Steering column mechanism based on lateral force / displacement operation and whole vehicle control system and control method

Abstract

The invention relates to a steering column mechanism based on lateral force / displacement operation and a whole vehicle control system and control method, and the control system can more accurately and comprehensively recognize the operation intention of a driver and realize more-degree-of-freedom vehicle motion control according to the operation intention of the driver. According to the control system, based on lateral translation operation of a driver on an automobile steering wheel, the operation intention of the driver on the whole automobile is more comprehensively recognized by combining traditional operation such as torsional moment and angle of the steering wheel; and cooperative actuation of driving, steering, braking, suspension and the like is actively controlled, and the motion states of the course angle, the yaw angle and the like of the whole vehicle are controlled to achieve the purpose. The control system not only can reduce the operation difficulty and intensity of a driver, but also can give full play to the vehicle performance and improve the safety.

Description

Technical Field

[0001] The invention relates to a steering column mechanism and a vehicle control system and a control method based on lateral force / displacement operation, which can more accurately and comprehensively identify the driver's operating intention and realize vehicle motion control with more degrees of freedom according to the driver's operating intention. Background Art

[0002] In the early days of the development of the automobile industry, the driver's control method for the vehicle was based on the concept of directly operating each independent system and mechanical mechanism. For example, the vehicle steering mechanism is controlled by turning the steering wheel, and the braking system is controlled by stepping on the brake pedal. For traditional cars, there are five types of operational inputs involved in vehicle motion control: steering wheel angle, accelerator pedal travel, brake pedal travel and pressure, shift mechanism position, parking brake travel and pulling force. The driver's control of the vehicle's motion state is all based on the above five operations and their combinations.

[0003] In the early days, each subsystem of the car worked independently according to the input of its own control mechanism, and the working status of all subsystems jointly determined the motion state of the car. This kind of control is an indirect control, and the driver needs to establish a connection between the operation and the vehicle's motion state. Under normal working conditions, the car's degree of freedom of movement is not high, so the relationship between the operation and the motion state is simple, so ordinary people can establish this connection through training and practice and master driving skills. However, when in a non-steady-state condition, the vehicle's degree of freedom increases, and the state of each system is highly coupled to the relationship between the vehicle's motion state, which is difficult for ordinary drivers to control. On the other hand, based on new technologies such as distributed drive and wire-controlled rear-wheel steering, new motion states such as in-situ steering and crab walking have emerged, making driving control more difficult.

[0004] Therefore, there is an urgent need to invent a new vehicle motion control method that can judge the driver's control intention and actively control the coordinated actions of drive, steering, braking, suspension, etc. according to the driver's operation intention, reduce the difficulty and intensity of the driver's operation, give full play to the vehicle performance and improve safety. Summary of the invention

[0005] In order to coordinate the vehicle powertrain and chassis system and achieve accurate control of more degrees of freedom of the vehicle, the present invention provides a steering column mechanism and a vehicle control system and a control method based on lateral force / displacement operation, which can judge the driver's operating intention based on the lateral translation operation action applied by the driver to the steering wheel, and control the multi-system coordinated vehicle control system; the matching steering column can sense the lateral translation operation applied by the driver to the steering wheel.

[0006] To achieve the above object, the technical solution adopted by the present invention is: A steering column mechanism based on lateral force operation, the steering column mechanism comprises a steering wheel, a steering column, a steering column input end mounting point, a steering column output end mounting point, a linear motion pair and a force sensor; the steering wheel and the steering column are connected by a spline; there are two steering column input end mounting points, which are respectively located on both sides of the upper part of the steering column; the steering column output end mounting point is located on one side of the lower part of the steering column; linear motion pairs are respectively provided between the two steering column input end mounting points and the steering column; the force sensor is located on one side of the steering column, connecting the steering column and the vehicle body; the torque generated by the force applied by the driver to the steering wheel is balanced by the torque generated by the reaction force of the force sensor, and the driver's operating force can be obtained through the force sensing data and the length of the force arm.

