Steering execution module of steer-by-wire system and steer-by-wire system

Abstract

The utility model provides a steering execution module of a steering-by-wire system and the steering-by-wire system comprising the steering execution module. The steering execution module comprises an outer shell and a steering gear installed in the outer shell. The steering gear comprises a gear and a rack which are meshed with each other. The steering execution module further comprises a magnetoresistive sensor. The magnetoresistive sensor is fixedly mounted on the outer housing, and wherein the rack is made of a ferromagnetic material and has a plurality of grooves. The plurality of grooves are configured to move relative to the magnetoresistive sensor during a steering operation such that the magnetoresistive sensor measures an electrical signal associated with a displacement of the rack. According to the steer-by-wire system, a sensor tower ST and a steering gear used for a traditional electric power steering system are omitted, and a low-cost solution for measuring the actual steering angle of the wheel is provided.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and more particularly to a steering execution module of a steer-by-wire system of a vehicle and a steer-by-wire system including the steering execution module. Background Art

[0002] Steer-by-Wire is an advanced automotive steering technology that controls the steering of the car through electronic signals rather than traditional mechanical connections. This technology eliminates the mechanical connection between the steering wheel and the wheels, and instead uses electronic signals to transmit the driver's steering intentions and directly controls the steering angle of the wheels through electronic actuators.

[0003] In the current steering execution module of the wire control steering system, such as Figure 1 As shown, a sensor tower (SensorTower) ST is used as a position feedback sensor to monitor the actual steering angle of the wheel to achieve closed-loop control. Specifically, the sensor tower ST includes an angle sensor with high accuracy. The angle sensor can measure the position of the steering gear (not shown in the figure), and then obtain the actual steering angle of the wheel through the position of the steering gear. The steering gear is part of a traditional electric power steering (Electric Power Steering) system, which is used to mechanically transmit the steering torque from the steering wheel to the wheel to achieve wheel steering.

[0004] However, for the steer-by-wire system, since the mechanical connection between the steering wheel and the wheel is eliminated, the steering gear is no longer needed. If the steering gear is retained only for the purpose of monitoring the actual steering angle of the wheel, it will lead to unnecessary cost expenditure. Among them, leaving aside the cost of the sensor tower ST, the cost of a steering gear alone is about 200 yuan. Utility Model Content

[0005] In order to solve the problems pointed out in the background technology, the utility model proposes a new type of steering execution module of the wire control steering system, which omits the sensor tower ST and the steering gear used in the traditional electric power steering system, and instead adopts a relatively low-cost magnetic resistance sensor to monitor the actual steering angle of the wheel. The magnetic resistance sensor can be conveniently installed on the outer shell of the wire control steering system, and is configured to measure the electrical signal associated with the displacement of the rack in a magnetic manner by cooperating with the groove opened on the rack, thereby obtaining the actual steering angle of the wheel.

[0006] According to one embodiment of the present disclosure, a steering execution module of a wire-controlled steer system is proposed, wherein the steering execution module comprises: an outer shell; and a steering gear installed in the outer shell, wherein the steering gear comprises a gear and a rack meshing with each other, wherein the steering execution module further comprises a magnetoresistive sensor, wherein the magnetoresistive sensor is fixedly mounted on the outer shell, and wherein the rack is made of ferromagnetic material and has a plurality of grooves, wherein the plurality of grooves are configured to move relative to the magnetoresistive sensor during a steering operation, so that the magnetoresistive sensor measures an electrical signal associated with the displacement of the rack.

[0007] In one embodiment, the magnetoresistive sensor is fixedly mounted on the outer shell via a fastener.

[0008] In one embodiment, the magnetoresistive sensor includes: an integrated circuit for measuring the electrical signal, the integrated circuit including an integrated sensitive element and an electronic circuit; and a magnetic field source, wherein the integrated circuit and the magnetic field source extend into the interior of the outer shell through a hole on the outer shell, so that the integrated circuit is located between the magnetic field source and the groove of the rack.

