Vehicle steering system, control method and device and vehicle

Abstract

The invention provides a vehicle steering system, a control method and device and a vehicle, and relates to the technical field of vehicles, the steering system comprises an oil supply device, a steering oil cylinder, a rotary valve, a motor controller, a driving motor and a speed reducing mechanism; the driving motor is connected with an input shaft of the reducing mechanism; an output shaft of the reducing mechanism is in transmission connection with a valve core of the rotary valve; the oil supply device is used for inputting hydraulic oil into the steering oil cylinder through the rotary valve; the motor controller is used for acquiring steering control information of wheels and adjusting the rotating speed and the rotating direction of the driving motor according to the steering control information; the speed reducing mechanism is used for reducing the actual rotating speed of the driving motor or reducing the rotating speed of the driving motor and changing the rotating direction, so that the opening degree of the rotary valve and the rotating direction and rotating speed of the valve element are adjusted. According to the steering system, mechanical connection between the steering wheel and the steering actuator is omitted, a driver can conveniently and easily control the wheels to steer through the steering wheel, and the design cost of the system is reduced.

Description

Technical Field

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

[0002] At present, in order to improve the driving comfort of vehicles, the steering systems of vehicles with heavy loads basically adopt power steering types, such as hydraulic power steering systems. The current hydraulic power steering system retains the original mechanical connection between the steering wheel and the steering actuator. When the driver turns the steering wheel to drive the wheel speed, the hydraulic mechanism in the hydraulic power steering system will provide steering assistance, thereby reducing the turning force required by the driver to turn the steering wheel, solving the problem of the driver's difficulty in steering due to the heavy load of the entire vehicle. However, the hydraulic oil regulating valve in the current hydraulic power steering system not only needs to have the comprehensive functions of directional valve, pilot valve, overflow valve, etc. during design, but also needs to add priority valve, servo proportional valve, buffer valve, oil replenishment valve and other functions according to the actual needs of the actual vehicle. It also requires extremely high design accuracy and control accuracy. This not only increases the design difficulty of the hydraulic oil regulating valve, but also increases the investment cost of the hydraulic power steering system. Summary of the Invention

[0003] The present application provides a vehicle steering system, control method, device and vehicle. The steering system is a fully hydraulic steering system that eliminates the mechanical connection between the steering wheel and the steering actuator and is applied to heavy-load vehicles. The steering system controls the rotary valve through a motor controller, a drive motor and a reduction mechanism to control the oil intake and the direction of the hydraulic oil in the steering cylinder, thereby realizing the steering control of the wheel using a fully hydraulic drive. When the driver drives a heavy-load vehicle equipped with the steering system, the wheel steering can be easily controlled through the steering wheel, which is conducive to improving the driving comfort of the vehicle. In addition, since the steering system eliminates the mechanical connection between the steering wheel and the steering actuator, and the motor controller, drive motor and reduction mechanism used for rotary valve control are simple and easy-to-develop components, it is conducive to reducing the design cost of the system.

[0004] In a first aspect, a vehicle steering system is provided, comprising: an oil supply device, a steering cylinder, a rotary valve, a motor controller, a drive motor, and a reduction mechanism; the rotary valve is disposed between the oil supply device and the steering cylinder; the motor controller is electrically connected to the drive motor; the output shaft of the drive motor is drivingly connected to the input shaft of the reduction mechanism; and the output shaft of the reduction mechanism is drivingly connected to the valve core of the rotary valve; the oil supply device is configured to supply hydraulic oil to the steering cylinder via the rotary valve; the motor controller is configured to obtain steering control information of the wheels and adjust output parameters of the drive motor based on the steering control information, the output parameters including motor speed and motor rotation direction; the reduction mechanism is configured to reduce the actual motor speed of the drive motor or adjust input parameters of the reduction mechanism to adjust opening parameters of the rotary valve; wherein the opening parameters include the opening degree of the rotary valve, the rotation direction and rotation speed of the valve core of the rotary valve, and adjusting the input parameters of the reduction mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

[0005] In the above technical solution, the steering system provided in the embodiment of the present application controls the rotary valve through a motor controller, a drive motor and a reduction mechanism to control the oil intake and the direction of the hydraulic oil in the steering cylinder, thereby realizing the wheel steering control using full hydraulic drive, which can solve the problems of slow steering response, poor followability, poor maneuverability (such as the presence of frustration, discontinuity, smoothness, and ride comfort), etc., and can meet the steering needs of new heavy-duty vehicles such as advanced assisted driving, automatic driving and unmanned driving (such as heavy-duty electric commercial vehicles and electric mining trucks). When the driver drives a heavy-load vehicle equipped with the steering system, he can easily control the wheel steering through the steering wheel, which is conducive to improving the driving comfort of the vehicle. In addition, because the steering system eliminates the mechanical connection between the steering wheel and the steering actuator, and the motor controller, drive motor and reduction mechanism used for rotary valve control are simple and easy-to-develop components, it is conducive to reducing the design cost of the system.

[0006] In combination with the first aspect, in some possible implementations, the vehicle includes a steering wheel, a steering column and a first detection module, and the steering wheel is connected to the steering column; the first detection module is used to detect actual steering information of the steering column and send the actual steering information as the steering control information to the motor controller; wherein the actual steering information includes at least one of the rotation angle, rotation speed and rotation direction of the steering column.

[0007] In combination with the first aspect and the above implementations, in some possible implementations, the output shaft of the reduction mechanism is transmission-connected to the steering column, and the steering column is connected to the valve core of the rotary valve via a universal joint.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle includes an intelligent driving controller and a second detection module, the second detection module is electrically connected to the intelligent driving controller, and the intelligent driving controller is electrically connected to the motor controller; the second detection module is used to detect environmental information and driving data around the vehicle, and send the environmental information and the driving data to the intelligent driving controller; the intelligent driving controller is used to identify the environmental information and the driving data to determine the steering control information of the wheel, and send the steering control information to the motor controller.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the motor controller includes a first controller and a second controller, the drive motor includes a first motor and a second motor, and the reduction mechanism includes a first reduction assembly and a second reduction assembly; the first controller is electrically connected to the first motor, the output shaft of the first motor is transmission-connected to the input shaft of the first reduction assembly, and the output shaft of the first reduction assembly is transmission-connected to the valve core of the rotary valve; the second controller is electrically connected to the second motor, the output shaft of the second motor is transmission-connected to the input shaft of the second reduction assembly, and the output shaft of the second reduction assembly is transmission-connected to the valve core of the rotary valve.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the steering system also includes a first three-way joint and a second three-way joint, and the steering cylinder includes a first cylinder and a second cylinder. When the piston rod of one of the first cylinder and the second cylinder is extended, the piston rod of the other is contracted to drive the wheel to steer; the oil outlet of the oil supply device is connected to the oil inlet of the rotary valve; the first interface of the first three-way joint is connected to the oil inlet of the first cylinder, the second interface of the first three-way joint is connected to the oil inlet of the second cylinder, and the third interface of the first three-way joint is connected to the oil outlet of the rotary valve; the first interface of the second three-way joint is connected to the oil return port of the first cylinder, the second interface of the second three-way joint is connected to the oil return port of the second cylinder, and the third interface of the second three-way joint is connected to the oil return port of the oil supply device.