[0007] A steering column mechanism based on lateral displacement operation, the steering column mechanism comprises a steering wheel, a steering column, a steering column input end mounting point, a steering column output end mounting point, a linear motion pair, an elastic component, a displacement sensor, and a displacement sensor measured point; the steering wheel and the steering column are connected by a spline, two steering column input end mounting points are arranged on both sides of the upper part of the steering column, and a steering column output end mounting point is arranged on one side of the lower part of the steering column; linear motion pairs are arranged between the two steering column input end mounting points and the steering column; elastic components are arranged on both sides of the middle part of the steering column; a displacement sensor measured point is arranged on the outer side of the linear motion pair, and the displacement sensor is arranged on the vehicle body and corresponds to the displacement sensor measured point; the driver's operating force can be obtained based on the stiffness of the elastic component and the displacement detected by the displacement sensor.

[0008] Furthermore, the steering column comprises a steering column steering shaft body and a steering column housing, and the steering column steering shaft body is installed inside the steering column housing through a bearing.

[0009] Furthermore, the mounting point of the steering column output end is a sheet metal structure, which may produce a certain degree of deformation.

[0010] Furthermore, the linear motion pair is a dovetail groove and a slider, and a group of lateral dovetail grooves and sliders are arranged at each mounting point of the steering column input end, wherein the dovetail groove body is fixed to one of the steering column housing and the vehicle instrument panel frame, and the sliders are respectively fixed to the steering column housing and the other of the vehicle instrument panel frame.

[0011] A whole vehicle control system suitable for a steering column mechanism based on lateral force / displacement operation, the control system comprises a driver operation sensing module composed of a torque angle integrated sensor TAS and a force / displacement sensor, a vehicle dynamic perception system composed of a vehicle speed sensor and an accelerometer / gyroscope, a vehicle dynamic controller VMC, a front wheel steering system, a rear wheel steering system and a whole vehicle chassis / body; the driver operation sensing module measures the operation of the steering wheel, and outputs a hand torque signal, a steering wheel angle signal and a lateral force / displacement signal; the steering power unit controls the motor to output power torque according to the steering wheel angle signal and the hand torque signal, and refers to the current vehicle speed signal collected by the vehicle speed sensor, and drives the front wheel steering actuator to actuate together with the driver's hand torque; the vehicle dynamic controller VMC comprises a whole vehicle expected dynamic calculation module, a path planning calculation module and a yaw compensation calculation module; the vehicle dynamic controller VMC outputs the final target output displacement of the rear steering actuator according to the steering wheel angle signal, the lateral force / displacement signal and the current vehicle speed signal, and the rear wheel steering system controls the displacement output of the rear wheel steering actuator according to the final target output displacement and the current actual output displacement measured by the linear displacement sensor.

[0012] A control method for a whole vehicle control system, wherein the driver's hand torque for steering wheel rotation operation and the physical angle of the steering wheel are measured by TAS; the lateral force or displacement of the driver's steering wheel translation operation is measured by a force / displacement sensor, and a hand torque signal, a steering wheel angle signal and a lateral force / displacement signal are output respectively; the steering power unit controls the motor to output the power torque according to the steering wheel angle signal and the hand torque signal, and refers to the current vehicle speed signal collected by the vehicle speed sensor, and drives the front wheel steering actuator to operate together with the driver's hand torque, so that the front wheel generates the required steering deflection angle; the whole vehicle expected dynamic calculation module of the vehicle dynamic controller VMC calculates the desired steering angle according to the steering wheel angle signal, the lateral force / displacement signal and the and the current vehicle speed signal to calculate the driver's expected heading angle and yaw rate. The path planning calculation module calculates the basic target displacement of the rear turn actuator according to the expected heading angle. The yaw compensation calculation module calculates the compensated target displacement of the rear turn actuator according to the expected yaw rate and the current actual yaw rate feedback. The basic target displacement and the compensated target displacement are superimposed to form the final target output displacement of the rear turn actuator. The rear-wheel steering system forms a closed-loop control system based on the final target output displacement and the current actual output displacement measured by the linear displacement sensor to control the displacement output of the rear-wheel steering actuator and drive the rear wheel to output the rear-wheel steering angle. The whole vehicle reaches its expected dynamic position under the action of the common steering deflection angle of the front and rear wheels.

