Steering system and vehicle

Abstract

The embodiment of the utility model provides a steering system and a vehicle, and relates to the technical field of vehicles, on one hand, when a main steering subsystem works normally, mechanical connection between a redundant steering subsystem and a steering execution mechanism can be cut off, so that extra loss generated when the redundant steering subsystem does not work is avoided; and on the other hand, when the main steering subsystem is abnormal, steering can be achieved through the redundant steering subsystem which is greatly different from the main steering subsystem in structure, and therefore the overall reliability of the steer-by-wire system is improved. The steering system comprises a main steering subsystem used for controlling a steering execution mechanism to steer according to a steering target; the controller is used for sending an activation instruction to the redundant steering subsystem when it is determined that the main steering subsystem breaks down; the redundant steering subsystem is used for sending a closing instruction to the clutch after being activated; and the steering execution mechanism is driven to steer based on the steering target, and the main steering subsystem and the redundant steering subsystem are of a heterogeneous structure.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and in particular, to a steering system and a vehicle. Background Art

[0002] At present, the wire-controlled steering system is gradually replacing the mechanical steering system to realize the steering function. And in order to improve the reliability of the wire-controlled steering system, usually on the basis of the original steering system, an additional redundant steering system with the same structure is set as a backup. When the original steering system fails, it switches to the redundant steering system to continue to realize the steering function. However, the above scheme has the following two problems. First, since the original steering system and the redundant steering system have the same structure, when facing certain common cause risks, the original steering system and the redundant steering system may fail at the same time, making the overall reliability of the wire-controlled steering system low; second, when the original steering system drives the steering actuator to steer, the steering actuator will drive the redundant steering system to idle, increasing additional losses. Summary of the invention

[0003] The embodiments of the present application provide a steering system and a vehicle. On the one hand, when the main steering subsystem is working normally, the mechanical connection between the redundant steering subsystem and the steering actuator can be cut off, thereby avoiding additional losses when the redundant steering subsystem is not working. On the other hand, when an abnormality occurs in the main steering subsystem, a redundant steering subsystem with a large structural difference from the main steering subsystem is used to achieve steering. Since the main steering subsystem and the redundant steering subsystem have a large structural difference, the possibility of simultaneous abnormalities is low, thereby improving the overall reliability of the wire-controlled steering system.

[0004] In a first aspect, an embodiment of the present application provides a steering system, the steering system comprising a controller, a main steering subsystem, a redundant steering subsystem, a steering actuator, and a clutch;

[0005] The controller is respectively connected to the main steering subsystem and the redundant steering subsystem in communication, the main steering subsystem is connected to the steering actuator, the redundant steering subsystem is connected to the steering actuator via the clutch, the redundant steering subsystem is connected to the clutch in communication, the clutch is in a normally-off state, and the main steering subsystem and the redundant steering subsystem are heterogeneous structures;

[0006] The main steering subsystem is used to determine a steering target and control the steering actuator to perform steering based on the steering target;

[0007] The controller is used to send an activation instruction to the redundant steering subsystem when determining that the main steering subsystem fails;

[0008] The redundant steering subsystem is used to be activated in response to the activation instruction, and to send a closing instruction to the clutch after being activated, wherein the closing instruction is used to control the clutch to close;

[0009] The clutch is used to perform a closing action in response to the closing instruction;

[0010] The redundant steering subsystem is further used to determine the latest steering target after activation, and drive the steering actuator to steer based on the latest steering target and through the closed clutch.

[0011] In the embodiment of the present application, the steering system includes a main steering subsystem and a redundant steering subsystem with large structural differences. Under normal circumstances, the main steering subsystem controls the steering actuator to steer. Since the clutch between the redundant steering subsystem and the steering actuator is in a normally off state, when the main steering subsystem is in operation, the redundant steering subsystem will not work, thereby avoiding the redundant steering subsystem from generating additional losses. If the controller determines that the main steering subsystem has a fault, the redundant steering subsystem is activated. The activated redundant steering subsystem will control the closure of the above-mentioned clutch on the one hand, and control the steering actuator to steer through the closed clutch on the other hand. Since the redundant steering subsystem and the main steering subsystem have significant differences in internal structure, it can be considered that when the main steering subsystem is abnormal, the redundant steering subsystem is less likely to be abnormal, that is, the possibility of the main steering subsystem and the redundant steering subsystem being abnormal at the same time due to certain factors is reduced, thereby improving the overall reliability of the wire control steering system.

[0012] Optionally, the redundant steering subsystem includes a redundant steering ECU and a redundant steering actuator;

[0013] The redundant steering ECU is in communication connection with the controller, the clutch and the redundant steering actuator, and the redundant steering actuator is connected with the steering actuator through the clutch;

[0014] The redundant steering ECU is configured to be activated in response to the activation instruction and to send the closing instruction to the clutch after activation; and to determine the latest steering target after activation and send an actuation instruction to the redundant steering actuation device based on the latest steering target; the actuation instruction is configured to control the redundant steering actuation device to drive the steering actuator to steer according to the latest steering target through the closed clutch;

[0015] The redundant steering actuation device is used to respond to the actuation instruction, and drive the steering actuator to steer based on the power generated by the target medium and the closed clutch; the target medium is a gas medium, a liquid medium or a magnetic field medium.

[0016] In the embodiment of the present application, the main steering subsystem mainly generates power through an electric motor to drive the steering actuator to steer, while in the redundant steering subsystem, under the control of the redundant steering ECU, the redundant steering actuator mainly generates power through a non-electric medium, such as a gas medium, a liquid medium or a magnetic field medium, to drive the steering actuator to steer through a closed clutch, that is, there is a significant difference in the power sources of the main steering subsystem and the redundant steering subsystem, thereby reducing the possibility of simultaneous power failure of the main steering subsystem and the redundant steering subsystem due to certain factors, thereby improving the overall reliability of the wire-controlled steering system.

[0017] Optionally, the redundant steering actuation device includes a power supply unit and a transmission unit;

[0018] The redundant steering ECU is in communication with the power supply unit, a portion of the transmission unit is located inside the power supply unit, and the transmission unit is connected to the steering actuator through the clutch;

[0019] The redundant steering ECU is specifically used to: determine the power output size and power output direction of the power providing unit according to the latest steering target; send a power providing instruction to the power providing unit, wherein the power providing instruction carries the power output size and the power output direction;

[0020] The power providing unit is used to respond to the power providing instruction and output the power generated by the target medium to the transmission unit according to the power output size and the power output direction;

[0021] The transmission part is used to move according to the power generated by the target medium, so as to drive the steering actuator to steer through the closed clutch.

[0022] In the embodiment of the present application, the redundant actuation device includes a power supply unit and a transmission unit. The power supply unit can determine the power size and power direction required according to the steering target, and then generate the power based on the target medium and apply it to the transmission unit. The transmission unit then transmits the power to the steering actuator to achieve steering.

[0023] Optionally, the power supply unit includes: a high-pressure gas tank, a first pressure regulating valve, a second pressure regulating valve and a sealed actuating cylinder;

[0024] The redundant steering ECU is communicatively connected with the first pressure regulating valve and the second pressure regulating valve; the first air outlet of the high-pressure gas tank is connected with the air inlet of the first pressure regulating valve, the air outlet of the first pressure regulating valve is connected with the first inlet of the actuating cylinder, the second air outlet of the high-pressure gas tank is connected with the air inlet of the second pressure regulating valve, the air outlet of the second pressure regulating valve is connected with the second inlet of the actuating cylinder, and a part of the transmission part is located inside the actuating cylinder and is vertically arranged between the first inlet and the second inlet;

[0025] The redundant steering ECU is specifically used to: determine a target pressure regulating valve to be adjusted and a target opening value between a corresponding air inlet and an air outlet according to the latest steering target, wherein the target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve; and send an opening adjustment instruction to the target pressure regulating valve, wherein the opening adjustment instruction carries the target opening value;

[0026] The target pressure regulating valve is used to adjust its own opening value to the target opening value in response to the opening adjustment instruction, so that the high-pressure gas in the high-pressure gas tank enters the target inlet of the actuating cylinder through the target pressure regulating valve and applies power to the transmission part. The target inlet is the first inlet or the second inlet.

[0027] In the embodiment of the present application, a combination of a high-pressure gas tank, a first pressure regulating valve, a second pressure regulating valve and an actuating cylinder is used to provide the transmission part with power of a target size and a target direction according to the gas medium, so as to accurately achieve steering.

[0028] Optionally, the first pressure regulating valve and the second pressure regulating valve are both two-position three-way valves, and are configured so that their air outlet and exhaust port are connected in an initial state. The other pressure regulating valve among the first pressure regulating valve and the second pressure regulating valve, except the target pressure regulating valve, is also used to discharge the gas squeezed by the transmission part under the action of the high-pressure gas flowing into the actuating cylinder into the atmosphere through their own connected air outlet and exhaust port.

[0029] In the embodiment of the present application, while utilizing the gas medium to apply power to the transmission part, a specific pressure regulating valve is used to allow the gas squeezed by the transmission part to be discharged into the atmosphere, so that the transmission part can quickly achieve a larger displacement under the power of the gas medium, thereby supporting the steering actuator to steer within a larger turning angle range.

[0030] Optionally, the transmission part includes: a piston, a first piston push rod and a second piston push rod;

[0031] Wherein, the piston is vertically arranged in the actuating cylinder to form a first chamber and a second chamber, the air outlet of the first pressure regulating valve is connected to the first chamber in the actuating cylinder through the first inlet of the actuating cylinder, and the air outlet of the second pressure regulating valve is connected to the second chamber in the actuating cylinder through the second inlet of the actuating cylinder; the first piston push rod is vertically connected to the first side of the piston, and passes through the first chamber to be connected to the clutch; the second piston push rod is vertically connected to the second side of the piston, and passes through the second chamber to be connected to the clutch;

[0032] The piston is used to drive the steering actuator to steer under the power generated by the high-pressure gas in the target chamber through the first piston push rod, the second piston push rod and the closed clutch.

[0033] In the embodiment of the present application, the power providing unit directly acts on the piston based on the power generated by the gas medium. Since the piston, the first push rod, the second push rod and the closed clutch form an integrated structure, the power acting on the piston is equivalent to acting on the integrated structure including the piston, so that the integrated structure can move according to the different sizes and directions of power received, thereby driving the steering actuator to turn.

[0034] Optionally, the transmission part includes: a first piston, a second piston, a fixed baffle, a first piston push rod and a second piston push rod;

[0035] Wherein, the fixed baffle is vertically arranged in the actuating cylinder to form a first chamber and a second chamber, the first piston is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle side and a second sub-chamber close to the fixed baffle side, the second piston is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle side and a fourth sub-chamber away from the fixed baffle side, the air outlet of the first pressure regulating valve is connected to the second sub-chamber in the actuating cylinder through the first inlet of the actuating cylinder, and the air outlet of the second pressure regulating valve is connected to the third sub-chamber in the actuating cylinder through the second inlet of the actuating cylinder; the first piston push rod is vertically connected to the first piston away from the fixed baffle side, and passes through the first sub-chamber to be connected to the clutch, and the second piston push rod is vertically connected to the second piston away from the fixed baffle side, and passes through the fourth sub-chamber to be connected to the clutch;

[0036] The target piston is used to drive the steering actuator to steer under the action of the high-pressure gas in the target chamber through the first piston push rod, the second piston push rod and the closed clutch, wherein when the target chamber is the second sub-chamber, the target piston is the first piston; when the target chamber is the third sub-chamber, the target piston is the second piston.

[0037] In the embodiment of the present application, the power providing unit directly acts on the target piston (the first piston or the second piston) based on the power generated by the gas medium. Since the first piston, the second piston, the first piston push rod, the second piston push rod and the closed clutch form an integrated structure, the power acting on the target piston is equivalent to acting on the integrated structure including the target piston, so that the integrated structure can move according to the different sizes and directions of power received, thereby driving the steering actuator to turn.

[0038] Optionally, the power providing unit includes: an accumulator, a first pressure regulating valve, a second pressure regulating valve and a hydraulic cylinder;

[0039] The redundant steering ECU is communicatively connected with the first pressure regulating valve and the second pressure regulating valve, the first liquid outlet of the accumulator is connected with the liquid inlet of the first pressure regulating valve, and the liquid outlet of the first pressure regulating valve is connected with the first inlet of the hydraulic cylinder; the second liquid outlet of the accumulator is connected with the liquid inlet of the second pressure regulating valve, and the liquid outlet of the second pressure regulating valve is connected with the second inlet of the hydraulic cylinder, and a part of the transmission part is located inside the hydraulic cylinder and is vertically arranged between the first inlet and the second inlet;

[0040] The redundant steering ECU is specifically used to: determine a first target opening value between a first target pressure regulating valve to be adjusted and a corresponding liquid inlet and a liquid outlet according to the latest steering target, wherein the first target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve; send a first opening adjustment instruction to the first target pressure regulating valve, wherein the first opening adjustment instruction carries the first target opening value;

[0041] The first target pressure regulating valve adjusts its opening value to the first target opening value in response to the first opening adjustment instruction, so that the high-pressure liquid in the accumulator enters the target inlet of the hydraulic cylinder through the first target pressure regulating valve and applies power to the transmission part. The target inlet is the first inlet or the second inlet.

[0042] In an embodiment of the present application, a combination of an accumulator, a first pressure regulating valve, a second pressure regulating valve and a hydraulic cylinder is used to provide a transmission part with limited power in a target direction based on a liquid medium, so that the steering actuator can be driven by the transmission part to steer within a limited turning angle range.