[0009] In one embodiment, the magnetoresistive sensor further comprises: a bracket on which the integrated circuit and the magnetic field source are mounted; and a shell in which the integrated circuit, the magnetic field source and the bracket are packaged.

[0010] In one embodiment, the housing has a mounting hole, and the fastener passes through the mounting hole to mount the magnetoresistive sensor on the outer housing.

[0011] In one embodiment, a bushing is disposed in the mounting hole.

[0012] In one embodiment, the magnetoresistive sensor includes a Hall sensor, a giant magnetoresistive sensor, a tunnel magnetoresistive sensor, an anisotropic magnetoresistive sensor or an ultra-giant magnetoresistive sensor.

[0013] In one embodiment, at least one groove among the plurality of grooves is a trapezoidal or V-shaped groove.

[0014] In one embodiment, the plurality of grooves comprises a plurality of uniformly distributed identical grooves.

[0015] In one embodiment, at least two of the plurality of grooves have different shapes, depths or widths.

[0016] In one embodiment, different adjacent grooves have different spacings therebetween.

[0017] In one embodiment, non-magnetic spacers are disposed between adjacent grooves.

[0018] In one embodiment, the electrical signal includes a current signal and a voltage signal.

[0019] According to another embodiment of the present disclosure, a steer-by-wire system is further provided, wherein the steer-by-wire system comprises a steering execution module as described in any one of the above items.

[0020] In one embodiment, the steer-by-wire system further includes: a steering wheel module; and a central control unit, wherein the steering wheel module is configured to sense a driver's steering input and send the steering input to the central control unit, and the central control unit is configured to generate a control signal based on the steering input and send the control signal to the steering execution module.

[0021] In general, the various embodiments of the present disclosure may be combined and coupled in any possible manner within the scope of the present disclosure. These and other aspects, features and / or advantages of the present disclosure will be apparent and elucidated with reference to the embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Embodiments of the present disclosure will be described by way of example with reference to the following drawings, in which:

[0023] Figure 1 The schematic diagram shows a steering execution module of a conventional steer-by-wire system, wherein a sensor tower ST is used in conjunction with a steering gear to measure an actual steering angle of a vehicle;

[0024] Figure 2 A steer-by-wire system according to an embodiment of the present disclosure is schematically shown, wherein the sensor tower ST and the steering gear are omitted, and a magnetic resistance sensor 30 is used in conjunction with a groove on the rack to measure the actual steering angle of the vehicle;

[0025] Figure 3 The arrangement of the magnetic resistance sensor 30 of the steering execution module in the steering execution module is shown in an enlarged view;

[0026] Figure 4 Shows Figure 3 The arrangement of the magnetoresistive sensor 30 relative to the rack 26 of the steering actuator module, wherein the outer housing of the steering actuator module is removed to clearly show the groove on the rack 26;

[0027] Figure 5 is a cross-sectional view of the magnetoresistive sensor 30;

[0028] Figure 6 and Figure 7 The working principle of the magnetoresistive sensor 30 is schematically shown; and

[0029] Figure 8 and Fig. 9 An electrical signal measured by the magnetoresistive sensor 30 according to the present disclosure is shown.

[0030] It should be understood that the drawings illustrate only one way of implementing the present disclosure and should not be construed as limiting other possible embodiments within the scope of the appended claims. The scope of protection of the present disclosure is limited only by the appended claims. DETAILED DESCRIPTION

[0031] The automobile steering system has gone through several stages: mechanical steering system, hydraulic power steering system, electro-hydraulic power steering system and electric power steering system, and is currently developing towards a wire-controlled steering system.

[0032] Figure 1 The schematic diagram shows a steering execution module of a wire-controlled steering system in the prior art. As described in the background technology section, the steering execution module uses a sensor tower ST to cooperate with a steering gear to monitor the actual steering angle of the wheel.