[0013] Compared with the prior art, the present invention has the following advantages and technical effects: a linear motion pair is arranged between the connection input end mounting point of the steering column mechanism based on lateral force / displacement operation and the steering column of the present invention, and the driver's operating force can be obtained through the force sensing data and the length of the lever arm, or the displacement of a specific point fixed on the steering column relative to the vehicle body can be measured through the displacement sensor and the measured point of the displacement sensor, and the lateral displacement of the steering wheel can be calculated; thereby, the driver's operating intention is judged based on the lateral translation operation action applied by the driver to the steering wheel; the whole vehicle control system of the present invention can judge the driver's operating intention based on the lateral translation operation action applied by the driver to the steering wheel, and cooperate with the vehicle powertrain and chassis system to achieve accurate control of more degrees of freedom of the vehicle; the whole vehicle control system of the present invention measures the current whole vehicle motion parameters in real time through sensing devices such as accelerometers / gyroscopes, force / displacement sensors, and vehicle speed sensors, and provides feedback input for other systems on the control link to ensure the control accuracy of the whole vehicle steering system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 is a schematic diagram of a steering column mechanism based on lateral force operation according to Embodiment 1 of the present invention; Figure 2 is a schematic diagram of a steering column mechanism based on lateral displacement operation according to Embodiment 2 of the present invention; Figure 3 It is the structure and assembly drawing of the steering column based on lateral force operation of the present invention; Figure 4 It is a control principle diagram of a control system of a steering column mechanism based on lateral force / displacement operation of the present invention.

[0016] Reference numerals in the figures: 1-1, steering wheel; 1-2, spline; 1-3, steering column steering shaft; 1-4, steering column housing; 1-5, 1-6, bearings; 1-7, 1-8, steering column input end mounting points; 1-9, steering column output end mounting points; 1-10, 1-11, linear motion pair; 1-12, force sensor; 2-1, steering wheel; 2-2, spline; 2-3, steering column steering shaft; 2-4, steering column housing; 2-5, 2-6, bearings; 2-7, 2-8, steering column input mounting points; 2-9, steering column output mounting points; 2-10, 2-11, linear motion pair; 2-12, elastic components; 2-13, displacement sensor; 2-14, displacement sensor measured point; 3-1, steering wheel; 3-2, steering column shaft; 3-3, steering column housing; 3-4, dovetail groove and slider; 3-5, force sensor; 3-6, instrument panel frame; 3-7, 3-8, steering column input mounting points; 3-9, steering column output mounting points; 4-1, steering wheel; 4-2, driver operation sensor module; 4-3, vehicle dynamic perception system; 4-4, vehicle dynamic controller VMC; 4-5, front-wheel steering system; 4-6, rear-wheel steering system; 4-7, vehicle chassis / body. DETAILED DESCRIPTION

[0017] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0018] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0019] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0020] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0021] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the examples can be practiced without these specific details.

[0022] At the same time, in this specification, descriptions involving orientations, such as up, down, left, right, front, back, inside, outside, longitudinal, lateral, vertical, horizontal, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the present invention 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 cannot be understood as a limitation on the present invention.

[0023] The specific implementation scheme of the present invention is to use the steering column to sense the driver's operation of the steering wheel to determine the driver's intention, and coordinately control the bottom lateral control systems such as front wheel steering, rear wheel steering, and vector torque control according to the driver's intention.

[0024] For traditional automobile steering systems, the only operation of the driver is the rotation of the steering wheel around its plane vertical axis. In contrast, the present invention adds lateral translation (the y-axis direction of the vehicle coordinate system) operation input on this basis.

[0025] For the translation operation of the steering wheel, it can be a force, Figure 1 The invention discloses a schematic diagram of a steering column mechanism based on lateral force operation.

[0026] Among them, 1-1 is the steering wheel; 1-2 is the spline connection between the steering wheel and the steering column; 1-3 is the steering column steering shaft; 1-4 is the steering column housing; 1-5 and 1-6 are bearings; 1-7 and 1-8 are the mounting points of the input end of the steering column; 1-9 is the mounting point of the output end of the steering column; 1-10 and 1-11 are the linear motion pairs connecting the input end mounting point and the steering column respectively; 1-12 is a force sensor.