[0011] In a second aspect, a control method is provided, which is applied to the above-mentioned steering system, and the control method includes: obtaining steering control information of the wheel; adjusting the output parameters of the drive motor according to the steering control information, and the output parameters include motor speed and motor rotation direction; wherein, after adjusting the output parameters, the deceleration mechanism reduces the actual motor speed of the drive motor or adjusts the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein, the opening parameters include the opening degree of the rotary valve, the rotation direction and rotation speed of the valve core of the rotary valve, and adjusting the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

[0012] In the above-mentioned technical solution, the steering system control method provided by the present application adopts a technical solution of obtaining steering control information of the wheels and adjusting the output parameters of the drive motor according to the steering control information. Since the output shaft of the drive motor is transmission-connected to the input shaft of the reduction mechanism, and the output shaft of the reduction mechanism is transmission-connected to the valve core of the rotary valve, after adjusting the output parameters of the drive motor, the reduction mechanism reduces the actual motor speed of the drive motor or changes the actual motor rotation direction of the drive motor while reducing the actual motor speed of the drive motor, thereby adjusting the opening parameters of the rotary valve. Adjusting the opening parameters of the rotary valve thereby controls the amount of hydraulic oil input from the oil supply device to the steering cylinder through the rotary valve, thereby achieving wheel steering control, that is, achieving wheel steering control using full hydraulic drive. When a driver is driving a heavy-load vehicle equipped with this steering system, he or she can easily control wheel steering through the steering wheel, which is conducive to improving vehicle driving comfort.

[0013] In combination with the second aspect, in some possible implementations, if the vehicle includes a steering wheel, a steering column and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the deceleration mechanism is opposite to the rotational direction of the output shaft; adjusting the output parameters of the drive motor according to the steering control information includes: when the rotational torque is greater than or equal to the preset torque, adjusting the rotational direction of the motor to be opposite to the rotational direction of the steering column, so that the rotational direction of the output shaft of the deceleration mechanism is the same as the rotational direction of the steering column.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the vehicle includes a steering wheel, a steering column and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the deceleration mechanism is opposite to the rotational direction of the output shaft; adjusting the output parameters of the drive motor according to the steering control information includes: when the rotational torque is less than the preset torque, adjusting the rotational direction of the motor to be the same as the rotational direction of the steering column, so that the rotational direction of the output shaft of the deceleration mechanism is opposite to the rotational direction of the steering column.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the steering control information includes the target turning angle of the wheel; after adjusting the output parameters of the drive motor according to the steering control information, the control method also includes: obtaining the actual turning angle of the wheel; if the difference between the actual turning angle and the target turning angle is not within the preset difference range, adjusting the output parameter according to the difference so that the difference is within the preset difference range.

[0016] In combination with the first aspect and the above-mentioned implementations, in some possible implementations, the steering system includes a first control link and a second control link, the first control link includes a first controller in the motor controller, a first motor in the drive motor, and a first reduction assembly in the reduction mechanism, and the second control link includes a second controller in the motor controller, a second motor in the drive motor, and a second reduction assembly in the reduction mechanism; the control method also includes: when neither the first control link nor the second control link fails, turning on the first control link and disabling the second control link; when the first control link fails, turning on the second control link and disabling the first control link.

[0017] In a third aspect, a control device is provided, configured for the above-mentioned steering system, the control device comprising:

[0018] An acquisition module, used to obtain steering control information of the wheels;

[0019] an adjusting module, configured to adjust output parameters of the driving motor according to the steering control information, wherein the output parameters include motor speed and motor rotation direction;

[0020] Wherein, after adjusting the output parameters, the deceleration mechanism reduces the actual motor speed of the drive motor or adjusts the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein, the opening parameters include the opening degree, the rotation direction and rotation speed of the valve core of the rotary valve, and the adjustment of the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

[0021] In conjunction with the third aspect, in certain possible implementations, if the vehicle includes a steering wheel, a steering column, and a first detection module, actual steering information of the steering column detected by the first detection module includes a rotational torque and a rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft, the adjustment module includes:

[0022] The first adjustment unit is used to adjust the rotation direction of the motor to be opposite to the rotation direction of the steering column when the rotation torque is greater than or equal to the preset torque, so that the rotation direction of the output shaft of the reduction mechanism is the same as the rotation direction of the steering column.

[0023] In combination with the third aspect and the above-mentioned implementations, in certain possible implementations, if the vehicle includes a steering wheel, a steering column, and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft, the adjustment module includes:

[0024] The second adjustment unit is used to adjust the rotation direction of the motor to be the same as the rotation direction of the steering column when the rotation torque is less than the preset torque, so that the rotation direction of the output shaft of the reduction mechanism is opposite to the rotation direction of the steering column.

[0025] In combination with the third aspect and the above implementations, in some possible implementations, the steering control information includes a target turning angle of the wheel, and the control device further includes:

[0026] A correction unit is used to obtain the actual turning angle of the wheel; if the difference between the actual turning angle and the target turning angle is not within a preset difference range, adjust the output parameter according to the difference so that the difference is within the preset difference range.

[0027] In a fourth aspect, a vehicle is provided, comprising the aforementioned steering system, a memory, and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the control method of the aforementioned first aspect or any possible implementation of the first aspect.

[0028] In a fifth aspect, a computer program product is provided, which includes: computer program code, which, when running on a computer, enables the computer to execute the control method in the above-mentioned second aspect or any possible implementation of the second aspect.

[0029] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the control method in the above-mentioned second aspect or any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 shows an architecture diagram of an existing hydraulic power steering system;

[0031] Figure 2 A schematic flow chart of a vehicle steering system provided in an embodiment of the present application is shown;

[0032] Figure 3 An exemplary schematic diagram of a vehicle with a steering wheel is shown;

[0033] Figure 4 Another exemplary schematic diagram showing a scenario in which a vehicle has a steering wheel;

[0034] Figure 5 An exemplary schematic diagram showing a scenario where a vehicle has no steering wheel;

[0035] Figure 6 An exemplary schematic diagram of a redundant design of components in a steering system provided by an embodiment of the present application is shown;

[0036] Figure 7 A schematic diagram showing the connection between the steering cylinder, the oil supply device and the rotary valve provided in an embodiment of the present application is shown;

[0037] Figure 8 A schematic flow chart of a control method provided in an embodiment of the present application is shown;

[0038] Figure 9 A schematic structural diagram of a control device provided in an embodiment of the present application is shown;

