All-vector chassis semi-decoupling steering tie rod structure and execution control method

Abstract

The application discloses a full-vector chassis semi-decoupling steering cross-link structure and an execution control method. The full-vector chassis semi-decoupling steering cross-link structure comprises a shell, a first rack, a first steering link rod connected with the first rack and a steering knuckle of a first angle module, a first gear engaged with the first rack, a second rack arranged in parallel with the first rack at intervals, a second steering link rod connected with the second rack and a steering knuckle of a second angle module, and a second gear engaged with the second rack. A clutch device is connected with the first gear and the second gear in a combined state and makes the first gear and the second gear rotate together, and the clutch device is disconnected with the first gear and the second gear in a separated state. The full-vector chassis semi-decoupling steering cross-link structure has the advantages of high-speed stability, low-speed flexibility, high fault tolerance, large steering range, simple structure and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle engineering, and in particular, to a full-vector chassis semi-decoupling steering tie rod structure and an execution control method. BACKGROUND

[0002] With the continuous progress of automobile technology, the drive-by-wire chassis that cancels the mechanical connection through electrical signals is gradually replacing the traditional mechanical chassis, and has become a key technology of autonomous vehicles. The steer-by-wire system is mainly focused on decoupling the steering and the execution mechanism, while the full-vector drive-by-wire chassis further decouples the execution function to each wheel, so that the three independent force vectors of each wheel, including longitudinal force, lateral force and vertical force, are all independently controllable. This new type of chassis can meet the requirements of high-level autonomous driving and various special application scenarios (such as battlefield combat, natural disaster rescue, etc.) for automobile chassis. The corner module is the basic structural unit of the full-vector drive-by-wire chassis, which integrates driving, braking, steering and suspension functions in one.

[0003] The full-vector drive-by-wire chassis in the related art is difficult to be both flexible and stable, and lacks fault tolerance capability. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a full-vector chassis semi-decoupling steering tie rod structure, which has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance capability, large steering range and simple structure.

[0005] The present application also proposes an execution control method with the full-vector chassis semi-decoupling steering tie rod structure.

[0006] To achieve the above object, according to an embodiment of the first aspect of the present application, a full-vector chassis semi-decoupling steering tie rod structure is provided, comprising: a housing; a first rack, the length direction of the first rack is oriented along the left-right direction, the first rack is movably arranged on the housing along the left-right direction; a first steering tie rod, the first steering tie rod is rotatably connected with the first rack and a steering knuckle of a first steering angle module respectively, the first steering angle module is provided with a first steering driving device and a first braking device; a first gear, the first gear is rotatably arranged on the housing and engaged with the first rack; a second rack, the length direction of the second rack is oriented along the left-right direction, the second rack is movably arranged on the housing along the left-right direction, the second rack is arranged in parallel and spaced apart from the first rack; a second steering tie rod, the second steering tie rod is rotatably connected with the second rack and a steering knuckle of a second steering angle module respectively, the second steering angle module is provided with a second steering driving device and a second braking device; a second gear, the second gear is rotatably arranged on the housing and engaged with the second rack; a clutch device, the clutch device has a separation state and a combination state, the clutch device connects the first gear and the second gear and makes the first gear and the second gear rotate together in the combination state, the clutch device disconnects the first gear and the second gear in the separation state.

[0007] The full-vector chassis semi-decoupling steering tie rod structure according to the embodiment of the present application has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure and the like.

[0008] In addition, the full-vector chassis semi-decoupling steering tie rod structure according to the above embodiment of the present application can also have the following additional technical features:

[0009] According to an embodiment of the present application, the clutch device comprises: a first clutch member, the first clutch member is movably arranged on the first gear along the axial direction between a separation position and a combination position and rotates together with the first gear; a second clutch member, the second clutch member is arranged on the second gear, the first clutch member is connected with the second clutch member and rotates together with the second clutch member in the combination position, the first clutch member is separated from the second clutch member in the separation position.

[0010] According to an embodiment of the present application, the first clutch member is coaxially arranged with the first gear, and the second clutch member is coaxially arranged with the second gear.

[0011] According to an embodiment of the present application, the end surface of the first clutch member is provided with first clutch teeth, and the end surface of the second clutch member is provided with second clutch teeth, and the first clutch teeth are engaged with the second clutch teeth when the clutch device is in the combined state.

