle speed and steering; n is the gear reduction ratio between the first transmission member and the second transmission member, and θ is the actual rotation angle of the steering shaft.

[0030] In the steering control method of the steering device of the embodiment of the present application, the steering device includes a hand feeling module and a steering execution module, the hand feeling module includes a steering shaft, a position detection component and a hand feeling control component, the position detection component and the hand feeling control component are both mechanically connected to the steering shaft; the steering execution module includes a drive component, and the drive component is communicatively connected to the position detection component. The steering control method includes: the position detection component monitors the rotation of the steering shaft and outputs a signal representing the target rotation angle; the hand feeling control component monitors the rotation of the steering shaft and provides steering torque to the steering shaft; and the drive component outputs a driving force according to the target rotation angle after receiving the signal representing the target rotation angle from the position detection component.

[0031] In some embodiments, the position detection component includes a first transmission member, a second transmission member and a collection unit, the first transmission member is arranged on the steering shaft, the second transmission member cooperates with the first transmission member, the first transmission member can move synchronously with the steering shaft, and drive the second transmission member to move relative to the steering shaft. The position detection component monitors the rotation of the steering shaft and outputs a signal representing the target rotation angle, including: the collection unit detects the movement information of the second transmission member, and outputs a signal representing the target rotation angle according to the movement information.

[0032] In some embodiments, the acquisition unit includes a magnetic member, a circuit board, and an acquisition controller, wherein the magnetic member is disposed on the second transmission member and can move with the second transmission member, and a detection member is disposed on the circuit board. The acquisition unit detects the motion information of the second transmission member and outputs a signal representing the target rotation angle according to the motion information, including: the detection member cooperates with the magnetic member and outputs a detection signal, wherein the detection signal carries the motion information of the second transmission member; and the acquisition controller is electrically connected to the circuit board, and the acquisition controller outputs a signal representing the target rotation angle after receiving the detection signal.

[0033] In some embodiments, the steering execution module further includes a transmission assembly, the transmission assembly is mechanically connected to the drive assembly, the drive assembly includes an execution driver and an execution controller, the execution driver is connected to the transmission assembly, the execution controller is electrically connected to the execution driver, and is communicatively connected to the position detection assembly. After the drive assembly receives the signal representing the target rotation angle from the position detection assembly, the drive assembly outputs a driving force according to the target rotation angle, including: after the execution controller receives the signal representing the target rotation angle, the execution driver is controlled to output a driving force according to the target rotation angle.

[0034] In certain embodiments, the execution controller is also communicatively connected to the hand feel control component; the steering control method further includes: the hand feel control component outputs a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft; and after the execution controller receives the signal representing the reference rotation angle from the hand feel control component, it updates the target rotation angle or issues a prompt signal based on the reference rotation angle and the target rotation angle.

[0035] In certain embodiments, the steering device further includes an angle detection component, which is mechanically connected to the transmission component and communicatively connected to the execution controller; the steering control method further includes: the angle detection component outputs a signal representing a detection angle to the execution controller after detecting the movement of the transmission component; and after the execution controller receives the signal representing the detection angle from the angle detection component, it updates the target rotation angle or issues a prompt signal based on the detection angle and the target rotation angle.

[0036] In the steering device and its steering control method, steering system and vehicle of the embodiments of the present application, the position detection component monitors the rotation of the steering shaft and outputs a signal representing the target rotation angle, the drive component is communicatively connected with the position detection component, and after the drive component receives the signal representing the target detection angle from the position detection component, it outputs a driving force according to the target rotation angle to drive the vehicle's wheels to steer. Therefore, after the steering shaft rotates, the drive component can directly obtain the signal representing the target rotation angle output by the position detection component without having to be processed and forwarded by the hand feel control component, thereby shortening the time difference between the steering of the steering shaft and the steering of the wheels, which is conducive to the synchronous rotation of the wheels and the steering shaft.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0039] Figure 1 is a schematic diagram of the structure of a vehicle according to some embodiments of the present application;

[0040] Figure 2 yes Figure 1 A three-dimensional schematic diagram of a partial structure of a vehicle shown;

[0041] Figure 3 is a schematic diagram of the steps of the steering control method provided in some embodiments of the present application;

[0042] Figure 4 is a schematic diagram of the steps of the steering control method provided in some embodiments of the present application;

[0043] Figure 5 is a schematic diagram of the steps of the steering control method provided in some embodiments of the present application;

[0044] Figure 6 is a schematic diagram of the steps of the steering control method provided in some embodiments of the present application;

[0045] Figure 7 is a schematic diagram of the steps of the steering control method provided in some embodiments of the present application;

[0046] Figure 8 is a schematic diagram of the steps of the steering control method provided in some embodiments of the present application;

[0047] Fig. 9 It is a schematic diagram of the architecture of the steering system provided in some embodiments of the present application.

[0048] Description of main component symbols:

[0049] Vehicles 1000;

[0050] Steering system 1100; vehicle body 1200; wheel 1300;

[0051] Steering device 100;

[0052] Hand feeling module 10, steering shaft 11, position detection component 13, first transmission member 131, second transmission member 133, acquisition unit 135, magnetic member 1351, circuit board 1353, acquisition controller 1355, hand feeling control component 15, hand feeling driving member 151, angle sensor 153, hand feeling controller 155;

[0053] Steering execution module 20, driving assembly 21, execution driving member 211, execution controller 213, determination unit 215, transmission assembly 23, first transmission member 231, second transmission member 233;

[0054] Angle detection assembly 30 , third transmission member 31 , detection unit 33 ; first wire 40 ; second wire 50 ; third wire 60 ; steering wheel 70 . DETAILED DESCRIPTION

[0055] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0056] In the description of the present application, it should be understood that the terms "center", "length", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] See also Figure 1The vehicle 1000 of the embodiment of the present application includes a wheel 1300 and a steering system 1100, wherein the steering system 1100 is connected to the wheel 1300 and is used to drive the wheel 1300 to steer. The vehicle 1000 includes but is not limited to passenger vehicles such as pure electric vehicles and hybrid vehicles or large engineering vehicles with not very severe working conditions.

[0061] Further, in some embodiments, the vehicle 1000 further includes a body 1200, and the steering system 1100 and the wheels 1300 are both disposed on the body 1200. During the driving of the vehicle 1000, the steering system 1100 can change the direction of travel of the vehicle 1000 by controlling the angle and direction of rotation of the wheels 1300. For example, during the driving of the vehicle 1000, if an obstacle appears in front of the vehicle 1000, the steering system 1100 can drive the wheels 1300 to turn, thereby changing the direction of travel of the vehicle 1000 to avoid the obstacle.