[0043] Optionally, the power supply unit further includes: a liquid storage tank, a third pressure regulating valve and a fourth pressure regulating valve;

[0044] The redundant steering ECU is respectively connected to the third pressure regulating valve and the fourth pressure regulating valve for communication, the first liquid inlet of the liquid storage tank is connected to the liquid outlet of the third pressure regulating valve, the liquid inlet of the third pressure regulating valve is connected to the first outlet of the hydraulic cylinder, the first outlet is located on one side of the transmission part, the second liquid inlet of the liquid storage tank is connected to the liquid outlet of the fourth pressure regulating valve, the liquid inlet of the fourth pressure regulating valve is connected to the second outlet of the hydraulic cylinder, and the second outlet is located on the other side of the transmission part;

[0045] The redundant steering ECU is specifically used to: determine a second target opening value between a second target pressure regulating valve to be adjusted and a corresponding liquid inlet and a liquid outlet according to the latest steering target, wherein the second target pressure regulating valve is the third pressure regulating valve or the fourth pressure regulating valve; and send a second opening adjustment instruction to the second target pressure regulating valve, wherein the second opening adjustment instruction carries the second target opening value;

[0046] The second target pressure regulating valve adjusts its own opening value to the second target opening value in response to the second opening adjustment instruction, so that the liquid squeezed by the transmission part under the action of the high-pressure liquid flowing into the hydraulic cylinder flows back to the liquid storage tank through the second target pressure regulating valve.

[0047] In the embodiment of the present application, the liquid originally stored in the hydraulic cylinder can be discharged into the liquid storage tank when squeezed by the transmission part, which means that the transmission part can make a larger displacement in the hydraulic cylinder, thereby supporting the steering actuator to steer within a larger turning angle range.

[0048] Optionally, the power providing unit further includes a hydraulic pump, the hydraulic pump is arranged between the accumulator and the liquid storage tank, and the redundant steering ECU is communicatively connected with the hydraulic pump;

[0049] The redundant steering ECU is also used to send a start instruction to the hydraulic pump;

[0050] The hydraulic pump is used to start in response to a start instruction and to draw liquid from the liquid storage tank and transport it back to the accumulator.

[0051] In the embodiment of the present application, a hydraulic aid is used to transfer the liquid in the storage tank back to the accumulator, so that when an abnormality occurs again in the main steering subsystem in the subsequent process, the power generated by the liquid medium in the redundant steering subsystem can be used again to drive the steering actuator to perform steering.

[0052] Optionally, the transmission part includes: a piston, a first piston push rod and a second piston push rod;

[0053] Wherein, the piston is vertically arranged in the hydraulic cylinder to form a first chamber and a second chamber, the air outlet of the first pressure regulating valve is connected to the first chamber in the hydraulic cylinder through the first inlet of the hydraulic cylinder, and the air outlet of the second pressure regulating valve is connected to the second chamber in the hydraulic cylinder through the second inlet of the hydraulic cylinder; the liquid inlet of the third pressure regulating valve is connected to the first chamber of the hydraulic cylinder through the first outlet of the hydraulic cylinder; the liquid inlet of the fourth pressure regulating valve is connected to the second chamber of the hydraulic cylinder through the second outlet of the hydraulic cylinder; the first piston push rod is vertically connected to the first side of the piston, and passes through the first chamber to be connected to the clutch; the second piston push rod is vertically connected to the second side of the piston, and passes through the second chamber to be connected to the clutch;

[0054] The piston is used to drive the steering actuator to steer through the first piston push rod, the second piston push rod and the closed clutch under the power generated by the high-pressure liquid in the target chamber; wherein, when the target chamber is the first chamber, the liquid in the second chamber flows back to the liquid storage tank through the fourth pressure regulating valve under the pressure of the piston; when the target chamber is the second chamber, the liquid in the first chamber flows back to the liquid storage tank through the third pressure regulating valve under the pressure of the piston.

[0055] In the embodiment of the present application, the power supply unit directly acts on the piston based on the power generated by the liquid medium. Since the piston, the first piston push rod, the second piston push rod and the closed clutch form an integrated structure, the power acting on the piston is equivalent to acting on the integrated structure including the target piston, so that the integrated structure can move according to the power of different sizes and directions, thereby driving the steering actuator to turn. At the same time, since the liquid squeezed by the piston can flow back to the liquid outlet tank, the steering actuator can be supported to turn within a larger angle range.

[0056] Optionally, the transmission part includes: a first piston, a second piston, a fixed baffle, a first piston push rod and a second piston push rod;

[0057] The fixed baffle is vertically arranged in the hydraulic cylinder to form a first chamber and a second chamber, the first piston is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle side and a second sub-chamber close to the fixed baffle side, the second piston is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle side and a fourth sub-chamber away from the fixed baffle side; the liquid outlet of the first pressure regulating valve is connected to the second sub-chamber in the hydraulic cylinder through the first inlet of the hydraulic cylinder, and the liquid outlet of the second pressure regulating valve is connected to the second sub-chamber in the hydraulic cylinder through the The second inlet is connected to the third sub-chamber in the hydraulic cylinder; the liquid inlet of the third pressure regulating valve is connected to the second sub-chamber of the hydraulic cylinder through the first outlet of the hydraulic cylinder, and the liquid inlet of the fourth pressure regulating valve is connected to the third sub-chamber of the hydraulic cylinder through the second outlet of the hydraulic cylinder; the first piston push rod is vertically connected to the side of the first piston away from the fixed baffle, and passes through the first sub-chamber to connect to the clutch, and the second piston push rod is vertically connected to the side of the second piston away from the fixed baffle, and passes through the fourth sub-chamber to connect to the clutch;

[0058] The target piston is used to drive the steering actuator to steer under the action of the high-pressure liquid in the target chamber through the first piston push rod, the second piston push rod and the closed clutch, wherein when the target chamber is the second sub-chamber, the target piston is the first piston, and the liquid in the third sub-chamber flows back to the liquid storage tank through the fourth pressure regulating valve under the pressure of the second piston; when the target chamber is the third sub-chamber, the target piston is the second piston, and the liquid in the second sub-chamber flows back to the liquid storage tank through the third pressure regulating valve under the pressure of the first piston.

[0059] In the embodiment of the present application, the power providing unit directly acts on the target piston (the first piston or the second piston) based on the power generated by the liquid medium. Since the first piston, the second piston, the first piston push rod, the second piston push rod and the clutch after closing form an integrated structure, the power acting on the target piston is equivalent to acting on the integrated structure including the target piston, so that the integrated structure can move according to the power of different sizes and directions, thereby driving the steering actuator to turn. At the same time, since the liquid squeezed by the other piston of the first piston and the second piston except the target piston can flow back to the liquid outlet tank, the steering actuator can be supported to turn within a larger angle range.

[0060] Optionally, the power providing unit includes: an electromagnetic coil and a power supply device;

[0061] The redundant steering ECU is communicatively connected to the power supply device, the power supply device is electrically connected to the electromagnetic coil, and a part of the transmission part is located inside the electromagnetic coil;

[0062] The redundant steering ECU is specifically used to: determine the target current magnitude and target current direction of the electromagnetic coil according to the latest steering target; send a power-on instruction to the power supply device, wherein the power-on instruction carries the target current magnitude and the target current direction;

[0063] The power supply device supplies power to the electromagnetic coil in response to the power-on instruction based on the target current magnitude and the target current direction, so that the electromagnetic coil applies electromagnetic force to the transmission part.

[0064] In the embodiment of the present application, a combination of a power supply device and an electromagnetic coil is used to provide a target power in a target direction to the transmission part according to a magnetic field medium, so that the steering actuator can be driven by the transmission part to steer within any angular range.

[0065] Optionally, the transmission part includes: a conductive slider, a first slider push rod and a second slider push rod;

[0066] Wherein, the conductive slider is arranged inside the electromagnetic coil, the first slider push rod is vertically connected to the first side of the conductive slider, and passes through the first end of the electromagnetic coil to be connected to the clutch; the second slider push rod is vertically connected to the second side of the conductive slider, and passes through the second end of the electromagnetic coil to be connected to the clutch;

[0067] The conductive slider is used to drive the steering actuator to steer under the action of the electromagnetic force generated by the electromagnetic coil through the first slider push rod, the second slider push rod and the closed clutch.

[0068] In the embodiment of the present application, the power providing unit generates power based on the magnetic field medium and directly acts on the conductive slider. Since the conductive slider, the first slider push rod, the second slider push rod and the closed clutch form an integrated structure, the power acting on the conductive slider is equivalent to acting on the integrated structure including the conductive slider, so that the integrated structure can move according to the different sizes and directions of power received, thereby driving the steering actuator to turn.

[0069] In a second aspect, an embodiment of the present application provides a steering control method, which is applied to the redundant steering subsystem described in any embodiment of the first aspect, and the method includes:

[0070] receiving an activation instruction from a controller, wherein the activation instruction is sent by the controller when determining that a main steering subsystem fails;

[0071] activating in response to the activation command, and sending a closing command to the clutch after activation, wherein the closing command is used to control the clutch to close;

[0072] After activation, the latest steering target is determined, and steering is performed according to the latest steering target and by driving the steering actuator through the closed clutch.

[0073] Optionally, steering according to the latest steering target and by driving a steering actuator through the closed clutch includes:

[0074] According to the latest steering target control, the redundant steering actuator generates power based on the target medium, and the power is used to drive the steering actuator to steer through the closed clutch; the target medium is a gas medium, a liquid medium or a magnetic field medium.

[0075] Optionally, controlling the redundant steering actuator to generate power based on the target medium according to the latest steering target includes:

[0076] Determine the power output size and power output direction of the power providing unit according to the latest steering target;

[0077] The power supply unit is controlled to output the power generated based on the target medium to the transmission unit according to the power output size and the power output direction, so that when the transmission unit moves according to the power generated by the target medium, the steering actuator is driven to steer through the closed clutch.

[0078] Optionally, determining the power output magnitude and power output direction of the power providing unit according to the latest steering target includes:

[0079] The target pressure regulating valve to be adjusted and the corresponding target opening value between the air inlet and the air outlet are determined according to the latest steering target, wherein the target pressure regulating valve is used to indicate the power output direction, the target opening value is used to indicate the power output size, and the target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve.

[0080] Optionally, controlling the power providing unit to output the power generated based on the target medium to the transmission unit according to the power output magnitude and the power output direction includes:

[0081] The opening value of the target pressure regulating valve is adjusted to the target opening value so that the high-pressure gas in the high-pressure gas tank enters the target inlet of the actuating cylinder through the target pressure regulating valve and applies power to the transmission part, and the target inlet is the first inlet or the second inlet.

[0082] Optionally, determining the power output magnitude and power output direction of the power providing unit according to the latest steering target includes:

[0083] Determine a first target opening value between a first target pressure regulating valve to be adjusted and a corresponding liquid inlet and liquid outlet according to the latest steering target, wherein the first target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve;

[0084] According to the latest steering target, the second target opening value between the second target pressure regulating valve to be adjusted and the corresponding liquid inlet and liquid outlet is determined, and the second target pressure regulating valve is the third pressure regulating valve or the fourth pressure regulating valve, wherein the determined first target pressure regulating valve and the second target pressure regulating valve are used to indicate the power output direction, and the determined first target opening value and the second target opening value are used to indicate the power output size.

[0085] Optionally, controlling the power providing unit to output the power generated based on the target medium to the transmission unit according to the power output magnitude and the power output direction includes:

[0086] adjusting the opening value of the first target pressure regulating valve to the first target opening value, so that the high-pressure liquid in the accumulator enters the target inlet of the hydraulic cylinder through the first target pressure regulating valve and applies power to the transmission part, the target inlet being the first inlet or the second inlet;

[0087] The opening value of the second target pressure regulating valve is adjusted to the second target opening value, so that the liquid squeezed by the transmission part under the action of the high-pressure liquid flowing into the hydraulic cylinder flows back to the liquid storage tank through the second target pressure regulating valve.

[0088] Optionally, the method further includes:

[0089] The hydraulic pump is controlled to extract the liquid in the liquid storage tank and transport it back to the accumulator.

[0090] Optionally, determining the power output magnitude and power output direction of the power providing unit according to the latest steering target includes:

[0091] The target current magnitude and target current direction of the electromagnetic coil are determined according to the latest steering target, wherein the target current magnitude is used to indicate the power output magnitude, and the target current direction is used to indicate the power output direction.

[0092] Optionally, controlling the power providing unit to output the power generated based on the target medium to the transmission unit according to the power output magnitude and the power output direction includes:

[0093] The power supply device is controlled to supply power to the electromagnetic coil based on the target current magnitude and the target current direction, so that the electromagnetic coil applies electromagnetic force to the transmission part.

[0094] In a third aspect, an embodiment of the present application provides a vehicle, comprising the steering system described in any embodiment of the first aspect.