[0012] According to an embodiment of the present application, the first steering pull rod comprises a first inner steering pull rod, one end of which is rotatably connected to one end of the first rack, and a first outer steering pull rod, one end of which is threadedly connected to the other end of the first inner steering pull rod and the other end of which is rotatably connected to the steering knuckle of the first angle module, and the second steering pull rod comprises a second inner steering pull rod, one end of which is rotatably connected to one end of the second rack, and a second outer steering pull rod, one end of which is threadedly connected to the other end of the second inner steering pull rod and the other end of which is rotatably connected to the steering knuckle of the second angle module.

[0013] According to an embodiment of the present application, the first gear and the second gear are both helical gears, and the first rack and the second rack are both helical racks.

[0014] According to an embodiment of the present application, a dust cover is arranged between the housing and the first steering pull rod and between the housing and the second steering pull rod.

[0015] According to an embodiment of the second aspect of the present application, an execution control method of the full-vector chassis semi-decoupling steering tie rod structure according to the embodiment of the first aspect of the present application is provided, comprising: acquiring the driving speed of the vehicle, if the driving speed is greater than or equal to a predetermined value, controlling the clutch device to switch to the combined state, and if the driving speed is less than the predetermined value, controlling the clutch device to switch to the separated state.

[0016] According to the execution control method of the full-vector chassis semi-decoupling steering tie rod structure according to the embodiment of the present application, by using the full-vector chassis semi-decoupling steering tie rod structure according to the embodiment of the first aspect of the present application, the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, simple structure, etc. are achieved.

[0017] According to an embodiment of the present application, the execution control method of the full-vector chassis semi-decoupling steering tie rod structure further comprises: acquiring the operating state of the first steering driving device and the second steering driving device, and if one of the first steering device and the second steering device fails, controlling the clutch device to switch to the combined state.

[0018] According to an embodiment of the present invention, the execution control method of the full-vector chassis semi-decoupled steering tie rod structure further includes: acquiring the braking state of the vehicle, and if it is in the active braking state of the wheels in an inward-pointing manner, controlling the clutch device to switch to the engaged state.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the full-vector chassis semi-decoupled steering tie rod structure, the first corner module, and the second corner module according to an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the semi-decoupled steering tie rod structure of the full-vector chassis according to an embodiment of the present invention.

[0023] Figure 3 This is an exploded view of the semi-decoupled steering tie rod structure of the full-vector chassis according to an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the execution control method of the semi-decoupled steering tie rod structure of the full-vector chassis according to an embodiment of the present invention.

[0025] Reference numerals: Full-vector chassis semi-decoupled steering tie rod structure 1, first rack 10, first steering tie rod 20, first inner steering tie rod 21, first outer steering tie rod 22, first gear 30, second rack 40, second steering tie rod 50, second inner steering tie rod 51, second outer steering tie rod 52, second gear 60, clutch device 70, first clutch component 71, second clutch component 72, first angle module 2, second angle module 3. Detailed Implementation

[0026] This application is based on the inventor's discoveries and understanding of the following facts and problems:

[0027] The full-vector drive chassis in related technologies struggles to balance flexibility and stability, and lacks fault tolerance.

[0028] Specifically, because each corner module independently performs functions such as driving, braking, and steering, the full vector drive-by-wire chassis is prone to problems such as wheel sway and asynchronous left and right steering, which affect vehicle stability. If two corner modules are connected to form axle steering, it will affect the vehicle's agility. Moreover, if some functions of the corner modules fail, there is a lack of redundancy and fault tolerance.

[0029] Furthermore, some steering systems in related technologies involve a steering motor connected to a rack and pinion mechanism via a commutator, with the rack then connecting to the wheels to achieve steering. The commutators of the same set of wheels are connected or disconnected via a clutch to achieve synchronous or independent steering. However, such steering systems are not used in fully vector-guided chassis. Their steering motors drive the rack and pinion structure to drive the wheels to steer, rather than being independently mounted on the corner module, which is different from the fully vector-guided chassis targeted in this application. On the other hand, they use a commutator to achieve the transmission of the clutch, steering motor, and rack and pinion mechanism, resulting in a complex structure, numerous transmission steps, and poor stability.

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] The following description, with reference to the accompanying drawings, describes a fully vector chassis semi-decoupled steering tie rod structure 1 according to an embodiment of the present invention.