[0033] Figure 2 The figure schematically shows a steer-by-wire system according to an embodiment of the present disclosure. Figure 2 As shown in FIG. 1 , the wire-controlled steering system according to the present disclosure includes three parts: a steering wheel module 1; a steering execution module 2; and a central control unit (ECU) 3. The steering wheel module 1 is responsible for sensing the steering input of the driver on the steering wheel and sending the input to the ECU 3. The ECU 3 generates a control signal based on the received input and sends the control signal to the steering execution module 2. The steering execution module 2 controls the wheels to steer based on the received control signal. Compared with the prior art, the wire-controlled steering system of the present invention is more convenient to use. Figure 2 In the steering execution module 2 shown, the sensor tower ST and the steering gear are omitted, and a magnetic resistance sensor is used to cooperate with the groove on the rack to measure the actual steering angle of the vehicle.

[0034] Continue to refer to Figure 2 The components of the steering execution module 2 and their relative positional relationships are described in detail. The steering execution module 2 includes a motor module 20 , a steering gear 24 and a steering tie rod 27 .

[0035] The motor module 20 includes a motor controller 21, a steering motor 22 and a reducer 23. The motor controller 21 is used to receive a control signal sent by the ECU 3, and based on the control signal, controls the operation of the steering motor 22 to ensure that the steering motor 22 operates at the desired steering angle. The steering motor 22 is usually a permanent magnet synchronous motor, which is responsible for providing the desired speed under the control of the motor controller 21. The reducer 23 is used to reduce the speed of the steering motor 22 and increase the output torque to meet the steering requirements.

[0036] The steering gear 24 is connected to the output end of the motor module 20, and its function is to convert the rotational motion provided by the motor module 20 into linear motion. The steering gear 24 can be a gear rack structure. The output end of the reducer 23 drives the gear 25 of the steering gear 24 (refer to Figure 3 ), then the gear 25 drives the rack 26 meshing therewith (reference Figure 3 ), thereby converting the rotational motion of the gear 25 into the linear motion of the rack 26.

[0037] The steering rod 27 is connected to the output end of the steering gear 24, specifically connected to the rack 26 of the steering gear 24. The other end of the steering rod 27 is connected to the wheel (not shown in the figure) to transmit the linear motion generated by the steering gear 24 to the wheel, thereby achieving the steering of the wheel. As an example, Figure 2 Only the right side tie rod 27 is shown, but a person skilled in the art will appreciate that there will be a symmetrically arranged tie rod on the left side.

[0038] like Figure 2 As shown, the motor module 20 and the steering gear 24 can be disposed in the outer housing 28 (therefore, in Figure 2 In the figure, only the approximate positions of the motor module 20 and the steering gear 24 are schematically indicated, and the above-mentioned specific structure is not shown). Both ends of the outer shell 28 can be connected with a retractable rubber bellows 29 (only a part of the rubber bellows on the left is shown) to accommodate the linear movement of the rack 26 of the steering gear 24 within a certain range.

[0039] In addition, the steering execution module 2 according to an embodiment of the present disclosure further includes a magnetoresistive sensor 30. The magnetoresistive sensor 30 is configured to measure an electrical signal associated with the displacement of the rack 26, and send the measured electrical signal as a feedback signal to the ECU 3. Subsequently, the ECU 3 can calculate the actual steering angle of the wheel based on the feedback signal, and can achieve closed-loop control of the steering operation by comparing the actual steering angle with the desired steering angle. In an alternative embodiment, the magnetoresistive sensor 30 can be configured to measure an electrical signal associated with the displacement of the rack 26, and calculate the actual steering angle of the wheel based on the measured electrical signal, and send the actual steering angle to the ECU 3 to achieve closed-loop control.