[0095] It should be understood that the second to third aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0097] Figure 1 A schematic diagram of the structure of a steering system provided in an embodiment of the present application;

[0098] Figure 2 A schematic diagram of the structure of another steering system provided in an embodiment of the present application;

[0099] Figure 3 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0100] Figure 4 A schematic diagram of the structure of a power supply unit provided in an embodiment of the present application;

[0101] Figure 5 A schematic diagram of the structure of a power supply unit provided in an embodiment of the present application;

[0102] Figure 6 A schematic diagram of the structure of a power supply unit provided in an embodiment of the present application;

[0103] Figure 7 A schematic diagram of the structure of a power supply unit provided in an embodiment of the present application;

[0104] Figure 8 A schematic diagram of the structure of a power supply unit provided in an embodiment of the present application;

[0105] Fig. 9 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0106] Fig.10A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0107] Fig.11 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0108] Fig.12 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0109] Fig.13 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0110] Fig.14 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0111] Fig.15 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0112] Fig.16 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0113] Fig.17 A schematic diagram of the structure of a redundant actuation device provided in an embodiment of the present application;

[0114] Fig.18 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0115] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0116] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0117] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0118] The steer-by-wire system is designed to eliminate the mechanical connection between the steering wheel and the steering wheel, and the driver's steering intention is transmitted entirely by electrical signals. Compared with the traditional mechanical steering system, the steer-by-wire system has the advantages of flexible layout and easier active steering. Therefore, the steer-by-wire system gradually replaces the mechanical steering system to achieve the steering function. Since the mechanical connection is eliminated, in order to improve the reliability of the steer-by-wire system, usually on the basis of the original steering system, an additional redundant steering system with the same structure is set up as a backup. When the original steering system fails, it switches to the redundant steering system to continue to achieve the steering function.

[0119] However, the above scheme has the following two problems: First, since the original steering system and the redundant steering system have the same structure, when facing certain common cause risks, such as electromagnetic interference or power supply system failure, the original steering system and the redundant steering system may fail at the same time, making the overall reliability of the wire-controlled steering system low; Second, when the original steering system drives the steering actuator to steer, the steering actuator will drive the redundant steering system to idle, increasing additional losses.

[0120] In view of this, an embodiment of the present application provides a steering system, which includes a control unit, a main steering subsystem, a redundant steering subsystem, a steering actuator, and a clutch in a normally-off state, and the main steering subsystem and the redundant steering subsystem are heterogeneous systems. Therefore, when the controller determines that an abnormality occurs in the main steering subsystem, it will control the redundant steering subsystem to enter a working state, and the redundant steering subsystem can control the clutch to close, thereby driving the steering actuator to steer through the closed clutch. Since the main steering subsystem and the redundant steering subsystem are heterogeneous systems, it can be considered that the adverse factors that cause the abnormality of the main steering subsystem are also less likely to cause the redundant steering subsystem to have an abnormality. This means that when the main steering subsystem fails, the possibility of using the redundant steering subsystem to achieve successful steering is higher, thereby improving the overall reliability of the steering system.

[0121] The steering system provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0122] See also Figure 1 , is a structural schematic diagram of a steering system provided in an embodiment of the present application, the steering system comprising: a controller 10, a main steering subsystem 20, a redundant steering subsystem 30, a steering actuator 40 and a clutch 50;

[0123] The controller 10 is respectively connected to the main steering subsystem 20 and the redundant steering subsystem 30 in communication, the main steering subsystem 20 is connected to the steering actuator 40, the redundant steering subsystem 30 is connected to the steering actuator 40 via the clutch 50, the redundant steering subsystem 30 is connected to the clutch 50 in communication, the clutch 50 is in a normally-off state, and the main steering subsystem 20 and the redundant steering subsystem 30 are heterogeneous structures;

[0124] The main steering subsystem 20 is used to determine a steering target and control the steering actuator 40 to perform steering based on the steering target;

[0125] The controller 10 is used to send an activation instruction to the redundant steering subsystem 30 when determining that the main steering subsystem 20 fails;

[0126] The redundant steering subsystem 30 is used to be activated in response to the activation command, and to send a closing command to the clutch 50 after being activated, wherein the closing command is used to control the clutch 50 to close;

[0127] The clutch 50 is used to perform a closing action in response to a closing instruction;

[0128] The redundant steering subsystem 30 is further used to determine the latest steering target after being activated, and drive the steering actuator 40 to steer based on the latest steering target and through the closed clutch 50 .

[0129] In the embodiment of the present application, the controller 10 can be a controller of a vehicle dynamics control system (VDC), a controller of a vehicle information unit (VIU), or a steering controller, and the present application does not impose any special restrictions on this. The main steering subsystem 20 includes a main steering electronic control unit (ECU), a motor, and a steering transmission device. The steering actuator 40 includes a steering tie rod 401, an outer tie rod 402, a steering knuckle arm 403, a left wheel 404, and a right wheel 405. One end of the clutch 50 is connected to the redundant steering subsystem 30, and the other end is connected to the steering tie rod 401 in the steering actuator 40.

[0130] Under normal circumstances, the main steering subsystem 20 is in working condition. The main steering ECU 201 in the main steering subsystem 20 can obtain the steering wheel angle of the driver during driving, and calculate the required steering target according to the current state of the vehicle. The steering target here includes the turning direction and the turning angle, and then control the motor 202 and the steering transmission device 203 in the main steering subsystem 20 to drive the steering actuator 40 to complete the steering based on the above steering target. As a possible implementation, as long as the motor 202 and the steering transmission device 203 in the main steering subsystem 20 drive the steering tie rod 401 in the steering actuator 40 to move right, the steering tie rod 401 can drive the outer tie rod 402 and the steering knuckle arm 403 to make the left wheel 404 and the right wheel 405 turn left; conversely, as long as the motor 202 and the steering transmission device 203 in the main steering subsystem 20 drive the steering tie rod 401 in the steering actuator 40 to move left, the steering tie rod 401 can drive the outer tie rod 402 and the steering knuckle arm 403 to make the left wheel 404 and the right wheel 405 turn right. It should be understood that when the main steering subsystem 20 is in the working state, the redundant steering subsystem 30 is in the dormant state, and because the clutch 50 is in the normally off state, the redundant steering subsystem 30 will not operate due to the actuation of the steering actuator 40, so no additional loss will be generated.

[0131] When the main steering subsystem 20 is in working state, the controller 10 will detect whether the main steering subsystem 20 has a steering abnormality. As a possible implementation, the controller 10 can convert the acquired steering wheel angle into a target displacement value of the steering tie rod 401 in the steering actuator 40, and then collect the actual displacement value of the steering tie rod 401 in the steering actuator 40 through the travel sensor. If the difference between the actual displacement value and the target displacement value is greater than the set threshold, it can be determined that the main steering subsystem 20 has a steering abnormality. At this time, the controller 10 will control the main steering subsystem 20 to enter a dormant state and activate the redundant steering subsystem 30 at the same time. After being activated, the redundant steering subsystem 30 can, on the one hand, send a closing command to the clutch 50, thereby controlling the clutch 50 to enter a closed state. It should be understood that after the clutch 50 is closed, a mechanical connection is established between the redundant steering subsystem 30 and the steering actuator 40 through the closed clutch 50; on the other hand, the activated redundant steering subsystem 30 can collect the steering wheel angle of the driver during driving, and calculate the required latest steering target according to the current state of the vehicle. The latest steering target here includes the direction of rotation and the angle of rotation, and then the steering actuator 40 is driven by the closed clutch 50 to complete the steering based on the above latest steering target. The process of the redundant steering subsystem 30 driving the steering actuator 40 to steer through the closed clutch 50 is similar to the process of the main steering subsystem 20 driving the steering actuator 40 to steer, and will not be repeated here.

[0132] It is worth noting that when the controller 10 detects steering anomalies in the main steering subsystem 20, it can also set multiple thresholds for the difference between the actual displacement value and the target displacement value, for example, a first threshold value and a second threshold value that increase in sequence. When the difference between the actual displacement value and the target displacement value is greater than the second threshold value, it indicates that the degree of steering anomaly of the main steering subsystem 20 is high. At this time, the controller 10 will control the main steering subsystem 20 to switch to the redundant steering subsystem 30. When the difference between the actual displacement value and the target displacement value is greater than the first threshold value and less than the second threshold value, it indicates that the degree of steering anomaly of the main steering subsystem 20 is low. The controller 10 will only control the main steering subsystem 20 to perform downgrade processing, that is, reduce the steering assist that the main steering subsystem 20 can provide, and will not switch to the redundant steering subsystem 30.

[0133] The specific implementation structure of the redundant steering subsystem 30 is introduced in detail below.

[0134] See also Figure 2 , is a schematic diagram of the structure of another steering system provided in an embodiment of the present application. Figure 2As shown, based on the description of the functional implementation of the redundant steering subsystem 30 , the redundant steering subsystem 30 provided in the embodiment of the present application may include: a redundant steering ECU 301 and a redundant steering actuator 302 .

[0135] The redundant steering ECU 301 is in communication connection with the controller 10, the clutch 50 and the redundant steering actuator 302, and the redundant steering actuator 302 is connected with the steering actuator 40 through the clutch 50;

[0136] The redundant steering ECU 301 is used to activate in response to the activation instruction, and send a closing instruction to the clutch 50 after activation, and determine the latest steering target after activation, and send an actuation instruction to the redundant steering actuator 302 based on the latest steering target; the actuation instruction is used to control the redundant steering actuator 302 to drive the steering actuator 40 to steer according to the latest steering target through the closed clutch 50;

[0137] The redundant steering actuation device 302 is used to drive the steering actuator 40 to steer in response to an actuation instruction based on the power generated by the target medium and the closed clutch 50; the target medium is a gas medium, a liquid medium or a magnetic field medium.

[0138] In the embodiment of the present application, the redundant steering subsystem 30 includes a redundant steering ECU 301 and a redundant steering actuator 302. When the main steering subsystem 20 is working normally, the redundant steering ECU 301 is in a dormant state. Since the clutch 50 is in a normally off state, the redundant actuator 302 is not in a working state. When the controller 10 determines that the main steering subsystem 20 is abnormal, the redundant steering ECU 301 will be activated. After being activated, the redundant steering ECU 301, on the one hand, will control the clutch 50 in the normally off state to close, thereby establishing a mechanical connection between the redundant steering actuator 302 and the steering actuator 40; on the other hand, it can collect the steering wheel angle of the driver during driving, and calculate the required latest steering target according to the current state of the vehicle, where the latest steering target includes the direction of rotation and the angle of rotation, and then control the redundant steering actuator 302 to generate power based on the target medium, so as to drive the steering actuator 40 to steer through the closed clutch 50. It should be understood that the direction of the power generated by the redundant steering actuator 302 based on the target medium is related to the rotation direction in the latest steering target determined by the redundant steering ECU301; the magnitude of the power generated by the redundant steering actuator 302 based on the target medium is positively correlated with the rotation angle in the latest steering target determined by the redundant steering ECU301.

[0139] It is worth noting that in the main steering subsystem 20, the motor generates power to drive the actuator 40 to steer. Therefore, in order to make the redundant steering subsystem 30 and the main steering subsystem 20 form a heterogeneous system with significant differences, the target medium used by the redundant steering action device 302 in the redundant steering subsystem when outputting power can be a non-electric medium, such as a gas medium, a liquid medium, and a magnetic field medium.

[0140] The specific implementation structure of the redundant steering actuation device 302 is introduced in detail below.

[0141] See also Figure 3 , is a schematic diagram of the structure of a redundant steering actuation device provided in an embodiment of the present application. Figure 2 and Figure 3 As shown, based on the description of the function realization of the redundant steering actuation device 302, the redundant steering actuation device 302 provided in the embodiment of the present application may include: a power providing part 3021 and a transmission part 3022;

[0142] The redundant steering ECU 301 is in communication connection with the power supply unit 3021 , a part of the transmission unit 3022 is located inside the power supply unit 3021 , and the transmission unit 3022 is connected to the steering actuator 40 via the clutch 50 ;

[0143] The redundant steering ECU 301 is specifically used to: determine the power output size and power output direction of the power providing unit 3021 according to the latest steering target; send a power providing instruction to the power providing unit 3021, the power providing instruction carrying the power output size and power output direction;

[0144] The power providing unit 3021 is used to respond to the power providing instruction and output the power generated by the target medium to the transmission unit 3022 according to the power output size and the power output direction;

[0145] The transmission part 3022 is used to move according to the power generated by the target medium, so as to drive the steering actuator 40 to steer through the closed clutch 50.

[0146] In the embodiment of the present application, after being activated, the redundant steering ECU 301 can collect the steering wheel angle of the driver during driving, and calculate the required latest steering target according to the current state of the vehicle, where the latest steering target includes the direction of rotation and the angle of rotation. Then the redundant steering ECU 301 will determine the power output size and power output direction of the power supply unit 3021 according to the above latest steering target. It should be understood that the power output direction of the power supply unit 3021 is related to the direction of rotation in the latest steering target determined by the redundant steering ECU 301; the power output size of the power supply unit 3021 is positively correlated with the angle of rotation in the latest steering target determined by the redundant steering ECU 301.

[0147] On this basis, the redundant steering ECU 301 can control the power providing unit 3021 to generate the power output direction and power output size based on the target medium. The transmission unit 3022 will move under the action of the power generated by the target medium, thereby driving the steering actuator 40 to turn through the closed clutch 50.

[0148] The power supply unit 3021 that generates power based on different media is introduced in detail below.

[0149] Medium 1: The target medium is gas medium.

