Steering control method and device and vehicle

Abstract

The embodiment of the invention discloses a steering control method and device and a vehicle, and relates to the technical field of vehicles. The method is applied to the vehicle comprising a steering wheel actuator, a wheel actuator and a standby steering device and comprises the steps that under the condition that the vehicle is in a running state, if the wheel actuator determines that the steering wheel actuator is in an offline state, the standby steering device is started; the standby steering device comprises an operation rod, an angle sensor used for detecting the rotation angle of the operation rod and a standby controller. The standby controller generates a steering instruction according to the rotation angle detected by the angle sensor; and the standby controller sends the steering instruction to a wheel actuator, so that the wheel actuator drives wheels to execute steering action according to the steering instruction. Therefore, according to the steering control method, when the main system and the redundant system of the steering wheel actuator fail at the same time, the vehicle can be parked alongside, and then the safety of a driver and surrounding traffic participants is guaranteed.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a steering control method, device, and vehicle. Background Technology

[0002] With the continuous development of autonomous driving technology, steer-by-wire (SBW) systems have emerged. SBW systems mainly consist of a hand wheel actuator (HWA) and a road wheel actuator (RWA). The biggest breakthrough of SBW systems is that they completely eliminate the mechanical connection between the steering wheel and the wheels, allowing the wheel actuators to drive the wheels to perform steering actions based on steering commands (electrical signals) sent by the hand wheel actuator.

[0003] Currently, to ensure the safety and reliability of vehicles under various operating conditions, steering wheel actuators are typically equipped with redundant systems, including backup power supplies and backup controllers. Therefore, when the main system of the steering wheel actuator fails for various reasons (such as electrical faults or mechanical damage), the redundant system can send steering commands to the wheel actuators, enabling the vehicle to pull over and thus ensuring the safety of the driver and other road users.

[0004] However, when both the main system and the redundant system of the steering wheel actuator fail simultaneously, the vehicle cannot pull over to the side of the road because there is no longer a mechanical connection between the steering wheel and the wheels, thus compromising the safety of the driver and other road users. Summary of the Invention

[0005] In view of the above problems, this application provides a steering control method, device and vehicle that can enable the vehicle to pull over to the side of the road when the main system and the redundant system of the steering wheel actuator fail at the same time, thereby ensuring the safety of the driver and surrounding traffic participants.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, this application discloses a steering control method applied to a vehicle including a steering wheel actuator, wheel actuators, and a backup steering device, the method comprising:

[0008] When the vehicle is in motion, if the wheel actuator determines that the steering wheel actuator is offline, the backup steering device is activated; the backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller;

[0009] The backup controller generates a steering command based on the rotation angle detected by the angle sensor;

[0010] The backup controller sends the steering command to the wheel actuator, so that the wheel actuator drives the wheel to perform a steering action according to the steering command.

[0011] Optionally, the vehicle further includes a headlight controller; the method further includes:

[0012] If the wheel actuator determines that the steering wheel actuator is offline, it sends a first instruction to the headlight controller, so that the headlight controller controls the vehicle's hazard warning lights to turn on according to the first instruction.

[0013] Optionally, the vehicle further includes an electronic stability control system; the method further includes:

[0014] If the wheel actuator determines that the steering wheel actuator is offline, it sends a second command to the vehicle electronic stability control system, so that the vehicle electronic stability control system controls the vehicle to decelerate according to the second command.

[0015] Optionally, the vehicle further includes an autonomous driving domain controller; whether the steering wheel actuator is offline can also be determined by the vehicle electronic stability control system or the autonomous driving domain controller.

[0016] Optionally, the backup steering device further includes a lifting motor and a lifting shaft; the lifting shaft is connected to the operating lever; activating the backup steering device includes:

[0017] The lifting motor controls the lifting shaft to raise and lower the operating lever to a preset position.