[0062] Among them, since the vehicle 1000 in this embodiment includes the steering system 1100, it can be understood that the vehicle 1000 at least includes the same beneficial effects as the steering system 1100. Therefore, for the beneficial effects of the vehicle 1000, please refer to the beneficial effects of the steering system 1100 described below.

[0063] See also Figure 1 and Figure 2 The steering system 1100 of the embodiment of the present application includes a steering device 100. It should be noted that, in some embodiments, the steering system 1100 is a steer-by-wire system (SBW), that is, there is no mechanical connection between the steering wheel 70 and the wheel 1300.

[0064] Among them, since the steering system 1100 in this embodiment includes the steering device 100, it can be understood that the steering system 1100 at least includes the same beneficial effects as the steering device 100. Therefore, for the beneficial effects of the steering system 1100, please refer to the beneficial effects of the steering device 100 described below.

[0065] See also Figure 1 and Figure 2 , and combined with Fig. 9The steering device 100 of the embodiment of the present application includes a hand feeling module 10 and a steering execution module 20. The hand feeling module 10 includes a steering shaft 11, a position detection component 13 and a hand feeling control component 15. The position detection component 13 and the hand feeling control component 15 are both mechanically connected to the steering shaft 11. The position detection component 13 monitors the rotation of the steering shaft 11 and outputs a signal representing the target rotation angle. The hand feeling control component 15 monitors the rotation of the steering shaft 11 and provides a steering torque to the steering shaft 11. The steering execution module 20 includes a drive component 21. The drive component 21 is in communication connection with the position detection component 13. After receiving the signal representing the target rotation angle from the position detection component 13, the drive component 21 outputs a driving force according to the target rotation angle.

[0066] Furthermore, in some embodiments, the steering device 100 further includes a steering wheel 70, which is connected to the steering shaft 11. When the steering wheel 70 rotates, the steering shaft 11 rotates synchronously with the steering wheel 70. The rotation of the steering wheel 70 may include a user directly manipulating the steering wheel 70 to rotate the steering wheel 70; or a user manipulating the steering wheel 70 with a tool to rotate the steering wheel 70; or the steering wheel 70 rotates due to an external force (not applied by the user).

[0067] Among them, the hand feeling module 10 is a device in the steering system 1100 for detecting the rotation of the steering shaft 11, providing the driving feel torque, and simulating the road feel. In the present application, since the steering system 1100 is a wire-controlled steering system, there is no mechanical connection between the steering wheel 70 and the wheel 1300. Therefore, when the user manipulates the steering wheel 70 to drive the wheel 1300 to turn, the force between the wheel 1300 and the road surface cannot be directly transmitted to the steering wheel 70 to be perceived by the user. Therefore, the setting of the hand feeling module 10 can provide the steering wheel 70 with a steering damping feeling through the steering shaft 11, thereby simulating the road feel and ensuring the user's perception of the road information vehicle 1000 information. Specifically, when the steering wheel 70 rotates, for example, when the user manipulates the steering wheel 70 to rotate, the steering shaft 11 can rotate synchronously with the steering wheel 70. In this case, the hand feel module 10 can detect the rotation signal and provide steering torque to the steering shaft 11 according to the rotation signal. In this way, the hand feel module 10 can provide a steering damping feel to the steering wheel 70 through the steering shaft 11.

[0068] The steering execution module 20 is a device in the steering system 1100 for driving the wheel 1300 to steer in response to a signal representing a target rotation angle. In certain embodiments of the present application, there is no mechanical connection between the steering execution module 20 and the hand feeling module 10. When the steering shaft 11 rotates synchronously with the steering wheel 70, the hand feeling module 10 can transmit the signal representing the target rotation angle to the steering execution module 20 by wire or wireless means, and the steering execution module 20 can drive the wheel 1300 to steer in response to the signal.

[0069] Specifically, in some embodiments, when the steering shaft 11 rotates synchronously with the steering wheel 70, the position detection component 13 can monitor the rotation of the steering shaft 11 and output a signal representing the target rotation angle (that is, the signal carries the target rotation angle), and the drive component 21 can receive the signal representing the target rotation angle from the position detection component 13, and output the driving force according to the target rotation angle, so that the drive component 21 can drive the wheel 1300 to turn. At the same time, the hand feeling control component 15 can monitor the rotation of the steering shaft 11 and provide steering torque to the steering shaft 11, so that the hand feeling control component 15 can provide steering damping feeling to the steering wheel 70 through the steering shaft 11, thereby realizing simulated road feeling and ensuring the user's perception of road surface information and vehicle 1000 information.

[0070] In the steering device 100 of the embodiment of the present application, the position detection component 13 monitors the rotation of the steering shaft 11 and outputs a signal representing the target rotation angle. The drive component 21 is communicatively connected to the position detection component 13. The drive component 21 receives the signal representing the target detection angle from the position detection component 13, and outputs a driving force according to the target rotation angle to drive the wheels 1300 of the vehicle 1000 to steer. Therefore, after the steering shaft 11 rotates, the drive component 21 can directly obtain the signal representing the target rotation angle output by the position detection component 13 without having to be processed and forwarded by the hand feel control component 15. This can shorten the time difference between the steering of the steering shaft 11 and the steering of the wheels 1300, which is conducive to the synchronous rotation of the wheels 1300 and the steering shaft 11.

[0071] The steering device 100 is further described below with reference to the accompanying drawings.

[0072] See also Figure 2 In some embodiments, the driving component 21 is wirelessly connected to the position detection component 13. Specifically, in some embodiments, the driving component 21 and the position detection component 13 can establish communication through wireless communication connection such as Wi-Fi, 4G or Bluetooth, so as to achieve data signal transmission. Wireless communication connection can reduce wiring, thereby saving wiring space and reducing wiring costs.

[0073] In other embodiments, the drive assembly 21 is electrically connected to the position detection assembly 13 via a first wire 40. Specifically, in some embodiments, the drive assembly 21 and the position detection assembly 13 establish communication via the first wire 40, thereby achieving transmission of data signals. It is understandable that, in other embodiments, the drive assembly 21 and the position detection assembly 13 may also establish communication via a wired communication connection such as a metal conductive member (such as a copper busbar or a shrapnel, etc.) or an optical fiber. The wired communication connection can improve the stability of signal transmission, thereby improving the stability and reliability of the steering device 100.

[0074] Please continue reading Figure 2 In some embodiments, the position detection component 13 includes a first transmission member 131, a second transmission member 133, and a collection unit 135. The first transmission member 131 is disposed on the steering shaft 11. The second transmission member 133 cooperates with the first transmission member 131, and the first transmission member 131 can move synchronously with the steering shaft 11 and drive the second transmission member 133 to move relative to the steering shaft 11. The collection unit 135 detects the motion information of the second transmission member 133, and outputs a signal representing the target rotation angle according to the motion information.