[0150] See also Figure 4 , is a schematic diagram of the structure of a power supply unit provided in an embodiment of the present application. Figure 2-Figure 4 As shown, based on the description of the function of the power providing unit 3021, the power providing unit 3021 provided in the embodiment of the present application may include: a high-pressure gas tank 601, a first pressure regulating valve 602, a second pressure regulating valve 603 and a sealed actuating cylinder 604;

[0151] The redundant steering ECU 301 is communicatively connected with the first pressure regulating valve 602 and the second pressure regulating valve 603; the first air outlet of the high-pressure gas tank 601 is connected with the air inlet of the first pressure regulating valve 602, the air outlet of the first pressure regulating valve 602 is connected with the first inlet of the actuating cylinder 604, the second air outlet of the high-pressure gas tank 601 is connected with the air inlet of the second pressure regulating valve 603, the air outlet of the second pressure regulating valve 603 is connected with the second inlet of the actuating cylinder 604, and a part of the transmission part 3022 is located inside the actuating cylinder 604 and is vertically arranged between the first inlet and the second inlet;

[0152] The redundant steering ECU 301 is specifically used for: determining the target pressure regulating valve to be adjusted and the target opening value between the corresponding air inlet and the air outlet according to the latest steering target, the target pressure regulating valve being the first pressure regulating valve 602 or the second pressure regulating valve 603; sending an opening adjustment instruction to the target pressure regulating valve, the opening adjustment instruction carrying the target opening value;

[0153] The target pressure regulating valve is used to respond to the opening adjustment instruction and adjust its own opening value to the target opening value, so that the high-pressure gas in the high-pressure gas tank enters the target inlet of the actuating cylinder 604 through the target pressure regulating valve and applies power to the transmission part 3022. The target inlet is the first inlet or the second inlet.

[0154] In the embodiment of the present application, high-pressure gas is stored in the high-pressure gas tank 601, and the initial gas pressure of the high-pressure gas is [13 bar, 15 bar]. The high-pressure gas tank 601 is connected to the first inlet of the actuating cylinder 604 through the first pressure regulating valve 602, and the high-pressure gas tank 601 is connected to the second inlet of the actuating cylinder 604 through the second pressure regulating valve 603. A part of the transmission part 3022 is located inside the actuating cylinder 604 and is vertically arranged between the first inlet and the second inlet (not shown in the figure). In the actual working process, the target pressure regulating valve in the first pressure regulating valve 602 or the second pressure regulating valve 603 can be controlled to open to the target opening value, so that the high-pressure gas in the high-pressure gas tank 601 enters the actuating cylinder 604 through the target pressure regulating valve and the target inlet, and applies a specific direction of power to the transmission part 3022 located in the actuating cylinder 604. It should be understood that after the high-pressure gas in the high-pressure gas tank 601 enters the actuating cylinder 604 through the first pressure regulating valve 602 and the first inlet, the direction of the power applied to the transmission part 3022 is opposite to the direction of the power applied to the transmission part 3022 after the high-pressure gas in the high-pressure gas tank 601 enters the actuating cylinder 604 through the second pressure regulating valve 603 and the second inlet. Therefore, the transmission part 3022 can also transmit power in different directions to the steering actuator 40, thereby meeting the steering requirements of the vehicle in different directions.

[0155] It is worth noting that the actuating cylinder 604 has a certain volume, and it takes a certain amount of time for the high-pressure gas in the high-pressure gas tank 601 to enter the actuating cylinder 604 and build up a certain pressure in the actuating cylinder 604. Therefore, in order to ensure that the high-pressure gas in the high-pressure gas tank 601 can build up a certain pressure relatively quickly after flowing into the actuating cylinder 604, some gas will also be stored inside the actuating cylinder 604. In the actual working process, the high-pressure gas flowing into the actuating cylinder 604 can build up pressure together with the gas originally stored in the actuating cylinder 604, thereby shortening the pressure building time. Then, under the action of the high-pressure gas flowing into the actuating cylinder 604, the transmission part 3022 will move. Then, during the movement of the transmission part 3022, the gas in the actuating cylinder 604 will inevitably be squeezed. It should be understood that since the gas is compressible, in one possible embodiment, the gas squeezed by the transmission part 3022 does not need to be discharged from the actuating cylinder 604. However, since the gas cannot be infinitely compressed, when the gas squeezed by the transmission part 3022 is not discharged, it can be considered that the displacement that can be performed by the transmission part 3022 is limited, and thus can only support steering within a limited angular range of the steering actuator 40. In another possible embodiment, the first pressure regulating valve 602 and the second pressure regulating valve 603 are both two-position three-way valves, and are configured so that the air outlet and the exhaust port are connected in the initial state. The other pressure regulating valve in the first pressure regulating valve 602 and the second pressure regulating valve 603, except the target pressure regulating valve, is also used to discharge the gas squeezed by the transmission part 3022 under the action of the high-pressure gas flowing into the actuating cylinder 604 into the atmosphere through the air outlet and the exhaust port that are connected to each other, so that it is easier to push the transmission part 3022 to move quickly, thereby increasing the steering speed of the steering actuator 40. At the same time, the transmission part 3022 can be displaced more, thereby supporting the steering actuator 40 to turn within a larger turning angle range.

[0156] Medium 2: The target medium is liquid medium.

[0157] See also Figure 5 , is a schematic diagram of the structure of a power supply unit 3021 provided in an embodiment of the present application. Figure 2-Figure 3 as well as Figure 5 As shown, based on the description of the function of the power providing unit 3021, the power providing unit 3021 provided in the embodiment of the present application may include: an accumulator 605, a first pressure regulating valve 606, a second pressure regulating valve 607 and a hydraulic cylinder 608;

[0158] The redundant steering ECU 301 is in communication connection with the first pressure regulating valve 606 and the second pressure regulating valve 607. The first liquid outlet of the accumulator 605 is connected to the liquid inlet of the first pressure regulating valve 606, and the liquid outlet of the first pressure regulating valve 606 is connected to the first inlet of the hydraulic cylinder 608; the second liquid outlet of the accumulator 605 is connected to the liquid inlet of the second pressure regulating valve 607, and the liquid outlet of the second pressure regulating valve is connected to the second inlet of the hydraulic cylinder 608. A part of the transmission part 3022 is located inside the hydraulic cylinder 608 and is vertically arranged between the first inlet and the second inlet.

[0159] The redundant steering ECU 301 is specifically used for: determining a first target opening value between a first target pressure regulating valve to be adjusted and a corresponding liquid inlet and a liquid outlet according to the latest steering target, wherein the first target pressure regulating valve is the first pressure regulating valve 606 or the second pressure regulating valve 607; sending a first opening adjustment instruction to the first target pressure regulating valve, wherein the first opening adjustment instruction carries the first target opening value;

[0160] The first target pressure regulating valve adjusts its opening value to the first target opening value in response to the first opening adjustment instruction, so that the high-pressure liquid in the accumulator 605 enters the target inlet of the hydraulic cylinder 608 through the first target pressure regulating valve and applies power to the transmission part 3022. The target inlet is the first inlet or the second inlet.

[0161] In the embodiment of the present application, the accumulator 605 is connected to the first inlet of the hydraulic cylinder 608 through the first pressure regulating valve 606, and the accumulator 605 is connected to the second inlet of the hydraulic cylinder 608 through the second pressure regulating valve 607. A portion of the transmission part 3022 is located inside the hydraulic cylinder 608 and between the first inlet and the second inlet (not shown in the figure). During the actual operation, the first target pressure regulating valve 606 or the second pressure regulating valve 606 can be controlled to open to a first target opening value, so that the high-pressure liquid in the accumulator 605 enters the hydraulic cylinder 608 through the first target pressure regulating valve and the target inlet, and applies power in a specific direction to the transmission part 3022 located in the hydraulic cylinder 608. It should be understood that after the high-pressure liquid in the accumulator 605 enters the hydraulic cylinder 608 through the first pressure regulating valve 606 and the first inlet, the direction of the power applied to the transmission part 3022 is opposite to the direction of the power applied to the transmission part 3022 after the high-pressure liquid in the accumulator 605 enters the hydraulic cylinder 608 through the second pressure regulating valve 607 and the second inlet. Therefore, the transmission part 3022 can also transmit power in different directions to the steering actuator 40, thereby meeting the steering requirements of the vehicle in different directions.

[0162] It is worth noting that, considering that the hydraulic cylinder 608 has a certain volume, it takes a certain amount of time for the high-pressure liquid in the accumulator 605 to enter the hydraulic cylinder 608 and build up a certain pressure in the hydraulic cylinder 608. Therefore, in order to ensure that the high-pressure liquid in the accumulator 605 can build up a certain pressure relatively quickly after flowing into the hydraulic cylinder 608, some liquid will also be stored inside the hydraulic cylinder 608 (the liquid originally stored in the hydraulic cylinder 608 may not be full or may be full). In the actual working process, the high-pressure liquid flowing into the hydraulic cylinder 608 can build up pressure together with the liquid originally stored in the hydraulic cylinder 608, thereby shortening the pressure building time. Then, under the action of the high-pressure liquid flowing into the hydraulic cylinder 608, the transmission part 3022 will move. In a possible embodiment, if the liquid originally stored in the hydraulic cylinder 608 is not full, and the liquid is not discharged when it is squeezed by the transmission part 3022, since the liquid cannot be compressed, it can be considered that the displacement that the transmission part 3022 can perform is limited, and thus can only support the steering actuator 40 to rotate within a limited angular range.

[0163] In another possible embodiment, the liquid originally stored in the hydraulic cylinder 608 can be discharged when squeezed by the transmission part 3022, which means that the transmission part 3022 can perform a larger displacement, thereby supporting the steering actuator 40 to steer within a larger angular range.

[0164] See also Figure 6 , is a schematic diagram of the structure of a power supply unit 3021 provided in an embodiment of the present application. Figure 2-Figure 3 as well as Figure 6 As shown, based on the description of the function of the power providing unit 3021, the power providing unit 3021 provided in the embodiment of the present application further includes: a liquid storage tank 609, a third pressure regulating valve 610 and a fourth pressure regulating valve 611;

[0165] The redundant steering ECU 301 is respectively connected to the third pressure regulating valve 610 and the fourth pressure regulating valve 611 for communication, the first liquid inlet of the liquid storage tank 609 is connected to the liquid outlet of the third pressure regulating valve 610, the liquid inlet of the third pressure regulating valve 611 is connected to the first outlet of the hydraulic cylinder 608, and the first outlet is located on one side of the transmission part 3022, the second liquid inlet of the liquid storage tank 609 is connected to the liquid outlet of the fourth pressure regulating valve 611, the liquid inlet of the fourth pressure regulating valve 611 is connected to the second outlet of the hydraulic cylinder 608, and the second outlet is located on the other side of the transmission part 3022;

[0166] The redundant steering ECU 301 is specifically used for: determining a second target opening value between a second target pressure regulating valve to be adjusted and a corresponding liquid inlet and a liquid outlet according to the latest steering target, wherein the second target pressure regulating valve is the third pressure regulating valve 610 or the fourth pressure regulating valve 611; sending a second opening adjustment instruction to the second target pressure regulating valve, wherein the second opening adjustment instruction carries the second target opening value;

[0167] The second target pressure regulating valve adjusts its opening value to the second target opening value in response to the second opening adjustment instruction, so that the liquid squeezed by the transmission part 3022 in the hydraulic cylinder 608 under the action of the inflowing high-pressure liquid flows back to the liquid storage tank 609 through the second target pressure regulating valve.

[0168] In an embodiment of the present application, the first inlet and the first outlet of the hydraulic cylinder 608 may both be located on one side of the transmission part 3022, and the second inlet and the second outlet of the hydraulic cylinder 608 may both be located on the other side of the transmission part 3022; or, the first inlet and the second outlet of the hydraulic cylinder 608 may both be located on one side of the transmission part 3022, and the second inlet and the first outlet of the hydraulic cylinder 608 may both be located on the other side of the transmission part 3022, and the present application does not impose any particular restrictions on this.

[0169] Taking the example that the first inlet and the first outlet of the hydraulic cylinder 608 can both be located on one side of the transmission part 3022, and the second inlet and the second outlet of the hydraulic cylinder 608 can both be located on the other side of the transmission part 3022, if the high-pressure liquid in the accumulator 605 enters the hydraulic cylinder 608 through the first pressure regulating valve 606 and the first inlet, it will push the transmission part 3022 to move, and the liquid squeezed by the transmission part 3022 will flow back to the liquid storage tank 609 through the second outlet and the fourth pressure regulating valve 611; conversely, if the high-pressure liquid in the accumulator 605 enters the hydraulic cylinder 608 through the second pressure regulating valve 607 and the second inlet, it will also push the transmission part 3022 to move (opposite to the movement direction of the previous case), and the liquid squeezed by the transmission part 3022 will flow back to the liquid storage tank 609 through the first outlet and the third pressure regulating valve 611.

[0170] In some embodiments, the liquid in the liquid storage tank 609 can also be transferred back to the accumulator 605, so that when the main steering subsystem 20 fails again in the subsequent process, the redundant steering subsystem 30 can be used again to drive the steering actuator 40 to perform steering.

[0171] See also Figure 7 , is a schematic diagram of the structure of a power supply unit 3021 provided in an embodiment of the present application. Figure 2-Figure 3 as well as Figure 7As shown, the power providing unit 3021 further includes: a hydraulic pump 612, the hydraulic pump 612 is arranged between the accumulator 605 and the liquid storage tank 609, and the redundant steering ECU 301 is in communication connection with the hydraulic pump 612;

[0172] The redundant steering ECU 301 is also used to send a start command to the hydraulic pump 612;

[0173] The hydraulic pump 612 is used to start in response to a start instruction and to pump liquid from the liquid storage tank 609 and transfer it back to the accumulator 605 .