[0039] Figure 10 A structural schematic diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0041] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0042] like Figure 1 As shown, Figure 1The diagram shows the architecture of an existing hydraulic power steering system, which includes a vehicle power supply (a high-voltage power battery), a steering motor controller, an electric steering cylinder assembly (a combination of a steering motor and a steering cylinder), an oil storage tank, a fully hydraulic steering gear, a hydraulic cylinder (generally comprising two hydraulic cylinders, one for each steering wheel, and one for each. The piston rods of the two hydraulic cylinders move in opposite directions, such that the piston rod of the left hydraulic cylinder extends to push one steering wheel, while the piston rod of the right hydraulic cylinder retracts to pull the other steering wheel in the same direction), a steering wheel, and a steering column. The steering column is equipped with a steering angle sensor and a torque sensor. The hydraulic cylinder is connected to the steering axle, and the steering hydraulic oil is used to work in the hydraulic cylinder. The piston rod of the hydraulic cylinder is extended and retracted to achieve steering of the steering wheel. The electric steering cylinder assembly serves as a power source, providing high-pressure hydraulic energy, that is, high-pressure hydraulic oil. This type of steering system can be used in Advanced Driver Assistance Systems (ADAS) scenarios, where the driver is also involved. Steering input is manual, and steering output is the hydraulic cylinder piston rod, activated by high-pressure steering oil flowing through the rotary valve in the fully hydraulic steering gear. Human input is simply to control the opening direction of the steering gear's rotary valve by rotating the steering wheel; it does not contribute to or apply actual steering assistance. The dashed box Q corresponds to the fully hydraulic steering gear assembly, which is essentially a valve body actuated by the steering wheel that controls direction and opening. The working principle is: relying on the driver to turn the steering wheel, manually controlling the direction of rotation of the steering wheel to determine the target direction of the vehicle's steering. After the steering wheel is rotated, the steering column follows the rotation. The steering column is connected to the full hydraulic steering gear, serving as the input shaft of the full hydraulic steering gear. The rotation of the input shaft drives the movement of the hydraulic oil regulating valve inside the full hydraulic steering gear, which is equivalent to relying on the control of the reversing of the hydraulic oil regulating valve to control the flow direction of the hydraulic oil (such as flowing into the left power cylinder or the right power cylinder), determining the direction of the hydraulic power assist (such as left steering power assist or right steering power assist), and mechanically driving the size of the hydraulic oil regulating valve opening by the speed of the steering wheel to control the amount of hydraulic oil passing through to control the size of the steering power assist. That is, the direction of rotation of the steering wheel controls the direction of the steering power assist, and the amount of steering hydraulic pressure controls the size of the power assist. If the actual vehicle is equipped with a steering sensor, it can also cooperate with the steering angle sensor to collect the direction of angle change (for example, whether to turn left or right) to control the opening of the controller solenoid valve to control the flow direction of the hydraulic steering oil, and ultimately control whether to supply power oil to the hydraulic cylinder that controls the left turn or the hydraulic cylinder that controls the right turn; in addition, according to the speed of the steering wheel turning, specifically the speed of the angle change collected by the steering angle sensor, the opening size of the solenoid valve is controlled, the flow size to the hydraulic cylinder is controlled, and the power assist size is controlled.

[0043] The hydraulic oil regulating valve in the current hydraulic power steering system is an electromagnetic integrated valve, which requires electronic control to achieve flow control of the hydraulic oil. Among them, the disadvantages of the hydraulic oil regulating valve include: 1. During design, it is not only necessary to have comprehensive functions such as directional valve, pilot valve, and overflow valve, but also to add priority valve, servo proportional valve, buffer valve, oil replenishment valve and other functions according to the actual needs of the actual vehicle. It also requires extremely high design accuracy and control accuracy, which not only increases the design difficulty of the hydraulic oil regulating valve, but also increases the investment cost of the hydraulic power steering system. 2. It requires extremely high cleanliness of the steering hydraulic oil (poor cleanliness can easily affect the control accuracy, and even cause the valve to get stuck and cause control to lose control), and it even needs to be combined with a high-pressure accumulator to guide Resulting in high energy consumption and high cost; 3. It is difficult to match in use, and the failure rate is extremely high after a long period of use, and the maintenance cost is high; 4. It also has an inherent defect, that is, the steering input and output response time and follow-up time of this full hydraulic steering power system using an electromagnetic integrated valve have a certain delay, which will lead to sluggish steering response; 5. There is a difference between controlling the direction and flow of steering oil through a hydraulic oil regulating valve and the traditional direct control valve driven by the steering wheel. There will be defects in the feel of the steering wheel and the poor followability of the steering, resulting in poor vehicle control for the driver.

[0044] Based on the defects existing in the prior art, the embodiments of the present application provide a vehicle steering system, control method, device and vehicle. The steering system is a fully hydraulic steering system that eliminates the mechanical connection between the steering wheel and the steering actuator and is applied to heavy-load vehicles. The steering system controls the rotary valve through a motor controller, a drive motor and a reduction mechanism to control the oil intake and the direction of the hydraulic oil in the steering cylinder, thereby realizing the steering control of the wheel using a fully hydraulic drive. When the driver drives a heavy-load vehicle equipped with the steering system, the wheel steering can be easily controlled through the steering wheel, which is conducive to improving the driving comfort of the vehicle. In addition, since the steering system eliminates the mechanical connection between the steering wheel and the steering actuator, and the motor controller, drive motor and reduction mechanism used for rotary valve control are simple and easy-to-develop components, it is conducive to reducing the design cost of the system.

[0045] The following is an embodiment of a vehicle steering system provided in an embodiment of the present application.

[0046] Figure 2 FIG2 shows a schematic flow chart of a vehicle steering system provided by an embodiment of the present application. Figure 2As shown, the vehicle steering system 100 provided in the embodiment of the present application can be used for both light-duty and heavy-duty vehicles, and is generally used for heavy-duty vehicles, for example, vehicles with a maximum mass of 14 tons or more. The steering system 100 includes an oil supply device 101, a steering cylinder 102, a rotary valve 103, a motor controller 106, a drive motor 105, and a reduction mechanism 104. The rotary valve 102 is disposed between the oil supply device 101 and the steering cylinder 102, that is, the rotary valve 102 is connected to the oil supply device 101 and the steering cylinder 102 respectively. The steering cylinder 102 is part of the steering actuator and is connected to the vehicle's wheels for steering. The steering wheels include a left wheel 201 and a right wheel 202. The motor controller 106 is electrically connected to the drive motor 105. The output shaft of the drive motor 105 is in driving connection with the input shaft of the reduction mechanism 104, and the output shaft of the reduction mechanism 104 is in driving connection with the valve core of the rotary valve 103. The rotation direction of the output shaft of the driving motor 105 is the same as the rotation direction of the input shaft of the reduction mechanism 104. The output shaft of the reduction mechanism 104 drives the rotation of the valve core of the rotary valve 103 so that the rotation direction of the valve core of the rotary valve 103 is the same as the rotation direction of the output shaft of the reduction mechanism 104.

[0047] The speed reduction mechanism 104 has the function of reducing speed while increasing torque. The input and output shafts of the speed reduction mechanism 104 can rotate in the same or opposite directions. For example, the input and output shafts of a speed reduction mechanism composed of a worm gear rotate in opposite directions. If the input and output shafts rotate in the same direction, the input rotational direction remains unchanged after speed reduction. If the input and output shafts rotate in opposite directions, the input rotational direction does change after speed reduction.