[0075] Specifically, in some embodiments, when the steering shaft 11 rotates, the first transmission member 131 can rotate synchronously with the rotating shaft, and the first transmission member 131 can drive the second transmission member 133 to move relative to the steering shaft 11. In this case, the acquisition unit 135 detects the motion information of the second transmission member 133 and outputs a signal representing the target rotation angle according to the motion information. Among them, when the second transmission member 133 rotates relative to the steering shaft 11, the motion information of the second transmission member 133 may include the rotation angle and rotation direction of the second transmission member 133. It should be noted that, in some embodiments, the first transmission member 131 and the second transmission member 133 can be matched in any one of the matching modes such as gear matching, gear rack matching, or rack and pinion matching.

[0076] In some embodiments, the position detection assembly 13 may further include a mounting member (not shown), and the second transmission member 133 may be rotatably mounted on the mounting member and cooperate with the first transmission member 131. Figure 1 In one example, the mounting piece is a part of the vehicle body 1200. In another example, the mounting piece is an independent structure, and the mounting piece and the vehicle body 1200 can be connected together in a detachable connection manner or a non-detachable connection manner. The detachable connection manner includes but is not limited to threaded connection or snap connection, etc.; the non-detachable connection manner includes but is not limited to welding or bonding, etc.

[0077] In some embodiments, the first transmission member 131 and the steering shaft 11 are an integral structure, that is, the first transmission member 131 and the steering shaft 11 can be formed into an integral structure by an integral molding method. In other embodiments, the first transmission member 131 and the steering shaft 11 are split structures, that is, the first transmission member 131 and the steering shaft 11 are two different structures. In one example, the first transmission member 131 and the steering shaft 11 can be combined together in a non-detachable connection manner, thereby improving the bonding force between the first transmission member 131 and the steering shaft 11, preventing the first transmission member 131 from falling off the steering shaft 11 during the rotation of the steering shaft 11, thereby ensuring the stability and reliability of the steering device 100. Among them, the non-detachable connection method includes but is not limited to welding or bonding. In another example, the first transmission member 131 and the steering shaft 11 can be combined together in a detachable connection method, thereby facilitating the removal and replacement of the first transmission member 131 when it is damaged, thereby ensuring the normal operation of the steering device 100. Among them, the detachable connection method includes but is not limited to threaded connection or snap connection.

[0078] In some embodiments, the driving assembly 21 includes an actuator 211, and the actuator 211 is used to output a driving force. Specifically, when the driving assembly 21 receives a target rotation angle, the actuator 211 can rotate the target rotation angle to output a driving force.

[0079] In the related art, the drive assembly may further include a measuring unit, which is connected to the execution drive member. When the execution drive member is running, the measuring unit can detect the angle of rotation of the output shaft of the execution drive member, and the angle detected by the measuring unit can be compared with the target rotation angle received by the drive assembly, thereby realizing the closed-loop control of the execution drive member. It is understandable that when the steering device is running normally, the angle detected by the measuring unit is the same as the target rotation angle received by the drive assembly. In some embodiments of the present application, the structures of the acquisition unit 135 and the measurement unit 215 can be substantially the same, so that after the acquisition unit 135 detects the motion information of the second transmission member 133, the acquisition unit 135 can output a signal representing the target rotation angle to the drive assembly 21 according to the motion information, thereby shortening the time difference between the rotation of the steering shaft 11 and the steering of the wheel 1300, and ensuring that the wheel 1300 and the steering shaft 11 can achieve synchronous rotation. It is understandable that in one embodiment of the present application, the measurement unit 215 is a separate device independent of the drive assembly 21, and in this case, the measurement unit 215 is the acquisition unit 135. In another embodiment of the present application, the drive assembly 21 includes the measurement unit 215.

[0080] For further information, see Figure 2In some embodiments, the driving assembly 21 includes an actuator 211, which is used to output a driving force. The angular velocity of the second transmission member 133 is the same as the angular velocity of the output shaft of the actuator 211. It should be noted that in some embodiments, the first transmission member 131 and the second transmission member 133 are both gears.

[0081] Specifically, in some embodiments, the first transmission member 131 is sleeved on the steering shaft 11, and the second transmission member 133 is meshed with the first transmission member 131. When the first transmission member 131 rotates synchronously with the steering shaft 11, the second transmission member 133 rotates relative to the steering shaft 11. The acquisition unit 135 can detect the motion information of the second transmission member 133 (such as the rotation angle or rotation direction of the second transmission member 133), and output a signal representing a target rotation angle according to the motion information of the second transmission member 133 (the signal carries the target rotation angle, in other words, the target rotation angle can be transmitted through the signal). Among them, since the angular velocity of rotation of the second transmission member 133 is the same as the angular velocity of rotation of the output shaft of the execution drive member 211, after the acquisition unit 135 detects the motion information of the second transmission member 133, for example, after the acquisition unit 135 detects the rotation angle of the second transmission member 133, the acquisition unit 135 can directly output the collected rotation angle of the second transmission member 133 as the target rotation angle, thereby shortening the time difference between the rotation of the steering shaft 11 and the steering of the wheel 1300, and ensuring that the wheel 1300 and the steering shaft 11 can achieve synchronous rotation.

[0082] In some embodiments, the target rotation angle is θ', and θ'=n*θ; wherein n is the gear reduction ratio between the first transmission member 131 and the second transmission member 133; and θ is the actual rotation angle of the steering shaft 11. Exemplarily, when θ is 180° and n is 2, θ' is 360°, that is, when the steering wheel 70 drives the steering shaft 11 to rotate synchronously by 180°, the output shaft of the actuator 211 can rotate 360°.

[0083] Please continue reading Figure 2 In some embodiments, the acquisition unit 135 includes a magnetic member 1351, a circuit board 1353, and an acquisition controller 1355. The magnetic member 1351 is disposed on the second transmission member 133 and can move with the second transmission member 133. A detection member is disposed on the circuit board 1353, and the detection member cooperates with the magnetic member 1351 and outputs a detection signal, and the detection signal carries the movement information of the second transmission member 133. The acquisition controller 1355 is electrically connected to the circuit board 1353, and the acquisition controller 1355 outputs a signal representing the target rotation angle after receiving the detection signal.

