Semitrailer steering device, semitrailer steering system and vehicle

Abstract

The utility model discloses a semitrailer steering device, which relates to the technical field of vehicles, and comprises a semitrailer steering controller, a semitrailer electric steering module and a semitrailer, the semitrailer steering controller is in communication connection with the semitrailer electric steering module, and the semitrailer electric steering module is connected with the semitrailer; the semitrailer steering controller is used for determining a first steering parameter of the semitrailer and sending the first steering parameter to the semitrailer electric steering module, and the first steering parameter is used for guiding steering operation of the semitrailer; and the semitrailer electric steering module is used for receiving the first steering parameter and executing steering operation based on the first steering parameter so as to control the semitrailer to steer. According to the utility model, the steering efficiency of the semitrailer can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicles, in particular to a semi-trailer steering device, a semi-trailer steering system and a vehicle. Background Art

[0002] With the increasing complexity of the traffic environment and the diversification of road conditions, the design limitations of traditional semi-trailers have gradually become apparent, especially in terms of steering performance. Since semi-trailers usually rely on the main vehicle (tractor) to steer, and the semi-trailer is connected to the parking vehicle through a towing pin and does not directly participate in steering, it poses a higher challenge to driving operations.

[0003] At present, in order to solve the problem that the semi-trailer does not directly participate in steering, which makes steering difficult in some scenarios, a common solution is to use a hydraulic steering device to control the steering of the semi-trailer and various connecting devices. However, since the hydraulic device needs to be in a high-pressure state to support vehicle steering, and the hydraulic device takes a long time from receiving the vehicle steering command to increasing the pressure to the required high-pressure state, the steering efficiency of the semi-trailer is low.

[0004] In summary, how to improve the steering efficiency of semi-trailers is a technical problem that needs to be urgently solved in the field of vehicle technology. Utility Model Content

[0005] The main purpose of the utility model is to provide a semi-trailer steering device, a semi-trailer steering system and a vehicle, aiming to improve the steering efficiency of the semi-trailer.

[0006] To achieve the above-mentioned purpose, the present invention proposes a semi-trailer steering device, which includes: a semi-trailer steering controller, a semi-trailer electric steering module and a semi-trailer, wherein the semi-trailer steering controller is communicatively connected to the semi-trailer electric steering module, and the semi-trailer electric steering module is connected to the semi-trailer;

[0007] The semi-trailer steering controller is used to determine a first steering parameter of the semi-trailer and send the first steering parameter to the semi-trailer electric steering module, wherein the first steering parameter is used to guide the steering operation of the semi-trailer;

[0008] The semi-trailer electric steering module is used to receive the first steering parameter and perform a steering operation based on the first steering parameter to control the steering of the semi-trailer.

[0009] In one embodiment, the electric steering module for a semi-trailer includes a first steering motor, a first motor controller, and a first steering gear, and the semi-trailer includes a steering tie rod;

[0010] The semi-trailer electric steering module is communicatively connected to the semi-trailer steering controller via the first motor controller, and the semi-trailer electric steering module is connected to the semi-trailer via the first steering gear;

[0011] The first steering motor is communicatively connected to the first motor controller, and the first motor controller is used to receive the first steering parameter and control the operation of the first steering motor based on the first steering parameter;

[0012] The first steering motor is connected to the first steering gear, and is used to drive the first steering gear and the steering tie rod to move, so as to control the steering of the steering wheel of the semi-trailer.

[0013] In one embodiment, the semi-trailer steering device further includes a power battery, and the power battery is used to supply power to the first steering motor and the first motor controller.

[0014] In one embodiment, the semi-trailer steering device further includes a semi-trailer steering switch, and the semi-trailer steering switch is used to turn on or off the semi-trailer steering function in response to user operation;

[0015] The semi-trailer steering controller is used to determine a first steering parameter of the semi-trailer when the semi-trailer steering function is turned on, and send the first steering parameter to the semi-trailer electric steering module.

