Steering system, vehicle, and control method for a steering system

Abstract

The application discloses a kind of steering system, vehicle and the control method of steering system, steering system includes: steering wheel, transmission assembly, hand feeling motor and mechanical hand feeling component, transmission assembly includes first transmission and second transmission, first transmission and second transmission are respectively matched with steering wheel, and steering wheel can drive at least one movement in first transmission and second transmission;Hand feeling motor is transmission matched with first transmission, and hand feeling motor is suitable for first transmission to exert electric damping force;The mechanical hand feeling component is transmission matched with the second transmission, and the mechanical hand feeling component is suitable for the second transmission to exert mechanical damping force.Thereby, it makes hand feeling motor and mechanical hand feeling component can work cooperatively, to make force sense not completely rely on motor feedback, guarantee force sense redundancy, improve safety performance, and can optimize force sense, make force sense simulation more real, can also reduce motor load, prolong motor life, reduce energy consumption.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a steering system, a vehicle, and a method for controlling the steering system. Background Technology

[0002] In related technologies, steer-by-wire systems consist of two parts: a feel module and an execution module. The feel module is typically designed with a feel motor directly connected to the steering column, providing direct torque feedback to the driver's hands. However, this arrangement lacks force redundancy, poses high functional safety risks, has a limited force simulation method, produces inaccurate force feedback, incurs high motor workload, and results in expensive, low-lifespan, high-performance motors. Therefore, there is room for improvement. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a steering system in which a hand-feed motor and a mechanical hand-feed component can work together to ensure that the force feedback does not completely depend on the motor feedback, thus guaranteeing force feedback redundancy.

[0004] A steering system according to an embodiment of the present invention includes: a steering wheel; a transmission assembly including a first transmission member and a second transmission member, the first transmission member and the second transmission member respectively cooperating with the steering wheel, the steering wheel being capable of driving at least one of the first transmission member and the second transmission member to move; a hand-feed motor, the hand-feed motor being driven to cooperate with the first transmission member, the hand-feed motor being adapted to apply an electric damping force to the first transmission member; and a mechanical hand-feed assembly, the mechanical hand-feed assembly being driven to cooperate with the second transmission member, the mechanical hand-feed assembly being adapted to apply a mechanical damping force to the second transmission member.

[0005] According to the steering system of the present invention, by setting a hand-feed motor to apply an electric damping force to the steering wheel and setting a mechanical hand-feed component to apply a mechanical damping force to the steering wheel, the hand-feed motor and the mechanical hand-feed component can work together so that the force feel does not completely depend on the motor feedback, ensuring force feel redundancy, improving safety performance, optimizing force feel, making force feel simulation more realistic, reducing motor load, extending motor life, reducing energy consumption, and improving the practicality of the steering system.

[0006] According to some embodiments of the present invention, the steering system further includes a switching component that cooperates with at least the transmission component, the switching component being configured to switchably lock one of the first transmission member and the second transmission member, the steering wheel driving the other of the first transmission member and the second transmission member to rotate.

[0007] According to some embodiments of the present invention, the steering system has a dual-damping mode in which the first transmission member and the second transmission member move synchronously.

[0008] According to some embodiments of the present invention, the steering system includes an external gear ring, a planetary gear carrier, a sun gear, and planetary gears. The steering wheel is connected to the planetary gear carrier, and the planetary gears are rotatably mounted on the planetary gear carrier. The planetary gears mesh with the external gear ring and the sun gear, respectively. One of the sun gear and the external gear ring is a first transmission member, and the other is a second transmission member. The switching component switches the rotational degrees of freedom of the external gear ring and the sun gear, and the planetary gears switch the driving of the external gear ring and the sun gear to rotate. In the dual-damping mode, the planetary gear carrier is locked to one of the external gear ring and the sun gear to rotate synchronously.

[0009] According to some embodiments of the present invention, the steering system of the external gear ring is provided with a drive boss that protrudes outward along the axial direction, the drive boss is provided with drive teeth, and the drive boss engages with the mechanical feel component through the drive teeth.

[0010] According to some embodiments of the present invention, the steering system of the external gear ring includes an upper cover plate, a body, and a lower cover plate. The upper cover plate and the lower cover plate are respectively connected to opposite sides of the body along the axial direction of the external gear ring and together with the body define a receiving cavity. The planetary gear carrier, the sun gear, and the planetary gears are received in the receiving cavity. The body is provided with an internal tooth portion, and the planetary gears mesh with the internal tooth portion. The upper cover plate is provided with the drive boss.

[0011] According to some embodiments of the present invention, the steering system, the switching component includes: a first locking valve and a second locking valve, the first locking valve being mounted on the mechanical feel assembly, the first locking valve being used to selectively lock the mechanical feel assembly to limit the rotation of the outer gear ring, the second locking valve having a second locking portion, the sun gear being connected to a gear locking member, and the second locking valve being adapted to selectively lock the second locking portion with the gear locking member to limit the rotation of the sun gear.

[0012] According to some embodiments of the present invention, the steering system further includes a third locking valve, the third locking valve being mounted on the external gear ring, the third locking valve having a third locking portion, the planetary gear carrier having a locking engagement portion, and the third locking valve being adapted to selectively lock the third locking portion and the locking engagement portion to allow the steering system to be switched to a dual-damping mode.

[0013] According to some embodiments of the present invention, the planetary gear carrier includes an upper planetary carrier and a lower planetary carrier, the planetary gear is axially disposed between the upper planetary carrier and the lower planetary carrier, the upper planetary carrier is connected to the steering wheel, and the lower planetary carrier is provided with the locking engagement portion.

[0014] According to some embodiments of the present invention, the steering system of the mechanical feel component includes a movable element and a damping structure, a second transmission element is driven to the movable element to drive the movable element to move, and the damping structure is driven to the movable element to apply a mechanical damping force to the movable element.

[0015] According to some embodiments of the present invention, the steering system of the mechanical feel component further includes a housing and an accumulator. The movable element is reciprocally mounted in the housing to separate an air chamber and a hydraulic chamber. The hydraulic chamber can contain liquid. The housing is provided with a hydraulic hole corresponding to the hydraulic chamber. The hydraulic hole communicates with the accumulator. The accumulator defines the damping structure.