[0027] The steering wheel 1-2 is connected to the steering column through a spline 1-2. The steering column includes a steering column steering shaft 1-3 and a steering column housing 1-4. The steering column steering shaft 1-3 is installed inside the steering column housing 1-4 through bearings 1-5 and 1-6. Two steering column input end mounting points 1-7 and 1-8 are provided on both sides of the upper part of the steering column, and a steering column output end mounting point 1-9 is provided on one side of the lower part of the steering column. Linear motion pairs 1-10 and 1-11 are provided between the two steering column input end mounting points 1-7 and 1-8 and the steering column, respectively. A force sensor 1-12 is located on one side of the steering column and is used to connect the steering column to the vehicle body. The steering column input end mounting points 1-7 and 1-8 and the steering column output end mounting point 1-9 are both provided on the vehicle body.

[0028] When the driver applies an operating force to the steering wheel 1-2 in the lateral direction, a torque will be generated on the steering column around the output end mounting point 1-9 of the steering column. Since the output end mounting point 1-9 of the steering column is generally a sheet metal structure, it can produce a certain deformation, so it can be regarded as an articulated pair that can provide rotational freedom within a small angle range; at the same time, the input end mounting points 1-7 and 1-8 of the steering column are connected to the steering column through linear motion pairs 1-10 and 1-11, so that the input end mounting points 1-7 and 1-8 of the steering column do not constrain the lateral translational freedom of the steering column. For force operation, the torque generated by the force applied by the driver to the steering wheel 1-2 is completely balanced by the torque generated by the reaction force of the force sensor 1-12. The driver's operating force can be obtained through the data of the force sensor 1-12 and the length of the force arm.

[0029] Example 2

[0030] The translation operation of the steering wheel can be displacement, Figure 2 The invention discloses a schematic diagram of a steering column mechanism based on lateral displacement operation.

[0031] Among them, 2-1 is the steering wheel; 2-2 is the spline connection between the steering wheel and the steering column; 2-3 is the steering column steering shaft; 2-4 is the steering column housing; 2-5 and 2-6 are bearings; 2-7 and 2-8 are the mounting points of the steering column input end; 2-9 is the mounting point of the steering column output end; 2-10 and 2-11 are the linear motion pairs connecting the mounting point of the steering column input end and the steering column respectively; 2-12 is an elastic component; 2-13 is a displacement sensor; 2-14 is the measured point of the displacement sensor.

[0032] The steering wheel 2-1 is connected to the steering column through a spline 2-2. The steering column includes a steering column steering shaft 2-3 and a steering column housing 2-4. The steering column steering shaft 2-3 is installed inside the steering column housing 2-4 through bearings 2-5 and 2-6. Two steering column input end mounting points 2-7 and 2-8 are arranged on both sides of the upper part of the steering column, and a steering column output end mounting point 2-9 is arranged on one side of the lower part of the steering column. Linear motion pairs 2-10 and 2-11 are arranged between the two steering column input end mounting points 2-7 and 2-8 and the steering column. Elastic components 2-12 are arranged on both sides of the middle part of the steering column. A displacement sensor measured point 2-14 is arranged on the outer side of one of the linear motion pairs 2-10 and 2-11. The displacement sensor 2-13 is arranged on the vehicle body and corresponds to the displacement sensor measured point 2-14. The steering column input end mounting points 2-7 and 2-8 and the steering column output end mounting point 2-9 are both arranged on the vehicle body.

[0033] When the driver applies an operating force to the steering wheel 2-1 in the lateral direction, a torque will be generated on the steering column around the output end mounting point 2-9 of the steering column. Since the output end mounting point 2-9 of the steering column is generally a sheet metal structure, it can produce a certain deformation, so it can be regarded as an articulated pair that can provide rotational freedom within a small angle range; at the same time, the input end mounting points 2-7 and 2-8 of the steering column are connected to the steering column through linear motion pairs 2-10 and 2-11, so that the input end mounting points 2-7 and 2-8 of the steering column do not constrain the lateral translational freedom of the steering column. For displacement operation, the torque generated by the force applied by the driver to the steering wheel 2-1 is balanced by the torque generated by the reaction force of the elastic element 2-12. The elastic element 2-12 is deformed under the force, causing the entire steering wheel 2-1 to have a certain displacement in the horizontal direction. The displacement of a specific point fixed on the steering column relative to the vehicle body can be measured by the displacement sensor 2-13 and the displacement sensor measured point 2-14, and the lateral displacement of the steering wheel 2-1 can be calculated. The driver's operating force can be obtained based on the stiffness of the elastic element 2-12 and the lateral displacement of the steering wheel.