[0084] Specifically, in some embodiments, when the first transmission member 131 rotates synchronously with the steering shaft 11, the second transmission member 133 and the magnetic member 1351 rotate together relative to the steering shaft 11, and the detection member can detect the movement of the magnetic member 1351 and output a detection signal to the acquisition controller 1355, and the detection signal carries the movement information of the second transmission member 133. The acquisition controller 1355 can output a signal representing the target rotation angle after receiving the detection signal. It should be noted that, in some embodiments, the magnetic member 1351 can be a magnetic ring, and the detection member can be a magnetic encoder chip. The magnetic member 1351 and the steering shaft 11 can be combined together in a detachable connection method or a non-detachable connection method. Among them, the detachable connection method includes but is not limited to threaded connection or snap connection, etc.; the non-detachable connection method includes but is not limited to welding or bonding, etc.

[0085] In some embodiments, the circuit board 1353 may be disposed on a mounting member (not shown), and the acquisition controller 1355 is disposed on the circuit board 1353 and electrically connected to the circuit board 1353. In some embodiments, the acquisition controller 1355 is disposed on a mounting member, and the circuit board 1353 is disposed on the acquisition controller 1355 and electrically connected to the acquisition controller 1355. In some embodiments, the circuit board 1353 and the acquisition controller 1355 are both disposed on the mounting member, and the acquisition controller 1355 is electrically connected to the circuit board 1353.

[0086] In some embodiments, the hand feeling control component 15 includes a hand feeling drive member 151, an angle sensor 153 and a hand feeling controller 155. The hand feeling drive member 151 is connected to the steering shaft 11. The angle sensor 153 is connected to the steering shaft 11 and is used to detect the actual rotation angle of the steering shaft 11. The hand feeling controller 155 is electrically connected to the hand feeling drive member 151 and the angle sensor 153, and the hand feeling controller 155 is used to receive the actual rotation angle of the steering shaft 11, and control the hand feeling drive member 151 to provide steering torque to the steering shaft 11 according to the steering angle of the steering shaft 11. It should be noted that in some embodiments, the hand feeling drive member 151 can be a hand feeling motor.

[0087] Specifically, please combine Figure 1In some embodiments, when the steering shaft 11 rotates synchronously with the steering wheel 70, the angle sensor 153 can detect the rotation signal, that is, the angle sensor 153 can detect the actual rotation angle of the steering shaft 11, and send the detected actual steering angle of the steering shaft 11 to the hand feel controller 155. The hand feel controller 155 controls the hand feel driver 151 to provide steering torque to the steering shaft 11 in response to the rotation signal, that is, the hand feel controller 155 controls the hand feel driver 151 to provide steering torque to the steering shaft 11 according to the received actual rotation angle. In this way, the hand feel driver 151 can provide a steering damping feel to the steering wheel 70 through the steering shaft 11, thereby realizing simulated road feel and ensuring the user's perception of road surface information and vehicle 1000 information. Exemplarily, when the steering shaft 11 rotates synchronously clockwise with the steering wheel 70, the rotation direction of the output shaft of the hand-feel driving component 151 is opposite to the rotation direction of the steering shaft 11. In this way, the hand-feel driving component 151 can provide an opposite steering torque to the steering shaft 11, thereby providing resistance to the rotation of the steering shaft 11 and the steering wheel 70 to simulate the damping feeling during steering.

[0088] See also Figure 2 and Fig. 9 In some embodiments, the steering execution module 20 further includes a transmission assembly 23, and the transmission assembly 23 is mechanically connected to the drive assembly 21. Specifically, in some embodiments, the transmission assembly 23 is also connected to the wheel 1300, and when the drive assembly 21 outputs the driving force according to the target rotation angle, the drive assembly 21 can output the driving force to the transmission assembly 23 to drive the transmission assembly 23 to move, so that the transmission assembly 23 can drive the wheel 1300 to turn.

[0089] Further, in some embodiments, the driving assembly 21 includes an execution driving member 211 and an execution controller 213. The execution driving member 211 is connected to the transmission assembly 23. The execution controller 213 is electrically connected to the execution driving member 211 and is in communication connection with the position detection assembly 13. After receiving the signal representing the target rotation angle, the execution controller 213 controls the execution driving member 211 to output the driving force according to the target rotation angle.

[0090] Specifically, in some embodiments, the execution controller 213 may use a field-oriented control (FOC) method to control the operation of the execution driver 211. When the execution controller 213 receives a signal representing a target rotation angle, the execution controller 213 can generate a corresponding electromagnetic torque according to the target rotation angle to control the execution driver 211 to rotate the target rotation angle and output a driving force.

[0091] It should be noted that, in some embodiments, the driving assembly 21 further includes a loading member (not shown), and the execution driving member 211 is disposed on the loading member. Figure 1 In one example, the loading part may be a part of the vehicle body 1200. In another example, the loading part is an independent structure, and the loading part and the vehicle body 1200 may be connected together in a detachable connection manner or a non-detachable connection manner. The detachable connection manner includes but is not limited to threaded connection or snap connection, etc.; the non-detachable connection manner includes but is not limited to welding or bonding, etc.

[0092] In some embodiments, the hand feel control component 15 outputs a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft 11; the execution controller 213 is also communicated with the hand feel control component 15, and after the execution controller 213 receives the signal representing the reference rotation angle from the hand feel control component 15, it updates the target rotation angle or issues a prompt signal based on the reference rotation angle and the target rotation angle.

[0093] Specifically, in some embodiments, when the hand feeling controller 155 receives the actual rotation angle of the steering shaft 11, the hand feeling controller 155 can control the hand feeling driving member 151 to provide steering torque to the steering shaft 11 according to the steering angle of the steering shaft 11, and can output a signal representing a reference rotation angle according to the steering angle of the steering shaft 11. Among them, the execution controller 213 is also in communication connection with the hand feeling controller 155, and the execution controller 213 also receives the signal representing the reference rotation angle, and updates the target rotation angle or issues a prompt signal according to the reference rotation angle and the target rotation angle, thereby avoiding the problem that the target rotation angle output by the position detection component 13 is in error due to signal interference or equipment failure, resulting in the steering execution module 20 being unable to stably and accurately drive the wheel 1300 to steer, thereby improving the accuracy and safety of steering execution.

[0094] In some embodiments, updating the target rotation angle according to the reference rotation angle and the target rotation angle may include: when there is an error between the reference rotation angle and the target rotation angle, the execution controller 213 may obtain the execution rotation angle pre-stored in the vehicle 1000 according to the actual rotation angle of the steering shaft 11, and use the execution rotation angle as the new target rotation angle; or, when there is an error between the reference rotation angle and the target rotation angle, the execution controller 213 may correct the target rotation angle according to the reference rotation angle, and use the corrected angle as the new target rotation angle; or, when there is an error between the reference rotation angle and the target rotation angle, the execution controller 213 may obtain the average rotation angle of the reference rotation angle and the target rotation angle, and use the average rotation angle as the new target rotation angle. Of course, the method of updating the target rotation angle according to the reference rotation angle and the target rotation angle in the above embodiment is only an exemplary description. In other embodiments, the method of updating the target rotation angle according to the reference rotation angle and the target rotation angle may also be other methods, which are not described one by one here.