[0016] According to some embodiments of the steering system of the present invention, the mechanical feel assembly further includes a damping valve mounted on the housing, the damping valve having an adjusting plug extending into the hydraulic chamber, the damping valve being adapted to adjust the conduction area of ​​the hydraulic orifice through the adjusting plug; and / or, the mechanical feel assembly further includes an intermediate transmission member and a mounting frame, the intermediate transmission member and the housing being mounted on the mounting frame, the intermediate transmission member cooperating with the movable member and the second transmission member respectively, the second transmission member being adapted to drive the movable member to move through the intermediate transmission member.

[0017] According to some embodiments of the present invention, the steering system includes an upper frame and a lower frame, the upper frame and the lower frame together defining an installation space, and the intermediate transmission member is installed in the installation space and respectively limited and cooperated with the upper frame and the lower frame.

[0018] The present invention also proposes a vehicle.

[0019] A vehicle according to an embodiment of the present invention includes: a steering system according to any of the above embodiments.

[0020] According to the vehicle of the present invention, the haptic motor and the mechanical haptic component can work together to make the force sensing not completely dependent on motor feedback, ensuring force sensing redundancy, improving safety performance, optimizing force sensing, making force sensing simulation more realistic, reducing motor load, extending motor life, reducing energy consumption, and helping to improve the overall product competitiveness of the vehicle.

[0021] This invention also proposes a control method for a steering system.

[0022] According to an embodiment of the present invention, a control method for a steering system is applied to a steering system according to any of the above embodiments. The control method includes: determining whether the vehicle is in a driving assistance mode; if the vehicle is in the driving assistance mode, controlling the steering wheel to lock; if the vehicle is not in the driving assistance mode, controlling at least one of the hand-feed motor and the mechanical hand-feed assembly to apply a damping force toward the steering wheel.

[0023] The control method for the steering system according to embodiments of the present invention enables the hand-feel motor and the mechanical hand-feel component to work together better, thereby improving the reliability of the steering system.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a steering system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a transmission assembly according to an embodiment of the present invention; Figure 3 This is an exploded view of a transmission assembly according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the installation of planetary gears according to an embodiment of the present invention; Figure 5 This is a cross-sectional view of the second locking valve according to an embodiment of the present invention; Figure 6 This is a cross-sectional view of the third locking valve according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the installation of the mechanical grip component and the top cover plate according to an embodiment of the present invention; Figure 8 This is a cross-sectional view of a mechanical hand-feeling component according to an embodiment of the present invention; Figure 9 This is a flowchart of a control method for a steering system according to an embodiment of the present invention.

[0026] Figure label: Steering system 100; Steering wheel 1; Transmission assembly 2; External gear ring 21; Upper cover plate 211; Body 212; Lower cover plate 213; Drive boss 214; Planetary gear carrier 22; Upper planetary carrier 221; Lower planetary carrier 222; Locking mating part 223; Sun gear 23; Planetary gear 24; Gear locking element 25; 3. Hand-feed motor; 4. Mechanical hand-feed component; 41. Housing; 411. Air chamber; 412. Hydraulic chamber; 413. Hydraulic port; 42. Moving part; 43. Accumulator; 44. Damping valve; 441. Adjusting plug; Intermediate transmission component 45; mounting frame 46; upper frame 461; lower frame 462; connecting hose 47; Switching component 5; First locking valve 51; Second locking valve 52; Second locking part 521; Second housing 522; Second reset member 523; Third locking valve 53; third locking part 531; third housing 532; third reset part 533. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Hereinafter, with reference to the accompanying drawings, a steering system 100 according to an embodiment of the present invention will be described.

[0030] like Figures 1-9 As shown, the steering system 100 according to an embodiment of the present invention includes: a steering wheel 1, a transmission assembly 2, a hand-feed motor 3, and a mechanical hand-feed assembly 4. The transmission assembly 2 includes a first transmission member and a second transmission member, which are respectively engaged with the steering wheel 1. The steering wheel 1 is adapted to drive at least one of the first and second transmission members to move. The hand-feed motor 3 is engaged with the first transmission member and is adapted to apply an electric damping force to the first transmission member. The mechanical hand-feed assembly 4 is engaged with the second transmission member and is adapted to apply a mechanical damping force to the second transmission member.

[0031] For example, refer to Figures 1-4 As shown, the vehicle includes a steering system 100 and a vehicle body. The steering system 100 is mounted on the vehicle body and includes a steering wheel 1, a transmission assembly 2, a hand-feed motor 3, and a mechanical hand-feed assembly 4. The transmission assembly 2 includes a first transmission member and a second transmission member, which respectively cooperate with the steering wheel 1. The steering wheel 1 can drive at least one of the first and second transmission members to move.

[0032] The hand-feed motor 3 is driven and cooperates with the first transmission component. The hand-feed motor 3 is adapted to apply an electric damping force to the first transmission component so that the hand-feed motor 3 can feed back an electric damping force to the steering wheel 1 through the first transmission component. The mechanical hand-feed component 4 is driven and cooperates with the second transmission component. The mechanical hand-feed component 4 is adapted to apply a mechanical damping force to the second transmission component.

[0033] Specifically, when the steering system 100 switches to electric damping mode, the steering wheel 1 can drive the first transmission component to move independently, and the hand-feed motor 3 can apply electric damping force to the steering wheel 1 through the first transmission component; when the steering system 100 switches to mechanical damping mode, the steering wheel 1 can drive the second transmission component to move independently, and the mechanical hand-feed assembly 4 can apply mechanical damping force to the steering wheel 1 through the second transmission component; when the steering system 100 switches to dual damping mode, the steering wheel 1 can drive the first transmission component and the second transmission component to move simultaneously, the hand-feed motor 3 can apply electric damping force to the steering wheel 1 through the first transmission component, and the mechanical hand-feed assembly 4 can apply mechanical damping force to the steering wheel 1 through the second transmission component.

[0034] The above settings enable the haptic motor 3 and the mechanical haptic component 4 to work together, so that the force sensing does not completely depend on the motor feedback, ensuring force sensing redundancy, improving safety performance, optimizing force sensing, making force sensing simulation more realistic, reducing motor load, extending motor life, and reducing energy consumption.