[0016] In one embodiment, the semi-trailer steering device further includes a tractor steering controller and a tractor, the tractor steering controller and the semi-trailer steering controller are communicatively connected, and the tractor is connected to the semi-trailer;

[0017] The tractor steering controller is used to determine a second steering parameter of the tractor and send the second steering parameter to the semi-trailer steering controller, wherein the second steering parameter is used to guide the steering operation of the tractor;

[0018] The semi-trailer steering controller is used to receive the second steering parameter and determine the first steering parameter of the semi-trailer based on the second steering parameter.

[0019] In one embodiment, the semi-trailer steering device further includes a tractor electric steering module, the tractor electric steering module is connected to the tractor, and the tractor electric steering module is communicatively connected to the tractor steering controller;

[0020] The tractor steering controller is further configured to send the second steering parameter to the tractor electric steering module;

[0021] The tractor electric steering module is used to receive the second steering parameter and perform a steering operation based on the second steering parameter to control the steering wheel of the tractor.

[0022] In one embodiment, the tractor electric steering module includes a second steering motor, a second motor controller and a second steering gear, and the tractor electric steering module is communicatively connected to the tractor steering controller via the second motor controller;

[0023] The second steering motor is communicatively connected to the second motor controller, and the second motor controller is used to receive the second steering parameter and control the operation of the second steering motor based on the second steering parameter;

[0024] The second steering motor is connected to the second steering gear, and the second steering motor is used to drive the second steering gear to move so as to control the steering of the steering wheel of the tractor.

[0025] In one embodiment, the power battery in the semi-trailer steering device is also used to supply power to the second steering motor and the second motor controller.

[0026] The utility model provides a semitrailer steering device, comprising a semitrailer, a semitrailer steering controller, and a semitrailer electric steering module, wherein the semitrailer steering controller is communicatively connected to the semitrailer electric steering module. The semitrailer steering controller is configured to determine a first steering parameter of the semitrailer and transmit the first steering parameter to a steering motor module at the rear of the semitrailer, wherein the first steering parameter is used to guide a steering operation of the semitrailer. The semitrailer electric steering module is configured to receive the first steering parameter and then perform a steering operation based on the first steering parameter to control the steering of the semitrailer.

[0027] In this way, compared with the traditional method of using hydraulic devices to steer semi-trailers, the present application provides a semi-trailer steering controller and a semi-trailer electric steering module that are communicatively connected. The semi-trailer steering controller determines the steering parameters and transmits the steering parameters to the semi-trailer electric steering module so that the semi-trailer electric steering module can perform steering based on the received steering parameters, thereby realizing electric steering of the semi-trailer and avoiding the time cost waste caused by pressurizing the hydraulic device to a high-pressure state that can support vehicle steering, thereby improving the steering efficiency of the semi-trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0029] Figure 1 A schematic structural diagram of a first embodiment of a semi-trailer steering device provided by the present invention;

[0030] Figure 2 This is a structural schematic diagram of a second embodiment of a semi-trailer steering device provided by the present invention;

[0031] Figure 3 This is a structural schematic diagram of the third embodiment of the semi-trailer steering device provided by the present invention.

[0032] Description of Figure Numbers:

[0033] 10. Semi-trailer steering controller; 20. Semi-trailer electric steering module; 201. First steering motor; 202. First motor controller; 203. First steering gear; 30. Semi-trailer; 301. Steering tie rod; 40. Power battery; 50. Semi-trailer steering switch; 60. Tractor steering controller; 70. Tractor; 80. Tractor electric steering module; 801. Second steering motor; 802. Second motor controller; 803. Second steering gear; A1. Rotation angle sensor; A2. Torque sensor.

[0034] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0036] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "Solution 1 and / or Solution 2" as an example, it includes solutions that are satisfied by Solution 1, or Solution 2, or both Solution 1 and Solution 2. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] The utility model provides a steering device for a semitrailer.

