Steering control unit, hand feeling simulation device, steering control system and vehicle

Abstract

The embodiment of the utility model provides a steering control unit, a hand feeling simulation device, a steering control system and a vehicle, the steering control unit comprises a main controller, the main controller is used for receiving and processing a steering signal and forming a steering control signal, and the main controller is provided with an input port; the main controller is provided with an input port, the auxiliary controller is provided with an output port, and the output port is connected to the input port, so that the auxiliary controller is in communication connection with the main controller. According to the steering control unit, the auxiliary controller is additionally arranged to be connected with the main controller, so that the computing power of the main controller is improved, the performance of the steering control unit is improved, and the steering control unit adapts to the current development trend of vehicle intellectualization.

Description

Technical Field

[0001] This application belongs to the field of steering control technology, specifically relating to a steering control unit, a hand feel simulation device, a steering control system, and a vehicle. Background Technology

[0002] With the development trend of vehicle intelligence, steer-by-wire systems have become a key technology in the field of vehicle steering control. Among them, the steering control unit, as the core component of the steer-by-wire system, controls the steering actuator through electrical signals to achieve vehicle steering control.

[0003] As consumers' demands for vehicle functionality continue to grow, steer-by-wire systems, while fulfilling basic steering functions, also face increasing requirements for various functionalities and performance. However, in related technologies, steer-by-wire systems suffer from insufficient performance of the steering control unit, which hinders further improvements in vehicle intelligence. Utility Model Content

[0004] This application aims to provide a steering control unit, a feel simulation device, a steering control system, and a vehicle to address the performance deficiencies of existing steering control units.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] In a first aspect, this application discloses a steering control unit, comprising:

[0007] The main controller is used to receive and process steering signals and generate steering control signals, and the main controller is provided with an input port;

[0008] And an auxiliary controller, the auxiliary controller having an output port connected to the input port, so that the auxiliary controller can communicate with the main controller.

[0009] Optionally, the steering control unit further includes a housing with a receiving cavity inside, the main controller being disposed within the receiving cavity, and the input port being at least partially exposed outside the housing.

[0010] Optionally, the housing includes a body portion and a protrusion portion, the protrusion portion protruding from the body portion, and the input port being at least partially exposed in the protrusion portion; wherein, when the output port is connected to the input port, the auxiliary controller is also connected to the body portion.

[0011] Optionally, the steering control unit further includes a reinforcement component, to which the auxiliary controller is connected and detachably connected to the housing via the reinforcement component.

[0012] Optionally, the reinforcement component includes a fixing bracket, a first fastener, and a second fastener, wherein the fixing bracket is connected to the auxiliary controller via the first fastener and to the housing via the second fastener.

[0013] Optionally, the reinforcing component is a hook and loop fastener, which includes a hook face and a loop face. One of the hook face and the loop face is connected to the housing, and the other of the hook face and the loop face is connected to the auxiliary controller. The hook face and the loop face are fitted together to connect the auxiliary controller to the housing.

[0014] Optionally, the steering control unit further includes a connector, through which the output port is connected to the input port.

[0015] Secondly, this application also discloses a steering simulation device, which includes a steering control unit as described in any of the preceding claims.

[0016] Thirdly, this application also discloses a steering control system, which includes a steering control unit as described in any of the preceding claims, or a feel simulation device as described above.

[0017] Fourthly, this application also discloses a vehicle that includes a steering control unit as described in any of the preceding claims, or a tactile simulation device as described above, or a steering control system as described above.

[0018] In this embodiment, by setting an input port on the main controller of the steering control unit, the auxiliary controller can be connected to this input port through an output port and achieve communication with the main controller. This integrates the computing power of the auxiliary controller with that of the main controller, improving the overall performance and computing power of the steering control unit. This method of adding an auxiliary controller to connect with the main controller enhances the computing power of the main controller, thereby improving the performance of the steering control unit and adapting to the current trend of vehicle intelligence.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the tactile simulation device in the embodiments of this application;

[0022] Figure 2This is a partial explosion diagram of the tactile simulation device in the embodiments of this application;