[0035] According to the present invention, the steering system 100 can apply an electric damping force to the steering wheel 1 by setting a hand-feed motor 3 and a mechanical hand-feed component 4 to apply a mechanical damping force to the steering wheel 1. This allows the hand-feed motor 3 and the mechanical hand-feed component 4 to work together so that the force feedback does not completely depend on the motor feedback, ensuring force feedback redundancy, improving safety performance, optimizing force feedback, making force feedback simulation more realistic, reducing motor load, extending motor life, reducing energy consumption, and improving the practicality of the steering system 100.

[0036] In some embodiments of the present invention, such as Figure 1 As shown, the steering system 100 of this embodiment of the invention further includes a switching component 5, which cooperates with at least the transmission component 2. The switching component 5 is configured to switchably lock one of the first transmission member and the second transmission member, and the steering wheel 1 drives the other of the first transmission member and the second transmission member to rotate.

[0037] Specifically, when the steering system 100 switches to electric damping mode, the switching component 5 can unlock the first transmission member and lock the second transmission member, allowing the steering wheel 1 to drive the first transmission member independently, so that the hand-feed motor 3 can apply electric damping force to the steering wheel 1 through the first transmission member. When the steering system 100 switches to mechanical damping mode, the switching component 5 can unlock the second locking member and lock the first transmission member, allowing the steering wheel 1 to drive the second transmission member independently, so that the mechanical hand-feed component 4 can apply mechanical damping force to the steering wheel 1 through the second transmission member. When the steering system 100 switches to dual damping mode, the switching component 5 can simultaneously unlock the first and second transmission members, allowing the steering wheel 1 to drive both the first and second transmission members simultaneously, so that the hand-feed motor 3 can apply electric damping force to the steering wheel 1 through the first transmission member, and the mechanical hand-feed component 4 can apply mechanical damping force to the steering wheel 1 through the second transmission member. This ensures that the steering system 100 can stably switch between different modes, improving the reliability of the steering system 100.

[0038] In some embodiments of the present invention, the steering system 100 has a dual-damping mode, in which the first transmission member and the second transmission member can move synchronously. This simplifies the distribution of damping force, allowing the electric damping force and mechanical damping force to work together better, thus improving the feel of the steering wheel 1 and enhancing user satisfaction.

[0039] In some embodiments of the present invention, the transmission assembly 2 includes an external gear ring 21, a planetary gear carrier 22, a sun gear 23, and a planetary gear 24. The steering wheel 1 is connected to the planetary gear carrier 22. The planetary gear 24 is rotatably mounted on the planetary gear carrier 22. The planetary gear 24 meshes with the external gear ring 21 and the sun gear 23 respectively. One of the sun gear 23 and the external gear ring 21 is a first transmission element and the other is a second transmission element. The switching assembly 5 switches the rotational degrees of freedom of the external gear ring 21 and the sun gear 23, and the planetary gear 24 switches the driving force for the external gear ring 21 and the sun gear 23 to rotate. In the dual-damping mode, the planetary gear carrier 22 is locked with one of the external gear ring 21 and the sun gear 23 to rotate synchronously.

[0040] For example, refer to Figures 1-4 As shown, the transmission assembly 2 includes an external gear ring 21, a planetary gear carrier 22, a sun gear 23, and planetary gears 24. The external gear ring 21 is rotatably mounted on the vehicle body. The steering wheel 1 is connected to the planetary gear carrier 22, and the user can drive the planetary gear carrier 22 to rotate through the steering wheel 1. The planetary gears 24 are rotatably mounted on the planetary gear carrier 22 and can rotate together with the planetary gear carrier 22. The planetary gears 24 can also rotate relative to the planetary gear carrier 22. The planetary gears 24 mesh with the external gear ring 21 and the sun gear 23 respectively. One of the sun gear 23 and the external gear ring 21 is a first transmission component and the other is a second transmission component.

[0041] The switching component 5 can switch the rotational degrees of freedom of the outer gear ring 21 and the sun gear 23, such as restricting the rotational degrees of freedom of the outer gear ring 21 and the sun gear 23, so that the planetary gear 24 can switch to drive the outer gear ring 21 and the sun gear 23 to rotate. In the dual-damping mode, the planetary gear carrier 22 is locked to one of the outer gear ring 21 and the sun gear 23 to rotate synchronously, such as locking the planetary gear carrier 22 to the outer gear ring 21 or locking the planetary gear carrier 22 to the sun gear 23.

[0042] For example, the sun gear 23 can be set as the first transmission element, and the outer gear ring 21 as the second transmission element. A switching component 5 can selectively lock the planetary gear carrier 22 and the outer gear ring 21. When the steering system 100 switches to electric damping mode, the switching component 5 can restrict the rotational freedom of the outer gear ring 21 to keep it fixed relative to the vehicle body. The steering wheel 1 can then drive the sun gear 23 to rotate independently, allowing the hand-feel motor 3 to apply electric damping force to the steering wheel 1 via the sun gear 23. When the steering system 100 switches to mechanical damping mode, the switching component 5 can restrict the rotational freedom of the outer gear ring 21 to keep it fixed relative to the vehicle body. The steering wheel 1 can then drive the sun gear 23 to rotate independently, allowing the hand-feel motor 3 to apply electric damping force to the steering wheel 1 via the sun gear 23. 23 remains fixed relative to the vehicle body. The steering wheel 1 can drive the outer gear ring 21 to rotate independently, so that the mechanical hand feel component 4 can apply mechanical damping force to the steering wheel 1 through the outer gear ring 21. When the steering system 100 switches to the dual damping mode, the switching component 5 can lock the planetary gear carrier 22 and the outer gear ring 21 so that the planetary gear carrier 22, the outer gear ring 21 and the sun gear 23 form a whole. The steering wheel 1 can drive the sun gear 23 and the outer gear ring 21 to rotate at the same time, so that the hand feel motor 3 can apply electric damping force to the steering wheel 1 through the sun gear 23, and so that the mechanical hand feel component 4 can apply mechanical damping force to the steering wheel 1 through the outer gear ring 21.

[0043] The above settings enable the steering system 100 to switch stably between different modes, which helps to improve the smoothness of the steering system 100 when receiving feedback torque, and also simplifies the structure and improves the practicality of the steering system 100.

