Steer-by-wire feel emulation device, steering system, driving simulator, and vehicle

Abstract

A steer-by-wire feel simulation device, steering system, driving simulator, and vehicle are disclosed, relating to the field of vehicle steering technology. The device includes a column, a steering shaft, a direct-drive motor, and connecting components. The steering shaft is rotatably disposed within the column and has a shaft hole at one end. Multiple first connecting holes are distributed circumferentially on the sidewall of the shaft hole. The output shaft of the direct-drive motor is inserted into the shaft hole and has corresponding multiple second connecting holes. The connecting components include multiple elastic buffer sleeves and multiple fasteners. The multiple elastic buffer sleeves are respectively disposed within the multiple first connecting holes, and the multiple fasteners pass through the multiple elastic buffer sleeves and connect to the multiple second connecting holes. By using elastic buffer sleeves as flexible components, the connection stiffness between the steering shaft and the direct-drive motor can be adjusted by adjusting the fasteners. This connection structure can effectively absorb minor fluctuations from the direct-drive motor, reduce software debugging difficulty, and optimize driver feel.

Description

Technical Field

[0001] This application relates to the field of vehicle steering technology, specifically to a steer-by-wire feel simulation device, a steer-by-wire system, a vehicle driving simulator, and a vehicle. Background Technology

[0002] A steer-by-wire simulator is used to transmit steering intentions to the steering actuator and provide road feel feedback. Existing steer-by-wire simulators mostly use a small motor with a reduction gear mechanism to drive the steering shaft. Common reduction gear mechanisms include worm gear reducers, planetary gear reducers, and belt reducers. However, this connection structure has significant drawbacks: the reduction gear mechanism generates fluctuations during engagement, increasing the difficulty of software debugging; internal gaps in the reduction gear mechanism cause abnormal noises during reversing or bumpy driving; and friction occurs during engagement, leading to energy loss and reduced transmission efficiency. While using a direct-drive motor can eliminate the drawbacks of the reduction gear mechanism, existing connection structures still present challenges: a long motor output shaft directly connected to the steering shaft results in significant output shaft runout; a short motor output shaft, typically connected directly to the steering shaft via a spline connection, leads to excessive connection rigidity, failing to absorb minor motor fluctuations. Furthermore, spline connections require high coaxiality, resulting in large fluctuations in system friction, affecting the stability of the steering feel and the reliability of the system. Summary of the Invention

[0003] In view of the above, the purpose of this application is to provide a steer-by-wire feel simulation device, a steer-by-wire system, a vehicle driving simulator, and a vehicle to solve at least one of the above technical problems.

[0004] In a first aspect, this application provides a steer-by-wire feel simulation device, including a column, a steering shaft, a direct drive motor, and a connecting assembly; the steering shaft is rotatably disposed in the column, one end of the steering shaft is provided with a shaft hole, and a plurality of first connecting holes are distributed circumferentially on the side wall of the shaft hole; the output shaft of the direct drive motor is inserted into the shaft hole, and the output shaft is provided with a plurality of second connecting holes corresponding one-to-one with the plurality of first connecting holes; the connecting assembly includes a plurality of elastic buffer sleeves and a plurality of fasteners, the plurality of elastic buffer sleeves are respectively disposed in the plurality of first connecting holes, and the plurality of fasteners respectively pass through the plurality of elastic buffer sleeves and are connected to the plurality of second connecting holes, so as to transmit the torque of the direct drive motor to the steering shaft, and to buffer the torque fluctuation of the direct drive motor by the elastic deformation of the elastic buffer sleeves.

[0005] In conjunction with the first aspect, in some alternative embodiments, the first connecting hole is a smooth hole, the second connecting hole is a threaded hole, and the fastener is a bolt that is threadedly connected to the second connecting hole.

[0006] In conjunction with the first aspect, in some alternative embodiments, both the first connecting hole and the second connecting hole are through holes.

[0007] In conjunction with the first aspect, in some optional embodiments, there are two first connecting holes and two second connecting holes. The two first connecting holes are arranged 90° apart circumferentially along the shaft hole and staggered axially along the shaft hole. The two second connecting holes are arranged 90° apart circumferentially along the output shaft and staggered axially along the output shaft.