[0034] like Figures 1-4As shown, the full-vector chassis semi-decoupled steering tie rod structure 1 according to an embodiment of the present invention includes a housing (not shown in the figure), a first rack 10, a first steering tie rod 20, a first gear 30, a second rack 40, a second steering tie rod 50, a second gear 60, and a clutch device 70.

[0035] The length of the first rack 10 is oriented in the left-right direction (as shown by the arrows in the figure), and the first rack 10 is movably mounted on the housing. The first steering tie rod 20 is rotatably connected to the steering knuckle of the first rack 10 and the first angle module 2, respectively. The first angle module 2 is provided with a first steering drive device and a first braking device. The first gear 30 is rotatably mounted on the housing and meshes with the first rack 10.

[0036] The second rack 40 is oriented horizontally along its length and is movably mounted on the housing. The second rack 40 is parallel to and spaced apart from the first rack 10. The second steering tie rod 50 is rotatably connected to the steering knuckle of the second rack 40 and the second angle module 3, respectively. The second angle module 3 is equipped with a second steering drive device and a second braking device. The second gear 60 is rotatably mounted on the housing and meshes with the second rack 40.

[0037] The clutch device 70 has a disengaged state and an engaged state. In the engaged state, the clutch device 70 connects the first gear 30 and the second gear 60 and causes the first gear 30 and the second gear 60 to rotate together. In the disengaged state, the clutch device 70 disconnects the first gear 30 and the second gear 60.

[0038] Specifically, the steering drive of the first steering drive device to the first corner module 2 is transmitted to the first rack 10 through the first steering tie rod 20, and then to the first gear 30 through the meshing of the first rack 10 and the first gear 30. The steering drive of the second steering drive device to the second corner module 3 is transmitted to the second rack 40 through the second steering tie rod 50, and then to the second gear 60 through the meshing of the second rack 40 and the second gear 60.

[0039] When the clutch device 70 is in the disengaged state, the first gear 30 and the second gear 60 are disengaged and can rotate relative to each other. At this time, the steering driving force of the first corner module 2 and the second corner module 3 is not transmitted to each other through the clutch device 70, and the first corner module 2 and the second corner module 3 can steer independently without affecting each other. When the clutch device 70 is in the engaged state, the first gear 30 and the second gear 60 are connected through the clutch device 70 and rotate together. At this time, the steering driving force of the first corner module 2 and the second corner module 3 is transmitted to each other through the clutch device 70, so that the steering movements of the first corner module 2 and the second corner module 3 can affect each other, forming a shaft steering configuration, and the first steering drive device and the second steering drive device can be redundant.

[0040] For example, such as Figure 4 As shown in Figure a, when the vehicle is traveling at low to medium speeds, the turning angles of the left and right wheels may be large. To ensure the vehicle's agility, the clutch device 70 can be switched to the disengaged state so that the steering movements of the first corner module 2 and the second corner module 3 do not affect each other.

[0041] like Figure 4 As shown in Figure b, when a vehicle is traveling at high speed, the turning angles of the left and right wheels are generally small. To ensure vehicle stability, the clutch device 70 can be switched to the engaged state, making the horizontal movement distance of the first rack 10 and the second rack 40 the same but in opposite directions. This couples the steering motion of the first angle module 2 and the second angle module 3, transforming it into axle steering. On the one hand, this improves the rigidity of the entire steering system and avoids wheel shimmy. On the other hand, the coupling of the first angle module 2 and the second angle module 3 ensures coordinated movement of the two modules under high-frequency steering, improving the overall vehicle stability. Simultaneously, the first steering drive device and the second steering drive device can be redundant. When one of the first steering drive device or the second steering drive device fails, the other can be used to achieve steering drive, thereby improving the fault tolerance of the entire system.

[0042] like Figure 4 As shown in Figure c, when one of the first steering drive unit and the second steering drive unit fails, the figure shows an example of the steering drive unit of one of the two corner modules on the rear side of the vehicle failing. At this time, the clutch device 70 can be switched to the engaged state, and the unfailed steering drive unit drives the failed steering drive unit to steer through the full vector chassis semi-decoupled steering tie rod structure 1.