[0018] Optionally, the backup steering device further includes a telescopic drive mechanism; the telescopic drive mechanism is connected to the operating lever; activating the backup steering device includes:

[0019] By controlling the telescopic drive mechanism, the operating lever is switched from the retracted state to the extended state.

[0020] Optionally, the backup steering device further includes a locking mechanism; the method further includes:

[0021] If the wheel actuator determines that the steering wheel actuator is online, it locks the operating lever using the locking mechanism.

[0022] Optionally, if the wheel actuator determines that the steering wheel actuator is offline, activating the backup steering device includes:

[0023] If the wheel actuator determines that the steering wheel actuator is offline and the duration exceeds a preset duration threshold, then the backup steering device is activated; the duration is the length of time the steering wheel actuator is offline.

[0024] Secondly, this application discloses a steering control device applied to a vehicle including a steering wheel actuator, a wheel actuator, and a backup steering device, the device including: a device activation module, an instruction generation module, and a steering drive module;

[0025] The device activation module is used to activate the backup steering device if the wheel actuator determines that the steering wheel actuator is offline when the vehicle is in motion; the backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller.

[0026] The instruction generation module is used by the backup controller to generate a steering instruction based on the rotation angle detected by the angle sensor.

[0027] The steering drive module is used by the backup controller to send the steering command to the wheel actuator, so that the wheel actuator drives the wheel to perform a steering action according to the steering command.

[0028] Optionally, the vehicle further includes a headlight controller; the device further includes a headlight activation module;

[0029] The vehicle light activation module is used to send a first instruction to the vehicle light controller if the wheel actuator determines that the steering wheel actuator is offline, so that the vehicle light controller controls the hazard warning lights of the vehicle to be activated according to the first instruction.

[0030] Optionally, the vehicle further includes an electronic stability control system; the device further includes a speed reduction control module.

[0031] The deceleration control module is used to send a second command to the vehicle electronic stability control system if the wheel actuator determines that the steering wheel actuator is offline, so that the vehicle electronic stability control system controls the vehicle to decelerate according to the second command.

[0032] Optionally, the vehicle further includes an autonomous driving domain controller; whether the steering wheel actuator is offline can also be determined by the vehicle electronic stability control system or the autonomous driving domain controller.

[0033] Optionally, the backup steering device further includes a lifting motor and a lifting shaft; the lifting shaft is connected to the operating lever; the device activation module is specifically used to: control the lifting shaft through the lifting motor to raise or lower the operating lever to a preset position.

[0034] Optionally, the backup steering device further includes a telescopic drive mechanism; the telescopic drive mechanism is connected to the operating lever; the device activation module is specifically used to: switch the operating lever from a retracted state to an extended state by controlling the telescopic drive mechanism.

[0035] Optionally, the backup steering device further includes a locking mechanism; the device further includes a locking module;

[0036] The locking module is used to lock the operating lever via the locking mechanism if the wheel actuator determines that the steering wheel actuator is online.

[0037] Optionally, the device activation module is specifically used to: if the wheel actuator determines that the steering wheel actuator is offline and the duration exceeds a preset duration threshold, then activate the backup steering device; the duration is the duration during which the steering wheel actuator is offline.

[0038] Compared with the prior art, this application has the following beneficial effects:

[0039] This application discloses a steering control method, apparatus, and vehicle. The method is applied to a vehicle including a steering wheel actuator, wheel actuators, and a backup steering device. It includes: when the vehicle is in motion, if the wheel actuator determines that the steering wheel actuator is offline, then the backup steering device is activated. The backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller. The backup controller generates a steering command based on the rotation angle detected by the angle sensor. The backup controller sends the steering command to the wheel actuators, causing the wheel actuators to drive the wheels to perform a steering action according to the steering command. Therefore, this steering control method can activate the backup steering device when both the primary and redundant systems of the steering wheel actuator fail simultaneously. This backup steering device allows the driver to regain steering control of the vehicle and manually pull over to the side of the road, thereby ensuring the safety of the driver and surrounding road users. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of a steering control method provided in an embodiment of this application;