[0008] In conjunction with the first aspect, in some optional embodiments, a fastener support plane is provided on the side wall of the output shaft at the position corresponding to each second connection hole, and the second connection hole is opened on the fastener support plane.

[0009] In conjunction with the first aspect, in some optional embodiments, the outer peripheral surface of the elastic buffer sleeve and the wall of the first connecting hole are in clearance fit, and the inner peripheral surface of the elastic buffer sleeve and the outer peripheral surface of the fastener are in clearance fit.

[0010] In conjunction with the first aspect, in some alternative implementations, the elastic cushioning sleeve is made of polyurethane.

[0011] Secondly, this application provides a steer-by-wire system, including a steering wheel, a steering actuator, a controller, and a steer-by-wire feel simulation device in any of the embodiments of the first aspect described above. The steering wheel is connected to the steering shaft of the steer-by-wire feel simulation device, the steering actuator is used to drive the wheels to steer, the controller is communicatively connected to the direct drive motors of the steering actuator and the steer-by-wire feel simulation device, and the steer-by-wire feel simulation device is configured to apply a feedback torque to the steering wheel according to the instructions of the controller.

[0012] Thirdly, this application provides a vehicle driving simulator, including the steer-by-wire feel simulation device in any of the embodiments of the first aspect described above.

[0013] Fourthly, this application provides a vehicle that includes a steer-by-wire feel simulation device in any of the embodiments of the first aspect or a steer-by-wire system in the second aspect.

[0014] Based on the above technical solutions, the steer-by-wire feel simulation device, steer-by-wire system, vehicle driving simulator, and vehicle provided in this application have the following beneficial effects: By directly connecting the steering shaft and the direct drive motor through the connecting component, the reduction mechanism is eliminated, fundamentally eliminating the problems of fluctuation, noise, and low transmission efficiency caused by the reduction mechanism; the connecting component uses an elastic buffer sleeve as a flexible part, and the connection stiffness between the steering shaft and the direct drive motor can be adjusted by adjusting the fasteners. This connection structure can effectively absorb the minor fluctuations of the direct drive motor, reduce the difficulty of software debugging, optimize the driver's feel, and also avoid the system friction fluctuation problem caused by the coaxiality difference of the traditional spline connection, ensuring the stability of the feel and the reliability of the system. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a steer-by-wire feel simulation device provided in an embodiment of this application.

[0017] Figure 2 for Figure 1 Schematic diagram of the cross section along line AA.

[0018] Figure 3 This is an exploded structural diagram of the connection between a steering shaft and a direct drive motor, provided in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of a direct drive motor provided in an embodiment of this application.

[0020] Figure 5 for Figure 4 Schematic diagram of the cross section of the middle BB line.

[0021] Reference numerals: 100, steer-by-wire feel simulation device; 10, column; 20, steering shaft; 21, first connecting hole; 30, direct drive motor; 31, housing; 32, output shaft; 33, second connecting hole; 34, fastener support plane; 40, connecting assembly; 41, elastic buffer sleeve; 42, fastener; 50, bearing; 60, sensor. Detailed Implementation

[0022] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of this application, and not all of them. Based on the description of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly specified and limited, the terms "connection," "setup," "installation," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “center,” “top,” “bottom,” “inner,” “outer,” “vertical,” “horizontal,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0025] The terms “first,” “second,” “third,” etc., are used only to distinguish elements with similar properties, and do not indicate or imply relative importance or a specific order, unless otherwise explicitly stated or limited.

[0026] The terms “comprising,” “including,” “having,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0027] The term "multiple" means two or more (including two).

[0028] The term "and / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone.

[0029] The terms "an embodiment," "as an example," and "in one implementation" refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which may be included in at least one embodiment or example of this application. These illustrative expressions do not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Where there is no conflict, the embodiments and features described in these embodiments can be combined in a suitable manner.