[0034] Example 3

[0035] Figure 3The figure is a schematic diagram of a steering column structure based on force operation in practical application and its assembly on a complete vehicle, wherein 3-1 is a steering wheel; 3-2 is a steering column shaft; 3-3 is a steering column housing; 3-4 is a dovetail groove and a slider; 3-5 is a force sensor; 3-6 is an instrument panel frame; 3-7 and 3-8 are mounting points for the input end of the steering column; and 3-9 is a mounting point for the output end of the steering column.

[0036] The dovetail groove and the slider 3-4 are arranged between the steering column housing 3-3 and the instrument panel frame 3-6 to form a linear motion pair; the force sensor 3-5 is arranged between the steering column housing 3-3 and the instrument panel frame 3-6 to balance the torque generated by the steering wheel 1-2.

[0037] Preferably, in this structure, the dovetail groove and slider 3-4 include a dovetail groove body and a slider, and a set of lateral dovetail grooves and sliders 3-4 are respectively provided at the steering column input end mounting points 3-7 and 3-8, wherein the dovetail groove body is fixed to the steering column housing 3-3, and the slider is fastened to the vehicle instrument panel frame 3-6 by installing fasteners, so the steering column input end mounting points 3-7 and 3-8 do not provide lateral constraints; the reaction torque for balancing the driver's lateral operation is completely provided by the force sensor 3-5 installed between the steering column and the instrument panel frame 3-6. As an alternative, the slider can also be fixed to the steering column housing 3-3, and the dovetail groove body can be fastened to the vehicle instrument panel frame 3-6.

[0038] Example 4

[0039] After obtaining the driver's lateral operation input, according to the ergonomic design, the driver's axial rotation and lateral translation inputs to the steering wheel correspond to the dynamic expectations of the vehicle's heading angle and yaw angle. After the above vehicle motion expectations are established, the vehicle dynamic controller VMC of the vehicle coordinates the various subsystems of the vehicle chassis to achieve the expected dynamics of the vehicle.

[0040] Figure 4 This is a control schematic diagram of a control system for a steering column mechanism based on lateral force / displacement operation of the present invention applied to a vehicle equipped with a four-wheel steering system, wherein the double lines are physical inputs, the single line is a signal input, and the dotted line is a system boundary.

[0041] The entire control system includes a steering wheel 4-1 (driver operating mechanism); a driver operation sensing module 4-2 composed of a torque angle integrated sensor TAS and a force / displacement sensor, a vehicle dynamic perception system 4-3 composed of a vehicle speed sensor and an accelerometer / gyroscope, a vehicle dynamic controller VMC4-4, a front-wheel steering system 4-5, a rear-wheel steering system 4-6, and a vehicle chassis / body 4-7.

[0042] Among them, the driver operation sensor module 4-2 measures the operation of the steering wheel 4-1, and outputs a hand torque signal 4-11, a steering wheel angle signal 4-12 and a lateral force / displacement signal 4-13; the steering assist unit controls the motor output assist torque 4-15 according to the steering wheel angle signal 4-12 and the hand torque signal 4-11, and refers to the current vehicle speed signal 4-14 collected by the vehicle speed sensor, and drives the front wheel steering actuator together with the driver's hand torque; the vehicle dynamic controller VMC includes a vehicle expected dynamic calculation module, a path planning calculation module and a yaw compensation calculation module. The vehicle dynamic controller VMC outputs the final target output displacement of the rear steering actuator according to the steering wheel angle signal 4-12, the lateral force / displacement signal 4-13 and the current vehicle speed signal 4-14. The rear-wheel steering system 4-6 controls the displacement output 4-23 of the rear-wheel steering actuator according to the final target output displacement and the current actual output displacement 4-22 measured by the linear displacement sensor.