[0023] Reference numerals: 100-Hand feel simulation device, 10-Steering control unit, 11-Housing, 111-Main body, 1111-First mounting hole, 112-Protrusion, 121-Input port, 13-Auxiliary controller, 131-Output port, 132-Second mounting hole, 14-Reinforcing component, 141-Fixing bracket, 142-First fastener, 143-Second fastener, 20-Adjusting column. Detailed Implementation

[0024] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] With the development trend of vehicle intelligence, steer-by-wire systems have become a key technology in the field of vehicle steering control. The steering control unit, as the core component of the steer-by-wire system, controls the steering actuator through electrical signals to achieve steering control. However, as the level of vehicle intelligence continues to increase, consumers' demands for vehicle functionality are also growing. Steer-by-wire systems are facing various increasing demands, such as increased functional requirements, improved performance requirements, and compatibility requirements. These new demands place new requirements on the performance of the steering control unit. To make the steer-by-wire system compatible with these new demands, the steering control unit needs to be improved and upgraded to enhance its performance and meet consumers' functional requirements. In related technologies, manufacturers typically discard the original hardware architecture and develop a new one, or make significant modifications to the existing hardware architecture to meet various new demands. However, these methods of upgrading steer-by-wire systems generally suffer from long development cycles and high development costs.

[0029] Based on the above problems, this application provides a steering control unit, such as... Figure 1 As shown, the steering control unit 10 may specifically include a main controller (not shown) and an auxiliary controller 13. The main controller is used to receive and process steering signals and generate steering control signals. The main controller is provided with an input port 121, and the auxiliary controller 13 is provided with an output port 131. The output port 131 is connected to the input port 121 so that the auxiliary controller 13 can communicate with the main controller.

[0030] The steering control unit 10 in this embodiment is applied to a vehicle steer-by-wire system. This system includes the steering control unit 10 and various types of sensors, such as an angle sensor and a torque sensor located in the steering wheel. The main controller (ECU) in the steering control unit 10 receives and processes steering signals to generate steering control signals. For example, when the driver turns the steering wheel, the sensors detect the steering wheel's rotation angle and torque, converting these signals into electrical signals to form steering signals. The ECU receives the steering signals from the sensors and analyzes them in conjunction with vehicle speed, vehicle posture, and other information to calculate the required steering angle and torque for the steering wheels, generating steering control signals. Simultaneously, the ECU sends these steering control signals to the steering actuator motor, which drives the steering wheels to rotate, ultimately achieving vehicle steering.

[0031] It should be noted that with the development of automotive intelligence, the amount of data that ECUs need to process has also increased significantly. Traditional ECUs cannot complete a large number of data processing and calculation tasks in a short time, resulting in slow steering control response speed and failing to meet the requirements of application scenarios with high real-time requirements. In this embodiment, the auxiliary controller 13 is an independent component with high performance and low power consumption. For example, in this embodiment, a computing stick is used as the auxiliary controller 13. The computing stick is usually equipped with a high-performance processor or a dedicated computing chip. When the computing stick is connected to the ECU, it can provide additional computing power support to the ECU, helping the ECU to process complex calculation tasks faster, thereby improving the response speed and overall performance of the steering control system.

[0032] The main controller, acting as the central computing unit, can provide computing power to multiple systems, while the auxiliary controller 13 is responsible for computing tasks in specific functional domains. This architecture allows the main controller and auxiliary controller 13 to dynamically allocate computing resources and work collaboratively through input and output ports. Specifically, the main controller dynamically allocates computing resources according to task requirements. When the auxiliary controller 13 connects to the main controller's input port 121 via output port 131, the main controller can establish a communication connection with the auxiliary controller 13 and offload some computing tasks to the auxiliary controller 13 for execution based on task priority and computing power requirements. This dynamic computing power allocation mechanism effectively improves the overall computing power utilization and response speed of the system. The main controller is equipped with high-performance input ports (such as USB and PCIe) to facilitate high-speed and stable connections with the auxiliary controller 13. Input port 121 is responsible for transmitting data and instructions between the main controller and the auxiliary controller 13, ensuring the effective utilization of computing resources. It should be noted that the core of the main controller is the microprocessor (CPU), which is responsible for receiving digital signals from input port 121 and processing them according to preset programs and algorithms. The CPU executes instructions stored in memory to parse, calculate, and judge the input signals, thereby generating corresponding control instructions. Inside the main controller, the various components are connected and transmit data through internal buses such as the data bus, address bus, and control bus.