[0095] In some embodiments, sending a prompt signal may include: when there is an error between the reference rotation angle and the target rotation angle, the execution controller 213 may control a prompt element in the vehicle 1000 to work so that the prompt element sends a prompt signal. The prompt element includes but is not limited to an indicator light, a speaker, a buzzer, and a vibration motor.

[0096] In some embodiments, the execution controller 213 is wirelessly connected to the feel control component 15. Specifically, in some embodiments, the execution controller 213 can establish communication with the feel controller 155 in the feel control component 15 through wireless communication connection such as Wi-Fi, 4G or Bluetooth, so as to achieve data signal transmission. Wireless communication connection can reduce wiring, thereby saving wiring space and reducing wiring costs.

[0097] In other embodiments, the execution controller 213 is electrically connected to the feel control component 15 via the second wire 50. Specifically, in some embodiments, the execution controller 213 establishes communication with the feel controller 155 in the feel control component 15 via the second wire 50, thereby realizing the transmission of data signals. It is understandable that, in other embodiments, the execution controller 213 and the feel controller 155 can also establish communication via a wired communication connection such as a metal conductive member (such as a copper bus or a shrapnel, etc.) or an optical fiber. The wired communication connection can improve the stability of signal transmission, thereby improving the stability and reliability of the steering device 100.

[0098] See also Figure 2In some embodiments, the transmission component 23 includes a first transmission member 231 and a second transmission member 233 connected to each other, one end of the first transmission member 231 is connected to the driving component 21, and the first transmission member 231 is used to transmit the driving force of the driving component 21 to the second transmission member 233 to drive the second transmission member 233 to move.

[0099] Specifically, in some embodiments, one end of the first transmission member 231 is connected to the output shaft of the execution drive member 211, and the other end is matched with the second transmission member 233, and the second transmission member 233 is connected to the wheel 1300. When the execution drive member 211 is running, the first transmission member 231 can transmit the driving force of the execution drive member 211 to the second transmission member 233 to drive the second transmission member 233 to move, so that the second transmission member 233 drives the wheel 1300 to move. It should be noted that in some embodiments, the first transmission member 231 can be a belt or a pulley, etc., and the second transmission member 233 can be a structure that can cooperate with the belt or the pulley. For example, when the first transmission member 231 is a pulley, the second transmission member 233 can be a rack. It can be understood that in other embodiments, the first transmission member 231 and the second transmission member 233 can also be other common transmission structures, which are not illustrated one by one here.

[0100] Please combine Fig. 9 In some embodiments, the steering device 100 also includes an angle detection component 30, which is mechanically connected to the transmission component 23 and is communicatively connected to the execution controller 213. After detecting the movement of the transmission component 23, the angle detection component 30 outputs a signal representing the detection angle to the execution controller 213. After receiving the signal representing the detection angle from the angle detection component 30, the execution controller 213 updates the target rotation angle or issues a prompt signal based on the detection angle and the target rotation angle.

[0101] Specifically, in some embodiments, the angle detection component 30 can be mechanically connected to the second transmission member 233, and the angle detection component 30 can detect the movement of the second transmission member 233 and output a signal representing the detection angle to the execution controller 213. The execution controller 213 can also receive the signal representing the detection angle, and update the target rotation angle or issue a prompt signal according to the detection angle and the target rotation angle, thereby avoiding the problem that the wheel 1300 cannot be effectively turned due to a fault of the execution drive member 211 or the transmission component 23, thereby ensuring that the vehicle 1000 ( Figure 1 driving safety.

[0102] Among them, the execution controller 213 updates the target rotation angle or issues a prompt signal according to the detection angle and the target rotation angle, which is roughly the same as the way in which the execution controller 213 updates the target rotation angle or issues a prompt signal according to the reference rotation angle and the target rotation angle in the above-mentioned embodiment, and will not be repeated here.

[0103] Further, in some embodiments, the detection assembly includes a third transmission member 31 and a detection unit 33. The third transmission member 31 cooperates with the second transmission member 233 of the transmission assembly 23 and can move relative to the second transmission member 233. The detection unit 33 is connected to the execution controller 213 for communication, and the detection unit 33 outputs a signal representing the detection angle to the execution controller 213 after detecting the movement of the third transmission member 31.

[0104] Specifically, in some embodiments, the third transmission member 31 is rotatably disposed on a loading member (not shown). Wherein, when the second transmission member 233 is a rack, the third transmission member 31 can be a gear, and the rack meshes with the gear, so that when the second transmission member 233 moves, the third transmission member 31 can rotate relative to the second transmission member 233. In this case, the detection unit 33 can detect the movement of the third transmission member 31 and output a signal representing the detection angle to the execution controller 213.

[0105] In some embodiments, the detection unit 33 is wirelessly connected to the execution controller 213. Specifically, in some embodiments, the detection unit 33 and the execution controller 213 can establish communication through wireless communication connection such as Wi-Fi, 4G or Bluetooth, so as to achieve transmission of data signals. Wireless communication connection can reduce wiring, thereby saving wiring space and reducing wiring costs.

[0106] In other embodiments, the detection unit 33 is electrically connected to the execution controller 213 via a third wire 60. Specifically, in some embodiments, the detection unit 33 and the execution controller 213 establish communication via the third wire 60, thereby realizing the transmission of data signals. It is understandable that, in other embodiments, the detection unit 33 and the execution controller 213 can also establish communication via a wired communication connection such as a metal conductive member (such as a copper bus or a shrapnel, etc.) or an optical fiber. The wired communication connection can improve the stability of signal transmission, thereby improving the stability and reliability of the steering device 100.

[0107] See also Figure 1 and Figure 2In some embodiments, the steering angle of the wheel 1300 is β, and β=m*θ', where m is a fixed transmission ratio, which is determined by the reduction ratio between the driving component 21 of the steering execution module 20 and the transmission component 23 of the steering execution module 20, and the corresponding coefficient between the transmission component 23 and the turning angle of the wheel 1300; θ' is the target turning angle. Specifically, in some embodiments, m can be determined by the execution driving member 211 of the driving component 21 and the second transmission member 233 of the transmission component 23, and the corresponding coefficient between the displacement of the second transmission member 233 and the turning angle of the wheel 1300.