[0040] Figure 3 The arrangement of magnetoresistive sensor 30 in steering actuator module 2 is shown in an enlarged view. Figure 4 Shows Figure 3 2 shows the arrangement of the magnetoresistive sensor 30 relative to the rack 26 of the steering actuator module 2 , wherein the outer housing 28 of the steering actuator module 2 is removed to clearly show the groove G on the rack 26 . Figure 5 is a cross-sectional view of the magnetoresistive sensor 30 . Figure 3 Only a portion of the outer shell 28 is shown to expose the rack 26 installed therein. The magnetoresistive sensor 30 is fixedly mounted on the outer shell 28 of the steering actuator module 2, and a portion of the magnetoresistive sensor 30 extends into the interior of the outer shell 28 through the opening on the outer shell 28 to cooperate with the rack 26 installed in the outer shell 28 to realize the sensing function, which will be further described below. The magnetoresistive sensor 30 can be fixedly mounted on the outer shell 28 via fasteners, or can be fixedly mounted on the outer shell 28 by other means (such as welding, etc.). In the case of using fasteners, the fasteners can be, for example, bolts, screws, rivets, pins, etc. In this case, corresponding mounting features, such as threaded holes, through holes, etc., can be provided on the outer shell 28, so that the magnetoresistive sensor 30 can be easily mounted on the outer shell 28.

[0041] Combined with reference Figure 3 and Figure 4 In the steering operation, the rack 26 moves left and right along the direction shown in the figure under the drive of the gear 25. During this period, a series of grooves G opened on the rack 26 move left and right relative to the magnetic resistance sensor 30, so that the magnetic resistance sensor 30 measures a changing electrical signal, based on which the displacement or current position of the rack 26 can be obtained. Further, the actual steering angle of the wheel can be calculated based on the displacement or current position of the rack 26. The above process will be further described below.

[0042] The following will refer to Figure 5 The structure of the magnetoresistive sensor 30 is described below. Figure 5 As shown, the magnetoresistive sensor 30 includes an integrated circuit (IC) 31, a magnetic field source 34, a cable 35, a bracket 36 and a housing 37. The integrated circuit 31 includes a sensitive element 32 and an electronic circuit 33. Among them, the sensitive element 32 is the core part of the magnetoresistive sensor 30, which is usually made of a specific magnetic material (further described below), and can sense the external magnetic field and change its resistance value according to the magnetoresistive effect. The electronic circuit 33 usually includes a signal amplifier, a filter, an analog-to-digital converter (ADC), a digital-to-analog converter (DAC), etc., which are used to process the weak signal generated by the sensitive element 32 and convert it into a usable electrical signal. The magnetic field source 34 can be a magnet or a ferromagnetic encoder, etc., which is used to generate a magnetic field. The above-mentioned sensitive element 32 is located in the magnetic field and is used to detect changes in the magnetic field. The cable 35 can be used to supply power to the integrated circuit 31 from a power supply, and can also be used for signal transmission between the integrated circuit 31 and the outside world. The above-mentioned integrated circuit 31 and the magnetic field source 34 are installed on the bracket 36, and are packaged into the housing 37 together with the cable 36 by injection molding or the like. Among them, the bracket 36 can also be injection molded. The above-mentioned components of the magnetoresistive sensor 30 work together to achieve accurate detection and measurement of the magnetic field.

[0043] Still for reference Figure 5 The housing 37 of the magnetoresistive sensor 30 includes a reinforcing rib 37a for enhancing the mechanical strength of the sensor, and a mounting feature for fixing the magnetoresistive sensor 30 to the outer housing 28. The mounting feature is, for example, a mounting hole for a fastener to pass through and a bushing disposed in the mounting hole. The bushing is disposed to prevent the fastener from causing wear to the hole wall of the mounting hole, thereby achieving long-term and reliable mounting of the magnetoresistive sensor 30 on the outer housing 28.

[0044] As above reference Figure 3 As described above, the integrated circuit 31 and the magnetic field source 34 of the magnetoresistive sensor 30 extend into the outer shell 28 through the opening on the outer shell 28, so that the integrated circuit 31 is located between the magnetic field source 34 and the rack 26. The rack 26 is made of a ferromagnetic material such as iron. When the rack 26 moves laterally linearly relative to the magnetic field source 34, as the position of the groove G on the rack 26 relative to the magnetic field source 34 changes, the strength and direction of the magnetic field acting on the integrated circuit 31 will also change.