[0039] See also Figure 1 In the first embodiment of the present utility model, the semitrailer steering device includes: a semitrailer steering controller 10, a semitrailer electric steering module 20 and a semitrailer 30, the semitrailer steering controller 10 is communicatively connected to the semitrailer electric steering module 20, and the semitrailer electric steering module 20 is connected to the semitrailer 30;

[0040] The semi-trailer steering controller 10 is used to determine a first steering parameter of the semi-trailer 30 and send the first steering parameter to the semi-trailer electric steering module 20, wherein the first steering parameter is used to guide the steering operation of the semi-trailer 30;

[0041] The semi-trailer electric steering module 20 is configured to receive the first steering parameter and perform a steering operation based on the first steering parameter to control the semi-trailer 30 to steer.

[0042] It should be noted that the semi-trailer steering controller 10 is used to determine the steering parameters of the semi-trailer 30 (hereinafter referred to as the first steering parameters for distinction). The first steering parameters are used to guide the steering operation of the semi-trailer 30, that is, the semi-trailer electric steering module 20 is controlled based on the first steering parameters to achieve the steering of the semi-trailer 30 to the desired posture.

[0043] The semi-trailer steering device includes a semi-trailer steering controller 10, a semi-trailer electric steering module 20 and a semi-trailer 30. The semi-trailer steering controller 10 is communicatively connected to the semi-trailer electric steering module 20, and the semi-trailer electric module 20 is mechanically connected to the semi-trailer 30. The semi-trailer steering controller 10 is used to determine a first steering parameter of the semi-trailer 30 and send the first steering parameter to the semi-trailer electric steering module 20, so that the semi-trailer electric steering module 20 can perform a steering operation based on the first steering parameter after receiving the first steering parameter to control the steering of the semi-trailer 30.

[0044] In this way, compared with the traditional method of using hydraulic devices to steer semi-trailers, the present application provides a semi-trailer steering controller and a semi-trailer electric steering module that are communicatively connected. The semi-trailer steering controller determines the steering parameters and transmits the steering parameters to the semi-trailer electric steering module so that the semi-trailer electric steering module can perform steering based on the received steering parameters, thereby realizing electric steering of the semi-trailer and avoiding the time cost waste caused by pressurizing the hydraulic device to a high-pressure state that can support vehicle steering, thereby improving the steering efficiency of the semi-trailer.

[0045] Further, refer to Figure 2 In the second embodiment of the present utility model, the semi-trailer electric steering module 20 includes a first steering motor 201, a first motor controller 202 and a first steering gear 203, and the semi-trailer 30 includes a steering tie rod 301;

[0046] The semi-trailer electric steering module 20 is communicatively connected to the semi-trailer steering controller 10 via the first motor controller 202 , and the semi-trailer electric steering module 20 is connected to the semi-trailer 30 via the first steering gear 203 ;

[0047] The first steering motor 201 is in communication with the first motor controller 202, and the first motor controller 202 is configured to receive the first steering parameter and control the operation of the first steering motor 201 based on the first steering parameter;

[0048] The first steering motor 201 is connected to the first steering gear 203 . The first steering motor 201 is used to drive the first steering gear 203 and the steering tie rod 301 to move, so as to control the steering of the steering wheel of the semi-trailer 30 .

[0049] It should be noted that the first steering parameter includes but is not limited to a target steering angle of the steering wheel of the semi-trailer 30 , a target rotation speed of the first steering motor 201 , and a target position of the first steering motor 201 .

[0050] The trailer electric steering module 20 includes a first steering motor 201, a first motor controller 202, and a first steering gear 203. The first motor controller 202 is communicatively connected to the trailer steering controller 10, and the first steering gear 203 is mechanically connected to the steering wheels of the trailer 30. The trailer 30 includes a tie rod 301, which is mechanically connected to the steering wheels of the trailer 30. The first motor controller 202 is communicatively connected to the first steering motor 201 and is configured to receive a first steering parameter transmitted by the trailer steering controller 10 and control the operation of the first steering motor 201 based on the first steering parameter. The first steering motor 201 is mechanically connected to the first steering gear 203 and is configured to drive the first steering gear 203 and the tie rod 301 to rotate, thereby deflecting the steering wheels of the trailer 30 and thus steering the trailer 30.

[0051] In this embodiment, the semi-trailer steering device further includes a power battery 40 , and the power battery 40 is used to supply power to the first steering motor 201 and the first motor controller 202 .