[0108] In certain embodiments, when the first transmission member 131 of the position detection component 13 and the second transmission member 133 of the position detection component 13 are both gears, the steering angle of the wheel 1300 is β, and β=m*k*n*θ, wherein m is a variable transmission ratio determined by the vehicle speed and steering direction of the vehicle 1000; k is a variable transmission ratio determined by the vehicle speed and steering direction of the vehicle 1000; n is the gear reduction ratio between the first transmission member 131 and the second transmission member 133, and θ is the actual rotation angle of the steering shaft 11.

[0109] Specifically, in some embodiments, the k value can be a curve that changes with the speed of the vehicle 1000. When the speed is low, the k value is large, which can improve the steering sensitivity of the wheel 1300 when the speed of the vehicle 1000 is low; when the speed is high, the K value is small, which can improve the safety and reliability of the steering of the wheel 1300 when the speed of the vehicle 1000 is high.

[0110] See also Figure 2 and Figure 3 The embodiment of the present application provides a steering control method of a steering device 100, wherein the steering device 100 includes a hand feeling module 10 and a steering execution module 20, wherein the hand feeling module 10 includes a steering shaft 11, a position detection component 13 and a hand feeling control component 15, wherein the position detection component 13 and the hand feeling control component 15 are both mechanically connected to the steering shaft 11; the steering execution module 20 includes a drive component 21, and the drive component 21 is communicatively connected to the position detection component 13. The steering control method includes:

[0111] 01: The position detection component 13 monitors the rotation of the steering shaft 11 and outputs a signal representing the target rotation angle;

[0112] 03: The hand feeling control component 15 monitors the rotation of the steering shaft 11 and provides steering torque to the steering shaft 11; and

[0113] 05: After receiving the signal representing the target rotation angle from the position detection component 13, the driving component 21 outputs the driving force according to the target rotation angle.

[0114] Among them, the feel module 10 (including the steering shaft 11, the position detection component 13 and the feel control component 15), and the steering execution module 20 (including the drive component 21) in this embodiment are basically the same as the feel module 10 (including the steering shaft 11, the position detection component 13 and the feel control component 15), and the steering execution module 20 (including the drive component 21) in the above-mentioned embodiment, and are not repeated here.

[0115] In the steering control method of the embodiment of the present application, the position detection component 13 monitors the rotation of the steering shaft 11 and outputs a signal representing the target rotation angle. The drive component 21 is communicatively connected to the position detection component 13. After receiving the signal representing the target detection angle from the position detection component 13, the drive component 21 outputs a driving force according to the target rotation angle to drive the wheels 1300 of the vehicle 1000 to steer. Therefore, after the steering shaft 11 rotates, the drive component 21 can directly obtain the signal representing the target rotation angle output by the position detection component 13 without having to be processed and forwarded by the hand feel control component 15. This can shorten the time difference between the steering of the steering shaft 11 and the steering of the wheels 1300, which is conducive to the synchronous rotation of the wheels 1300 and the steering shaft 11.

[0116] See also Figure 2 and Figure 4 In some embodiments, the position detection component 13 includes a first transmission member 131, a second transmission member 133 and a collection unit 135. The first transmission member 131 is disposed on the steering shaft 11, and the second transmission member 133 cooperates with the first transmission member 131. The first transmission member 131 can move synchronously with the steering shaft 11 and drive the second transmission member 133 to move relative to the steering shaft 11. 01: The position detection component 13 monitors the rotation of the steering shaft 11 and outputs a signal representing the target rotation angle, including:

[0117] 011: The acquisition unit 135 detects the motion information of the second transmission member 133, and outputs a signal representing the target rotation angle according to the motion information.

[0118] Among them, the position detection component 13 in this embodiment (including the first transmission component 131, the second transmission component 133 and the collection unit 135) is basically the same as the position detection component 13 in the above-mentioned embodiment (including the first transmission component 131, the second transmission component 133 and the collection unit 135), and will not be repeated here.

[0119] See also Figure 2 and Figure 5In some embodiments, the acquisition unit 135 includes a magnetic member 1351, a circuit board 1353 and an acquisition controller 1355. The magnetic member 1351 is disposed on the second transmission member 133 and can move with the second transmission member 133. A detection member is disposed on the circuit board 1353. 011: The acquisition unit 135 detects the motion information of the second transmission member 133 and outputs a signal representing the target rotation angle according to the motion information, including:

[0120] 0111: The detection member cooperates with the magnetic member 1351 and outputs a detection signal, and the detection signal carries the movement information of the second transmission member 133; and

[0121] 0113: The acquisition controller 1355 is electrically connected to the circuit board 1353. After receiving the detection signal, the acquisition controller 1355 outputs a signal representing the target rotation angle.

[0122] Among them, the collection unit 135 (including the magnetic part 1351, the circuit board 1353 and the collection controller 1355), the circuit board 1353 and the detection part in this embodiment are basically the same as the collection unit 135 (including the magnetic part 1351, the circuit board 1353 and the collection controller 1355), the circuit board 1353 and the detection part in the above-mentioned embodiment, and are not repeated here.

[0123] See also Figure 2 and Figure 6 In some embodiments, the steering execution module 20 further includes a transmission assembly 23, the transmission assembly 23 is mechanically connected to the drive assembly 21, the drive assembly 21 includes an execution driver 211 and an execution controller 213, the execution driver 211 is connected to the transmission assembly 23, the execution controller 213 is electrically connected to the execution driver 211, and is communicatively connected to the position detection assembly 13. 05: After the drive assembly 21 receives the signal representing the target rotation angle from the position detection assembly 13, it outputs the driving force according to the target rotation angle, including:

[0124] 051: After receiving the signal representing the target rotation angle, the execution controller 213 controls the execution driving member 211 to output the driving force according to the target rotation angle.

[0125] Among them, the transmission assembly 23, the execution driver 211 and the execution controller 213 in this embodiment are basically the same as the transmission assembly 23, the execution driver 211 and the execution controller 213 in the above-mentioned embodiment, and are not described in detail here.

[0126] See also Figure 2 and Figure 7 In some embodiments, the execution controller 213 is also in communication with the hand feeling control component 15. The steering control method further includes:

[0127] 06: The hand feeling control component 15 outputs a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft 11; and

[0128] 07: After receiving the signal representing the reference rotation angle from the hand feeling control component 15, the execution controller 213 updates the target rotation angle or issues a prompt signal according to the reference rotation angle and the target rotation angle.