[0042] Figure 2 A schematic diagram of a backup steering device provided in an embodiment of this application;

[0043] Figure 3 A schematic diagram of in-vehicle communication provided in an embodiment of this application;

[0044] Figure 4 A schematic diagram of a steering control device provided in an embodiment of this application;

[0045] Figure 5 This is a schematic diagram of vehicle hardware provided in an embodiment of this application. Detailed Implementation

[0046] As described earlier, to ensure the safety and reliability of vehicles under various operating conditions, steering wheel actuators are typically equipped with redundant systems, including backup power supplies and backup controllers. Therefore, when the main system of the steering wheel actuator fails for various reasons (such as electrical faults or mechanical damage), the redundant system can send steering commands to the wheel actuators, enabling the vehicle to pull over and thus ensuring the safety of the driver and other road users.

[0047] However, when both the main system and the redundant system of the steering wheel actuator fail simultaneously, the vehicle cannot pull over to the side of the road because there is no longer a mechanical connection between the steering wheel and the wheels, thus compromising the safety of the driver and other road users.

[0048] Through research, the inventors have proposed a steering control method, device, and vehicle. This steering control method enables the activation of a backup steering mechanism when both the primary and redundant systems of the steering wheel actuator fail simultaneously. This backup steering mechanism allows the driver to regain control of the vehicle's steering and manually pull over to the side of the road, thereby ensuring the safety of the driver and other road users.

[0049] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0050] See Figure 1 This figure is a flowchart of a steering control method provided in an embodiment of this application. The method is applied to a vehicle including a steering wheel actuator, wheel actuators (e.g., front wheel actuators), and a backup steering device. The method includes:

[0051] S101: When the vehicle is in motion, if the wheel actuator determines that the steering wheel actuator is offline, the backup steering device is activated; the backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller.

[0052] First, determine if the following conditions are met: the vehicle is in motion (if the vehicle is stationary, even if the steering wheel actuator is offline, it does not constitute an emergency and there is no need to activate the backup steering device), and the wheel actuators confirm that the steering wheel actuator is offline (meaning the steering wheel actuator cannot function properly and cannot control the steering wheel). If both conditions are met, then the backup steering device is activated.

[0053] It should be noted that all the above judgments were made after the vehicle was powered on with high voltage. High voltage is a prerequisite for the normal operation of the vehicle's electrical system. Only after high voltage is applied can the various electrical components of the vehicle function normally, and only then can the relevant judgments accurately reflect the actual state of the vehicle.

[0054] It should also be noted that when the wheel actuator determines that the steering wheel actuator is offline, but the vehicle is stationary, the following steps are performed: The vehicle's display screen will show "Steering wheel actuator malfunction, do not drive," and the vehicle's hazard warning lights will be activated. This allows the driver to be aware of the vehicle malfunction in a timely manner, preventing them from driving the vehicle before the problem is resolved. Simultaneously, activating the hazard warning lights alerts those around the driver, preventing accidents.

[0055] It should also be noted that the following conditions can be met to determine if the vehicle is in motion, the wheel actuators determine that the steering wheel actuator is offline, and the duration of this offline state (i.e., the duration the steering wheel actuator is offline) exceeds a preset threshold (e.g., 500ms, 1s). If all conditions are met, the backup steering system is activated. Therefore, only when the duration exceeds the preset threshold is a substantial fault determined, thus activating the backup steering system. This prevents accidental triggering due to momentary signal interference or network fluctuations, avoiding the backup steering system from unexpectedly deploying when not needed, thereby improving driving stability.

[0056] In one specific implementation, the vehicle may also include a headlight controller. First, it is determined whether the following conditions are met: the vehicle is in motion, and the wheel actuators determine that the steering wheel actuator is offline. If these conditions are met, a first command is sent to the headlight controller simultaneously with activating the backup steering system. This command causes the headlight controller to activate the vehicle's hazard warning lights. By activating the hazard warning lights, a clear visual warning signal is immediately issued to surrounding vehicles and pedestrians, indicating that the vehicle is in an abnormal state, thus ensuring the safety of the driver and other road users. For example, when driving on a highway, if the steering wheel actuator is offline, activating the hazard warning lights in time can alert following vehicles and prevent rear-end collisions.