[0052] It should be noted that the embodiment of the present application does not limit the installation position of the power battery 40. For example, the power battery 40 can be installed on a tractor connected to the semi-trailer 30 to provide a power source for the semi-trailer 30 and the tractor. For another example, the power battery 40 can be installed on the semi-trailer 30 to provide a power source only for the semi-trailer 30.

[0053] The power battery 40 is used to supply power to the first steering motor 201 and the first motor control 202 .

[0054] In this embodiment, the semi-trailer steering device further includes a semi-trailer steering switch 50, and the semi-trailer steering switch 50 is used to turn on or off the semi-trailer steering function in response to user operation;

[0055] The semi-trailer steering controller 10 is used to determine a first steering parameter of the semi-trailer 30 when the semi-trailer steering function is turned on, and send the first steering parameter to the semi-trailer electric steering module 20.

[0056] It should be noted that the semitrailer steering device also includes a semitrailer steering switch 50, which is used to turn the semitrailer steering function on or off in response to user operation. The semitrailer steering switch 50 can be a physical switch or a soft switch on the vehicle computer. The driver can turn the semitrailer steering switch 50 on or off based on the actual driving scenario. When the semitrailer steering switch 50 is off, the semitrailer steering controller 10 controls the first steering motor to return to the default position, returning the wheels of the semitrailer 30 to the centering position. Furthermore, for vehicles equipped with an external camera, the driver can turn the semitrailer steering function on or off based on the external image. When the semitrailer steering switch 50 is on, the semitrailer steering controller 10 transmits a first steering parameter to the first motor controller 202, which controls the first steering motor 201 to operate based on the first steering parameter.

[0057] The trailer steering switch 50 is configured to, in response to a user operation, send an enable signal to the trailer steering controller 10 to turn on or off the trailer steering function. The trailer steering controller 10 is configured to, when the trailer loading function is enabled, determine a first steering parameter of the trailer 30 and send the first steering parameter to the trailer electric steering module 20.

[0058] In this embodiment, the semi-trailer steering device further includes a tractor steering controller 60 and a tractor 70, wherein the tractor steering controller 60 is communicatively connected to the semi-trailer steering controller 10, and the tractor 70 is connected to the semi-trailer 30;

[0059] The tractor steering controller 60 is used to determine a second steering parameter of the tractor 70 and send the second steering parameter to the semi-trailer steering controller 10, wherein the second steering parameter is used to guide the steering operation of the tractor 70;

[0060] The semi-trailer steering controller 10 is configured to receive the second steering parameter and determine a first steering parameter of the semi-trailer 30 based on the second steering parameter.

[0061] It should be noted that the tractor steering controller 60 is used to determine the steering parameter of the tractor 70 (hereinafter referred to as the second steering parameter for distinction), and the second steering parameter is used to guide the steering operation of the tractor 70.

[0062] The semitrailer steering device further includes a tractor steering controller 60 and a tractor 70, wherein the tractor steering controller 60 is communicatively connected to the semitrailer steering controller 10, and the tractor 70 is mechanically connected to the semitrailer 30. The tractor steering controller 60 is configured to determine a second steering parameter of the tractor 70 and transmit the second steering parameter to the semitrailer steering controller 60, so that the semitrailer steering controller 10, after receiving the second steering parameter, determines a first steering parameter of the semitrailer 30 based on the second steering parameter.

[0063] In this way, the embodiment of the present application changes the driven wheel of the semi-trailer 30 into a steering wheel, so that the first steering motor 201 drives the first steering gear 203 mechanically connected to the steering wheel of the semi-trailer 30, and sets the semi-trailer steering controller 10 to communicate with the tractor steering controller 60 to achieve coordinated control between the semi-trailer 30 and the tractor 70.

[0064] Further, in the third embodiment of the present invention, referring to Figure 3 , the semi-trailer steering device further includes a tractor electric steering module 80, the tractor electric steering module 80 is connected to the tractor 70, and the tractor electric steering module 80 is communicatively connected to the tractor steering controller 60;

[0065] The tractor steering controller 60 is further configured to send the second steering parameter to the tractor electric steering module 80;

[0066] The tractor electric steering module 80 is configured to receive the second steering parameter and perform a steering operation based on the second steering parameter to control the steering wheel of the tractor 70 .