[0174] In the embodiment of the present application, the redundant steering ECU 301 can control the hydraulic pump 612 to extract the liquid in the liquid storage tank 609 and then transfer it back to the accumulator 605. The timing of the hydraulic pump 612 extracting the liquid can be when the liquid in the hydraulic cylinder 608 flows into the liquid storage tank 609, or after the liquid in the hydraulic cylinder 608 stops flowing into the liquid storage tank 609, and the present application does not impose any special restrictions on this.

[0175] Medium 3: The target medium is a magnetic field medium.

[0176] See also Figure 8 , is a schematic diagram of the structure of a power supply unit 3021 provided in an embodiment of the present application. Figure 2-Figure 3 as well as Figure 8 As shown, based on the description of the function of the power providing unit 3021, the power providing unit 3021 provided in the embodiment of the present application may include: an electromagnetic coil 613 and a power supply device 614;

[0177] The redundant steering ECU 301 is in communication connection with the power supply device 614, the power supply device 614 is electrically connected with the electromagnetic coil 613, and a part of the transmission part 3022 is located inside the electromagnetic coil 613;

[0178] The redundant steering ECU 301 is specifically used to: determine the target current magnitude and target current direction of the electromagnetic coil 613 according to the latest steering target; send a power-on instruction to the power supply device 614, wherein the power-on instruction carries the target current magnitude and target current direction;

[0179] In response to the power-on instruction, the power supply device 614 supplies power to the electromagnetic coil 613 based on the target current magnitude and the target current direction, so that the electromagnetic coil 613 applies an electromagnetic force to the transmission part 3022 .

[0180] In the embodiment of the present application, the redundant steering ECU 301 can control the power supply device 614 to output a current of a target current magnitude and a target current direction to the electromagnetic coil 613, so that an electromagnetic force in a target direction can be generated in the battery coil 613. Since a part of the transmission part 3022 is located inside the electromagnetic coil 613 (not shown in the figure), the transmission part 3022 will be subjected to the electromagnetic force applied by the electromagnetic coil 613. It should be understood that the direction of the electromagnetic force exerted on the transmission part 3022 is related to the direction of the current in the electromagnetic coil 613. The direction of the electromagnetic force exerted on the transmission part 3022 can be changed by changing the direction of the current in the electromagnetic coil 613. Similarly, the magnitude of the electromagnetic force exerted on the transmission part 3022 can also be changed by changing the magnitude of the current in the electromagnetic coil 613.

[0181] The working principle of the redundant actuating device 302 composed of different transmission parts 3022 and different power providing parts 3021 is described in detail below.

[0182] When the power supply unit 3021 is Figure 4 As shown, the transmission portion 3022 has two possible structures.

[0183] See also Fig. 9 , is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and Fig. 9 As shown, based on the description of the function of the transmission part 3022, a possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a piston 701, a first piston push rod 702 and a second piston push rod 703;

[0184] The piston 701 is vertically arranged in the actuating cylinder 604 to form a first chamber and a second chamber. The air outlet of the first pressure regulating valve 602 is connected to the first chamber in the actuating cylinder 604 through the first inlet of the actuating cylinder 604, and the air outlet of the second pressure regulating valve 603 is connected to the second chamber in the actuating cylinder 604 through the second inlet of the actuating cylinder 604. The first piston push rod 702 is vertically connected to the first side of the piston 701 and passes through the first chamber to connect to the clutch 50. The second piston push rod 703 is vertically connected to the second side of the piston 701 and passes through the second chamber to connect to the clutch 50.

[0185] The piston 701 is used to drive the steering actuator 40 to steer under the power generated by the high-pressure gas in the target chamber through the first piston push rod 702 and the second piston push rod 703 and the closed clutch 50.

[0186] In the embodiment of the present application, it can be considered that equal amounts of gas are pre-stored in the first chamber and the second chamber. At this time, the piston 701 is located in the middle position of the actuating cylinder 604 and is in a stationary state.

[0187] When the redundant steering ECU 301 determines that the current steering target is the target angle of the steering actuator 40 to turn left, the redundant steering ECU 301 can control the opening value of the first pressure regulating valve 602 to be the target opening value, and the second pressure regulating valve 603 is configured so that the gas outlet and the exhaust port are connected, and the gas inlet and the gas outlet are not connected. Then the high-pressure gas in the high-pressure gas tank 601 will enter the first chamber of the actuating cylinder 604 through the first pressure regulating valve 602 and the first inlet. As the amount of gas in the first chamber of the actuating cylinder 604 increases, and the amount of gas in the second chamber does not increase, the pressure of the first chamber will be greater than the pressure of the second chamber, and the piston 701 located between the first chamber and the second chamber will be subjected to the rightward force. Since the piston 701, the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure is subjected to the rightward force, and the integrated structure will continue to move rightward as a whole, thereby driving the steering actuator 40 to rotate to the left to the target angle. At the same time, as the integrated structure continues to move rightward as a whole, the gas in the second chamber squeezed by the piston 701 in the integrated structure will be discharged into the atmosphere through the exhaust port of the second pressure regulating valve 603 .

[0188] It should be understood that in the above embodiment, the relationship between the target opening value of the first pressure regulating valve 602, the displacement of the above-mentioned integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the control algorithm actually used. When the first pressure regulating valve 602 is closed also depends on the control algorithm actually used. This application does not impose any special restrictions.

[0189] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the opening value of the second pressure regulating valve 603 to be the target opening value, and the first pressure regulating valve 602 is configured so that the gas outlet is connected to the exhaust port, and the gas inlet and the gas outlet are not connected. Then the high-pressure gas in the high-pressure gas tank 601 will enter the second chamber of the actuating cylinder 604 through the second pressure regulating valve 603 and the second inlet. As the amount of gas in the second chamber of the actuating cylinder 604 increases, and the amount of gas in the first chamber does not increase, the pressure of the second chamber will be greater than the pressure of the first chamber, and the piston 701 located between the first chamber and the second chamber will be subjected to leftward force. Since the piston 701, the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure is subjected to leftward force, and the integrated structure will continue to move to the left, thereby driving the steering actuator 40 to turn rightward to the target angle. At the same time, as the integrated structure continues to move leftward as a whole, the gas in the first chamber squeezed by the piston 701 in the integrated structure will be discharged into the atmosphere through the exhaust port of the first pressure regulating valve 602 .

[0190] It should be understood that in the above embodiment, the relationship between the target opening value of the second pressure regulating valve 603, the displacement of the above-mentioned integrated structure, and the target angle of the steering actuator 40 for turning right depends on the control algorithm actually used. At the same time, when the second pressure regulating valve 603 is closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0191] See also Fig.10 , is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and Fig.10 As shown, based on the description of the function of the transmission part 3022, another possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a first piston 704, a second piston 705, a fixed baffle 706, a first piston push rod 707 and a second piston push rod 708;

[0192] The fixed baffle 706 is vertically arranged in the actuating cylinder 604 to form a first chamber and a second chamber. The first piston 704 is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle 706 and a second sub-chamber close to the fixed baffle 706. The second piston 705 is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle 706 and a fourth sub-chamber away from the fixed baffle 706. The air outlet of the first pressure regulating valve 602 is connected to the actuating cylinder 604. The first inlet of the second pressure regulating valve 604 is connected to the second sub-chamber in the actuating cylinder 604, and the gas outlet of the second pressure regulating valve 603 is connected to the third sub-chamber in the actuating cylinder 604 through the second inlet of the actuating cylinder 604; the first piston push rod 707 is vertically connected to the side of the first piston 704 away from the fixed baffle 706, and passes through the first sub-chamber to connect with the clutch 50, and the second piston push rod 708 is vertically connected to the side of the second piston 708 away from the fixed baffle 706, and passes through the fourth sub-chamber to connect with the clutch 50;

[0193] The target piston is used to drive the steering actuator 40 to steer under the action of high-pressure gas in the target chamber through the first piston push rod 707, the second piston push rod 708 and the closed clutch 50, wherein when the target chamber is the second sub-chamber, the target piston is the first piston 701; when the target chamber is the third sub-chamber, the target piston is the second piston 702.

[0194] In the embodiment of the present application, the second sub-chamber and the third sub-chamber of the actuating cylinder 604 are pre-stored with equal amounts of gas. At this time, the first piston 704 is in the middle position of the first chamber, the second piston 705 is in the middle position of the second chamber, and the first piston 704 and the second piston 705 are both in a stationary state.

[0195] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn left, the redundant steering ECU 301 can control the opening value of the second pressure regulating valve 603 to be the target opening value, and the first pressure regulating valve 602 is configured so that the gas outlet and the exhaust port are connected, and the gas inlet and the gas outlet are not connected. Then the high-pressure gas in the high-pressure gas tank 601 will enter the third sub-chamber of the actuating cylinder 604 through the second pressure regulating valve 603 and the second inlet. As the amount of gas in the third sub-chamber of the actuating cylinder 604 increases, and the amount of gas in the second sub-chamber does not increase, the pressure of the third sub-chamber will be greater than the pressure of the second sub-chamber, and the rightward pressure on the second piston 705 will be greater than the leftward pressure on the first piston 704. Since the first piston 704, the second piston 705, the first piston push rod 707, the second piston push rod 708 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a rightward force, and the integrated structure as a whole will continue to move rightward, thereby driving the steering actuator 40 to rotate to the left by the target angle. At the same time, as the above-mentioned integrated structure as a whole continues to move rightward, the gas squeezed by the first piston 704 in the integrated structure in the second sub-chamber will be discharged into the atmosphere through the exhaust port of the first pressure regulating valve 602.

[0196] It should be understood that in the above embodiment, the relationship between the target opening value of the second pressure regulating valve 603, the displacement of the above-mentioned integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the control algorithm actually used. At the same time, when the second pressure regulating valve 603 is closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0197] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the opening value of the first pressure regulating valve 602 to be the target opening value, and the second pressure regulating valve 603 is configured so that the gas outlet and the exhaust port are connected, and the gas inlet and the gas outlet are not connected. Then the high-pressure gas in the high-pressure gas tank 601 will enter the second sub-chamber of the actuating cylinder 604 through the first pressure regulating valve 602 and the first inlet. As the amount of gas in the second sub-chamber of the actuating cylinder 604 increases, and the amount of gas in the third sub-chamber does not increase, the pressure of the second sub-chamber will be greater than the pressure of the third sub-chamber, and the pressure to the left of the first piston 704 will be greater than the pressure to the right of the second piston 705. Since the first piston 704, the second piston 705, the first piston push rod 707, the second piston push rod 708 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a leftward force, and the integrated structure as a whole will continue to move to the left, thereby driving the steering actuator 40 to rotate rightward to the target angle. At the same time, as the above-mentioned integrated structure as a whole continues to move to the left, the gas squeezed by the second piston 705 in the integrated structure in the third sub-chamber will be discharged into the atmosphere through the exhaust port of the second pressure regulating valve 603.

[0198] It should be understood that in the above embodiment, the relationship between the target opening value of the first pressure regulating valve 602, the displacement of the above-mentioned integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the control algorithm actually used. At the same time, when the first pressure regulating valve 602 is closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0199] When the power supply unit 3021 is Figure 5 As shown, the transmission portion 3022 has two possible structures.

[0200] See also Fig.11 , is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and Fig.11 As shown, based on the description of the function of the transmission part 3022, a possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a piston 701, a first piston push rod 702 and a second piston push rod 703;

[0201] The piston 701 is vertically arranged in the hydraulic cylinder 608 to form a first chamber and a second chamber. The liquid outlet of the first pressure regulating valve 606 is connected to the first chamber in the hydraulic cylinder 608 through the first inlet of the hydraulic cylinder 608, and the liquid outlet of the second pressure regulating valve 607 is connected to the second chamber in the hydraulic cylinder 608 through the second inlet of the hydraulic cylinder 608. The first piston push rod 702 is vertically connected to the first side of the piston 701 and is connected to the clutch 50 through the first chamber. The second piston push rod 703 is vertically connected to the second side of the piston 701 and is connected to the clutch 50 through the second chamber.

[0202] The piston 701 is used to drive the steering actuator 40 to steer under the power generated by the high-pressure liquid in the target chamber through the first piston push rod 702, the second piston push rod 703 and the closed clutch 50.

[0203] In the embodiment of the present application, it can be considered that equal amounts of liquid are pre-stored in the first chamber and the second chamber. At this time, the piston 701 is located in the middle position of the hydraulic cylinder 608 and is in a stationary state.

[0204] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn left, the redundant steering ECU 301 can control the opening value of the first pressure regulating valve 606 to be the target opening value. Then the high-pressure liquid in the accumulator 605 will enter the first chamber of the hydraulic cylinder 608 through the first pressure regulating valve 606 and the first inlet. As the amount of liquid in the first chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the second chamber does not increase, the pressure of the first chamber will be greater than the pressure of the second chamber, and the piston 701 located between the first chamber and the second chamber will be subjected to rightward force. Since the piston 701, the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure is subjected to rightward force, and the integrated structure will continue to move rightward as a whole, thereby driving the steering actuator 40 to rotate to the left to the target angle. It is worth noting that in this embodiment, during the movement of the integrated structure to the right, the liquid squeezed in the second chamber by the piston 701 in the integrated structure cannot be discharged, which means that when the liquid pre-stored in the second chamber does not fill the second chamber, the integrated structure can make a limited displacement to the right, and thus the angle of rotation of the steering actuator 40 to the left is also limited.