[0030] This application provides a steer-by-wire feel simulation device 100, which can be applied to a vehicle's steer-by-wire system or a vehicle driving simulator. It is mainly used to receive instructions from the controller and apply feedback torque to the steering wheel, thereby simulating real road feel and improving the driver's driving experience.

[0031] like Figure 1 and Figure 2 As shown, the steer-by-wire feel simulation device 100 mainly includes a column cylinder 10, a steering shaft 20, a direct drive motor 30, and a connecting assembly 40.

[0032] The column 10 serves as the basic support component of the entire device, accommodating and protecting the internal components. The column 10 is fixedly connected to the housing 31 of the direct drive motor 30. The connection between the two can be achieved through flange connection, bolt connection, or welding, to ensure that the position of the direct drive motor 30 relative to the column 10 is stable and to prevent relative displacement caused by motor vibration.

[0033] The steering shaft 20 is the core component for transmitting force and motion. It is rotatably supported within the column cylinder 10 by multiple axially distributed bearings 50. The bearings 50 can be deep groove ball bearings or angular contact bearings, arranged at intervals along the axial direction of the steering shaft 20 to collectively support it, enabling it to withstand radial loads while maintaining good coaxiality and reducing radial runout during rotation. Axially, one end of the steering shaft 20 is used to connect to the output shaft 32 of the direct drive motor 30 and has a shaft hole for receiving power input. The other end of the steering shaft 20 is used to connect to the steering wheel (not shown in the figure).

[0034] The output shaft 32 of the direct drive motor 30 is directly inserted into the shaft hole at the end of the steering shaft 20 and is fixedly connected to the steering shaft 20 via the connecting assembly 40. Specifically, as shown... Figure 2 and Figure 3 As shown, the steering shaft 20 has a plurality of first connecting holes 21 distributed circumferentially on the side wall of the shaft hole, and the output shaft 32 of the direct drive motor 30 has a plurality of second connecting holes 33 corresponding one-to-one with the plurality of first connecting holes 21. The connecting assembly 40 includes a plurality of elastic buffer sleeves 41 and a plurality of fasteners 42. During assembly, the plurality of elastic buffer sleeves 41 are respectively placed in the plurality of first connecting holes 21 of the steering shaft 20. Subsequently, the fasteners 42 pass through the inner holes of the elastic buffer sleeves 41 in sequence and are fastened to the second connecting holes 33 on the output shaft 32 of the direct drive motor 30.

[0035] When the fastener 42 is tightened, the torque of the direct drive motor 30 is transmitted to the elastic buffer sleeve 41 through the fastener 42, and then to the steering shaft 20 through the elastic buffer sleeve 41. Specifically, under the preload of the fastener 42, the elastic buffer sleeve 41 fits tightly against the wall of the first connecting hole 21 and the rod of the fastener 42, thereby achieving effective torque transmission through friction or shear force. During transmission, traditional rigid connection methods (such as spline connections) often cannot filter out the cogging torque fluctuations that are easily generated when the direct drive motor 30 is running at low speeds and the high-frequency vibrations that are generated when it is running at high speeds, resulting in steering wheel vibration or uneven feel. This steer-by-wire feel simulation device 100 introduces the elastic buffer sleeve 41, which, by utilizing its own elastic deformation characteristics, can effectively absorb and filter out the fine high-frequency fluctuations of the motor, thus improving the driving feel. Meanwhile, by adjusting the tightening torque of the fastener 42, the compression deformation of the elastic buffer sleeve 41 can be changed, thereby adjusting the connection stiffness between the steering shaft 20 and the direct drive motor 30. This allows technicians to find the optimal balance between response speed and vibration filtering effect according to debugging requirements. Furthermore, compared to spline connections with extremely high coaxiality requirements, this structure has better fault tolerance. The presence of the elastic buffer sleeve 41 allows it to adapt to minor coaxiality deviations generated during manufacturing and assembly, effectively avoiding sudden changes in system friction or abnormal noise caused by hard interference, thus greatly improving the overall reliability of the system.