[0045] Figure 6 and Figure 7 The above working principle of the magnetoresistive sensor 30 is schematically shown. During the steering operation, as the rack 26 moves linearly, a series of grooves G on the rack 26 pass through the integrated circuit 31 in sequence. Figure 6 As shown in FIG. 1 , when a groove passes through the integrated circuit 31 (i.e., is located directly below the integrated circuit 31), the magnetic lines of force are directed from the magnetic field source 34 to the higher parts (which may be called bosses) on both sides of the groove, so that the density of the magnetic lines of force passing through the integrated circuit 31 is relatively small. Figure 7 As shown in FIG. 1 , when the higher portion (i.e., the boss) between adjacent grooves passes through the integrated circuit, the magnetic lines of force are directed directly from the magnetic field source 34 to the higher portion, thereby the density of the magnetic lines of force passing through the integrated circuit 31 is relatively large. In other words, when a series of grooves on the rack 26 pass through the integrated circuit 31 in sequence, the density and direction of the magnetic lines of force passing through the integrated circuit 31 will change. This will affect the resistance of the sensitive element 32 in the integrated circuit 31, thereby affecting the electrical signal measured by the integrated circuit 31, such as a voltage signal or a current signal.

[0046] Figure 8 and Fig. 9 Two examples of electrical signals measured by the magnetoresistive sensor 30 according to the present disclosure are shown. Figure 8 , the current signal measured by the magnetoresistive sensor 30 is shown by way of example. The current changes periodically over time. The current signal corresponds to a series of identical grooves evenly distributed on the rack 26. By analyzing the current signal, the number of grooves passing through the integrated circuit 31 can be obtained, and then the displacement of the rack 26 can be derived, and then the corresponding actual steering angle of the wheel can be obtained.

[0047] Alternatively, grooves with different shapes, depths, widths, and spacings may be provided on the rack 26. In a preferred embodiment, at least one groove may be a trapezoidal or V-shaped groove to provide a more uniform magnetic field distribution. The trapezoidal or V-shaped grooves mentioned here refer to the cross-sectional shape of the grooves (e.g. Figure 6 and Figure 7 In another preferred embodiment, multiple groups of grooves may be provided on the rack 26. Any of the multiple groups of grooves may include multiple grooves with different shapes, depths, and widths. Furthermore, the spacing between the grooves may also be different. When different grooves pass under the integrated circuit 31, the electrical signal measured by the integrated circuit 31 changes differently. Thus, each groove can be encoded so that the displacement of the rack 26 can be accurately and reliably obtained. Fig. 9 An example of the current signal measured by the magnetoresistive sensor 30 in this case is given. Figure 8 and Fig. 9 Although current signals are used as examples in the present invention, it should be understood that the magnetoresistive sensor 30 can also measure voltage signals during the steering operation.

[0048] In addition, in the embodiment according to the present disclosure, the number of grooves can be appropriately set to provide a suitable resolution for the measured electrical signal. The spacing between the grooves can also be appropriately set so that each groove can be stably detected by the magnetoresistive sensor 30 while reducing the magnetic interference between adjacent grooves. Preferably, a non-magnetic spacer can be set between adjacent grooves to further reduce the magnetic interference between adjacent grooves.

[0049] In one embodiment according to the present disclosure, the magnetoresistive sensor 30 may be a Hall sensor, which is a magnetic sensitive sensor that works using the Hall effect. In this case, the sensitive element 32 is also referred to as a Hall element, which is usually made of semiconductor materials, such as gallium arsenide (GaAs), indium antimonide (InSb), etc. The electronic circuit 33 can pass a constant current into the Hall element, and the magnetic field source 34 can apply a magnetic field in the vertical direction of the Hall element. When the magnetic field acts on the Hall element, a Hall voltage is generated on both sides of the Hall element, and its magnitude is proportional to the current passing through the element and the applied magnetic field strength. Therefore, when the magnetic field strength changes, the generated Hall voltage will also change accordingly.