[0205] It should be understood that in the above embodiment, the relationship between the target opening value of the first pressure regulating valve 606, the displacement of the integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the actual control algorithm used. At the same time, when the first pressure regulating valve 606 is closed also depends on the actual control algorithm used, and this application does not impose any special restrictions.

[0206] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the opening value of the second pressure regulating valve 607 to be the target opening value. Then the high-pressure liquid in the accumulator 605 will enter the second chamber of the hydraulic cylinder 608 through the second pressure regulating valve 607 and the second inlet. As the amount of liquid in the second chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the first chamber does not increase, the pressure of the second chamber will be greater than the pressure of the first chamber, and the piston 701 located between the first chamber and the second chamber will be subjected to leftward force. Since the piston 701, the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure is subjected to leftward force, and the integrated structure will continue to move to the left, thereby driving the steering actuator 40 to turn rightward to the target angle. It is worth noting that in this embodiment, during the movement of the integrated structure to the left, the liquid squeezed in the first chamber by the piston 701 in the integrated structure cannot be discharged, which means that when the liquid pre-stored in the first chamber does not fill the first chamber, the integrated structure can make a limited displacement to the left, and thus the angle of rotation of the steering actuator 40 to the right is also limited.

[0207] It should be understood that in the above embodiment, the relationship between the target opening value of the second pressure regulating valve 607, the displacement of the integrated structure, and the target angle of the steering actuator 40 for turning right depends on the control algorithm actually used. At the same time, when the second pressure regulating valve 607 is closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0208] See also Fig.12 , is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and Fig.12 As shown, based on the description of the function of the transmission part 3022, another possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a first piston 704, a second piston 705, a fixed baffle 706, a first piston push rod 707 and a second piston push rod 708;

[0209] The fixed baffle 706 is vertically arranged in the hydraulic cylinder 608 to form a first chamber and a second chamber, the first piston 704 is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle 706 side and a second sub-chamber close to the fixed baffle 706 side, the second piston 705 is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle 706 side and a fourth sub-chamber away from the fixed baffle 706 side, the liquid outlet of the first pressure regulating valve 606 is connected to the second sub-chamber in the hydraulic cylinder 608 through the first inlet of the hydraulic cylinder 608, and the liquid outlet of the second pressure regulating valve 607 is connected to the third sub-chamber in the hydraulic cylinder 608 through the second inlet of the hydraulic cylinder 608; the first piston push rod 707 is vertically connected to the first piston 704 away from the fixed baffle 706 side, and passes through the first sub-chamber to connect with the clutch 50, and the second piston push rod 707 is vertically connected to the second piston 705 away from the fixed baffle 706 side, and passes through the fourth sub-chamber to connect with the clutch 50;

[0210] The target piston is used to drive the steering actuator 40 to steer under the action of high-pressure liquid in the target chamber through the first piston push rod 707, the second piston push rod 708 and the closed clutch 50, wherein when the target chamber is the second sub-chamber, the target piston is the first piston 704; when the target chamber is the third sub-chamber, the target piston is the second piston 705.

[0211] In the embodiment of the present application, the second sub-chamber and the third sub-chamber of the hydraulic cylinder 608 are pre-stored with equal amounts of liquid. At this time, the first piston 704 is in the middle position of the first chamber, the second piston 705 is in the middle position of the second chamber, and the first piston 704 and the second piston 705 are both in a stationary state.

[0212] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn left, the redundant steering ECU 301 can control the opening value of the second pressure regulating valve 607 to be the target opening value. Then the high-pressure liquid in the accumulator 605 will enter the third sub-chamber of the hydraulic cylinder 608 through the second pressure regulating valve 607 and the second inlet. As the amount of liquid in the third sub-chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the second sub-chamber does not increase, the pressure of the third sub-chamber will be greater than the pressure of the second sub-chamber, and the rightward pressure on the second piston 705 will be greater than the leftward pressure on the first piston 704. Since the first piston 704, the second piston 705, the first piston push rod 707, the second piston push rod 708 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a rightward force, and the integrated structure as a whole will continue to move to the right, thereby driving the steering actuator 40 to rotate to the left by the target angle. It is worth noting that in this embodiment, during the movement of the integrated structure to the right, the liquid squeezed in the second sub-chamber by the first piston 704 in the integrated structure cannot be discharged, which means that when the liquid pre-stored in the second sub-chamber does not fill the second sub-chamber, the integrated structure can make a limited displacement to the right, and thus the angle of rotation of the steering actuator 40 to the left is also limited.

[0213] It should be understood that in the above embodiment, the relationship between the target opening value of the second pressure regulating valve 607, the displacement of the above integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the actual control algorithm used, and this application does not impose any special restrictions.

[0214] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the opening value of the first pressure regulating valve 606 to be the target opening value. Then the high-pressure liquid in the accumulator 605 will enter the second sub-chamber of the hydraulic cylinder 608 through the first pressure regulating valve 606 and the first inlet. As the amount of liquid in the second sub-chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the third sub-chamber does not increase, the pressure of the second sub-chamber will be greater than the pressure of the third sub-chamber, and the leftward pressure on the first piston 704 will be greater than the rightward pressure on the second piston 705. Since the first piston 704, the second piston 705, the first piston push rod 707, the second piston push rod 708 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a leftward force, and the integrated structure as a whole will continue to move to the left, thereby driving the steering actuator 40 to rotate to the right to the target angle. It is worth noting that in this embodiment, during the movement of the integrated structure to the left, the liquid squeezed in the third sub-chamber by the second piston 705 in the integrated structure cannot be discharged, which means that when the liquid pre-stored in the third sub-chamber does not fill the third sub-chamber, the integrated structure can make a limited displacement to the left, and thus the angle of rotation of the steering actuator 40 to the right is also limited.

[0215] It should be understood that in the above embodiment, the relationship between the target opening value of the first pressure regulating valve 606, the displacement of the above-mentioned integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the control algorithm actually used. At the same time, when the first pressure regulating valve 606 is closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0216] When the power supply unit 3021 is Figure 6 As shown, the transmission portion 3022 has two possible structures.

[0217] See also Fig.13 , is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and 13 As shown, based on the description of the function of the transmission part 3022, a possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a piston 701, a first piston push rod 702 and a second piston push rod 703;

[0218] Among them, the piston 701 is vertically arranged in the hydraulic cylinder 608 to form a first chamber and a second chamber, the liquid outlet of the first pressure regulating valve 606 is connected to the first chamber in the hydraulic cylinder 608 through the first inlet of the hydraulic cylinder 608, and the liquid outlet of the second pressure regulating valve 607 is connected to the second chamber in the hydraulic cylinder 608 through the second inlet of the hydraulic cylinder 608; the liquid inlet of the third pressure regulating valve 610 is connected to the first chamber of the hydraulic cylinder 608 through the first outlet of the hydraulic cylinder 608; the liquid inlet of the fourth pressure regulating valve 611 is connected to the second chamber of the hydraulic cylinder 608 through the second outlet of the hydraulic cylinder 608; the first piston push rod 702 is vertically connected to the first side of the piston 701, and passes through the first chamber to connect to the clutch 50; the second piston push rod 702 is vertically connected to the second side of the piston 701, and passes through the second chamber to connect to the clutch 50;

[0219] The piston 701 is used to drive the steering actuator 40 to steer through the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 under the power generated by the high-pressure liquid in the target chamber; wherein, when the target chamber is the first chamber, the liquid in the second chamber flows back to the liquid storage tank 609 through the fourth pressure regulating valve 611 under the squeezing of the piston 701; when the target chamber is the second chamber, the liquid in the first chamber flows back to the liquid storage tank 609 through the third pressure regulating valve 610 under the squeezing of the piston 701.

[0220] In the embodiment of the present application, it can be considered that equal amounts of liquid are pre-stored in the first chamber and the second chamber. At this time, the piston 701 is located in the middle position of the hydraulic cylinder 608 and is in a stationary state.

[0221] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn left, the redundant steering ECU 301 can control the opening value of the first pressure regulating valve 606 to be the first target opening value, and the opening value of the fourth pressure regulating valve to be the second target opening value. Then the high-pressure liquid in the accumulator 605 will enter the first chamber of the hydraulic cylinder 608 through the first pressure regulating valve 606 and the first inlet. As the amount of liquid in the first chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the second chamber does not increase, the pressure of the first chamber will be greater than the pressure of the second chamber, and the piston 701 located between the first chamber and the second chamber will be subjected to rightward force. Since the piston 701, the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure is subjected to rightward force, and the integrated structure will continue to move rightward as a whole, thereby driving the steering actuator 40 to rotate to the target angle to the left. At the same time, as the integrated structure continues to move rightward as a whole, the liquid in the second chamber squeezed by the piston 701 in the integrated structure will flow back to the liquid storage tank 609 through the fourth pressure regulating valve 611 .

[0222] It should be understood that in the above embodiment, the relationship between the first target opening value of the first pressure regulating valve 606, the second target opening value of the fourth pressure regulating valve 611, the displacement of the integrated structure, and the target angle of the left turn of the steering actuator 40 depends on the actual control algorithm used. At the same time, when the first pressure regulating valve 606 and the fourth pressure regulating valve 611 are closed also depends on the actual control algorithm used, and this application does not impose any special restrictions.

[0223] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the opening value of the second pressure regulating valve 607 to be the first target opening value, and the opening value of the third pressure regulating valve 610 to be the second target opening value. Then the high-pressure liquid in the accumulator 605 will enter the second chamber of the hydraulic cylinder 608 through the second pressure regulating valve 607 and the second inlet. As the amount of liquid in the second chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the first chamber does not increase, the pressure of the second chamber will be greater than the pressure of the first chamber, and the piston 701 located between the first chamber and the second chamber will be subjected to leftward force. Since the piston 701, the first piston push rod 702, the second piston push rod 703 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure is subjected to leftward force, and the integrated structure will continue to move to the left, thereby driving the steering actuator 40 to turn rightward to the target angle. At the same time, as the integrated structure continues to move leftward as a whole, the liquid in the first chamber squeezed by the piston 701 in the integrated structure will flow back to the liquid storage tank 609 through the third pressure regulating valve 610 .

[0224] It should be understood that in the above embodiment, the relationship between the first target opening value of the second pressure regulating valve 607, the second target opening value of the third pressure regulating valve 610, the displacement of the integrated structure, and the target angle of the steering actuator 40 for turning right depends on the control algorithm actually used. At the same time, when the second pressure regulating valve 607 and the third pressure regulating valve 610 are closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0225] It is worth noting that when the power supply unit 3021 is Figure 7 As shown, the redundant actuating device 302 is formed as Fig.14 As shown, Fig.14 Compared to Fig.13 The only difference is that: Fig.14 In the embodiment, a hydraulic pump 612 is provided between the accumulator 605 and the liquid storage tank 609, and the hydraulic pump 612 can transport the liquid in the liquid storage tank 609 back to the accumulator 605. Fig.13 In the embodiment, there is no hydraulic pump 612 between the accumulator 605 and the liquid storage tank 609, so the liquid in the liquid storage tank 609 cannot be transported back to the accumulator 605. It should be understood that Fig.14The other working processes of the redundant actuator 302 are shown in FIG. Fig.13 The redundant actuating devices 302 shown are the same and will not be described again here.

[0226] See also Fig.15 , is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and 15 As shown, based on the description of the function of the transmission part 3022, another possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a first piston 704, a second piston 705, a fixed baffle 706, a first piston push rod 707 and a second piston push rod 708;

[0227] The fixed baffle 706 is vertically arranged in the hydraulic cylinder 608 to form a first chamber and a second chamber. The first piston 704 is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle 706 and a second sub-chamber close to the fixed baffle 706. The second piston 705 is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle 706 and a fourth sub-chamber away from the fixed baffle 703. The liquid outlet of the first pressure regulating valve 606 is connected to the second sub-chamber in the hydraulic cylinder 608 through the first inlet of the hydraulic cylinder 608. The liquid outlet of the second pressure regulating valve 607 is connected to the second sub-chamber in the hydraulic cylinder 608 through the first inlet of the hydraulic cylinder 608. The second inlet of the hydraulic cylinder 608 is connected to the third sub-chamber in the hydraulic cylinder 608; the liquid inlet of the third pressure regulating valve 610 is connected to the second sub-chamber of the hydraulic cylinder 608 through the first outlet of the hydraulic cylinder 608, and the liquid inlet of the fourth pressure regulating valve 611 is connected to the third sub-chamber of the hydraulic cylinder 608 through the second outlet of the hydraulic cylinder 608; the first piston push rod 707 is vertically connected to the side of the first piston 704 away from the fixed baffle 706, and passes through the first sub-chamber to connect with the clutch 50, and the second piston push rod 708 is vertically connected to the side of the second piston 705 away from the fixed baffle 706, and passes through the fourth sub-chamber to connect with the clutch 50;

[0228] The target piston is used to drive the steering actuator 40 to steer under the action of high-pressure liquid in the target chamber through the first piston push rod 707, the second piston push rod 708 and the closed clutch 50, wherein, when the target chamber is the second sub-chamber, the target piston is the first piston 704, and the liquid in the third sub-chamber flows back to the liquid storage tank 609 through the fourth pressure regulating valve 611 under the squeezing of the second piston 705; when the target chamber is the third sub-chamber, the target piston is the second piston 705, and the liquid in the second sub-chamber flows back to the liquid storage tank 609 through the third pressure regulating valve 610 under the squeezing of the first piston 704.