[0043] The specific control method of the above control system is as follows: the driver's operation of the steering wheel 4-1 includes two parts, rotation and translation, wherein the hand torque 4-8 of the rotation operation and the physical angle 4-9 of the steering wheel are measured by TAS; the lateral force or displacement 4-10 of the translation part is measured by a force / displacement sensor, and the hand torque signal 4-11, the steering wheel angle signal 4-12 and the lateral force / displacement signal 4-13 are output respectively. The power steering unit controls the motor to output the power steering torque 4-15 according to the steering wheel angle signal 4-12 and the hand torque signal 4-11, and refers to the current vehicle speed signal 4-14 collected by the vehicle speed sensor, and drives the front wheel steering actuator together with the driver's hand torque to make the front wheel generate the required steering deflection angle 4-9; on the other hand, the vehicle expected dynamic calculation module of the vehicle dynamic controller VMC calculates the driver's expected heading angle 4-17 and yaw angular velocity 4-18 according to the steering wheel angle signal 4-12, the lateral force / displacement signal 4-13 and the current vehicle speed signal 4-14, and the path planning calculation module calculates the expected heading angle 4-17 and yaw angular velocity 4-18 according to the expected heading angle 4-17. The basic target displacement 4-20 is calculated by the yaw compensation calculation module, and the compensation target displacement 4-21 of the rear turn actuator is calculated according to the expected yaw angular velocity and the current actual yaw angular velocity feedback; the basic target displacement 4-20 and the compensation target displacement 4-21 are superimposed to form the final target output displacement of the rear turn actuator, and the rear-wheel steering system 4-6 forms a closed-loop control system according to the final target output displacement and the current actual output displacement 4-22 measured by the linear displacement sensor, controls the displacement output 4-23 of the rear-wheel steering actuator, and drives the rear wheel to output the rear wheel steering angle 4-24; the whole vehicle reaches its expected dynamic position 4-25 under the action of the common steering deflection angle of the front and rear wheels.

[0044] The control system measures the current vehicle motion parameters in real time through sensing devices such as accelerometers / gyroscopes, force / displacement sensors, and vehicle speed sensors, and provides feedback input to other systems in the control link to ensure the control accuracy of the vehicle steering system.

[0045] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A steering column mechanism based on lateral force operation, characterized in that: The steering column mechanism includes a steering wheel, a steering column, a steering column input end mounting point, a steering column output end mounting point, a linear motion pair and a force sensor; The steering wheel and the steering column are connected by splines, and there are two mounting points on the input end of the steering column, which are located on both sides of the upper part of the steering column; The output end mounting point of the steering column is located on one side of the lower part of the steering column; a linear motion pair is respectively provided between the two input end mounting points of the steering column and the steering column; the force sensor is located on one side of the steering column, connecting the steering column and the vehicle body; The torque generated by the force applied by the driver to the steering wheel is balanced by the torque generated by the reaction force of the force sensor. The driver's operating force can be obtained through the force sensor data and the length of the lever arm.

2. A steering column mechanism based on lateral force operation according to claim 1, characterized in that: The steering column comprises a steering column steering shaft body and a steering column housing. The steering column steering shaft body is installed inside the steering column housing through a bearing.

3. A steering column mechanism based on lateral force operation according to claim 1, characterized in that: The mounting point at the output end of the steering column is a sheet metal structure, which can produce a certain degree of deformation.

4. A steering column mechanism based on lateral force operation according to claim 2, characterized in that: The linear motion pair is a dovetail groove and a slider. A set of lateral dovetail grooves and sliders are arranged at each mounting point of the input end of the steering column, wherein the dovetail groove body is fixed to one of the steering column housing and the vehicle instrument panel frame, and the sliders are respectively fixed to the steering column housing and the other of the vehicle instrument panel frame.