[0048] The rotary valve 103 is generally cylindrical and consists of a valve body, a valve core, a valve sleeve, and a transmission shaft. The valve core and valve sleeve are the core components of the rotary valve 103. Each valve core and valve sleeve is designed with alternating oil holes (for example, four holes on the valve core and eight holes on the valve sleeve). The output shaft of the reduction mechanism 104 is connected to the valve core via a universal joint. During relative motion between the valve core and valve sleeve, the oil holes on the valve core and valve sleeve align during assembly, rapidly converting the hydraulic oil into boost pressure. The hydraulic oil then enters the hydraulic cylinder through the oil holes.

[0049] The oil supply device 101 is used to input hydraulic oil to the steering cylinder 102 through the rotary valve 103. The motor controller 106 is used to obtain the steering control information of the wheel and adjust the output parameters of the drive motor 105 according to the steering control information. The output parameters include motor torque, motor speed and motor rotation direction. The reduction mechanism 104 is used to reduce the actual motor speed of the drive motor 105 or adjust the input parameters of the reduction mechanism 104 to adjust the opening parameters of the rotary valve 103. The opening parameters include the opening degree of the rotary valve 103, the rotation direction and rotation speed of the valve core of the rotary valve 103. Adjusting the input parameters of the reduction mechanism 104 includes reducing the actual motor speed of the drive motor 105 and changing the actual motor rotation direction of the drive motor 105.

[0050] It can be understood that in the case where the vehicle has a steering wheel, that is, the steering control of the wheels requires the driver to manually operate the steering wheel: after the driver manually turns the steering wheel, the steering control information of the wheels can be obtained. After the driver manually turns the steering wheel, the steering control information of the wheels can be obtained.

[0051] For vehicles without a steering wheel, wheel steering control does not require driver intervention. Instead, wheel steering control information is derived from environmental data and driving data collected by various sensors onboard the vehicle (such as lidar, millimeter radar, and cameras). Vehicles without a steering wheel can be used in either autonomous or unmanned driving scenarios, while vehicles with a steering wheel can be used in either autonomous or manually driven scenarios.

[0052] The target steering parameters of the wheel can be obtained through the steering control information of the wheel. The target steering parameters of the wheel include the target steering angle and target steering speed of the wheel. The target steering angle is the steering angle that the wheel wants to turn, and the target steering speed indicates the speed at which the wheel turns to the target angle.

[0053] Since the steering of the wheels is controlled by the steering cylinder, the amount of hydraulic oil input to the steering cylinder 102 is controlled by the rotary valve 103. The opening parameter of the rotary valve 103 is controlled by the rotational speed, torque, and direction of the output shaft of the reduction mechanism 104. The rotational speed, torque, and direction of the input shaft of the reduction mechanism 104 are controlled by the output parameters of the drive motor 105. Therefore, controlling the amount of hydraulic oil input to the steering cylinder 102 is actually controlling the drive motor 105. Therefore, a mapping relationship between the steering control information of the wheels and the target output parameters of the drive motor 105 can be pre-set. The target output parameters correspond to the target opening parameters of the rotary valve 103, which in turn correspond to the target steering parameters of the wheels. When the output parameters of the drive motor 105 are adjusted to the target output parameters, the opening parameters of the rotary valve 103 can be adjusted to the target opening parameters. Once the opening parameters of the rotary valve 103 reach the target opening parameters, the target steering parameters of the wheels are adjusted to the target steering parameters, thereby achieving steering control of the wheels. Different steering control information corresponds to different target output parameters, different target output parameters correspond to different target opening parameters, and different target opening parameters correspond to different target steering parameters.

[0054] Regardless of whether the vehicle has a steering wheel or not, the principle of the steering system to achieve wheel steering control is the same. The difference lies in the data source used to determine the steering control information of the wheel.

[0055] When the wheel needs to turn, the motor controller 106 can obtain the target output parameters of the drive motor 105 based on the steering control information of the wheel, and adjust the output parameters of the drive motor 105 to the target output parameters. After the output parameters of the drive motor 105 are adjusted, because the output shaft of the drive motor 105 is transmission-connected to the input shaft of the reduction mechanism 104, the reduction mechanism 104 adjusts the adjusted output parameters of the drive motor 105.

[0056] If the input shaft and output shaft of the speed reduction mechanism 104 rotate in the same direction, the speed reduction mechanism 104 reduces the actual motor speed of the drive motor 105 and increases the motor torque of the drive motor 105, thereby adjusting the opening parameter of the rotary valve 103. The rotation direction of the valve core of the rotary valve 103 is the same as the rotation direction of the input shaft of the speed reduction mechanism 104. If the input shaft and output shaft of the speed reduction mechanism 104 rotate in opposite directions, the speed reduction mechanism 104 reduces the actual motor speed of the drive motor 105, increases the motor torque of the drive motor 105, and changes the actual motor rotation direction of the drive motor 105. This causes the rotation direction of the valve core of the rotary valve 103 to be opposite to the rotation direction of the input shaft of the speed reduction mechanism 104, thereby adjusting the opening parameter of the rotary valve 103.

[0057] After the speed reduction mechanism 104 adjusts the adjusted output parameters of the drive motor 105, the opening parameters of the rotary valve 103 are adjusted. The adjustment of the opening parameters of the rotary valve 103 includes adjusting the opening of the rotary valve 103, the rotation direction and the rotation speed of the valve core of the rotary valve 103. By adjusting the opening of the rotary valve 103, the flow rate of the hydraulic oil is adjusted, and then the steering assist of the steering system is adjusted; the rotation direction of the valve core of the rotary valve 103 is adjusted to adjust the steering direction of the wheel; the rotation speed of the valve core of the rotary valve 103 is adjusted to adjust the steering speed of the wheel. The steering speed of the wheel is proportional to the steering speed of the vehicle.

[0058] The steering system provided in the embodiment of the present application controls the rotary valve through a motor controller, a drive motor and a reduction mechanism to control the oil intake and the direction of the hydraulic oil in the steering cylinder, thereby realizing the wheel steering control using full hydraulic drive, which can solve problems such as slow steering response, poor followability, and poor maneuverability (for example, the presence of frustration, discontinuity, smoothness, and ride comfort), and can meet the steering needs of new heavy-duty vehicles such as advanced assisted driving, automatic driving and unmanned driving (for example, heavy-duty electric commercial vehicles and electric mining trucks). When the driver is driving a heavy-load vehicle equipped with the steering system, the wheel steering can be easily controlled through the steering wheel, which is conducive to improving the driving comfort of the vehicle. In addition, because the steering system eliminates the mechanical connection between the steering wheel and the steering actuator, and the motor controller, drive motor and reduction mechanism used for rotary valve control are simple and easy-to-develop components, it is conducive to reducing the design cost of the system.

[0059] In one possible implementation, Figure 3 As shown, Figure 3 The vehicle includes a steering wheel 301, a steering column 302, and a first detection module 303. The steering wheel 301 is connected to the steering column. The first detection module 303 includes a rotation angle sensor, a torque sensor, a rotation speed sensor, etc.

[0060] The first detection module 303 is configured to detect actual steering information of the steering column 302 and transmit the actual steering information as steering control information to the motor controller 106. The actual steering information includes at least one of the rotation angle, rotation speed, rotation torque, and rotation direction of the steering column 302. The rotation angle, rotation speed, rotation torque, and rotation direction of the steering column 302 can be understood as corresponding to the rotation angle, rotation speed, rotation torque, and rotation direction of the steering wheel 301. That is, if the vehicle has a steering wheel, the steering control information of the wheels is determined by the actual steering information of the steering wheel 301.