[0043] like Figure 4As shown in Figure d, when the vehicle needs to use the inward-pointing active braking, that is, when the left wheel turns to the right while the right wheel turns to the left, for example when the first and second braking devices fail and the vehicle's braking performance deteriorates significantly, the structural strength and rigidity of a single corner module are insufficient to achieve inward-pointing active braking by relying solely on its own steering drive device. In this case, after the wheel rotates to the inward-pointing active braking state, the clutch device 70 can be switched to the engaged state to improve the system's rigidity and strength and enhance the braking effect.

[0044] According to an embodiment of the present invention, the full-vector chassis semi-decoupled steering tie rod structure 1, by setting a first rack 10, a first steering tie rod 20, a first gear 30, a second rack 40, a second steering tie rod 50, and a second gear 60, allows the steering drive of the first corner module 2 to be transmitted to the first rack 10 through the first steering tie rod 20, and then to the first gear 30 through the meshing of the first rack 10 and the first gear 30. Similarly, the steering drive of the second corner module 3 is transmitted to the second rack 40 through the second steering tie rod 50, and then to the second gear 60 through the meshing of the second rack 40 and the second gear 60. Furthermore, by setting a clutch device 70, the clutch device 70 has both a disengaged state and an engaged state. When the clutch device 70 is in the disengaged state, the first gear 30 and the second gear 60 are disengaged and can rotate relative to each other. At this time, the steering drive force of the first corner module 2 and the second corner module 3 will not be transmitted to each other through the clutch device 70, and the first corner module 2 and the second corner module 3 can steer independently without affecting each other. When the clutch device 70 is in the engaged state, the first gear 30 and the second gear 60 are connected through the clutch device 70 and rotate together. At this time, the steering driving force of the first corner module 2 and the second corner module 3 will be transmitted to each other through the clutch device 70, so that the steering movements of the first corner module 2 and the second corner module 3 can influence each other to form a shaft steering form, and the first steering drive device and the second steering drive device can be redundant to each other.

[0045] Therefore, when the clutch device 70 is disengaged, the first angle module 2 and the second angle module 3 can turn independently, which is an independent steering mode and can improve vehicle agility. When the clutch device 70 is engaged, the first angle module 2 and the second angle module 3 can form a traditional axle steering mode, which can ensure the high-speed stability of the vehicle, improve the stiffness of the steering system, and make the first angle module 2 and the second angle module 3 redundant to ensure the fault tolerance after steering and braking failure.

[0046] Furthermore, by using a tie rod to connect the rack and steering knuckle, the rack meshes with the gear, and the gear is connected by a clutch. The second rack 40 is set parallel and spaced apart from the first rack 10. This not only converts the horizontal movement of the rack into the rotation of the gear, but also avoids interference between the racks, thus avoiding affecting the steering range of the corner module and improving the steering range. In addition, compared with the commutator connection method used in related technologies, the structure is simpler and more stable.

[0047] Therefore, the full-vector chassis semi-decoupled steering tie rod structure 1 according to the embodiment of the present invention has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range, and simple structure.

[0048] The following description, with reference to the accompanying drawings, describes a full-vector chassis semi-decoupled steering tie rod structure 1 according to a specific embodiment of the present invention.

[0049] In some specific embodiments of the present invention, such as Figures 1-4 As shown, the full-vector chassis semi-decoupled steering tie rod structure 1 according to an embodiment of the present invention includes a housing, a first rack 10, a first steering tie rod 20, a first gear 30, a second rack 40, a second steering tie rod 50, a second gear 60, and a clutch device 70.

[0050] Specifically, such as Figures 1-3 As shown, the clutch device 70 includes a first clutch element 71 and a second clutch element 72. The first clutch element 71 is axially movable on the first gear 30 between a disengaged position and an engaged position and rotates with the first gear 30. The second clutch element 72 is disposed on the second gear 60. When the first clutch element 71 is in the engaged position, it is connected to the second clutch element 72 and rotates with the second clutch element 72. When the first clutch element 71 is in the disengaged position, it is disengaged from the second clutch element 72. Specifically, when the clutch device 70 is in the disengaged state, the first clutch element 71 is in the disengaged position; when the clutch device 70 is in the engaged state, the first clutch element 71 is in the engaged position. The clutch device 70 can be an electromagnetic clutch device and is driven by an electromagnet and a spring. In this way, the engagement or disengagement of the clutch device 70 can be achieved by the movement of the first clutch element 71, and since the clutch element is directly disposed on the gear, the transmission process can be reduced, further improving stability.