[0067] The semi-trailer steering device further includes a tractor electric steering module 80, wherein the tractor electric steering module 80 is mechanically connected to the tractor 70 and is communicatively connected to the tractor steering controller 60. The tractor steering controller 60 is further configured to send a second steering parameter to the tractor electric steering module 60, so that the tractor electric steering module 60, upon receiving the second steering parameter, performs a steering operation based on the second steering parameter to control the steering wheels of the tractor 70.

[0068] In this embodiment, the tractor electric steering module 80 includes a second steering motor 801, a second motor controller 802 and a second steering gear 803. The tractor electric steering module 80 is communicatively connected to the tractor steering controller 60 via the second motor controller 802.

[0069] The second steering motor 801 is in communication with the second motor controller 802, and the second motor controller 802 is used to receive the second steering parameter and control the operation of the second steering motor 801 based on the second steering parameter;

[0070] The second steering motor 801 is connected to the second steering gear 803 . The second steering motor 801 is used to drive the second steering gear 803 to move, so as to control the steering of the tractor 70 .

[0071] It should be noted that the semi-trailer steering device also includes a steering angle sensor A1 and a torque sensor A2. The steering angle sensor A1 is used to collect the steering angle and angular velocity of the steering wheel in the tractor 70, and the torque sensor A2 is used to collect the steering torque signal triggered by the driver. The torque sensor A2 is mechanically connected to the second motor controller 802. The tractor steering controller 60 and the semi-trailer steering controller 10 are both connected to other vehicle controllers via a CAN (Controller Area Network) bus to collect vehicle status. The other vehicle controllers include but are not limited to: VCU (Vehicle Control Unit), MCU (Microcontroller Unit), BMS (Battery Management System), BCM (Body Control Module), ABS (Anti-lock Braking System), vehicle instruments, and vehicle computer. For example, signals used to characterize the vehicle's status include: vehicle speed signals, vehicle power status signals, and fault signals sent by the VCU; vehicle drive status and motor speed signals sent by the MCU; and the vehicle's steering enable signal (i.e., an enable signal triggered by the user based on the semi-trailer steering switch 50). The tractor steering controller 60 calculates the second steering parameter of the tractor 70 based on the collected driver steering requirements (i.e., the steering wheel angle, angular velocity, and steering torque signals) and the vehicle's status. The second steering parameter includes, but is not limited to, the target steering angle of the tractor's 70 steering wheel, the target speed of the second steering motor 801, and the target position of the second steering motor 801.

[0072] The tractor vehicle electric steering module 80 includes a second steering motor 801, a second motor controller 802, and a second steering gear 803. The tractor vehicle electric steering module 80 is communicatively connected to the tractor vehicle steering controller 60 via the second motor controller 802. The second steering gear 803 is mechanically connected to the steering wheels of the tractor vehicle 70. The second motor controller 802 is communicatively connected to the second steering motor 801. Upon receiving a second steering parameter from the tractor vehicle steering controller 60, the second motor controller 802 controls the operation of the second steering motor 801 based on the second steering parameter. The second steering motor 801 is mechanically connected to the second steering gear 803, driving the second steering gear 803 to move, thereby causing the steering wheels of the tractor vehicle 70 to deflect, thereby achieving steering of the tractor vehicle.

[0073] In this embodiment, the power battery 40 in the semi-trailer steering device is also used to supply power to the second steering motor 801 and the second motor controller 802 .

[0074] In this embodiment, the power battery 40 is used to supply power to the first steering motor 201 , the first motor controller 202 , the second steering motor 801 and the second motor controller 802 .

[0075] In this way, the embodiment of the present application sets a communication connection between the tractor steering controller 60 and the semi-trailer steering controller 10, and establishes a communication connection between the tractor steering controller 60 and various other controllers on the vehicle, so that the tractor steering controller 60 calculates the second steering parameter of the tractor 70 based on the driver's steering demand and the vehicle status, and sends the second steering parameter to the semi-trailer steering controller 10, so that the semi-trailer steering controller 10 calculates the first steering parameter based on the second steering parameter, and controls the first steering motor 201 to drive the steering wheel of the semi-trailer 30 to steer, thereby realizing coordinated steering of the tractor 70 and the semi-trailer 30.