[0129] Specifically, please combine Fig. 9 In some embodiments, the hand feel control component 15 can output a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft 11, and the execution controller 213 can receive the signal representing the reference rotation angle from the hand feel control component 15, and update the target rotation angle or issue a prompt signal based on the reference rotation angle and the target rotation angle. This can avoid the problem that the target rotation angle output by the position detection component 13 is unable to stably and accurately drive the wheel 1300 to steer due to signal interference or equipment failure, thereby improving the accuracy and safety of steering execution.

[0130] It is understandable that, in some embodiments, when the execution controller 213 updates the target rotation angle according to the reference rotation angle and the target rotation angle, the execution controller 213 can control the execution driver 211 to output the driving force according to the updated target rotation angle.

[0131] See also Figure 2 and Figure 8 In some embodiments, the steering device 100 further includes an angle detection component 30, which is mechanically connected to the transmission component 23 and is in communication with the execution controller 213. The steering control method further includes:

[0132] 08: After detecting the movement of the transmission component 23, the angle detection component 30 outputs a signal representing the detection angle to the execution controller 213; and

[0133] 09: After receiving the signal representing the detection angle from the angle detection component 30, the execution controller 213 updates the target rotation angle or issues a prompt signal according to the detection angle and the target rotation angle.

[0134] Specifically, please combine Fig. 9In some embodiments, the angle detection component 30 can output a signal representing the detection angle to the execution controller 213 after detecting the movement of the transmission component 23. After receiving the signal representing the detection angle from the angle detection component 30, the execution controller 213 updates the target rotation angle or issues a prompt signal according to the detection angle and the target rotation angle, thereby avoiding the problem that the wheel 1300 cannot be effectively turned due to a fault of the execution drive member 211 or the transmission component 23, thereby ensuring that the vehicle 1000 ( Figure 1 driving safety.

[0135] It is understandable that, in some embodiments, when the execution controller 213 updates the target rotation angle according to the detection angle and the target rotation angle, the execution controller 213 can control the execution driver 211 to output the driving force according to the updated target rotation angle.

[0136] The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. At the same time, other implementation methods can be derived from the above-mentioned embodiments, so that structural and logical replacements and changes can be made without departing from the scope of this disclosure.

[0137] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A steering device (100), characterized in that: include: A hand feeling module (10) comprises a steering shaft (11), a position detection component (13) and a hand feeling control component (15), wherein the position detection component (13) and the hand feeling control component (15) are both mechanically connected to the steering shaft (11), the position detection component (13) monitors the rotation of the steering shaft (11) and outputs a signal representing a target rotation angle, and the hand feeling control component (15) monitors the rotation of the steering shaft (11) and provides a steering torque to the steering shaft (11); and The steering execution module (20) comprises a driving component (21), wherein the driving component (21) is communicatively connected with the position detection component (13), and after receiving a signal representing the target rotation angle from the position detection component (13), the driving component (21) outputs a driving force according to the target rotation angle.

2. The steering device (100) according to claim 1, characterized in that: The driving component (21) is wirelessly connected to the position detection component (13); and / or The driving component (21) is electrically connected to the position detection component (13) via a first wire (40).

3. The steering device (100) according to claim 1, characterized in that: The position detection component (13) comprises: A first transmission member (131), wherein the first transmission member (131) is arranged on the steering shaft (11); a second transmission member (133), the second transmission member (133) cooperates with the first transmission member (131), the first transmission member (131) can move synchronously with the steering shaft (11) and drive the second transmission member (133) to move relative to the steering shaft (11); and A collection unit (135), wherein the collection unit (135) detects motion information of the second transmission member (133) and outputs a signal representing the target rotation angle according to the motion information.

4. The steering device (100) according to claim 3, characterized in that: The driving assembly (21) comprises an actuator driving member (211), and the actuator driving member (211) is used to output driving force; the angular velocity of rotation of the second transmission member (133) is the same as the angular velocity of rotation of the output shaft of the actuator driving member (211).

5. The steering device (100) according to claim 4, characterized in that: The target rotation angle is θ', and θ'=n*θ; wherein n is the gear reduction ratio between the first transmission member (131) and the second transmission member (133); and θ is the actual rotation angle of the steering shaft (11).

6. The steering device (100) according to claim 3, characterized in that: The collection unit (135) comprises: a magnetic member (1351), wherein the magnetic member (1351) is disposed on the second transmission member (133) and is capable of moving together with the second transmission member (133); A circuit board (1353), wherein a detection element is provided on the circuit board (1353), wherein the detection element cooperates with the magnetic element (1351) and outputs a detection signal, wherein the detection signal carries movement information of the second transmission element (133); and A collection controller (1355), the collection controller (1355) is electrically connected to the circuit board (1353), and the collection controller (1355) outputs a signal representing the target rotation angle after receiving the detection signal.

7. The steering device (100) according to claim 1, characterized in that: The steering execution module (20) further comprises a transmission assembly (23), wherein the transmission assembly (23) is mechanically connected to the drive assembly (21).

8. The steering device (100) according to claim 7, characterized in that: The driving assembly (21) comprises: an execution drive member (211), the execution drive member (211) being connected to the transmission assembly (23); and An execution controller (213) is electrically connected to the execution drive member (211) and is in communication connection with the position detection component (13). After receiving a signal representing the target rotation angle, the execution controller (213) controls the execution drive member (211) to output a driving force according to the target rotation angle.

9. The steering device (100) according to claim 8, characterized in that: The hand feel control component (15) outputs a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft (11); the execution controller (213) is also connected to the hand feel control component (15) for communication; after receiving the signal representing the reference rotation angle from the hand feel control component (15), the execution controller (213) updates the target rotation angle or issues a prompt signal based on the reference rotation angle and the target rotation angle.

10. The steering device (100) according to claim 9, characterized in that: The execution controller (213) is wirelessly connected to the hand feeling control component (15); and / or The execution controller (213) is electrically connected to the hand feel control component (15) via a second wire (50).

11. The steering device (100) according to claim 7, characterized in that: The transmission component (23) comprises a first transmission member (231) and a second transmission member (233) connected to each other, one end of the first transmission member (231) is connected to the driving component (21), and the first transmission member (231) is used to transmit the driving force of the driving component (21) to the second transmission member (233) to drive the second transmission member (233) to move.

12. The steering device (100) according to claim 11, characterized in that The steering device (100) further comprises: An angle detection component (30), the angle detection component (30) is mechanically connected to the transmission component (23) and is communicatively connected to the execution controller (213), the angle detection component (30) outputs a signal representing a detection angle to the execution controller (213) after detecting the movement of the transmission component (23), and the execution controller (213) updates a target rotation angle or issues a prompt signal based on the detection angle and the target rotation angle after receiving the signal representing the detection angle from the angle detection component (30).