[0036] Regarding the structure and arrangement of the first connecting hole 21, the second connecting hole 33, and the fastener 42, as an example, the first connecting hole 21 is designed as a smooth hole, the second connecting hole 33 is designed as a threaded hole, and the fastener 42 is a bolt. During assembly, the fastener 42 passes through the elastic buffer sleeve 41 inside the first connecting hole 21 and then connects to the second connecting hole 33 by thread.

[0037] Furthermore, both the first connecting hole 21 and the second connecting hole 33 are through holes, and there are two of each. The two first connecting holes 21 are spaced 90° apart circumferentially along the shaft hole and staggered axially. Correspondingly, the two second connecting holes 33 are spaced 90° apart circumferentially along the output shaft 32 and staggered axially. This arrangement ensures smooth torque transmission, avoids uneven force distribution on one side, effectively avoids stress concentration areas, ensures the radial structural strength of the steering shaft 20 and the output shaft 32, and prevents shaft breakage due to excessive holes and slots.

[0038] like Figure 4 and Figure 5As shown, to ensure the perpendicularity of the fastener 42 during installation, a fastener support plane 34 is provided on the side wall of the output shaft 32 at the position corresponding to each second connecting hole 33, and the second connecting hole 33 is formed on the fastener support plane 34. Since the outer surface of the output shaft 32 is usually cylindrical, direct drilling will cause a gap between the head of the fastener 42 and the contact surface, resulting in uneven force distribution. By milling or turning a flat support plane, a perfect contact surface can be provided for the bolt head or nut, ensuring that the fastening force is transmitted axially, preventing the generation of lateral force, thereby improving the stability of the connection.

[0039] Regarding the installation of the elastic buffer sleeve 41, the outer circumferential surface of the elastic buffer sleeve 41 is clearance-fitted with the wall of the first connecting hole 21, and the inner circumferential surface of the elastic buffer sleeve 41 is also clearance-fitted with the outer circumferential surface of the fastener 42. This design allows the elastic buffer sleeve 41 to be easily inserted into the first connecting hole 21 when not under stress, while maintaining a small amount of movement between it and the fastener 42. When the fastener 42 is tightened or torque is transmitted, the elastic buffer sleeve 41 is compressed and deformed to fill the aforementioned gaps, thereby generating radial tightening force and achieving reliable torque transmission.

[0040] Regarding the material of the elastic buffer sleeve 41, it is preferably made of polyurethane. Polyurethane is a high-molecular elastic material with excellent wear resistance, oil resistance, tear resistance, and high load-bearing capacity. Compared with natural rubber or ordinary synthetic rubber, polyurethane is less prone to permanent deformation when subjected to repeated compression and shear deformation, and has a longer service life, making it suitable for the complex working conditions of vehicles.

[0041] This application also provides a steer-by-wire system, including a steering wheel, a steering actuator, a controller, and the steer-by-wire feel simulation device 100 in the above embodiments.

[0042] The steering wheel is connected to the steering shaft 20 of the steer-by-wire feel simulation device 100 to receive driver input. The steering actuator, typically including a steering motor and a steering tie rod, drives the wheels. The controller is communicatively connected to both the steering actuator and the direct-drive motor 30 within the steer-by-wire feel simulation device 100.

[0043] In this system, the process of transmitting steering intention is as follows: when the driver turns the steering wheel, force is transmitted to the steering shaft 20, which in turn drives the output shaft 32 of the direct drive motor 30 to rotate synchronously. The controller uses a sensor 60 (see [link to sensor]) mounted on the output shaft 32 of the direct drive motor 30 to transmit steering intention. Figure 2 For example, a steering angle sensor or a torque sensor can detect changes in the rotation angle or torque of the output shaft 32 in real time, thereby accurately identifying the driver's steering intention and sending a command to the steering actuator, which then drives the wheels to complete the steering.

[0044] The process of simulating road feel is as follows: The controller calculates the ideal road feel feedback torque based on the vehicle's driving status, such as vehicle speed and road surface adhesion coefficient, and sends a command to the direct drive motor 30 of the steer-by-wire feel simulation device 100 to control the direct drive motor 30 to output the corresponding torque, which is then transmitted to the steering shaft 20 through the connecting component 40, ultimately forming a feedback force that the driver can perceive on the steering wheel, thereby simulating the real road feel.