[0061] In one possible implementation, Figure 4 Another exemplary schematic diagram of a vehicle with a steering wheel is shown. Figure 2 and Figure 4 As shown, the output shaft 1042 of the reduction mechanism 104 is in transmission connection with the steering column 302, which is connected to the valve core of the rotary valve 103 via a universal joint 304. Reference numeral 305 represents a transmission component, such as a gear, connecting the output shaft 1042 of the reduction mechanism 104 and the steering column 302. By connecting the steering column 302 and the rotary valve 103, and the reduction mechanism 104 and the steering column 302, if the vehicle has a steering wheel, the steering wheel 301 and the drive motor 105 serve as control inputs for the rotary valve 103, allowing the driver to control the rotary valve 103. In other words, the driver and the drive motor 105 simultaneously control the rotary valve 103. When it is detected that the rotational torque generated by the driver turning the steering wheel 301 is large, the motor controller 106 controls the drive motor 105 to work, the reduction mechanism 104 participates in the driving of the rotary valve 103, and the rotation direction of the output shaft 1042 of the reduction mechanism 104 is the same as the rotation direction of the steering wheel 301, thereby providing steering assistance. The force exerted on the steering wheel 301 by the driver instantly becomes light, and the driver can easily turn the steering wheel to control the steering of the wheels.

[0062] When it is detected that the rotational torque generated by the driver by turning the steering wheel 301 is small, the driver may turn the steering wheel 301 to control the steering of the wheels, which may cause the steering wheel 301 to be too light and the steering feel to be poor. In this case, the motor controller controls the operation of the drive motor, and the reduction mechanism 104 participates in the driving of the rotary valve 103. The rotation direction of the output shaft 1042 of the reduction mechanism 104 is opposite to the rotation direction of the steering wheel 301. The output shaft 1042 of the reduction mechanism 104 generates a damping force, thereby reducing the opening of the rotary valve 103 and damping the rotary valve 103, thereby reducing the steering force and increasing the hand force of the steering wheel 301, which is beneficial to improving the feel of the steering wheel 301 and improving and solving the problem of the steering wheel 301 floating.

[0063] In the above technical solution, the motor controller, drive motor and reduction mechanism can be referred to as a motor assembly. When the driver manipulates the direction of rotation of the steering wheel, the motor assembly participates in the control of the rotary valve, that is, controls the direction of rotation and the opening size of the valve core of the rotary valve, thereby realizing the control of the direction and flow of the steering hydraulic oil to the steering cylinder, and further controlling the direction and size of the steering assist, that is, by sensing the rotation of the steering wheel manipulated by the driver, the rotary valve is driven to move, and the steering hydraulic oil is controlled to flow to the steering cylinder for steering assist, thereby realizing follow-up assist. The direction of the steering wheel turned by the driver drives the direction of rotation of the rotary valve, thereby controlling the flow direction of the steering hydraulic oil and the direction of the steering assist; the speed and angle of the steering wheel turned by the driver control the speed and opening size of the rotary valve, and the flow of the steering hydraulic oil to the steering cylinder and the size of the hydraulic work; the hydraulic pressure of the oil circuit is a passive quantity, which is determined by the size of the external steering load. The steering system also includes a safety valve (the opening pressure of the safety valve can not only meet the steering load requirements, but also protect the safety and reliability of the hydraulic system and components, and automatically unload when the oil pressure exceeds the specified value). The safety valve can protect the hydraulic system oil circuit pressure from not exceeding the preset maximum pressure (if it exceeds the preset maximum pressure, the safety valve opens to provide pressure relief protection), avoiding excessive hydraulic pressure causing hydraulic oil heating and preventing damage to hydraulic components.

[0064] In one possible implementation, Figure 5 An exemplary schematic diagram of a vehicle without a steering wheel is shown. Figure 5 As shown, the vehicle includes an intelligent driving controller 401 and a second detection module 402. The second detection module 402 is electrically connected to the intelligent driving controller 401, and the intelligent driving controller 401 is electrically connected to the motor controller 105. The second detection module 402 includes a millimeter radar, a laser radar, a camera, a navigation module, etc.

[0065] The second detection module 402 is used to detect the environmental information and driving data around the vehicle, and send the environmental information and driving data to the intelligent driving controller. The intelligent driving controller 401 is used to identify the environmental information and driving data to determine the steering control information of the wheels, and send the steering control information to the motor controller.

[0066] Among them, the environmental information around the vehicle includes lidar data, millimeter radar data, image data and map data around the vehicle, and the driving data includes vehicle speed, etc. The intelligent driving controller 401 identifies the environmental information sent by the second detection module 402, obtains the steering direction and angle of the wheel, and obtains the steering speed of the wheel through the vehicle speed, thereby obtaining the steering control information of the wheel. That is, in a scenario where the vehicle does not have a steering wheel, the steering control information of the wheel includes the steering direction, angle, steering direction, etc. of the wheel.

[0067] In one possible implementation, Figure 6 An exemplary schematic diagram of a redundant design of components in a steering system provided by an embodiment of the present application is shown. Figure 6 As shown, the components in the motor assembly of the present application are designed to be redundant, namely, the motor controller 106 includes a first controller 1061 and a second controller 1062, the drive motor 105 includes a first motor 1051 and a second motor 1052, and the reduction mechanism 104 includes a first reduction assembly 1041 and a second reduction assembly 1042. The first controller 1061 is electrically connected to the first motor 1051, the output shaft of the first motor 1051 is in driving connection with the input shaft of the first reduction assembly 1041, and the output shaft of the first reduction assembly 1041 is in driving connection with the valve core of the rotary valve 103; the second controller 1062 is electrically connected to the second motor 1052, the output shaft of the second motor 1052 is in driving connection with the input shaft of the second reduction assembly 1042, and the output shaft of the second reduction assembly 1042 is in driving connection with the valve core of the rotary valve 103.

[0068] When the first controller 1061, the second controller 1062, the first motor 1051, the second motor 1052, the first reduction assembly 1041, and the second reduction assembly 1042 are all operating normally, the first controller 1061, the first motor 1051, and the first reduction assembly 1041 are enabled by default, and the second controller 1062, the second motor 1052, and the second reduction assembly 1042 are disabled. When at least one of the first controller 1061, the first motor 1051, and the first reduction assembly 1041 fails, the first controller 1061, the first motor 1051, and the first reduction assembly 1041 are disabled, and the second controller 1062, the second motor 1052, and the second reduction assembly 1042 are enabled, thereby ensuring normal operation of the steering system.