[0033] In this embodiment, all structures in the main controller, such as the microprocessor, memory, and input port modules, can be integrated onto a single circuit board. This structure is more compact and lower in cost. Alternatively, the various functional modules of the main controller may be designed on different circuit boards, and then communicate and exchange data through connectors or buses between the circuit boards. This design can avoid signal interference and thermal coupling problems, thereby improving the overall performance of the main controller. Or, the various functional modules of the main controller can be set as independent modules, each with its own circuit board and housing, and then connected and communicated through specific interfaces. This design has the advantages of high flexibility, ease of maintenance, and ease of upgrading.

[0034] In this embodiment, by providing an input port 121 on the main controller of the steering control unit 10, the auxiliary controller 13 can be connected to the input port 121 via an output port 131, thus achieving communication with the main controller. This integrates the computing power of the auxiliary controller 13 with that of the main controller, improving the overall performance and computing power of the steering control unit 10. This method of adding an auxiliary controller 13 to connect with the main controller enhances the computing power of the main controller, thereby improving the performance of the steering control unit 10 and adapting to the current trend of vehicle intelligence.

[0035] The main controller's input port 121 and the auxiliary controller's output port 131 can be connected via a plug-in connection. This plug-in connection allows for direct data transmission through metal contacts, reducing electromagnetic interference and ensuring data integrity. Furthermore, the plug-in connection, secured by latches or threads, prevents poor contact caused by vibration or impact. For example, the input port 121 and output port 131 can be USB or PCIe interfaces, etc. The design is flexible in practical applications, and this application does not impose specific limitations on the types of input port 121 and output port 131.

[0036] Furthermore, the input port 121 is provided with a first latching portion, and the output port 131 is provided with a second latching portion. When the input port 121 and the output port 131 are plugged into each other, the first latching portion and the second latching portion are also latched together to improve the connection stability between the input port 121 and the output port 131, thereby ensuring the reliability of data transmission. For example, the first latching portion is a boss, and the second latching portion is a groove. When the input port 121 and the output port 131 are plugged into each other, the boss is embedded in the groove to achieve the latching connection between them. This latching structure is simple and easy to manufacture, and allows for repeated plugging and unplugging.

[0037] Reference Figure 1 , Figure 2 The figure shows a schematic diagram of the structure of the steering control unit 10 in the embodiment of this application. As shown in the figure, the steering control unit 10 in the embodiment of this application also includes a housing 11, and a receiving cavity is provided in the housing 11. The main controller (not shown in the figure) is disposed in the receiving cavity, and the input port 121 is at least partially exposed outside the housing 11.

[0038] In this embodiment, the steering control unit 10 is an integrated motor and electronic control unit. The housing 11 is a hollow structure with an internal cavity that can integrate the main controller, steering motor, sensors, mechanical transmission components, and other structures. An opening is provided on the housing 11, through which at least part of the input port 121 of the main controller is exposed, facilitating the connection between the output port 131 of the auxiliary controller 13 and the input port 121 from outside the housing 11, thus improving the ease of connection between the auxiliary controller 13 and the main controller. Furthermore, it is understood that by integrating the main controller, steering motor, and other structures into the housing 11, the integration level of the steering control unit 10 is improved, resulting in a smaller footprint and contributing to an optimized overall layout of the steering control system. In practical applications, the housing 11 can be made of materials with good mechanical strength and heat resistance, such as polypropylene (PP) or polycarbonate (PC).

[0039] Optionally, the housing 11 includes a body portion 111 and a protrusion 112, the protrusion 112 protruding from the body portion 111, and the input port 121 being at least partially exposed in the protrusion 112; wherein, when the output port 131 is connected to the input port 121, the auxiliary controller 13 is also connected to the body portion 111.