[0050] In an alternative embodiment according to the present disclosure, the magnetoresistive sensor 30 may be a giant magnetoresistance (GMR) sensor, which is a sensor that uses the giant magnetoresistance effect to detect changes in the magnetic field. In this case, the sensitive element 32 is a multilayer thin film stack structure, which is usually a multilayer thin film formed by alternating stacks of ferromagnetic materials (such as iron, cobalt, nickel, etc.) and non-magnetic materials (such as copper). The direction of the magnetic moment of the ferromagnetic layer is randomly distributed when there is no external magnetic field, causing electrons to scatter when passing through the film, resulting in a large resistance. When an external magnetic field is applied, the magnetic moment of the ferromagnetic layer tends to be consistent with the direction of the magnetic field, reducing the scattering of electrons and thus reducing the resistance. When the size of the external magnetic field changes, the degree of resistance reduction will also change accordingly.

[0051] In another alternative embodiment according to the present disclosure, the magnetoresistive sensor 30 may be a tunnel magnetoresistive (TMR) sensor, which is a magnetoresistive sensor based on the quantum tunnel effect. In this case, the sensitive element 32 is a magnetic tunnel junction, which is composed of two ferromagnetic layers and a non-magnetic insulating layer to form a sandwich structure. The direction of the magnetic moment of the first ferromagnetic layer (called the reference layer or fixed layer) is fixed. The direction of the magnetic moment of the second ferromagnetic layer (called the free layer) can rotate freely and is affected by the external magnetic field. When current passes through the magnetic tunnel junction, electrons pass from one ferromagnetic layer to another ferromagnetic layer through the tunnel effect. The magnitude of the tunnel current depends on the relative direction of the magnetic moments of the two ferromagnetic layers. When the external magnetic field changes, the tunnel current also changes accordingly.

[0052] In another embodiment according to the present disclosure, the magnetoresistive sensor 30 may be an anisotropic magnetoresistive (AMR) sensor, the working principle of which is based on the property that the resistance of a magnetic material changes with the direction of a magnetic field. In this case, the sensitive element 32 is a magnetic material layer, which is usually composed of a metal or alloy with strong magnetism (such as a nickel-iron alloy). When the magnetic field changes, the resistance of the magnetic material will change accordingly, thereby causing the current passing through the magnetic material layer to change.

[0053] In another embodiment of the present disclosure, the magnetoresistive sensor 30 may be a giant magnetoresistive (CMR) sensor, which is a sensor that uses the giant magnetoresistive effect to detect changes in the magnetic field. In this case, the sensitive element 32 is a giant magnetoresistive material, usually an oxide material with a perovskite structure, such as lanthanum strontium manganese oxide (LSMO). Under the action of an external magnetic field, the resistance of these materials will change significantly, and the change can reach several orders of magnitude.

[0054] Those skilled in the art will appreciate that the magnetoresistive sensor 30 may be any other suitable sensor as long as it can sense changes in the magnetic field.

[0055] The steering execution module according to the present disclosure can be easily implemented by only opening a groove on the rack 26 and fixing the magnetic resistance sensor 30 on the outer housing 28 of the steering execution module 2. Therefore, the present disclosure provides an easy-to-implement, low-cost solution for measuring the actual steering angle of the wheel.