[0069] In one possible implementation, Figure 7 The diagram shows the connection diagram of the steering cylinder, oil supply device and rotary valve provided in the embodiment of the present application. Figure 7 As shown, the steering system further includes a first three-way joint 501 and a second three-way joint 502. The steering cylinder 102 includes a first cylinder 1021 and a second cylinder 1022. When the piston rod of one of the first cylinder 1021 and the second cylinder 1022 extends, the piston rod of the other retracts to drive the wheel to steer. For example, when the piston rod G1 of the first cylinder 1021 extends and the piston rod G2 of the second cylinder 1022 retracts, the wheel steers left; when the piston rod G1 of the first cylinder 1021 retracts and the piston rod G2 of the second cylinder 1022 extends, the wheel steers right; when the piston rod G1 of the first cylinder 1021 and the piston rod G2 of the second cylinder 1022 are extended to the same length, the wheel returns to the center position.

[0070] P represents the hydraulic oil pipe. The oil outlet 1011 of the oil supply device 101 is connected to the oil inlet 1031 of the rotary valve 103. The first interface of the first three-way joint 501 is connected to the oil inlet Y11 of the first oil cylinder 1021. The second interface of the first three-way joint 502 is connected to the oil inlet Y21 of the second oil cylinder 1022. The third interface of the first three-way joint 501 is connected to the oil outlet 1032 of the rotary valve 103; the first interface of the second three-way joint 502 is connected to the oil return port Y12 of the first oil cylinder 1021. The second interface of the second three-way joint 502 is connected to the oil return port Y22 of the second oil cylinder 1022. The third interface of the second three-way joint 502 is connected to the oil return port 1012 of the oil supply device 101. After the rotary valve 103 controls the high-pressure hydraulic oil provided by the oil supply device 101, the hydraulic oil output by the rotary valve 103 is distributed to the first cylinder 1021 and the second cylinder 1022 via the first three-way connector 501, thereby achieving wheel steering control. The low-pressure hydraulic oil output by the first cylinder 1021 and the second cylinder 1022 flows back to the oil supply device 101 via the second three-way connector 502. The oil supply device 101 includes a vehicle power supply, a steering motor controller, a cylinder assembly (including a steering motor and steering cylinder), and an oil storage tank. The vehicle power supply supplies power to the steering motor controller, which controls the steering motor so that the cylinder assembly pressurizes the hydraulic oil in the oil storage tank to produce high-pressure hydraulic oil. The high-pressure hydraulic oil is then delivered to the rotary valve 103 via the oil outlet 1011 of the oil supply device 101.

[0071] The following is an embodiment of a control method provided in an embodiment of the present application.

[0072] Figure 8 FIG1 shows a schematic flow chart of a control method provided by an embodiment of the present application. Figure 8 As shown, the control method provided in the embodiment of the present application is applied to the above-mentioned steering system. The execution subject may be the motor controller in the above-mentioned steering system. The above-mentioned control method includes the following schemes:

[0073] S810: Obtaining steering control information of the wheels;

[0074] S820: Adjusting the output parameters of the drive motor according to the steering control information, the output parameters include the motor speed and the motor rotation direction; wherein, after adjusting the output parameters, the deceleration mechanism reduces the actual motor speed of the drive motor or adjusts the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein, the opening parameters include the opening degree of the rotary valve, the rotation direction and rotation speed of the valve core of the rotary valve, and adjusting the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

[0075] In one exemplary embodiment, if the vehicle has a steering wheel, a first detection module detects actual steering information from the steering column and sends this information as wheel steering control information to a motor controller, which then receives the wheel steering control information. If the vehicle does not have a steering wheel, a second detection module detects environmental information and driving data surrounding the vehicle and sends this information to an intelligent driving controller. The intelligent driving controller identifies this information and determines the wheel steering control information, which it then sends to the motor controller, which then receives the wheel steering control information.

[0076] When the wheel needs to turn, the motor controller can obtain the target output parameters of the drive motor based on the steering control information of the wheel, and adjust the output parameters of the drive motor to the target output parameters. After the output parameters of the drive motor are adjusted, because the output shaft of the drive motor and the input shaft of the reduction mechanism are transmission-connected, the reduction mechanism adjusts the adjusted output parameters of the drive motor.

[0077] If the input and output shafts of the reduction mechanism rotate in the same direction, the reduction mechanism reduces the actual motor speed of the drive motor and increases the motor torque of the drive motor, thereby adjusting the opening parameter of the rotary valve. The rotation direction of the valve core of the rotary valve is the same as the rotation direction of the input shaft of the reduction mechanism. If the input and output shafts of the reduction mechanism rotate in opposite directions, the reduction mechanism reduces the actual motor speed of the drive motor, increases the motor torque of the drive motor, and changes the actual motor rotation direction of the drive motor, so that the rotation direction of the valve core of the rotary valve is opposite to the rotation direction of the input shaft of the reduction mechanism, thereby adjusting the opening parameter of the rotary valve. If the steering control information of the wheel includes controlling the wheel to turn left, the opening parameter of the rotary valve is adjusted to achieve left steering of the wheel. If the steering control information of the wheel includes controlling the wheel to turn right, the opening parameter of the rotary valve is adjusted to achieve right steering of the wheel.

[0078] After the reduction mechanism adjusts the adjusted output parameters of the drive motor, the opening parameters of the rotary valve are adjusted. The adjustment of the opening parameters of the rotary valve includes adjusting the opening of the rotary valve, the rotation direction and the rotation speed of the valve core of the rotary valve. By adjusting the opening of the rotary valve, the flow rate of the hydraulic oil is adjusted, and then the steering assist of the steering system is adjusted; the rotation direction of the valve core of the rotary valve is adjusted to adjust the steering direction of the wheel; the rotation speed of the valve core of the rotary valve is adjusted to adjust the steering speed of the wheel. The steering speed of the wheel is positively correlated with the steering speed of the vehicle.

[0079] The steering system control method provided in this application utilizes a technical solution that obtains steering control information from the wheels and adjusts the output parameters of the drive motor based on the steering control information. Since the output shaft of the drive motor is transmission-connected to the input shaft of a reduction mechanism, which in turn is transmission-connected to the valve core of a rotary valve, the reduction mechanism reduces the actual motor speed of the drive motor after adjusting the output parameters of the drive motor, or simultaneously changes the actual motor rotation direction of the drive motor while reducing the actual motor speed, thereby adjusting the opening parameters of the rotary valve. Adjusting the opening parameters of the rotary valve controls the amount of hydraulic oil supplied by the oil supply device to the steering cylinder via the rotary valve, thereby achieving wheel steering control. This achieves fully hydraulically driven wheel steering control. When a driver of a heavy-duty vehicle equipped with this steering system is operating, they can easily control wheel steering via the steering wheel, thereby improving driving comfort.

[0080] In one possible implementation, if the vehicle includes a steering wheel, a steering column, and a first detection module, actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft, the aforementioned adjustment of the output parameters of the drive motor based on the steering control information includes the following schemes:

[0081] When the rotation torque is greater than or equal to the preset torque, the rotation direction of the motor is adjusted to be opposite to the rotation direction of the steering column, so that the rotation direction of the output shaft of the reduction mechanism is the same as the rotation direction of the steering column.