[0044] Of course, this application is not limited to this. The first and second transmission components can also be set to be relatively independent, so that the steering wheel 1 can be driven and cooperated with the hand-feel motor 3 and the mechanical hand-feel component respectively through the two transmission components. This is beneficial to meet different design requirements.

[0045] In some embodiments of the present invention, such as Figure 3 As shown, the outer gear ring 21 is formed as the second transmission component. The outer gear ring 21 is provided with a drive boss 214 that protrudes outward along the axial direction. The drive boss 214 is provided with drive teeth. The drive boss 214 meshes with the mechanical hand-feel component 4 through the drive teeth. When the steering wheel 1 drives the outer gear ring 21 to rotate through the planetary gear 24, the mechanical hand-feel component 4 can apply a reverse mechanical damping force to the steering wheel 1 through the outer gear ring 21.

[0046] The above settings can improve the stability of the cooperation between the mechanical hand-feel component 4 and the transmission component 2, so as to ensure that the mechanical hand-feel component 4 can apply a stable mechanical damping force to the steering wheel 1, thereby improving the reliability of the steering system 100.

[0047] In some embodiments of the present invention, the external gear ring 21 includes an upper cover plate 211, a body 212 and a lower cover plate 213. The upper cover plate 211 and the lower cover plate 213 are respectively connected to opposite sides of the body 212 along the axial direction of the external gear ring 21 and together with the body 212 define a receiving cavity. The planetary gear carrier 22, the sun gear 23 and the planetary gear 24 are received in the receiving cavity. The body 212 is provided with an internal tooth portion. The planetary gear 24 meshes with the internal tooth portion. The upper cover plate 211 is provided with a drive boss 214.

[0048] For example, refer to Figures 2-3 As shown, the external gear ring 21 includes an upper cover plate 211, a body 212, and a lower cover plate 213. The upper cover plate 211, the body 212, and the lower cover plate 213 are formed separately. The upper cover plate 211 and the lower cover plate 213 are respectively connected to the opposite sides of the body 212 along the axial direction of the external gear ring 21. They can be connected by screws or bolts. The upper cover plate 211 and the lower cover plate 213 can together with the body 212 define a receiving cavity, in which the planetary gear carrier 22, the sun gear 23, and the planetary gear 24 are accommodated.

[0049] The inner peripheral wall of the body 212 is provided with an internal toothed part, and the planetary gear 24 meshes with the internal toothed part so that the planetary gear 24 can drive the outer gear ring 21 to rotate. The upper cover plate 211 is provided with a driving boss 214, which meshes with the mechanical hand-feeling component 4 so that the mechanical hand-feeling component 4 can apply mechanical damping force to the outer gear ring 21.

[0050] The above settings simplify the structure of the external gear ring 21, reduce the processing difficulty and cost of the external gear ring 21, and improve the practicality of the steering system 100.

[0051] In some embodiments of the present invention, the steering system 100 of the present invention further includes: a first locking valve 51 and a second locking valve 52. The first locking valve 51 is installed on the mechanical hand-feed assembly 4 and is used to selectively lock the mechanical hand-feed assembly 4 to limit the rotation of the outer gear ring 21. The second locking valve 52 is provided with a second locking portion 521. The sun gear 23 is connected to a gear locking member 25. The second locking valve 52 is adapted to selectively lock the second locking portion 521 and the gear locking member 25 to limit the rotation of the sun gear 23.

[0052] For example, refer to Figure 1 and Figure 5As shown, the steering system 100 also includes a first lock-up valve 51 and a second lock-up valve 52. The first lock-up valve 51 is mounted on the mechanical feel assembly 4 and is used to selectively lock the mechanical feel assembly 4 to limit the rotation of the outer gear ring 21. The second lock-up valve 52 is mounted on the vehicle body and has a second locking portion 521 with external meshing teeth. The sun gear 23 is connected to a gear locking member 25. The second lock-up valve 52 is adapted to selectively lock the external meshing teeth of the second locking portion 521 with the gear locking member 25 to limit the rotation of the sun gear 23.

[0053] Specifically, the sun gear 23 can be designated as the first transmission component, and the outer gear ring 21 as the second transmission component. When the steering system 100 switches to electric damping mode, the first locking valve 51 can lock the mechanical feel component 4, the second locking valve 52 can control the second locking part 521 to disengage from the gear locking component 25, and the switching component 5 can restrict the rotation of the outer gear ring 21, allowing the sun gear 23 to rotate freely. When the steering system 100 switches to mechanical damping mode, the first locking valve 51 can unlock the mechanical feel component 4, the second locking valve 52 can control the second locking part 521 to engage with the gear locking component 25, and the switching component 5 can restrict the rotation of the sun gear 23, allowing the outer gear ring 21 to rotate freely. This simplifies the structure of the steering system 100 and reduces processing difficulty and costs.

[0054] In some embodiments of the present invention, such as Figure 5 As shown, the second locking valve 52 also includes a second housing 522 and a second reset member 523. The second locking part 521 and the second reset member 523 are disposed inside the second housing 522. A portion of the second locking part 521 extends out of the second housing 522 and has external meshing teeth. The second reset member 523 can be a reset spring. The second reset member 523 is connected between the second locking part 521 and the second housing 522.

[0055] In the specific operation process, when the second locking valve 52 is energized, the second locking part 521 retracts into the second housing 522, the second reset member 523 is compressed to store elastic potential energy, and the second locking part 521 disengages from the gear locking member 25, thus the freedom of the sun gear 23 is unrestricted. Conversely, when the second locking valve 52 is de-energized, the second reset member 523 pushes the second locking part 521 back to its original position, and the second locking part 521 engages with the gear locking member 25, restricting the freedom of the sun gear 23. Therefore, when the steering system 100 is de-energized, the hand-feed motor 3 can be prevented from obstructing the movement of the steering wheel 1.

[0056] In some embodiments of the present invention, the steering system 100 of the present invention further includes: a third locking valve 53, the third locking valve 53 being mounted on the outer gear ring 21, the third locking valve 53 having a third locking portion 531, the planetary gear carrier 22 having a locking engagement portion 223, the third locking valve 53 being adapted to selectively lock the third locking portion 531 and the locking engagement portion 223 so that the steering system 100 can be switched to a dual-damping mode.