[0057] In another specific implementation, the vehicle may also include an Electronic Stability Controller (ESC). First, it is determined whether the following conditions are met: the vehicle is in motion, and the wheel actuators determine that the steering wheel actuator is offline. If these conditions are met, a second command is sent to the ESC while activating the backup steering mechanism. This command causes the ESC to control the vehicle to slow down, for example, reducing the speed to 10 km / h. Understandably, driving at a lower speed shortens the vehicle's braking distance, reduces centrifugal force during steering, and makes the vehicle easier to control safely and pull over, thus ensuring the safety of the driver and other road users. For example, when driving on urban roads, slowing down allows for a safer stop on the side of the road, avoiding more serious consequences caused by loss of steering control at high speeds.

[0058] It should be noted that the aforementioned safety auxiliary measures for controlling the activation of vehicle hazard warning lights and controlling vehicle speed reduction can be implemented individually or in combination. This application does not impose any restrictions on this.

[0059] It should also be noted that the task of determining whether the steering wheel actuator is offline can be accomplished by at least one of the vehicle electronic stability control system, the automated driving control unit (ACU), and the wheel actuators. This avoids situations where a single component failure fails to identify a steering wheel actuator malfunction, further ensuring the safety of the driver and other road users.

[0060] Next, the backup steering system will be explained:

[0061] The backup steering system includes a control lever (for direct manual operation by the driver to ensure vehicle controllability in emergencies), an angle sensor for detecting the rotation angle of the control lever, and a backup controller. The angle sensor is typically a non-contact sensor, such as a Hall effect sensor. Non-contact sensors effectively reduce wear caused by mechanical contact, improving detection accuracy and extending the lifespan of the device.

[0062] To ensure that the backup steering system does not affect the vehicle's cabin space and normal driving when not in use, the backup steering system can be implemented in two ways:

[0063] See Figure 2 This figure is a schematic diagram of a backup steering device provided in an embodiment of this application. In one specific implementation, the backup steering device includes: an operating lever 1, an angle sensor 2, a backup controller (not shown in the figure), a lifting motor 5, and a lifting shaft 4. The lifting shaft 4 is connected to the operating lever 1. In this structure, the backup steering device is activated by controlling the lifting shaft 4 via the lifting motor 5 to move the operating lever 1 from a hidden position (e.g., inside the center console) to a preset position (a height convenient for the driver to operate). The raised and lowered operating lever can then be operated by the driver to achieve vehicle steering control.

[0064] In another specific implementation, the backup steering device includes a control lever, an angle sensor, a backup controller, and a telescopic drive mechanism. The telescopic drive mechanism is connected to the control lever. In this structure, the backup steering device is activated by controlling the telescopic drive mechanism to switch the control lever from a retracted state to an extended state. The extended control lever is then available for driver operation to control vehicle steering.

[0065] It should be noted that, to ensure the backup steering device does not accidentally deploy or produce abnormal noise during normal vehicle operation, this application also equips the backup steering device with a locking mechanism, such as electromagnetic adsorption or a mechanical pin. The locking mechanism is used to lock the operating lever if the wheel actuator determines that the steering wheel actuator is online (i.e., during normal vehicle operation). This prevents the driver from accidentally engaging the backup steering device during normal driving, thus interfering with vehicle control and ensuring driving safety. Furthermore, the rigid locking prevents the backup steering device from loosening or producing noise even when encountering bumpy road conditions. This not only improves vehicle stability but also ensures a higher quality feel, providing a more comfortable and quiet driving environment for the driver and passengers.

[0066] S102: The backup controller generates a steering command based on the rotation angle detected by the angle sensor.