[0082] In a vehicle equipped with a steering wheel, the steering wheel and the drive motor serve as control inputs for the rotary valve, allowing the driver to control the rotary valve. In other words, the driver and the drive motor simultaneously control the rotary valve. When it is detected that the steering column's rotational torque is greater than or equal to a preset torque, indicating that the driver's steering torque generated by turning the steering wheel is large, the motor controller controls the drive motor, adjusting the motor's rotation direction to be opposite to the steering column's. The reduction mechanism then drives the rotary valve. Because the reduction mechanism's input shaft rotates in opposite directions to its output shaft, and the reduction mechanism's output shaft rotates in the same direction as the steering wheel and the steering column, the reduction mechanism's input shaft drives the rotary valve's spool in the same direction as the steering wheel, thereby providing power steering. This instantly reduces the force exerted on the driver's steering wheel, allowing the driver to easily turn the steering wheel to control the steering of the wheels.

[0083] In one possible implementation, if the vehicle includes a steering wheel, a steering column, and a first detection module, actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft, the aforementioned adjustment of the output parameters of the drive motor based on the steering control information includes the following schemes:

[0084] When the rotation torque is less than the preset torque, the rotation direction of the motor is adjusted to be the same as the rotation direction of the steering column, so that the rotation direction of the output shaft of the reduction mechanism is opposite to the rotation direction of the steering column.

[0085] In vehicles equipped with a steering wheel, the steering wheel and the drive motor serve as control inputs for the rotary valve, allowing the driver to control the valve. This means both the driver and the drive motor simultaneously control the valve. When the steering column's torque is detected to be less than a preset torque, indicating that the torque generated by the driver turning the steering wheel is low, the driver's steering of the wheels may result in a light steering wheel and poor steering feel. In this case, the motor controller controls the drive motor, adjusting the motor's rotational direction to match that of the steering wheel and the steering column. The reduction mechanism then participates in driving the rotary valve. Since the rotation direction of the input shaft of the reduction mechanism is opposite to that of the output shaft, the rotation direction of the output shaft of the reduction mechanism is opposite to that of the steering wheel and the steering column, the rotation direction of the valve core of the rotary valve driven by the input shaft of the reduction mechanism is opposite to that of the valve core of the rotary valve driven by the steering wheel. The output shaft of the reduction mechanism generates a damping force, thereby reducing the opening of the rotary valve and damping the rotary valve, thereby reducing the steering force and increasing the hand force of the steering wheel, which is beneficial to improving the feel of the steering wheel and improving and solving the problem of steering wheel floating.

[0086] In one possible implementation, the steering control information includes a target steering angle of the wheel. After adjusting the output parameters of the drive motor according to the steering control information, the control method further includes the following scheme:

[0087] Obtaining the actual rotation angle of the wheel;

[0088] If the difference between the actual turning angle and the target turning angle is not within a preset difference range, the output parameter is adjusted according to the difference so that the difference is within the preset difference range.

[0089] In unmanned or autonomous driving scenarios, to reduce the deviation between the actual steering situation of the wheels and the target steering situation, a closed-loop control system is implemented by performing real-time deviation corrections on the actual and target steering situations to maintain consistency between the actual and target steering situations. After the vehicle's steering is controlled by adjusting the output parameters of the drive motor, the actual steering angle of the wheel is obtained and the difference between the actual and target angles is calculated. If the difference between the two is not within a preset difference range, indicating a significant deviation between the actual and target steering situations, the output parameters of the drive motor are adjusted based on the difference, thereby correcting the actual steering angle of the wheel to keep the difference within the preset difference range, thereby maintaining consistency between the actual and target steering situations, that is, ensuring that the actual steering angle reaches the target angle.

[0090] For example, if the target turning angle is 90° for a left turn and the actual turning angle is 120° for a left turn, then the output parameters of the drive motor are adjusted according to the difference, so that the wheel is corrected 30 degrees to the right, thereby reaching 90° for a left turn. If the target turning angle is 90° for a right turn and the actual turning angle is 120° for a right turn, then the output parameters of the drive motor are adjusted according to the difference, so that the wheel is corrected 30 degrees to the left, thereby reaching 90° for a right turn. When performing the angle correction, the difference between the target turning angle and the actual turning angle is adjusted to be within a preset difference range, that is, to meet a certain error range.

[0091] While correcting the steering angle, the steering speed of the wheel is also corrected, ensuring that the difference between the actual steering speed and the target steering speed falls within a certain tolerance range. For example, if the target steering speed is 180° / s and the actual steering speed is 200° / s, the actual steering speed can be reduced to 180° / s by adjusting the output parameters of the drive motor. The rotation speed of the rotary valve core is positively correlated with the steering speed of the wheel.

[0092] In one possible implementation, the steering system includes a first control link and a second control link. The first control link includes a first controller in the motor controller, a first motor in the drive motor, and a first reduction assembly in the reduction mechanism. The second control link includes a second controller in the motor controller, a second motor in the drive motor, and a second reduction assembly in the reduction mechanism. The above control method also includes a solution:

[0093] In the case that neither the first control link nor the second control link fails, turning on the first control link and disabling the second control link;

[0094] In the event that the first control link fails, the second control link is turned on and the first control link is disabled.

[0095] Due to the redundant design of the motor controller, drive motor, and reduction mechanism, both the first control link and the second control link can control the rotary valve. If neither the first control link nor the second control link is faulty (i.e., no components in the first control link or the second control link are faulty), the first control link is enabled and the second control link is disabled. This means that the first controller, first motor, and first reduction assembly are enabled by default, while the second controller, second motor, and second reduction assembly are disabled.

[0096] In the event of a failure in the first control link (that is, a failure in at least one component in the first control chain), the second control link is turned on and the first control link is disabled, that is, the first controller, the first motor and the first reduction assembly are disabled, and the second controller, the second motor and the second reduction assembly are enabled to ensure the normal operation of the steering system.

[0097] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0098] Figure 9 FIG. 1 shows a schematic diagram of the structure of a control device provided in an embodiment of the present application. For example, Figure 9 As shown, the control device 900 is configured in the above-mentioned steering system, and the control device includes:

[0099] An acquisition module 910 is used to acquire steering control information of the wheels;

[0100] an adjusting module 920, configured to adjust output parameters of the driving motor according to the steering control information, wherein the output parameters include motor speed and motor rotation direction;

[0101] Wherein, after adjusting the output parameters, the deceleration mechanism reduces the actual motor speed of the drive motor or adjusts the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein, the opening parameters include the opening degree, the rotation direction and rotation speed of the valve core of the rotary valve, and the adjustment of the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

[0102] In one possible implementation, if the vehicle includes a steering wheel, a steering column, and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft, the adjustment module 920 includes:

[0103] The first adjustment unit is used to adjust the rotation direction of the motor to be opposite to the rotation direction of the steering column when the rotation torque is greater than or equal to the preset torque, so that the rotation direction of the output shaft of the reduction mechanism is the same as the rotation direction of the steering column.

[0104] In one possible implementation, if the vehicle includes a steering wheel, a steering column, and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft, the adjustment module 920 includes:

[0105] The second adjustment unit is used to adjust the rotation direction of the motor to be the same as the rotation direction of the steering column when the rotation torque is less than the preset torque, so that the rotation direction of the output shaft of the reduction mechanism is opposite to the rotation direction of the steering column.