[0057] For example, refer to Figure 1 and Figure 6 As shown, the steering system 100 also includes a third lock-up valve 53, which is mounted on the outer gear ring 21. The third lock-up valve 53 has a third lock-up part 531 with external meshing teeth. The planetary gear carrier 22 has a locking engagement part 223. The third lock-up valve 53 is adapted to selectively lock the external meshing teeth of the third lock-up part 531 with the locking engagement part 223 to fix the outer gear ring 21 and the planetary gear carrier 22, thereby allowing the steering system 100 to be switched to a dual-damping mode.

[0058] Specifically, the sun gear 23 can be designated as the first transmission component, and the external gear ring 21 as the second transmission component. When the steering system 100 switches to electric damping mode, the first locking valve 51 locks the mechanical hand-feed component 4, the second locking valve 52 controls the second locking part 521 to disengage from the gear locking component 25, and the third locking valve 53 controls the third locking part 531 to disengage from the locking engagement part 223. The switching component 5 can restrict the rotation of the external gear ring 21 and allow the sun gear 23 to rotate freely. When the steering system 100 switches to mechanical damping mode, the first locking valve 51 can unlock the mechanical hand-feed component 4, and the second locking valve 52 can unlock the mechanical hand-feed component 25. The first locking valve 52 can control the second locking part 521 to engage with the gear locking member 25, and the third locking valve 53 can control the third locking part 531 to disengage from the locking engagement part 223. The switching component 5 can restrict the rotation of the sun gear 23 and allow the outer gear ring 21 to rotate freely. When the steering system 100 is switched to the dual damping mode, the first locking valve 51 can unlock the mechanical hand feel component 4, the second locking valve 52 can control the second locking part 521 to disengage from the gear locking member 25, and the third locking valve 53 can control the third locking part 531 to engage with the locking engagement part 223. The switching component 5 can make the outer gear ring 21 and the sun gear 23 rotate synchronously.

[0059] The above settings enable the steering system 100 to switch stably between different modes, and simplify the structure, reducing processing difficulty and cost.

[0060] In some embodiments of the present invention, such as Figure 6As shown, the third locking valve 53 also includes a third housing 532 and a third reset member 533. The third locking part 531 and the third reset member 533 are disposed inside the third housing 532. A portion of the third locking part 531 extends out of the third housing 532 and has external meshing teeth. The third reset member 533 can be a reset spring. The third reset member 533 is connected between the third locking part 531 and the third housing 532.

[0061] Specifically, when the third locking valve 53 is energized, the third locking part 531 can extend outward, the third reset member 533 is stretched to store elastic potential energy, and the third locking part 531 engages with the locking engagement part 223; when the third locking valve 53 is de-energized, the third reset member 533 pulls the third locking part 531 back to its original position, and the third locking part 531 disengages from the locking engagement part 223. Thus, after the steering system 100 is de-energized, the third locking valve 53 can unlock the external gear ring 21 and the sun gear 23 to prevent the hand-feed motor 3 from obstructing the movement of the steering wheel 1.

[0062] In some embodiments of the present invention, the planetary gear carrier 22 includes an upper planetary carrier 221 and a lower planetary carrier 222, the planetary gear 24 is axially disposed between the upper planetary carrier 221 and the lower planetary carrier 222, the upper planetary carrier 221 is connected to the steering wheel 1, and the lower planetary carrier 222 is provided with a locking engagement part 223.

[0063] For example, refer to Figure 7 As shown, the planetary gear carrier 22 includes an upper planetary carrier 221 and a lower planetary carrier 222. The upper planetary carrier 221 and the lower planetary carrier 222 are arranged and connected along the axial direction of the planetary gear 24. The planetary gear 24 is axially positioned between the upper planetary carrier 221 and the lower planetary carrier 222 and is respectively limited in engagement with the upper planetary carrier 221 and the lower planetary carrier 222. The upper planetary carrier 221 may be connected to the steering wheel 1, and the lower planetary carrier 222 may be provided with a locking engagement part 223.

[0064] The above settings can avoid stress concentration, improve the structural stability of the steering system 100, and simplify the structure of the planetary gear carrier 22, which helps to reduce the processing difficulty and processing cost.

[0065] In some embodiments of the present invention, such as Figure 1 As shown, the hand-feed motor 3 and the mechanical hand-feed assembly 4 can be positioned on opposite sides of the outer gear ring 21 along the axial direction. Specifically, the mechanical hand-feed assembly 4 can be positioned on the side of the outer gear ring 21 facing the steering wheel 1, while the hand-feed motor 3 can be positioned on the side of the outer gear ring 21 away from the steering wheel 1. This improves the space utilization of the steering system 100, reduces the installation difficulty of the steering system 100, and optimizes the torque distribution of the steering system 100 in dual-damping mode, thereby improving the stability of the steering system 100.

[0066] In some embodiments of the present invention, such as Figure 1 As shown, the mechanical grip assembly 4 includes a movable member 42 and a damping structure. A second transmission member engages with the movable member 42 to drive the movable member 42 to move. The damping structure engages with the movable member 42 to apply a mechanical damping force to the movable member 42, so that the damping structure can apply a mechanical damping force to the steering wheel 1 through the movable member 42 and the second transmission member. This simplifies the structure of the mechanical grip assembly 4 and improves its practicality.

[0067] In some embodiments of the present invention, the mechanical hand-feeling component 4 further includes a housing 41 and an accumulator 43. The movable part 42 is reciprocally mounted in the housing 41 to separate the air chamber 411 and the hydraulic chamber 412. The hydraulic chamber 412 can contain liquid. The housing 41 is provided with the hydraulic chamber 412 and is provided with the hydraulic hole 413. The hydraulic hole 413 communicates with the accumulator 43, and the accumulator 43 defines a damping structure.