[0051] More specifically, such as Figures 1-3 As shown, the first clutch 71 is coaxially arranged with the first gear 30, and the second clutch 72 is coaxially arranged with the second gear 60. This can further improve the stability of the full-vector chassis semi-decoupled steering tie rod structure 1.

[0052] Furthermore, such as Figures 1-3As shown, the end face of the first clutch member 71 is provided with a first clutch tooth, and the end face of the second clutch member 72 is provided with a second clutch tooth. When the first clutch member 71 is in the engaged position, the first clutch tooth and the second clutch tooth engage. This facilitates the first clutch member 71 to drive the second clutch member 72 to rotate together when in the engaged position.

[0053] Figure 3 A semi-decoupled steering tie rod structure 1 for a fully vectored chassis is shown, according to some examples of the present invention. For example... Figure 3 As shown, the first steering tie rod 20 includes a first inner steering tie rod 21 and a first outer steering tie rod 22. One end of the first inner steering tie rod 21 is rotatably connected to one end of the first rack 10. One end of the first outer steering tie rod 22 is threadedly engaged with the other end of the first inner steering tie rod 21, and the other end of the first outer steering tie rod 22 is rotatably connected to the steering knuckle of the first corner module 2. Specifically, the first inner steering tie rod 21 is connected to the first rack 10 via a ball joint bearing, and the first outer steering tie rod 22 is connected to the steering knuckle of the first corner module 2 via a spherical bearing.

[0054] The second steering tie rod 50 includes a second inner steering tie rod 51 and a second outer steering tie rod 52. One end of the second inner steering tie rod 51 is rotatably connected to one end of the second rack 40. One end of the second outer steering tie rod 52 is threaded to the other end of the second inner steering tie rod 51, and the other end of the second outer steering tie rod 52 is rotatably connected to the steering knuckle of the second angle module 3. Specifically, the second inner steering tie rod 51 is connected to the second rack 40 via a ball joint bearing, and the second outer steering tie rod 52 is connected to the steering knuckle of the second angle module 3 via a spherical bearing.

[0055] This facilitates the setting of the first steering tie rod 20 and the second steering tie rod 50, and makes it easier to adjust the length of the first steering tie rod 20 and the second steering tie rod 50.

[0056] Optionally, both the first gear 30 and the second gear 60 are helical gears, and both the first rack 10 and the second rack 40 are helical racks. This makes the transmission between the gears and racks smoother.

[0057] Advantageously, dust covers are provided between the housing and the first steering tie rod 20, and between the housing and the second steering tie rod 50. This prevents dust from entering the housing and ensures the lubrication performance of the various structures inside the housing.

[0058] The following describes the execution control method of the full-vector chassis semi-decoupled steering tie rod structure 1 according to the above embodiment of the present invention.

[0059] The vehicle's speed is obtained. If the speed is greater than or equal to a predetermined value, the clutch device 70 is controlled to switch to the engaged state. If the speed is less than the predetermined value, the clutch device 70 is controlled to switch to the disengaged state.

[0060] The execution control method of the full-vector chassis semi-decoupled steering tie rod structure 1 according to the embodiments of the present invention has the advantages of good high-speed stability, strong low-speed flexibility, high fault tolerance, large steering range and simple structure by utilizing the full-vector chassis semi-decoupled steering tie rod structure 1 according to the above embodiments of the present invention.

[0061] Advantageously, the execution control method of the full-vector chassis semi-decoupled steering tie rod structure 1 further includes: acquiring the operating status of the first steering drive device and the second steering drive device, and controlling the clutch device 70 to switch to the engaged state if one of the first steering device and the second steering device fails.

[0062] More advantageously, the execution control method of the full-vector chassis semi-decoupled steering tie rod structure 1 also includes:

[0063] The vehicle's braking status is obtained. If it is in a wheel-in-the-wheel active braking state, the clutch device 70 is controlled to switch to the engagement state.