[0106] In one possible implementation, the steering control information includes a target steering angle of the wheel, and the control device 900 further includes:

[0107] A correction unit is used to obtain the actual turning angle of the wheel; if the difference between the actual turning angle and the target turning angle is not within a preset difference range, adjust the output parameter according to the difference so that the difference is within the preset difference range.

[0108] It should be noted that the control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device and control method embodiments provided in the above embodiment belong to the same concept. Therefore, for details not disclosed in the device embodiments of this application, please refer to the above control method embodiments of this application, and no further details will be given here.

[0109] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0110] Figure 10 A structural schematic diagram of a vehicle provided in an embodiment of the present application is shown.

[0111] For example, Figure 10 As shown, the vehicle 1000 includes: a memory 1001 and a processor 1002, wherein the memory 1001 stores an executable program code 10011, and the processor 1002 is used to call and execute the executable program code 10011 to perform a control method.

[0112] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0113] In the case of dividing each functional module into corresponding functional modules, the vehicle may include: an acquisition module, an adjustment module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0114] The vehicle provided in this embodiment is used to execute the above-mentioned control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0115] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0116] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0117] This embodiment further provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a control method in the above-mentioned embodiment.

[0118] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a control method in the above-mentioned embodiment.

[0119] In addition, the vehicle provided in the embodiments of the present application can specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can call and execute the instructions so that the chip executes a control method in the above embodiments.

[0120] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding control method provided above, and will not be repeated here.

[0121] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0122] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0123] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle steering system, characterized in that: The steering system includes: an oil supply device, a steering cylinder, a rotary valve, a motor controller, a drive motor and a speed reduction mechanism; The rotary valve is arranged between the oil supply device and the steering cylinder, the motor controller is electrically connected to the drive motor, the output shaft of the drive motor is transmission-connected to the input shaft of the reduction mechanism, and the output shaft of the reduction mechanism is transmission-connected to the valve core of the rotary valve; The oil supply device is used to input hydraulic oil to the steering cylinder through the rotary valve; The motor controller is used to obtain steering control information of the wheel and adjust the output parameters of the drive motor according to the steering control information, wherein the output parameters include motor speed and motor rotation direction; The deceleration mechanism is used to reduce the actual motor speed of the drive motor or adjust the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein the opening parameters include the opening degree of the rotary valve, the rotation direction and rotation speed of the valve core of the rotary valve, and the adjustment of the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

2. The steering system according to claim 1, characterized in that The vehicle includes a steering wheel, a steering column, and a first detection module, wherein the steering wheel is connected to the steering column, the output shaft of the reduction mechanism is in transmission connection with the steering column, and the steering column is connected to the valve core of the rotary valve via a universal joint; The first detection module is configured to detect actual steering information of the steering column and send the actual steering information as the steering control information to the motor controller; wherein the actual steering information includes at least one of a rotation angle, a rotation speed, and a rotation direction of the steering column; or, The vehicle includes an intelligent driving controller and a second detection module, the second detection module is electrically connected to the intelligent driving controller, and the intelligent driving controller is electrically connected to the motor controller; The second detection module is used to detect environmental information and driving data around the vehicle, and send the environmental information and the driving data to the intelligent driving controller; The intelligent driving controller is used to identify the environmental information and the driving data to determine the steering control information of the wheel and send the steering control information to the motor controller.

3. The steering system according to claim 1, characterized in that The motor controller includes a first controller and a second controller, the drive motor includes a first motor and a second motor, and the deceleration mechanism includes a first deceleration assembly and a second deceleration assembly; The first controller is electrically connected to the first motor, the output shaft of the first motor is in driving connection with the input shaft of the first reduction assembly, and the output shaft of the first reduction assembly is in driving connection with the valve core of the rotary valve; The second controller is electrically connected to the second motor, the output shaft of the second motor is drivingly connected to the input shaft of the second reduction assembly, and the output shaft of the second reduction assembly is drivingly connected to the valve core of the rotary valve.

4. A control method, characterized in that: Applied to the steering system according to any one of claims 1 to 3, the control method comprises: Get the steering control information of the wheel; adjusting output parameters of the drive motor according to the steering control information, wherein the output parameters include motor speed and motor rotation direction; Wherein, after adjusting the output parameters, the deceleration mechanism reduces the actual motor speed of the drive motor or adjusts the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein, the opening parameters include the opening degree of the rotary valve, the rotation direction and rotation speed of the valve core of the rotary valve, and the adjustment of the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

5. The control method according to claim 4, characterized in that: If the vehicle includes a steering wheel, a steering column, and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft; The adjusting the output parameters of the driving motor according to the steering control information includes: When the rotation torque is greater than or equal to the preset torque, the rotation direction of the motor is adjusted to be opposite to the rotation direction of the steering column, so that the rotation direction of the output shaft of the reduction mechanism is the same as the rotation direction of the steering column.

6. The control method according to claim 4, characterized in that: If the vehicle includes a steering wheel, a steering column, and a first detection module, the actual steering information of the steering column detected by the first detection module includes the rotational torque and rotational direction of the steering column, and the rotational direction of the input shaft of the reduction mechanism is opposite to the rotational direction of the output shaft; The adjusting the output parameters of the driving motor according to the steering control information includes: When the rotation torque is less than the preset torque, the rotation direction of the motor is adjusted to be the same as the rotation direction of the steering column, so that the rotation direction of the output shaft of the reduction mechanism is opposite to the rotation direction of the steering column.

7. The control method according to any one of claims 4 to 6, characterized in that: The steering control information includes a target steering angle of the wheel; After adjusting the output parameters of the drive motor according to the steering control information, the control method further includes: Obtaining the actual rotation angle of the wheel; If the difference between the actual turning angle and the target turning angle is not within a preset difference range, the output parameter is adjusted according to the difference so that the difference is within the preset difference range.

8. The control method according to any one of claims 4 to 6, characterized in that: The steering system includes a first control link and a second control link, the first control link including a first controller in the motor controller, a first motor in the drive motor, and a first reduction assembly in the reduction mechanism, and the second control link including a second controller in the motor controller, a second motor in the drive motor, and a second reduction assembly in the reduction mechanism; The control method further includes: In the case that neither the first control link nor the second control link fails, turning on the first control link and disabling the second control link; In the event that the first control link fails, the second control link is turned on and the first control link is disabled.

9. A control device, characterized in that: In the steering system according to any one of claims 1 to 3, the control device comprises: An acquisition module, used to obtain steering control information of the wheels; an adjusting module, configured to adjust output parameters of the driving motor according to the steering control information, wherein the output parameters include motor speed and motor rotation direction; Wherein, after adjusting the output parameters, the deceleration mechanism reduces the actual motor speed of the drive motor or adjusts the input parameters of the deceleration mechanism to adjust the opening parameters of the rotary valve; wherein, the opening parameters include the opening degree, the rotation direction and rotation speed of the valve core of the rotary valve, and the adjustment of the input parameters of the deceleration mechanism includes reducing the actual motor speed of the drive motor and changing the actual motor rotation direction of the drive motor.

10. A vehicle, characterized in that: The vehicle comprises: The steering system according to any one of claims 1 to 3; a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory so that the vehicle executes the control method according to any one of claims 4 to 8.

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