[0068] For example, refer to Figures 7-8 As shown, the mechanical grip component 4 is installed on the vehicle body. The mechanical grip component 4 includes a housing 41 and an accumulator 43. A movable component 42 is reciprocally mounted within the housing 41 to separate a variable-volume air chamber 411 and a hydraulic chamber 412. The air chamber 411 communicates with the external space, and the hydraulic chamber 412 can contain liquids such as hydraulic oil. The housing 41 is provided with a hydraulic port 413 corresponding to the hydraulic chamber 412. The accumulator 43 can be a spring-type accumulator. The hydraulic port 413 communicates with the accumulator 43, and the accumulator 43 defines a damping structure.

[0069] Specifically, when the user drives the steering wheel 1 to turn forward, the steering wheel 1 can drive the movable part 42 to move forward through the second transmission component. The movable part 42 compresses the hydraulic chamber 412, and the hydraulic oil in the hydraulic chamber 412 flows into the accumulator 43. The spring in the accumulator 43 is compressed to accumulate elastic potential energy. If the driving force disappears, the spring in the accumulator 43 rebounds to drive the hydraulic oil back into the hydraulic chamber 412, thereby driving the steering wheel 1 to return to center. When the user drives the steering wheel 1 to turn in the opposite direction, the steering wheel 1 can drive the movable part 42 to move in the opposite direction through the second transmission component. The movable part 42 can expand the hydraulic chamber 412, and the hydraulic oil in the accumulator 43 flows into the hydraulic chamber 412. The spring in the accumulator 43 is stretched to accumulate elastic potential energy. If the driving force disappears, the spring in the accumulator 43 rebounds to drive the hydraulic oil in the hydraulic chamber 412 to flow into the accumulator 43, thereby driving the steering wheel 1 to return to center.

[0070] Through the above settings, the mechanical hand feel component 4 can provide stable and reliable mechanical damping force, which helps to ensure the safety redundancy of the steering system 100 and improves the reliability of the steering system 100.

[0071] In some embodiments of the present invention, such as Figures 7-8 As shown, the mechanical hand-feeling component 4 also includes a damping valve 44, which can be a linear stepper motor. The damping valve 44 is installed in the housing 41 and has an adjusting plug 441 extending into the hydraulic chamber 412. The damping valve 44 is adapted to adjust the conduction area of ​​the hydraulic hole 413 by adjusting the adjusting plug 441, thereby adjusting the magnitude of the mechanical damping force.

[0072] Specifically, the smaller the overlapping area of ​​the adjusting plug 441 and the hydraulic hole 413, the larger the conducting area of ​​the hydraulic hole 413, and thus the smaller the mechanical damping force provided by the mechanical grip component 4; conversely, the larger the overlapping area of ​​the adjusting plug 441 and the hydraulic hole 413, the smaller the conducting area of ​​the hydraulic hole 413, and thus the larger the mechanical damping force provided by the mechanical grip component 4. Therefore, the mechanical damping force provided by the mechanical grip component 4 can be flexibly adjusted to meet different damping requirements.

[0073] It should be noted that the damping valve 44 can be configured as a first locking valve 51. When the damping valve 44 closes the hydraulic port 413 through the adjusting plug 441, the moving part 42 is locked relative to the housing 41. When the damping valve 44 partially closes or does not close the hydraulic port 413 through the adjusting plug 441, the moving part 42 is unlocked relative to the housing 41.

[0074] In some embodiments of the present invention, an elastic sealing ring may be provided on the outer side of the movable part 42, so that the movable part 42 can be sealed with the housing 41 through the elastic sealing ring. This improves the sealing performance of the hydraulic chamber 412, thereby enhancing the reliability of the mechanical gripper assembly 4.

[0075] In some embodiments of the present invention, such as Figure 7 As shown, the mechanical hand-feel assembly 4 also includes an intermediate transmission component 45 and a mounting frame 46. The intermediate transmission component 45 and the housing 41 are mounted on the mounting frame 46. The intermediate transmission component 45 cooperates with the movable component 42 and the second transmission component, respectively. The second transmission component is adapted to drive the movable component 42 to move through the intermediate transmission component 45.

[0076] Specifically, the intermediate transmission member 45 may include a first tooth and a second tooth, the first tooth meshing with the second transmission member, and the movable member 42 may be constructed as a rack structure, the second tooth meshing with the movable member 42, so that the second transmission member can drive the movable member 42 to move through the intermediate transmission member 45.

[0077] The above settings enable the mechanical grip component 4 to cooperate more stably with the second transmission component, reduce the assembly difficulty of the mechanical grip component 4 and the second transmission component, and improve the practicality of the steering system 100.

[0078] In some embodiments of the present invention, such as Figure 7As shown, the mounting frame 46 includes an upper frame 461 and a lower frame 462. The upper frame 461 and the lower frame 462 are connected together, such as by screws. The upper frame 461 and the lower frame 462 can jointly define the mounting space. The intermediate transmission component 45 is installed in the mounting space and is respectively limited and cooperated with the upper frame 461 and the lower frame 462.

[0079] With the above settings, the intermediate transmission component 45 can be limited from both sides, which improves the installation stability of the intermediate transmission component 45 and thus ensures the stability of the cooperation between the mechanical hand sensor component 4 and the second transmission component.

[0080] In some embodiments of the present invention, such as Figure 7 As shown, the mechanical gripper assembly 4 also includes a connecting hose 47, which can be made of materials such as fluororubber or silicone rubber. The accumulator 43 can be connected to the hydraulic port 413 through the connecting hose 47. This allows for flexible arrangement of the accumulator 43 relative to the housing 41, reducing the layout difficulty of the mechanical gripper assembly 4.

[0081] Specifically: The steering system 100 includes electric damping mode, mechanical damping mode, dual damping mode and lock-up mode.

[0082] When the steering system 100 switches to electric damping mode, the first locking valve 51 locks the moving part 42 (i.e., the adjusting plug 441 of the damping valve 44 closes the hydraulic hole 413), the second locking part 521 of the second locking valve 52 disengages from the gear locking part 25, and the third locking part 531 of the third locking valve 53 disengages from the planetary gear carrier 22. The rotation of the outer gear ring 21 is locked, and the hand torque is generated by the hand feel motor 3. The hand torque can be transmitted to the hand through the sun gear 23, planetary gear 24, planetary gear carrier 22 and steering wheel 1 in sequence.