[0064] This allows the clutch 70 to disengage at low and medium speeds, making the steering movements of the first angle module 2 and the second angle module 3 independent, thus improving the vehicle's low-speed maneuverability. At high speeds, the clutch 70 engages, and the first angle module 2 and the second angle module 3 form a traditional axle steering system, ensuring high-speed stability and avoiding the impact of wheel shimmy and asynchronous left-right steering on vehicle stability. If the steering function of one of the first angle module 2 and the second angle module 3 fails, the angle module that has not failed can control the angle module that has failed on the other side through the full-vector chassis semi-decoupled steering tie rod structure 1, achieving mutual redundancy between the first angle module 2 and the second angle module 3. When the vehicle needs to use inward-pointing active braking, for example, when both the first and second braking devices fail and the vehicle's braking performance deteriorates significantly, the clutch 70 can be switched to the engaged state after the wheels turn to the inward-pointing active braking state, thereby improving the system's rigidity and strength and enhancing the braking effect.

[0065] Other configurations and operations of the full-vector chassis semi-decoupled steering tie rod structure 1 and the execution control method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An execution control method for a semi-decoupled steering tie rod structure of a full-vector chassis, characterized in that, The vehicle's speed is obtained. If the speed is greater than or equal to a predetermined value, the clutch is controlled to switch to the engaged state. If the speed is less than the predetermined value, the clutch is controlled to switch to the disengaged state. The vehicle's braking status is obtained. If the vehicle is in a figure-eight active braking state, the clutch device is controlled to switch to the engaged state. The full-vector chassis semi-decoupled steering tie rod structure includes: case; A first rack, the length direction of the first rack is oriented in the left-right direction, and the first rack is movably mounted on the housing in the left-right direction; The first steering tie rod is rotatably connected to the steering knuckle of the first rack and the first angle module respectively. The first angle module is provided with a first steering drive device and a first braking device. A first gear, which is rotatably mounted on the housing and meshes with the first rack; The second rack has its length direction oriented in the left-right direction and is movably mounted on the housing. The second rack is parallel to and spaced apart from the first rack. The second steering tie rod is rotatably connected to the steering knuckle of the second rack and the second angle module respectively. The second angle module is provided with a second steering drive device and a second braking device. The second gear is rotatably mounted on the housing and meshes with the second rack; A clutch device having a disengaged state and an engaged state, wherein the clutch device connects the first gear and the second gear in the engaged state and causes the first gear and the second gear to rotate together, and the clutch device disengages the first gear and the second gear in the disengaged state; The first steering tie rod includes: A first steering inner tie rod, one end of which is rotatably connected to one end of the first rack; The first steering outer tie rod has one end threadedly engaged with the other end of the first steering inner tie rod, and the other end of the first steering outer tie rod is rotatably connected to the steering knuckle of the first angle module. The second steering tie rod includes: The second steering inner tie rod, one end of which is rotatably connected to one end of the second rack; The second steering outer tie rod has one end threadedly engaged with the other end of the second steering inner tie rod, and the other end of the second steering outer tie rod is rotatably connected to the steering knuckle of the second angle module.

2. The execution control method for the semi-decoupled steering tie rod structure of the full-vector chassis according to claim 1, characterized in that, The clutch device includes: The first clutch element is axially movable on the first gear between the disengaged position and the engaged position and rotates together with the first gear. The second clutch is disposed on the second gear. When the first clutch is in the engaged position, it is connected to the second clutch and rotates together with the second clutch. When the first clutch is in the disengaged position, it is separated from the second clutch.

3. The execution control method for the semi-decoupled steering tie rod structure of the full-vector chassis according to claim 2, characterized in that, The first clutch component is coaxially arranged with the first gear, and the second clutch component is coaxially arranged with the second gear.

4. The execution control method for the semi-decoupled steering tie rod structure of the full-vector chassis according to claim 2, characterized in that, The first clutch member has a first clutch tooth on its end face, and the second clutch member has a second clutch tooth on its end face. When the first clutch member is in the engaged position, the first clutch tooth and the second clutch tooth engage.

5. The execution control method for the semi-decoupled steering tie rod structure of the full-vector chassis according to claim 1, characterized in that, Both the first gear and the second gear are helical gears, and both the first rack and the second rack are helical racks.

6. The execution control method for the semi-decoupled steering tie rod structure of the full-vector chassis according to claim 1, characterized in that, Dust covers are provided between the housing and the first steering tie rod, and between the housing and the second steering tie rod.

7. The execution control method for the semi-decoupled steering tie rod structure of the full-vector chassis according to claim 1, characterized in that, Also includes: The operating status of the first steering drive device and the second steering drive device is obtained. If one of the first steering device and the second steering device fails, the clutch device is controlled to switch to the engaged state.

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