[0045] This application also provides a vehicle driving simulator, including the steer-by-wire feel simulation device 100 described in the above embodiments. In a simulated driving environment, this device can accurately simulate steering resistance and road feel based on road condition feedback in a virtual scene, enhancing the realism of the simulation training.

[0046] This application also provides a vehicle that includes the steer-by-wire feel simulation device 100 or the steer-by-wire system described in the above embodiments. The vehicle can be an autonomous vehicle, a connected vehicle, or a conventional vehicle employing steer-by-wire technology.

[0047] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application.

Claims

1. A steer-by-wire feel simulation device, characterized in that, Includes a column (10), a steering shaft (20), a direct drive motor (30), and a connecting assembly (40); The steering shaft (20) is rotatably disposed inside the cylindrical tube (10). One end of the steering shaft (20) is provided with a shaft hole, and a plurality of first connecting holes (21) are distributed circumferentially on the side wall of the shaft hole. The output shaft (32) of the direct drive motor (30) is inserted into the shaft hole, and the output shaft (32) is provided with a plurality of second connection holes (33) corresponding one-to-one with the plurality of first connection holes (21). The connecting assembly (40) includes a plurality of elastic buffer sleeves (41) and a plurality of fasteners (42). The plurality of elastic buffer sleeves (41) are respectively disposed in a plurality of first connecting holes (21), and the plurality of fasteners (42) pass through the plurality of elastic buffer sleeves (41) and are connected to the plurality of second connecting holes (33) to transmit the torque of the direct drive motor (30) to the steering shaft (20) and to buffer the torque fluctuation of the direct drive motor (30) by means of the elastic deformation of the elastic buffer sleeves (41).

2. The steer-by-wire feel simulation device according to claim 1, characterized in that, The first connecting hole (21) is a smooth hole, the second connecting hole (33) is a threaded hole, and the fastener (42) is a bolt and is threadedly connected to the second connecting hole (33).

3. The steer-by-wire feel simulation device according to claim 1, characterized in that, Both the first connecting hole (21) and the second connecting hole (33) are through holes.

4. The steer-by-wire feel simulation device according to claim 3, characterized in that, The number of the first connecting hole (21) and the second connecting hole (33) are both two. The two first connecting holes (21) are 90° apart circumferentially along the shaft hole and staggered axially along the shaft hole. The two second connecting holes (33) are 90° apart circumferentially along the output shaft (32) and staggered axially along the output shaft (32).

5. The steer-by-wire feel simulation device according to claim 1, characterized in that, The output shaft (32) has a fastener support plane (34) at the position of each of the second connecting holes (33) on its side wall, and the second connecting holes (33) are opened on the fastener support plane (34).

6. The steer-by-wire feel simulation device according to claim 1, characterized in that, The outer peripheral surface of the elastic buffer sleeve (41) is clearance-fitted with the wall of the first connecting hole (21), and the inner peripheral surface of the elastic buffer sleeve (41) is clearance-fitted with the outer peripheral surface of the fastener (42).

7. The steer-by-wire feel simulation device according to claim 1, characterized in that, The elastic cushioning sleeve (41) is made of polyurethane.

8. A steer-by-wire system, characterized in that, The device includes a steering wheel, a steering actuator, a controller, and a steer-by-wire feel simulation device as described in any one of claims 1-7. The steering wheel is connected to the steering shaft (20) of the steer-by-wire feel simulation device. The steering actuator is used to drive the wheels to steer. The controller is communicatively connected to the steering actuator and the direct drive motor of the steer-by-wire feel simulation device, respectively. The steer-by-wire feel simulation device is configured to apply a feedback torque to the steering wheel according to the instructions of the controller.

9. A vehicle driving simulator, characterized in that, Includes the steer-by-wire feel simulation device as described in any one of claims 1-7.

10. A vehicle, characterized in that, Includes the steer-by-wire feel simulation device as described in any one of claims 1-7 or the steer-by-wire system as described in claim 8.

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