[0083] When the steering system 100 switches to mechanical damping mode, the first locking valve 51 unlocks the movable part 42 (i.e., the adjusting plug 441 of the damping valve 44 partially closes the hydraulic hole 413), the second locking valve 52 locks with the gear locking part 25 through the second locking part 521, and the third locking part 531 of the third locking valve 53 disengages from the planetary gear carrier 22, the rotation of the sun gear 23 is locked, the hand feel torque is generated by the mechanical hand feel component 4, and the hand feel torque can be transmitted to the human hand in sequence through the movable part 42, the intermediate transmission part 45, the external gear ring 21, the planetary gear 24 and the planetary gear carrier 22.

[0084] When the steering system 100 switches to dual-damping mode, the first locking valve 51 unlocks the movable part 42 (i.e., the adjusting plug 441 of the damping valve 44 partially closes the hydraulic hole 413), the second locking valve 52 is locked and disengaged from the gear locking part 25, and the third locking valve 53 is locked and engaged with the planetary gear carrier 22 through the third locking part 531. The transmission assembly 2 is fixed as a whole so that the hand-feel motor 3 and the mechanical hand-feel assembly 4 can apply hand-feel torque to the steering wheel 1 together.

[0085] When the steering system 100 is switched to the lock-up mode, the first lock-up valve 51 locks the moving part 42 (i.e., the adjusting plug 441 of the damping valve 44 closes the hydraulic port 413), the second lock-up valve 52 locks with the gear locking part 25 through the second lock-up part 521 to restrict the rotation of the sun gear 23, and the third lock-up valve 53 locks with the planetary gear carrier 22 through the third lock-up part 531, thus locking the steering wheel 1.

[0086] The present invention also proposes a vehicle.

[0087] A vehicle according to an embodiment of the present invention includes a steering system 100 according to any of the above embodiments. It should be noted that the vehicle can be any one of a pure electric vehicle, a new energy vehicle, or a hybrid vehicle.

[0088] According to the vehicle of the present invention, the hand-feel motor 3 and the mechanical hand-feel component 4 can work together so that the force feeling does not completely depend on the motor feedback, ensuring force feeling redundancy, improving safety performance, optimizing force feeling, making force feeling simulation more realistic, reducing motor load, extending motor life, reducing energy consumption, and helping to improve the overall product competitiveness of the vehicle.

[0089] This invention also proposes a control method for a steering system.

[0090] like Figure 9 As shown, a control method for a steering system according to an embodiment of the present invention is applied to a steering system 100 according to any of the above embodiments. The control method includes: S10: Determine if the vehicle is in driver assistance mode; S20: If the vehicle is in driver assistance mode, control the steering wheel 1 to lock; S30: If the vehicle is not in driving assistance mode, control at least one of the hand-feed motor 3 and mechanical hand-feed assembly 4 to apply damping force toward the steering wheel 1.

[0091] Specifically: When the vehicle's steering system is powered on, the first step is to check whether the vehicle is in driver assistance mode. If the vehicle is in driving assistance mode, the steering system 100 can be controlled to enter the lock mode to lock the steering wheel 1. Then, the torque of the steering wheel 1 is detected by the TAS sensor to determine whether the torque of the steering wheel 1 is greater than the first set torque (the first set torque can be 2Nm). If the torque of the steering wheel 1 is greater than or equal to the first set torque, the dual damping mode is entered. If the torque of the steering wheel 1 is less than the first set torque, the current state (i.e., the lock mode) is maintained. If the vehicle is not in driver assistance mode, the steering system 100 enters mode selection to select between electric damping mode, mechanical damping mode and dual damping mode, thereby controlling at least one of the hand-feel motor 3 and mechanical hand-feel assembly 4 to apply damping force to the steering wheel 1.

[0092] Once one of the electric damping mode, mechanical damping mode, and dual damping mode is selected, the steering system 100 enters the corresponding working state. The calculation module calculates the desired hand feel force based on the vehicle and system status feedback. Then, the controller controls the hand feel motor 3, the first lock-up valve 51, the second lock-up valve 52, and the third lock-up valve 53 to respond and finally output the hand feel torque.

[0093] When electric damping mode or dual damping mode is selected, it is necessary to determine whether the hand-feed motor 3 is working normally. When the torque output by the hand-feed motor 3 differs from the control command by more than the second set torque (the second set torque can be 1Nm), it is determined that the working state of the hand-feed motor 3 is abnormal. At the same time, a fault alarm is issued and the steering system 100 is switched to mechanical damping mode.

[0094] When the steering system 100 is in any of the electric damping mode, mechanical damping mode, or dual damping mode and the vehicle is switched to driving assistance mode, the steering system 100 is powered off.

[0095] If the steering system 100 is powered down normally after receiving the command, it will switch to the lock mode after the steering wheel 1 returns to center, ensuring that the steering wheel 1 cannot be turned arbitrarily; if the system is powered down abnormally, it will switch the steering system 100 to the mechanical damping mode.

[0096] It should be further explained that when the steering system 100 switches to mechanical damping mode, the steering wheel 1's feel force can be adjusted by the damping valve 44. The position of the adjusting plug 441 of the damping valve 44 is determined by the steering wheel 1's angle, vehicle speed, steering wheel 1's rotation speed, vehicle lateral acceleration, and feel force mode, and outputs the desired position. The controller provides control current through the calibration data table to correspondingly control the damping valve 44. When the steering system 100 switches to dual damping mode, the mechanical feel component 4 is responsible for generating elastic torque, damping torque, and final torque. The basic force sense, such as end protection torque, is generated by the hand-feel motor 3, which is responsible for generating hysteresis examples, disturbance compensation examples, and basic road sense. The basic road sense needs to be passed through an amplitude filter before being output to prevent it from being superimposed on the basic force sense simulated by mechanical force sense. When the input value of the amplitude filter is less than the critical torque value, the basic road sense is zero. When the input value of the amplitude filter is greater than the critical torque value, the basic road sense is the difference between the input value of the amplitude filter and the critical torque value. The critical torque value can be calibrated according to the friction torque of the actual steering system 100.