[0229] In the embodiment of the present application, the second sub-chamber and the third sub-chamber of the hydraulic cylinder 608 are pre-stored with equal amounts of liquid. At this time, the first piston 704 is in the middle position of the first chamber, the second piston 705 is in the middle position of the second chamber, and the first piston 704 and the second piston 705 are both in a stationary state.

[0230] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn left, the redundant steering ECU 301 can control the opening value of the second pressure regulating valve 607 to be the first target opening value, and the opening value of the third pressure regulating valve 610 to be the second target opening value. Then the high-pressure liquid in the accumulator 605 will enter the third sub-chamber of the hydraulic cylinder 608 through the second pressure regulating valve 607 and the second inlet. As the amount of liquid in the third sub-chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the second sub-chamber does not increase, the pressure in the third sub-chamber will be greater than the pressure in the second sub-chamber, and the rightward pressure on the second piston 705 will be greater than the leftward pressure on the first piston 704. Since the first piston 704, the second piston 705, the first piston push rod 707, the second piston push rod 708 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a rightward force, and the integrated structure as a whole will continue to move rightward, thereby driving the steering actuator 40 to rotate to the left by the target angle. At the same time, as the above-mentioned integrated structure as a whole continues to move rightward, the liquid squeezed by the piston 704 in the integrated structure in the second sub-chamber will flow back to the liquid storage tank 609 through the third pressure regulating valve 610.

[0231] It should be understood that in the above embodiment, the relationship between the first target opening value of the second pressure regulating valve 607, the second target opening value of the third pressure regulating valve 610, the displacement of the integrated structure, and the target angle of the steering actuator 40 for turning left depends on the control algorithm actually used. At the same time, when the second pressure regulating valve 607 and the third pressure regulating valve 610 are closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0232] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the opening value of the first pressure regulating valve 606 to be the first target opening value, and the opening value of the fourth pressure regulating valve 611 to be the second target opening value. Then the high-pressure liquid in the accumulator 605 will enter the second sub-chamber of the hydraulic cylinder 608 through the first pressure regulating valve 606 and the first inlet. As the amount of liquid in the second sub-chamber of the hydraulic cylinder 608 increases, and the amount of liquid in the third sub-chamber does not increase, the pressure of the second sub-chamber will be greater than the pressure of the third sub-chamber, and the leftward pressure on the first piston 704 will be greater than the rightward pressure on the second piston 705. Since the first piston 704, the second piston 705, the first piston push rod 707, the second piston push rod 708 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a leftward force, and the integrated structure as a whole will continue to move to the left, thereby driving the steering actuator 40 to rotate rightward to the target angle. At the same time, as the above-mentioned integrated structure as a whole continues to move to the left, the liquid squeezed by the piston 705 in the integrated structure in the third sub-chamber will flow back to the liquid storage tank 609 through the fourth pressure regulating valve 611.

[0233] It should be understood that in the above embodiment, the relationship between the first target opening value of the first pressure regulating valve 606, the second target opening value of the fourth pressure regulating valve 611, the displacement of the integrated structure, and the target angle of the steering actuator 40 for turning right depends on the control algorithm actually used. At the same time, when the first pressure regulating valve 606 and the fourth pressure regulating valve 611 are closed also depends on the control algorithm actually used, and this application does not impose any special restrictions.

[0234] It is worth noting that when the power supply unit 3021 is Figure 7 As shown, the redundant actuating device 302 is formed as Fig.16 As shown, Fig.16 Compared to Fig.15 The only difference is that: Fig.16 In the embodiment, a hydraulic pump 612 is provided between the accumulator 605 and the liquid storage tank 609, and the hydraulic pump 612 can transport the liquid in the liquid storage tank 609 back to the accumulator 605. Fig.15 In the embodiment, there is no hydraulic pump 612 between the accumulator 605 and the liquid storage tank 609, so the liquid in the liquid storage tank 609 cannot be transported back to the accumulator 605. It should be understood that Fig.16 The other working processes of the redundant actuator 302 are shown in FIG. Fig.15 The redundant actuating devices 302 shown are the same and will not be described again here.

[0235] When the power supply unit 3021 is Figure 8 When shown, see Fig.17, is a schematic diagram of the structure of a redundant actuation device 302 provided in an embodiment of the present application. Figure 2 and 17 As shown, based on the description of the function of the transmission part 3022, a possible structure of the transmission part 3022 provided in the embodiment of the present application includes: a conductive slider 709, a first slider push rod 710 and a second slider push rod 711;

[0236] The conductive slider 709 is arranged inside the electromagnetic coil 613, the first slider push rod 711 is vertically connected to the first side of the conductive slider 701, and passes through the first end of the electromagnetic coil 613 to connect with the clutch 50; the second slider push rod 711 is vertically connected to the second side of the conductive slider 701, and passes through the second end of the electromagnetic coil 613 to connect with the clutch 50;

[0237] The conductive slider 709 is used to drive the steering actuator 40 to steer through the first sliding push rod 710 , the second sliding push rod 711 and the closed clutch 50 under the action of the electromagnetic force generated by the electromagnetic coil 613 .

[0238] In the embodiment of the present application, initially, the conductive slider 709 is located in the middle of the electromagnetic coil 613 and is in a stationary state.

[0239] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn left, the redundant steering ECU 301 can control the power supply device 614 to supply power to the electromagnetic coil 613 based on the target current size and the first target current direction. Then, an electromagnetic force to the right will be generated inside the electromagnetic coil 613. Since the conductive slider 709, the first sliding push rod 710, the second sliding push rod 711 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a rightward force, and the integrated structure as a whole will continue to move to the right, thereby driving the steering actuator 40 to turn left to the target angle.

[0240] It should be understood that in the above embodiment, the relationship between the current provided by the power supply device 614, the electromagnetic force generated by the electromagnetic coil 613, the displacement of the integrated structure, and the target angle of the steering actuator 40 for turning left depends on the actual control algorithm used. At the same time, when the power supply device 614 is powered off also depends on the actual control algorithm used, and this application does not impose any special restrictions.

[0241] When the redundant steering ECU 301 determines that the current steering target is the target angle for the steering actuator 40 to turn right, the redundant steering ECU 301 can control the power supply device 614 to supply power to the electromagnetic coil 613 based on the target current magnitude and the second target current direction, and then a left electromagnetic force will be generated inside the electromagnetic coil 613. Since the conductive slider 709, the first sliding push rod 710, the second sliding push rod 711 and the closed clutch 50 now form an integrated structure, it is equivalent to that the integrated structure as a whole is subjected to a left force, and the integrated structure as a whole will continue to move to the left, thereby driving the steering actuator 40 to turn right to the target angle. It should be understood that in the above embodiment, the first target current direction and the second target current direction are opposite current directions.

[0242] It should be understood that in the above embodiment, the relationship between the current provided by the power supply device 614, the electromagnetic force generated by the electromagnetic coil 613, the displacement of the integrated structure, and the target angle of the steering actuator 40 for turning right depends on the actual control algorithm used. At the same time, when the power supply device 614 is powered off also depends on the actual control algorithm used, and this application does not impose any special restrictions.

[0243] It is worth noting that Figure 1 or Figure 2 As shown, according to conventional data in the industry, the maximum unidirectional travel of the steering tie rod 401 in the steering actuator 40 is ≤90mm, generally 60~70mm; for the steering tie rod 401: the pull / push force ≥2kN can meet the normal steering requirements of the vehicle. The calculation formula of the electromagnetic force is shown in formula (1):

[0244] (1)

[0245] Among them, F is the electromagnet attraction, N is the number of coil turns, S is the cross-sectional area of ​​the magnetic circuit, δ is the air gap stroke, I is the current, and μ0 is the magnetic field constant.

[0246] When the air gap travel is 150mm and the electromagnet force is 2kN as the design target, the current can be set to 60A, the number of coil turns N can be set to 1115, and the magnetic circuit cross-sectional area S can be set to 0.016m 2 , thereby meeting the vehicle steering requirements while ensuring the miniaturization of the electromagnetic coil 613.

[0247] The present application also provides a steering control method for Figures 1 to 17 The redundant steering subsystem in the steering system shown, the process of the method is described as follows:

[0248] receiving an activation instruction from a controller, the activation instruction being sent by the controller when determining that a main steering subsystem fails;

[0249] activating in response to an activation command, and sending a closing command to the clutch after activation, the closing command being used to control the clutch to close;

[0250] After activation, the latest steering target is determined, and steering is performed according to the latest steering target and by driving the steering actuator through the closed clutch.

[0251] Optionally, steering is performed according to the latest steering target and by driving the steering actuator through the closed clutch, including:

[0252] The redundant steering actuator is controlled according to the latest steering target to generate power based on the target medium, and the power is used to drive the steering actuator to steer through the closed clutch; the target medium is a gas medium, a liquid medium or a magnetic field medium.

[0253] Optionally, redundant steering actuators are controlled to generate power based on target media according to the latest steering target, including:

[0254] Determine the power output size and power output direction of the power supply unit according to the latest steering target;

[0255] The power supply unit is controlled to output the power generated based on the target medium to the transmission unit according to the power output size and the power output direction, so that when the transmission unit moves according to the power generated by the target medium, the steering actuator is driven to steer through the closed clutch.

[0256] Optionally, determining the power output size and power output direction of the power providing unit according to the latest steering target includes:

[0257] The target pressure regulating valve to be adjusted and the target opening value between the corresponding air inlet and air outlet are determined according to the latest steering target, wherein the target pressure regulating valve is used to indicate the power output direction, the target opening value is used to indicate the power output size, and the target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve.

[0258] Optionally, controlling the power providing unit to output the power generated based on the target medium to the transmission unit according to the power output size and the power output direction includes:

[0259] The opening value of the target pressure regulating valve is adjusted to the target opening value so that the high-pressure gas in the high-pressure gas tank enters the target inlet of the actuating cylinder through the target pressure regulating valve and applies power to the transmission part. The target inlet is the first inlet or the second inlet.

[0260] Optionally, determining the power output size and power output direction of the power providing unit according to the latest steering target includes:

[0261] Determine a first target opening value between a first target pressure regulating valve to be adjusted and a corresponding liquid inlet and liquid outlet according to the latest steering target, the first target pressure regulating valve being the first pressure regulating valve or the second pressure regulating valve;

[0262] According to the latest steering target, the second target pressure regulating valve to be adjusted and the second target opening value between the corresponding liquid inlet and liquid outlet are determined, and the second target pressure regulating valve is the third pressure regulating valve or the fourth pressure regulating valve, wherein the determined first target pressure regulating valve and the second target pressure regulating valve are used to indicate the power output direction, and the determined first target opening value and the second target opening value are used to indicate the power output size.

[0263] Optionally, controlling the power providing unit to output the power generated based on the target medium to the transmission unit according to the power output size and the power output direction includes:

[0264] The opening value of the first target pressure regulating valve is adjusted to the first target opening value, so that the high-pressure liquid in the accumulator enters the target inlet of the hydraulic cylinder through the first target pressure regulating valve and applies power to the transmission part, and the target inlet is the first inlet or the second inlet;

[0265] The opening value of the second target pressure regulating valve is adjusted to the second target opening value, so that the liquid squeezed by the transmission part under the action of the high-pressure liquid flowing into the hydraulic cylinder flows back to the liquid storage tank through the second target pressure regulating valve.

[0266] Optionally, the method further includes:

[0267] Control the hydraulic pump to extract the liquid in the storage tank and send it back to the accumulator.

[0268] Optionally, determining the power output size and power output direction of the power providing unit according to the latest steering target includes:

[0269] The target current magnitude and target current direction of the electromagnetic coil are determined according to the latest steering target, wherein the target current magnitude is used to indicate the power output magnitude, and the target current direction is used to indicate the power output direction.

[0270] Optionally, controlling the power providing unit to output the power generated based on the target medium to the transmission unit according to the power output magnitude and the power output direction includes:

[0271] The power supply device is controlled to supply power to the electromagnetic coil based on the target current magnitude and the target current direction, so that the electromagnetic coil applies electromagnetic force to the transmission part.

[0272] See also Fig.18 The embodiment of the present application provides a vehicle 80, the vehicle 80 includes Figure 1-Figure 17For example, the vehicle 80 may be a pure electric vehicle, an extended-range vehicle, or a plug-in hybrid vehicle.

[0273] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A steering system, characterized in that: The steering system includes a controller, a main steering subsystem, a redundant steering subsystem, a steering actuator and a clutch; The controller is respectively connected to the main steering subsystem and the redundant steering subsystem in communication, the main steering subsystem is connected to the steering actuator, the redundant steering subsystem is connected to the steering actuator via the clutch, the redundant steering subsystem is connected to the clutch in communication, the clutch is in a normally-off state, and the main steering subsystem and the redundant steering subsystem are heterogeneous structures; The main steering subsystem is used to determine a steering target and control the steering actuator to perform steering based on the steering target; The controller is used to send an activation instruction to the redundant steering subsystem when determining that the main steering subsystem fails; The redundant steering subsystem is used to be activated in response to the activation instruction, and to send a closing instruction to the clutch after being activated, wherein the closing instruction is used to control the clutch to close; The clutch is used to perform a closing action in response to the closing instruction; The redundant steering subsystem is further used to determine the latest steering target after activation, and drive the steering actuator to steer based on the latest steering target and through the closed clutch.