13. The steering device (100) according to claim 12, characterized in that: The angle detection component (30) comprises: a third transmission member (31), the third transmission member (31) being matched with the second transmission member (233) of the transmission assembly (23) and being capable of moving relative to the second transmission member (233); and A detection unit (33), the detection unit (33) is communicatively connected to the execution controller (213), and the detection unit (33) outputs a signal representing the detection angle to the execution controller (213) after detecting the movement of the third transmission member (31).

14. The steering device (100) according to claim 13, characterized in that: The detection unit (33) is wirelessly connected to the execution controller (213); and / or The detection unit (33) is electrically connected to the execution controller (213) via a third wire (60).

15. The steering device (100) according to claim 1, characterized in that: The hand feeling control component (15) comprises: A hand-feel driving member (151), wherein the hand-feel driving member (151) is connected to the steering shaft (11); an angle sensor (153), the angle sensor (153) being connected to the steering shaft (11) and being used to detect an actual rotation angle of the steering shaft (11); and A hand feel controller (155), the hand feel controller (155) being electrically connected to the hand feel drive component (151) and the angle sensor (153), the hand feel controller (155) being used to receive an actual rotation angle of the steering shaft (11), and to control the hand feel drive component (151) to provide the steering torque to the steering shaft (11) according to the actual steering angle of the steering shaft (11).

16. The steering device (100) according to claim 1, characterized in that The steering device (100) further comprises: A steering wheel (70) is connected to the steering shaft (11); when the steering wheel (70) rotates, the steering shaft (11) rotates synchronously with the steering wheel (70).

17. A steering system (1100), characterized in that: include: The steering device (100) according to any one of claims 1 to 16.

18. A vehicle (1000), characterized in that: include: Wheel (1300); and The steering system (1100) described in claim 17 is connected to the wheel (1300) and is used to drive the wheel (1300) to steer.

19. The vehicle (1000) according to claim 18, characterized in that The steering angle of the wheel (1300) is β, and β=m*θ', wherein m is a fixed transmission ratio, which is determined by the reduction ratio between the driving component (21) of the steering execution module (20) and the transmission component (23) of the steering execution module (20), and the corresponding coefficient of the rotation angle between the transmission component (23) and the wheel (1300); θ' is the target rotation angle.

20. The vehicle (1000) according to claim 18, characterized in that When the first transmission member (131) of the position detection component (13) and the second transmission member (133) of the position detection component (13) are both gears, the steering angle of the wheel (1300) is β, and β=m*k*n*θ, wherein m is a variable transmission ratio determined by the vehicle speed and steering direction of the vehicle (1000); k is a variable transmission ratio determined by the vehicle speed and steering direction of the vehicle (1000); n is the gear reduction ratio between the first transmission member (131) and the second transmission member (133), and θ is the actual rotation angle of the steering shaft (11).

21. A steering control method for a steering device (100), characterized in that: The steering device (100) comprises a hand feeling module (10) and a steering execution module (20), the hand feeling module (10) comprises a steering shaft (11), a position detection component (13) and a hand feeling control component (15), the position detection component (13) and the hand feeling control component (15) are both mechanically connected to the steering shaft (11); the steering execution module (20) comprises a drive component (21), the drive component (21) is communicatively connected to the position detection component (13); the steering control method comprises: The position detection component (13) monitors the rotation of the steering shaft (11) and outputs a signal representing a target rotation angle; The hand feel control component (15) monitors the rotation of the steering shaft (11) and provides steering torque to the steering shaft (11); and After receiving the signal representing the target rotation angle from the position detection component (13), the driving component (21) outputs a driving force according to the target rotation angle.

22. The steering control method according to claim 21, characterized in that: The position detection component (13) comprises a first transmission member (131), a second transmission member (133) and a collection unit (135); the first transmission member (131) is arranged on the steering shaft (11); the second transmission member (133) cooperates with the first transmission member (131); the first transmission member (131) can move synchronously with the steering shaft (11) and drive the second transmission member (133) to move relative to the steering shaft (11); the position detection component (13) monitors the rotation of the steering shaft (11) and outputs a signal representing a target rotation angle, comprising: The acquisition unit (135) detects the motion information of the second transmission member (133), and outputs a signal representing the target rotation angle according to the motion information.

23. The steering control method according to claim 22, characterized in that: The acquisition unit (135) comprises a magnetic member (1351), a circuit board (1353) and an acquisition controller (1355); the magnetic member (1351) is arranged on the second transmission member (133) and can move together with the second transmission member (133); a detection member is arranged on the circuit board (1353); the acquisition unit (135) detects movement information of the second transmission member (133) and outputs a signal representing the target rotation angle according to the movement information, including: The detection member cooperates with the magnetic member (1351) and outputs a detection signal, wherein the detection signal carries movement information of the second transmission member (133); and The acquisition controller (1355) is electrically connected to the circuit board (1353), and the acquisition controller (1355) outputs a signal representing the target rotation angle after receiving the detection signal.

24. The steering control method according to claim 21, characterized in that: The steering execution module (20) further comprises a transmission assembly (23), wherein the transmission assembly (23) is mechanically connected to the drive assembly (21), wherein the drive assembly (21) comprises an execution drive member (211) and an execution controller (213), wherein the execution drive member (211) is connected to the transmission assembly (23), and the execution controller (213) is electrically connected to the execution drive member (211) and is communicatively connected to the position detection assembly (13); after the drive assembly (21) receives a signal representing the target rotation angle from the position detection assembly (13), the drive assembly (21) outputs a driving force according to the target rotation angle, comprising: After receiving the signal representing the target rotation angle, the execution controller (213) controls the execution driving member (211) to output driving force according to the target rotation angle.

25. The steering control method according to claim 24, characterized in that: The execution controller (213) is also in communication connection with the hand feeling control component (15); the steering control method further comprises: The hand feeling control component (15) outputs a signal representing a reference rotation angle after detecting the actual rotation angle of the steering shaft (11); and After receiving the signal representing the reference rotation angle from the hand feeling control component (15), the execution controller (213) updates the target rotation angle or issues a prompt signal according to the reference rotation angle and the target rotation angle.

26. The steering control method according to claim 24, characterized in that: The steering device (100) further comprises an angle detection component (30), wherein the angle detection component (30) is mechanically connected to the transmission component (23) and is communicatively connected to the execution controller (213); the steering control method further comprises: The angle detection component (30) outputs a signal representing a detection angle to the execution controller (213) after detecting the movement of the transmission component (23); and After receiving the signal representing the detection angle from the angle detection component (30), the execution controller (213) updates the target rotation angle or issues a prompt signal according to the detection angle and the target rotation angle.

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