[0097] The above settings enable the hand-feel motor 3 and the mechanical hand-feel component 4 to work together better, which helps to improve the reliability of the steering system 100.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A steering system (100), characterized in that, include: Steering wheel (1); The transmission assembly (2) includes a first transmission member and a second transmission member, which are respectively engaged with the steering wheel (1). The steering wheel (1) can drive at least one of the first transmission member and the second transmission member to move. A hand-feel motor (3) is engaged with the first transmission component, and the hand-feel motor (3) is adapted to apply an electric damping force to the first transmission component; The mechanical hand-feeling component (4) is engaged with the second transmission component and is adapted to apply mechanical damping force to the second transmission component.

2. The steering system (100) according to claim 1, characterized in that, It also includes a switching component (5) that cooperates with at least the transmission component (2), the switching component (5) being configured to switchably lock one of the first transmission member and the second transmission member, the steering wheel (1) driving the other of the first transmission member and the second transmission member to rotate.

3. The steering system (100) according to claim 2, characterized in that, The steering system (100) has a dual-damping mode in which the first transmission member and the second transmission member move synchronously.

4. The steering system (100) according to claim 3, characterized in that, The transmission assembly (2) includes an external gear ring (21), a planetary gear carrier (22), a sun gear (23), and planetary gears (24). The steering wheel (1) is connected to the planetary gear carrier (22). The planetary gears (24) are rotatably mounted on the planetary gear carrier (22). The planetary gears (24) mesh with the external gear ring (21) and the sun gear (23) respectively. One of the sun gear (23) and the external gear ring (21) is the first transmission component and the other is the second transmission component. The switching component (5) switches the rotational degrees of freedom of the outer gear ring (21) and the sun gear (23), and the planetary gear (24) switches the rotation of the outer gear ring (21) and the sun gear (23); In the dual-damping mode, the planetary gear carrier (22) is locked to one of the outer gear ring (21) and the sun gear (23) to rotate synchronously.

5. The steering system (100) according to claim 4, characterized in that, The external gear ring (21) is provided with a drive boss (214) that protrudes outward along the axial direction. The drive boss (214) is provided with drive teeth. The drive boss (214) engages with the mechanical hand-feel assembly (4) through the drive teeth.

6. The steering system (100) according to claim 5, characterized in that, The external gear ring (21) includes an upper cover plate (211), a body (212), and a lower cover plate (213). The upper cover plate (211) and the lower cover plate (213) are respectively connected to the opposite sides of the body (212) along the axial direction of the external gear ring (21) and together with the body (212) define a receiving cavity. The planetary gear carrier (22), the sun gear (23), and the planetary gear (24) are accommodated in the receiving cavity. The body (212) is provided with an internal tooth portion. The planetary gear (24) meshes with the internal tooth portion. The upper cover plate (211) is provided with the driving boss (214).

7. The steering system (100) according to claim 4, characterized in that, The switching assembly (5) includes a first locking valve (51) and a second locking valve (52). The first locking valve (51) is installed on the mechanical grip assembly (4). The first locking valve (51) is used to selectively lock the mechanical grip assembly (4) to limit the rotation of the external gear ring (21). The second locking valve (52) is provided with a second locking part (521). The sun gear (23) is connected to a gear locking member (25). The second locking valve (52) is adapted to selectively lock the second locking part (521) with the gear locking member (25) to limit the rotation of the sun gear (23).

8. The steering system (100) according to claim 7, characterized in that, It also includes a third locking valve (53), which is mounted on the external gear ring (21). The third locking valve (53) has a third locking part (531), and the planetary gear carrier (22) has a locking engagement part (223). The third locking valve (53) is adapted to selectively lock the third locking part (531) and the locking engagement part (223) so that the steering system (100) can be switched to a dual-damping mode.

9. The steering system (100) according to claim 8, characterized in that, The planetary gear carrier (22) includes an upper planetary carrier (221) and a lower planetary carrier (222). The planetary gear (24) is axially disposed between the upper planetary carrier (221) and the lower planetary carrier (222). The upper planetary carrier (221) is connected to the steering wheel (1), and the lower planetary carrier (222) is provided with the locking engagement part (223).

10. The steering system (100) according to any one of claims 1-9, characterized in that, The mechanical hand-feeling component (4) includes a movable part (42) and a damping structure. The second transmission member is in transmission cooperation with the movable part (42) to push the movable part (42) to move. The damping structure is in cooperation with the movable part (42) to apply a mechanical damping force to the movable part (42).

11. The steering system (100) according to claim 10, characterized in that, The mechanical hand-feeling component (4) also includes a housing (41) and an accumulator (43). The movable part (42) is reciprocally mounted in the housing (41) to separate the air chamber (411) and the hydraulic chamber (412). The hydraulic chamber (412) can contain liquid. The housing (41) is provided with a hydraulic hole (413) corresponding to the hydraulic chamber (412). The hydraulic hole (413) is connected to the accumulator (43). The accumulator (43) defines the damping structure.

12. The steering system (100) according to claim 11, characterized in that, The mechanical hand-feeling assembly (4) further includes a damping valve (44), which is mounted on the housing (41). The damping valve (44) has an adjusting plug (441) extending into the hydraulic chamber (412). The damping valve (44) is adapted to adjust the conduction area of ​​the hydraulic hole (413) through the adjusting plug (441). And / or, the mechanical hand-feeling assembly (4) further includes an intermediate transmission member (45) and a mounting frame (46). The intermediate transmission member (45) and the housing (41) are mounted on the mounting frame (46). The intermediate transmission member (45) cooperates with the movable member (42) and the second transmission member, respectively. The second transmission member is adapted to drive the movable member (42) to move through the intermediate transmission member (45).

13. The steering system (100) according to claim 12, characterized in that, The mounting frame (46) includes an upper frame (461) and a lower frame (462), which together define the mounting space. The intermediate transmission component (45) is installed in the mounting space and is respectively positioned and engaged with the upper frame (461) and the lower frame (462).

14. A vehicle, characterized in that, include: The steering system (100) according to any one of claims 1-13.

15. A control method for a steering system, characterized in that, The control method is applied to the steering system according to any one of claims 1-13, the control method comprising: Determine if the vehicle is in driver assistance mode; If the vehicle is in the driving assistance mode, then the steering wheel is locked. If the vehicle is not in the driving assistance mode, then control at least one of the hand-feed motor and the mechanical hand-feed assembly to apply a damping force toward the steering wheel.

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