[0067] The rotation angle refers to the angular change between the current position of the control lever and a reference position. For example, the reference position could be the position of the control lever when the vehicle is traveling in a straight line.

[0068] S103: The backup controller sends a steering command to the wheel actuator, so that the wheel actuator drives the wheel to perform a steering action according to the steering command.

[0069] See Figure 3 This figure is a schematic diagram of vehicle internal communication provided in an embodiment of this application. In one specific implementation, the backup controller sends steering commands to the wheel actuators via a Controller Area Network (CAN) bus, so that the wheel actuators drive the wheels to perform steering actions according to the steering commands. It is understood that the CAN bus is used because it employs differential signal transmission, which effectively suppresses electromagnetic interference, ensuring the accuracy and stability of steering command transmission and avoiding safety hazards caused by steering command errors due to interference. Furthermore, the CAN bus has a high data transmission rate, ensuring that steering commands are accurately delivered to the wheel actuators in a short time, enabling the wheels to respond promptly and achieving rapid steering control.

[0070] In summary, this application provides a steering control method. This method enables the activation of a backup steering device when both the primary and redundant systems of the steering wheel actuator fail simultaneously. This backup steering device allows the driver to regain steering control of the vehicle and manually pull over to the side of the road, thereby ensuring the safety of the driver and other road users.

[0071] See Figure 4The figure is a schematic diagram of a steering control device provided in an embodiment of this application. The steering control device 400 is applied to a vehicle including a steering wheel actuator, wheel actuators and a backup steering device, and includes: a device activation module 401, a command generation module 402 and a steering drive module 403.

[0072] The device activation module 401 is used to activate the backup steering device when the vehicle is in motion and the wheel actuator determines that the steering wheel actuator is offline; the backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller.

[0073] The instruction generation module 402 is used by the backup controller to generate steering instructions based on the rotation angle detected by the angle sensor;

[0074] The steering drive module 403 is used by the backup controller to send steering commands to the wheel actuators so that the wheel actuators drive the wheels to perform steering actions according to the steering commands.

[0075] In one specific implementation, the vehicle also includes a headlight controller; the steering control device 400 further includes a headlight activation module;

[0076] The headlight activation module is used to send a first command to the headlight controller if the wheel actuator determines that the steering wheel actuator is offline, so that the headlight controller controls the vehicle's hazard warning lights to turn on according to the first command.

[0077] In one specific implementation, the vehicle also includes an electronic stability control system; the steering control device 400 further includes a deceleration control module;

[0078] The speed reduction control module is used to send a second command to the vehicle electronic stability control system if the wheel actuator determines that the steering wheel actuator is offline, so that the vehicle electronic stability control system controls the vehicle to reduce speed according to the second command.

[0079] In one specific implementation, the vehicle also includes an autonomous driving domain controller; whether the steering wheel actuator is offline can also be determined by the vehicle electronic stability control system or the autonomous driving domain controller.

[0080] In one specific implementation, the backup steering device further includes a lifting motor and a lifting shaft; the lifting shaft is connected to the operating lever; the device activation module 401 is specifically used to: control the lifting shaft through the lifting motor to raise or lower the operating lever to a preset position.

[0081] In one specific implementation, the backup steering device further includes a telescopic drive mechanism; the telescopic drive mechanism is connected to the operating lever; the device activation module 401 is specifically used to: switch the operating lever from the retracted state to the extended state by controlling the telescopic drive mechanism.

[0082] In one specific implementation, the backup steering device further includes a locking mechanism; the steering control device 400 also includes a locking module;

[0083] The locking module is used to lock the operating lever via a locking mechanism if the wheel actuator determines that the steering wheel actuator is online.

[0084] In one specific implementation, the device activation module 401 is specifically used to: if the wheel actuator determines that the steering wheel actuator is offline and the duration exceeds a preset duration threshold, then activate the backup steering device; the duration is the duration during which the steering wheel actuator is offline.