[0056] Although the present disclosure has been described in conjunction with the above-mentioned specific embodiments, it should not be understood as being limited to the examples presented in any way. The scope of the present disclosure is defined by the appended claims. In the context of the claims, the terms "comprise" or "include" do not exclude other possible elements or steps. In addition, references such as "one" or "an" should not be interpreted as excluding multiple. The use of reference symbols for elements shown in the figures in the claims should not be interpreted as limiting the scope of the present disclosure. In addition, the various features mentioned in different claims may be advantageously combined, and the mention of these features in different claims does not exclude that the combination of these features is impossible and advantageous. In addition, the "first", "second", etc. used in the present disclosure are only used to distinguish the relevant components, and are not intended to give them any priority attributes.

Claims

1. A steering execution module (2) of a steer-by-wire system, the steering execution module (2) comprising: An outer shell (28); and a steering gear (24) installed in the outer shell (28), the steering gear (24) comprising a gear (25) and a rack (26) meshing with each other, Characterized in that the steering execution module (2) further comprises a magnetoresistive sensor (30), wherein the magnetoresistive sensor (30) is fixedly mounted on the outer shell (28), and The rack (26) is made of ferromagnetic material and has a plurality of grooves, and the plurality of grooves are configured to move relative to the magnetoresistive sensor (30) during a steering operation, so that the magnetoresistive sensor (30) measures an electrical signal associated with the displacement of the rack (26).

2. The steering execution module (2) according to claim 1, characterized in that: The magnetoresistive sensor (30) is fixedly mounted on the outer shell (28) via fasteners.

3. The steering execution module (2) according to claim 2, characterized in that: The magnetoresistive sensor (30) comprises: An integrated circuit (31) for measuring the electrical signal, the integrated circuit (31) comprising a sensitive element (32) and an electronic circuit (33) integrated together; and a magnetic field source (34), The integrated circuit (31) and the magnetic field source (34) extend into the interior of the outer shell (28) through holes on the outer shell (28), so that the integrated circuit (31) is located between the magnetic field source (34) and the groove of the rack (26).

4. The steering execution module (2) according to claim 3, characterized in that: The magnetoresistive sensor (30) further comprises: a bracket (36), the integrated circuit (31) and the magnetic field source (34) being mounted on the bracket (36); and A housing (37), wherein the integrated circuit (31), the magnetic field source (34) and the bracket (36) are packaged in the housing (37).

5. The steering execution module (2) according to claim 4, characterized in that: The housing (37) has a mounting hole, and the fastener passes through the mounting hole to mount the magnetoresistive sensor (30) on the outer housing (28).

6. The steering execution module (2) according to claim 5, characterized in that: A bushing is arranged in the mounting hole.

7. The steering execution module (2) according to claim 1, characterized in that: The magnetoresistive sensor (30) comprises a Hall sensor, a giant magnetoresistive sensor, a tunnel magnetoresistive sensor, an anisotropic magnetoresistive sensor or an ultra-giant magnetoresistive sensor.

8. The steering execution module (2) according to any one of claims 1 to 7, characterized in that: At least one groove among the plurality of grooves is a trapezoidal or V-shaped groove.

9. The steering execution module (2) according to any one of claims 1 to 7, characterized in that: The plurality of grooves include a plurality of uniformly distributed identical grooves.

10. The steering execution module (2) according to any one of claims 1 to 7, characterized in that: At least two of the plurality of grooves have different shapes, depths or widths.

11. The steering execution module (2) according to any one of claims 1 to 7, characterized in that: Different adjacent grooves have different spacings.

12. The steering execution module (2) according to any one of claims 1 to 7, characterized in that: Non-magnetic spacers are arranged between adjacent grooves.

13. The steering execution module (2) according to claim 1, characterized in that: The electrical signal includes a current signal and a voltage signal.

14. A steer-by-wire system, characterized in that: The steer-by-wire system comprises a steering execution module (2) according to any one of claims 1-13.

15. The steer-by-wire system according to claim 14, characterized in that: The steer-by-wire system further comprises: a steering wheel module (1); and Central control unit (3), The steering wheel module (1) is configured to sense the driver's steering input and send the steering input to the central control unit (3); the central control unit (3) is configured to generate a control signal based on the steering input and send the control signal to the steering execution module (2).

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