5. A steering column mechanism based on lateral displacement operation, characterized in that: The steering column mechanism includes a steering wheel, a steering column, a steering column input end mounting point, a steering column output end mounting point, a linear motion pair, elastic components, a displacement sensor, and a displacement sensor measured point; The steering wheel and the steering column are connected by a spline, two steering column input end mounting points are arranged on both sides of the upper part of the steering column, and a steering column output end mounting point is arranged on one side of the lower part of the steering column; linear motion pairs are respectively arranged between the two steering column input end mounting points and the steering column; elastic components are respectively arranged on both sides of the middle part of the steering column; a displacement sensor measured point is arranged on the outer side of the linear motion pair, and the displacement sensor is arranged on the vehicle body and corresponds to the displacement sensor measured point; the driver's operating force can be obtained based on the stiffness of the elastic component and the displacement detected by the displacement sensor.

6. A steering column mechanism based on lateral displacement operation according to claim 5, characterized in that: The steering column comprises a steering column steering shaft body and a steering column housing. The steering column steering shaft body is installed inside the steering column housing through a bearing.

7. The steering column mechanism based on lateral displacement operation according to claim 5, characterized in that: The mounting point at the output end of the steering column is a sheet metal structure, which can produce a certain degree of deformation.

8. The steering column mechanism based on lateral displacement operation according to claim 6, characterized in that: The linear motion pair is a dovetail groove and a slider. A set of lateral dovetail grooves and sliders are arranged at each mounting point of the input end of the steering column, wherein the dovetail groove body is fixed to one of the steering column housing and the vehicle instrument panel frame, and the sliders are respectively fixed to the steering column housing and the other of the vehicle instrument panel frame.

9. A vehicle control system, characterized in that: The control system includes a driver operation sensing module consisting of a torque angle integrated sensor TAS and a force / displacement sensor, a vehicle dynamic perception system consisting of a speed sensor and an accelerometer / gyroscope, a vehicle dynamic controller VMC, a front-wheel steering system, a rear-wheel steering system, and the entire vehicle chassis / body; The driver operation sensor module measures the operation of the steering wheel and outputs hand torque signal, steering wheel angle signal and lateral force / displacement signal; The power steering unit controls the motor to output power torque according to the steering wheel angle signal and hand torque signal, and refers to the current vehicle speed signal collected by the vehicle speed sensor, and drives the front wheel steering actuator together with the driver's hand torque; The vehicle dynamics controller VMC includes a vehicle expected dynamics calculation module, a path planning calculation module and a yaw compensation calculation module. The vehicle dynamics controller VMC outputs the final target output displacement of the rear-wheel steering actuator according to the steering wheel angle signal, the lateral force / displacement signal and the current vehicle speed signal. The rear-wheel steering system controls the displacement output of the rear-wheel steering actuator according to the final target output displacement and the current actual output displacement measured by the linear displacement sensor.

10. A control method for a vehicle control system as claimed in claim 9, characterized in that: The driver's hand torque and physical angle of the steering wheel are measured by TAS. The lateral force or displacement of the driver's steering wheel translation operation is measured by the force / displacement sensor, which outputs hand torque signal, steering wheel angle signal and lateral force / displacement signal respectively. The power steering unit controls the motor to output power torque according to the steering wheel angle signal and hand torque signal, and refers to the current vehicle speed signal collected by the vehicle speed sensor, and drives the front wheel steering actuator together with the driver's hand torque to generate the required steering deflection angle of the front wheel; The vehicle expected dynamic calculation module of the vehicle dynamic controller VMC calculates the driver's expected heading angle and yaw rate based on the steering wheel angle signal, lateral force / displacement signal and current vehicle speed signal. The path planning calculation module calculates the basic target displacement of the rear turn actuator based on the expected heading angle. The yaw compensation calculation module calculates the compensated target displacement of the rear turn actuator based on the expected yaw rate and the current actual yaw rate feedback. The basic target displacement and the compensated target displacement are superimposed to form the final target output displacement of the rear turn actuator. The rear-wheel steering system forms a closed-loop control system based on the final target output displacement and the current actual output displacement measured by the linear displacement sensor, controls the displacement output of the rear-wheel steering actuator, and drives the rear wheel to output the rear-wheel steering angle. The whole vehicle reaches its expected dynamic position under the action of the common steering deflection angle of the front and rear wheels.

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