2. The steering system according to claim 1, characterized in that: The redundant steering subsystem includes a redundant steering ECU and a redundant steering actuator; The redundant steering ECU is in communication connection with the controller, the clutch and the redundant steering actuator; the redundant steering actuator is connected with the steering actuator through the clutch; the redundant steering ECU is configured to be activated in response to the activation instruction and to send the closing instruction to the clutch after being activated; and determining the latest steering target after activation, and sending an actuation instruction to the redundant steering actuation device based on the latest steering target; the actuation instruction is used to control the redundant steering actuation device to drive the steering actuator to steer according to the latest steering target through the closed clutch; The redundant steering actuation device is used to respond to the actuation instruction, and drive the steering actuator to steer based on the power generated by the target medium and the closed clutch; the target medium is a gas medium, a liquid medium or a magnetic field medium.

3. The steering system according to claim 2, characterized in that: The redundant steering actuation device includes a power supply part and a transmission part; The redundant steering ECU is in communication with the power supply unit, a portion of the transmission unit is located inside the power supply unit, and the transmission unit is connected to the steering actuator through the clutch; The redundant steering ECU is specifically used to: determine the power output size and power output direction of the power providing unit according to the latest steering target; send a power providing instruction to the power providing unit, wherein the power providing instruction carries the power output size and the power output direction; The power providing unit is used to respond to the power providing instruction and output the power generated by the target medium to the transmission unit according to the power output size and the power output direction; The transmission part is used to move according to the power generated by the target medium, so as to drive the steering actuator to steer through the closed clutch.

4. The steering system according to claim 3, characterized in that: The power supply unit includes: a high-pressure gas tank, a first pressure regulating valve, a second pressure regulating valve and a sealed actuating cylinder; The redundant steering ECU is communicatively connected with the first pressure regulating valve and the second pressure regulating valve; the first air outlet of the high-pressure gas tank is connected with the air inlet of the first pressure regulating valve, the air outlet of the first pressure regulating valve is connected with the first inlet of the actuating cylinder, the second air outlet of the high-pressure gas tank is connected with the air inlet of the second pressure regulating valve, the air outlet of the second pressure regulating valve is connected with the second inlet of the actuating cylinder, and a part of the transmission part is located inside the actuating cylinder and is vertically arranged between the first inlet and the second inlet; The redundant steering ECU is specifically used to: determine a target pressure regulating valve to be adjusted and a target opening value between a corresponding air inlet and an air outlet according to the latest steering target, wherein the target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve; and send an opening adjustment instruction to the target pressure regulating valve, wherein the opening adjustment instruction carries the target opening value; The target pressure regulating valve is used to adjust its own opening value to the target opening value in response to the opening adjustment instruction, so that the high-pressure gas in the high-pressure gas tank enters the target inlet of the actuating cylinder through the target pressure regulating valve and applies power to the transmission part. The target inlet is the first inlet or the second inlet.

5. The steering system according to claim 4, characterized in that: The first pressure regulating valve and the second pressure regulating valve are both two-position three-way valves, and are configured so that their air outlet and exhaust port are connected in an initial state. The other pressure regulating valve among the first pressure regulating valve and the second pressure regulating valve, except the target pressure regulating valve, is also used to discharge the gas squeezed by the transmission part under the action of the high-pressure gas flowing into the actuating cylinder into the atmosphere through their own connected air outlet and exhaust port.

6. The steering system according to any one of claims 4 to 5, characterized in that: The transmission part comprises: a piston, a first piston push rod and a second piston push rod; Wherein, the piston is vertically arranged in the actuating cylinder to form a first chamber and a second chamber, the air outlet of the first pressure regulating valve is connected to the first chamber in the actuating cylinder through the first inlet of the actuating cylinder, and the air outlet of the second pressure regulating valve is connected to the second chamber in the actuating cylinder through the second inlet of the actuating cylinder; the first piston push rod is vertically connected to the first side of the piston, and passes through the first chamber to be connected to the clutch; the second piston push rod is vertically connected to the second side of the piston, and passes through the second chamber to be connected to the clutch; The piston is used to drive the steering actuator to steer under the power generated by the high-pressure gas in the target chamber through the first piston push rod, the second piston push rod and the closed clutch.

7. The steering system according to any one of claims 4 to 5, characterized in that: The transmission part comprises: a first piston, a second piston, a fixed baffle, a first piston push rod and a second piston push rod; Wherein, the fixed baffle is vertically arranged in the actuating cylinder to form a first chamber and a second chamber, the first piston is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle side and a second sub-chamber close to the fixed baffle side, the second piston is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle side and a fourth sub-chamber away from the fixed baffle side, the air outlet of the first pressure regulating valve is connected to the second sub-chamber in the actuating cylinder through the first inlet of the actuating cylinder, and the air outlet of the second pressure regulating valve is connected to the third sub-chamber in the actuating cylinder through the second inlet of the actuating cylinder; the first piston push rod is vertically connected to the first piston away from the fixed baffle side, and passes through the first sub-chamber to be connected to the clutch, and the second piston push rod is vertically connected to the second piston away from the fixed baffle side, and passes through the fourth sub-chamber to be connected to the clutch; The target piston is used to drive the steering actuator to steer under the action of the high-pressure gas in the target chamber through the first piston push rod, the second piston push rod and the closed clutch, wherein when the target chamber is the second sub-chamber, the target piston is the first piston; when the target chamber is the third sub-chamber, the target piston is the second piston.

8. The steering system according to claim 3, characterized in that: The power supply unit includes: an accumulator, a first pressure regulating valve, a second pressure regulating valve and a hydraulic cylinder; The redundant steering ECU is communicatively connected with the first pressure regulating valve and the second pressure regulating valve, the first liquid outlet of the accumulator is connected with the liquid inlet of the first pressure regulating valve, and the liquid outlet of the first pressure regulating valve is connected with the first inlet of the hydraulic cylinder; the second liquid outlet of the accumulator is connected with the liquid inlet of the second pressure regulating valve, and the liquid outlet of the second pressure regulating valve is connected with the second inlet of the hydraulic cylinder, and a part of the transmission part is located inside the hydraulic cylinder and is vertically arranged between the first inlet and the second inlet; The redundant steering ECU is specifically used to: determine a first target opening value between a first target pressure regulating valve to be adjusted and a corresponding liquid inlet and a liquid outlet according to the latest steering target, wherein the first target pressure regulating valve is the first pressure regulating valve or the second pressure regulating valve; send a first opening adjustment instruction to the first target pressure regulating valve, wherein the first opening adjustment instruction carries the first target opening value; The first target pressure regulating valve adjusts its opening value to the first target opening value in response to the first opening adjustment instruction, so that the high-pressure liquid in the accumulator enters the target inlet of the hydraulic cylinder through the first target pressure regulating valve and applies power to the transmission part. The target inlet is the first inlet or the second inlet.

9. The steering system according to claim 8, characterized in that: The power supply unit further includes: a liquid storage tank, a third pressure regulating valve and a fourth pressure regulating valve; The redundant steering ECU is respectively connected to the third pressure regulating valve and the fourth pressure regulating valve for communication, the first liquid inlet of the liquid storage tank is connected to the liquid outlet of the third pressure regulating valve, the liquid inlet of the third pressure regulating valve is connected to the first outlet of the hydraulic cylinder, the first outlet is located on one side of the transmission part, the second liquid inlet of the liquid storage tank is connected to the liquid outlet of the fourth pressure regulating valve, the liquid inlet of the fourth pressure regulating valve is connected to the second outlet of the hydraulic cylinder, and the second outlet is located on the other side of the transmission part; The redundant steering ECU is specifically used to: determine a second target opening value between a second target pressure regulating valve to be adjusted and a corresponding liquid inlet and a liquid outlet according to the latest steering target, wherein the second target pressure regulating valve is the third pressure regulating valve or the fourth pressure regulating valve; and send a second opening adjustment instruction to the second target pressure regulating valve, wherein the second opening adjustment instruction carries the second target opening value; The second target pressure regulating valve adjusts its own opening value to the second target opening value in response to the second opening adjustment instruction, so that the liquid squeezed by the transmission part under the action of the high-pressure liquid flowing into the hydraulic cylinder flows back to the liquid storage tank through the second target pressure regulating valve.

10. The steering system according to claim 9, characterized in that: The power supply unit further includes a hydraulic pump, which is disposed between the accumulator and the liquid storage tank, and the redundant steering ECU is communicatively connected with the hydraulic pump; The redundant steering ECU is also used to send a start instruction to the hydraulic pump; The hydraulic pump is used to start in response to a start instruction and to draw liquid from the liquid storage tank and transport it back to the accumulator.

11. The steering system according to claim 9 or 10, characterized in that: The transmission part comprises: a piston, a first piston push rod and a second piston push rod; Wherein, the piston is vertically arranged in the hydraulic cylinder to form a first chamber and a second chamber, the air outlet of the first pressure regulating valve is connected to the first chamber in the hydraulic cylinder through the first inlet of the hydraulic cylinder, and the air outlet of the second pressure regulating valve is connected to the second chamber in the hydraulic cylinder through the second inlet of the hydraulic cylinder; the liquid inlet of the third pressure regulating valve is connected to the first chamber of the hydraulic cylinder through the first outlet of the hydraulic cylinder; the liquid inlet of the fourth pressure regulating valve is connected to the second chamber of the hydraulic cylinder through the second outlet of the hydraulic cylinder; the first piston push rod is vertically connected to the first side of the piston, and passes through the first chamber to be connected to the clutch; the second piston push rod is vertically connected to the second side of the piston, and passes through the second chamber to be connected to the clutch; The piston is used to drive the steering actuator to steer through the first piston push rod, the second piston push rod and the closed clutch under the power generated by the high-pressure liquid in the target chamber; wherein, when the target chamber is the first chamber, the liquid in the second chamber flows back to the liquid storage tank through the fourth pressure regulating valve under the pressure of the piston; when the target chamber is the second chamber, the liquid in the first chamber flows back to the liquid storage tank through the third pressure regulating valve under the pressure of the piston.

12. The steering system according to claim 9 or 10, characterized in that: The transmission part comprises: a first piston, a second piston, a fixed baffle, a first piston push rod and a second piston push rod; The fixed baffle is vertically arranged in the hydraulic cylinder to form a first chamber and a second chamber, the first piston is vertically arranged in the first chamber to form a first sub-chamber away from the fixed baffle side and a second sub-chamber close to the fixed baffle side, the second piston is vertically arranged in the second chamber to form a third sub-chamber close to the fixed baffle side and a fourth sub-chamber away from the fixed baffle side; the liquid outlet of the first pressure regulating valve is connected to the second sub-chamber in the hydraulic cylinder through the first inlet of the hydraulic cylinder, and the liquid outlet of the second pressure regulating valve is connected to the second sub-chamber in the hydraulic cylinder through the The second inlet is connected to the third sub-chamber in the hydraulic cylinder; the liquid inlet of the third pressure regulating valve is connected to the second sub-chamber of the hydraulic cylinder through the first outlet of the hydraulic cylinder, and the liquid inlet of the fourth pressure regulating valve is connected to the third sub-chamber of the hydraulic cylinder through the second outlet of the hydraulic cylinder; the first piston push rod is vertically connected to the side of the first piston away from the fixed baffle, and passes through the first sub-chamber to connect to the clutch, and the second piston push rod is vertically connected to the side of the second piston away from the fixed baffle, and passes through the fourth sub-chamber to connect to the clutch; The target piston is used to drive the steering actuator to steer under the action of the high-pressure liquid in the target chamber through the first piston push rod, the second piston push rod and the closed clutch, wherein when the target chamber is the second sub-chamber, the target piston is the first piston, and the liquid in the third sub-chamber flows back to the liquid storage tank through the fourth pressure regulating valve under the pressure of the second piston; when the target chamber is the third sub-chamber, the target piston is the second piston, and the liquid in the second sub-chamber flows back to the liquid storage tank through the third pressure regulating valve under the pressure of the first piston.

13. The steering system according to claim 3, characterized in that: The power supply unit includes: an electromagnetic coil and a power supply device; The redundant steering ECU is communicatively connected to the power supply device, the power supply device is electrically connected to the electromagnetic coil, and a part of the transmission part is located inside the electromagnetic coil; The redundant steering ECU is specifically used to: determine the target current magnitude and target current direction of the electromagnetic coil according to the latest steering target; send a power-on instruction to the power supply device, wherein the power-on instruction carries the target current magnitude and the target current direction; The power supply device supplies power to the electromagnetic coil in response to the power-on instruction based on the target current magnitude and the target current direction, so that the electromagnetic coil applies electromagnetic force to the transmission part.

14. The steering system according to claim 13, characterized in that: The transmission part comprises: a conductive slider, a first slider push rod and a second slider push rod; Wherein, the conductive slider is arranged inside the electromagnetic coil, the first slider push rod is vertically connected to the first side of the conductive slider, and passes through the first end of the electromagnetic coil to be connected to the clutch; the second slider push rod is vertically connected to the second side of the conductive slider, and passes through the second end of the electromagnetic coil to be connected to the clutch; The conductive slider is used to drive the steering actuator to steer under the action of the electromagnetic force generated by the electromagnetic coil through the first slider push rod, the second slider push rod and the closed clutch.

15. A vehicle, characterized in that: A steering system comprising any one of claims 1-14.

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