[0085] In summary, this application provides a steering control device. This device can activate a backup steering mechanism when both the primary and redundant systems of the steering wheel actuator fail simultaneously. This backup steering mechanism allows the driver to regain control of the vehicle's steering and manually pull over to the side of the road, thereby ensuring the safety of the driver and other road users.

[0086] Accordingly, this application also discloses a vehicle including a steering control device as described in the foregoing embodiments. See also Figure 5 This figure is a schematic diagram of vehicle hardware provided in an embodiment of this application. Figure 5 As shown, the vehicle includes: an autonomous driving domain controller 51, a steering wheel 52, a steering control device 53, a main system for the steering wheel actuator 54, a redundant system for the steering wheel actuator 55, a vehicle electronic stability control system 56, a redundant system for the wheel actuator 57, and a main system for the wheel actuator 58.

[0087] The vehicle provided in this application embodiment has the beneficial effects of the steering control device described above.

[0088] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0089] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A steering control method, characterized in that, Applied to vehicles including steering wheel actuators, wheel actuators, and backup steering devices, the method includes: When the vehicle is in motion, if the wheel actuator determines that the steering wheel actuator is offline, the backup steering device is activated; the backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller; The backup controller generates a steering command based on the rotation angle detected by the angle sensor; The backup controller sends the steering command to the wheel actuator, so that the wheel actuator drives the wheel to perform a steering action according to the steering command.

2. The method according to claim 1, characterized in that, The vehicle also includes a headlight controller; the method further includes: If the wheel actuator determines that the steering wheel actuator is offline, it sends a first instruction to the headlight controller, so that the headlight controller controls the vehicle's hazard warning lights to turn on according to the first instruction.

3. The method according to claim 2, characterized in that, The vehicle also includes a vehicle electronic stability control system; the method further includes: If the wheel actuator determines that the steering wheel actuator is offline, it sends a second command to the vehicle electronic stability control system, so that the vehicle electronic stability control system controls the vehicle to decelerate according to the second command.

4. The method according to claim 3, characterized in that, The vehicle also includes an autonomous driving domain controller; whether the steering wheel actuator is offline can also be determined by the vehicle electronic stability control system or the autonomous driving domain controller.

5. The method according to claim 1, characterized in that, The backup steering device further includes a lifting motor and a lifting shaft; the lifting shaft is connected to the operating lever; activating the backup steering device includes: The lifting motor controls the lifting shaft to raise and lower the operating lever to a preset position.

6. The method according to claim 1, characterized in that, The backup steering device further includes a telescopic drive mechanism; the telescopic drive mechanism is connected to the operating lever; activating the backup steering device includes: By controlling the telescopic drive mechanism, the operating lever is switched from the retracted state to the extended state.

7. The method according to claim 5 or 6, characterized in that, The backup steering device further includes a locking mechanism; the method further includes: If the wheel actuator determines that the steering wheel actuator is online, it locks the operating lever using the locking mechanism.

8. The method according to claim 1, characterized in that, If the wheel actuator determines that the steering wheel actuator is offline, then activating the backup steering device includes: If the wheel actuator determines that the steering wheel actuator is offline and the duration exceeds a preset duration threshold, then the backup steering device is activated; the duration is the length of time the steering wheel actuator is offline.

9. A steering control device, characterized in that, Applied to vehicles including steering wheel actuators, wheel actuators, and backup steering devices, the device includes: a device activation module, a command generation module, and a steering drive module; The device activation module is used to activate the backup steering device if the wheel actuator determines that the steering wheel actuator is offline when the vehicle is in motion; the backup steering device includes a lever, an angle sensor for detecting the rotation angle of the lever, and a backup controller. The instruction generation module is used by the backup controller to generate a steering instruction based on the rotation angle detected by the angle sensor. The steering drive module is used by the backup controller to send the steering command to the wheel actuator, so that the wheel actuator drives the wheel to perform a steering action according to the steering command.

10. A vehicle, characterized in that, The vehicle includes a steering control device for performing the steering control method according to any one of claims 1-8.

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