[0076] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A semi-trailer steering device, characterized in that: The semitrailer steering device includes: a semitrailer steering controller, a semitrailer electric steering module and a semitrailer, wherein the semitrailer steering controller is communicatively connected to the semitrailer electric steering module, and the semitrailer electric steering module is connected to the semitrailer; The semi-trailer steering controller is used to determine a first steering parameter of the semi-trailer and send the first steering parameter to the semi-trailer electric steering module, wherein the first steering parameter is used to guide the steering operation of the semi-trailer; The semi-trailer electric steering module is used to receive the first steering parameter and perform a steering operation based on the first steering parameter to control the steering of the semi-trailer.

2. The semi-trailer steering device according to claim 1, characterized in that: The semi-trailer electric steering module includes a first steering motor, a first motor controller and a first steering gear, and the semi-trailer includes a steering tie rod; The semi-trailer electric steering module is communicatively connected to the semi-trailer steering controller via the first motor controller, and the semi-trailer electric steering module is connected to the semi-trailer via the first steering gear; The first steering motor is communicatively connected to the first motor controller, and the first motor controller is used to receive the first steering parameter and control the operation of the first steering motor based on the first steering parameter; The first steering motor is connected to the first steering gear, and is used to drive the first steering gear and the steering tie rod to move, so as to control the steering of the steering wheel of the semi-trailer.

3. The semi-trailer steering device according to claim 2, characterized in that: The semi-trailer steering device further includes a power battery, which is used to supply power to the first steering motor and the first motor controller.

4. The semi-trailer steering device according to claim 1, characterized in that: The semi-trailer steering device further includes a semi-trailer steering switch, which is used to turn on or off the semi-trailer steering function in response to user operation; The semi-trailer steering controller is used to determine a first steering parameter of the semi-trailer when the semi-trailer steering function is turned on, and send the first steering parameter to the semi-trailer electric steering module.

5. The semi-trailer steering device according to claim 1, characterized in that: The semi-trailer steering device further includes a tractor steering controller and a tractor, wherein the tractor steering controller is communicatively connected to the semi-trailer steering controller, and the tractor is connected to the semi-trailer; The tractor steering controller is used to determine a second steering parameter of the tractor and send the second steering parameter to the semi-trailer steering controller, wherein the second steering parameter is used to guide the steering operation of the tractor; The semi-trailer steering controller is used to receive the second steering parameter and determine the first steering parameter of the semi-trailer based on the second steering parameter.

6. The semi-trailer steering device according to claim 5, characterized in that: The semi-trailer steering device further includes a tractor electric steering module, the tractor electric steering module is connected to the tractor, and the tractor electric steering module is communicatively connected to the tractor steering controller; The tractor steering controller is further configured to send the second steering parameter to the tractor electric steering module; The tractor electric steering module is used to receive the second steering parameter and perform a steering operation based on the second steering parameter to control the steering wheel of the tractor.

7. The semi-trailer steering device according to claim 6, characterized in that: The tractor electric steering module includes a second steering motor, a second motor controller and a second steering gear, and the tractor electric steering module is communicatively connected to the tractor steering controller via the second motor controller; The second steering motor is communicatively connected to the second motor controller, and the second motor controller is used to receive the second steering parameter and control the operation of the second steering motor based on the second steering parameter; The second steering motor is connected to the second steering gear, and the second steering motor is used to drive the second steering gear to move so as to control the steering of the steering wheel of the tractor.

8. The semi-trailer steering device according to claim 7, characterized in that: The power battery in the semi-trailer steering device is also used to supply power to the second steering motor and the second motor controller.

9. A semi-trailer steering system, characterized in that: The semi-trailer steering system includes the semi-trailer steering device according to any one of claims 1 to 8.

10. A vehicle, characterized in that: The vehicle includes the semi-trailer steering system according to claim 9.

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