[0040] It should be noted that the protrusion 112 here indicates that the housing 11 protrudes outward along the thickness direction of the body portion 111 at the position of the protrusion 112, such as... Figure 2 As shown, the protrusion 112 has a side surface that intersects with the surface of the body portion 111, the opening of the housing 11 is formed on this side surface, and the input port 121 is at least partially exposed on the protrusion 112. Further, as... Figure 1 As shown, in this embodiment of the application, when the computing stick is connected to the input port 121 of the main controller via its output port 131, the surface of the computing stick is also connected to the body portion 111. In this way, the computing stick not only achieves a communication connection with the main controller through the output port 131 and the input port 121, but also has a mechanical connection with the body portion 111 of the housing 11 via its outer surface, thereby improving the stability and reliability of the connection between the computing stick and the housing 11.

[0041] It should be understood that, since the input port 121 on the main controller needs to be at least partially exposed on the side opening of the protrusion 112, that is, inside the housing 11, the main controller should be at least partially located inside the protrusion 112. In practical applications, the structure of the main controller can be updated to adapt to the structure of the housing 11 in this embodiment, thereby meeting the connection requirements between the auxiliary controller 13 and the main controller.

[0042] Optionally, the steering control unit 10 also includes a reinforcement component 14, to which the auxiliary controller 13 is connected and detachably connected to the housing 11. This not only ensures the connection stability of the auxiliary controller 13, but also facilitates future maintenance and upgrades of the auxiliary controller 13 through the detachable connection.

[0043] In some alternative embodiments, the reinforcement component 14 includes a fixing bracket 141, a first fastener 142 and a second fastener 143, wherein the fixing bracket 141 is connected to the auxiliary controller 13 via the first fastener 142 and to the housing 11 via the second fastener 143.

[0044] like Figure 2As shown, the fixing bracket 141 includes two fixing parts arranged at an angle. One fixing part is used to connect to the auxiliary controller 13, and the other fixing part is used to connect to the housing 11. By connecting the two fixing parts arranged at an angle to the auxiliary controller 13 and the housing 11 respectively, the tightness of the connection between the fixing bracket 141, the auxiliary controller 13, and the housing 11 can be improved. Further, the auxiliary controller 13 is provided with a first mounting hole 1111, and the housing 11 is provided with a second mounting hole 132. The two mounting parts of the fixing bracket 141 are respectively provided with through holes adapted to the first mounting hole 1111 and the second mounting hole 132. The first fastener 142 passes through the through hole on one of the fixing parts and the first mounting hole 1111 to connect to the auxiliary controller 13, and the second fastener 143 passes through the through hole on the other fixing part and the second mounting hole 132 to connect to the housing 11.

[0045] For example, the first fastener 142 and the second fastener 143 are bolts with threads on their outer circumferential surfaces. Correspondingly, the first mounting hole 1111 and the second mounting hole 132 are threaded holes. This locking method, which uses the threaded engagement between the bolt and the mounting hole, has higher reliability, improves the connection stability of the auxiliary controller 13, and greatly reduces the risk of the auxiliary controller 13 becoming disconnected from the main controller under vibration conditions. In this embodiment, the number of the first mounting holes 1111 and the second mounting holes 132, as well as the number of the first fasteners 142 and the second fasteners 143, is not specifically limited. Preferably, there are multiple first mounting holes 1111 and multiple second mounting holes 132, and correspondingly, multiple first fasteners 142 and multiple second fasteners 143. This increases the number of connection points between the fixed bracket 141 and the auxiliary controller 13 and the housing 11, further ensuring the reinforcement effect of the reinforcing component 14 on the auxiliary controller 13.

[0046] In this embodiment of the application, the steering control unit 10 can be assembled by first aligning the output port 131 of the auxiliary controller 13 with the input port 121 of the main controller and then plugging them in to achieve an initial connection between the auxiliary controller 13 and the main controller. Then, the through holes on the two fixing parts of the fixing bracket 141 are aligned with the first mounting hole 1111 on the auxiliary controller 13 and the second mounting hole 132 on the housing 11, respectively. The first fastener 142 and the second fastener 143 are then assembled and locked into the first mounting hole 1111 and the second mounting hole 132, respectively, to achieve a connection between the reinforcing component 14, the auxiliary controller 13, and the housing 11. When the auxiliary controller 13 needs to be replaced due to damage or insufficient performance, the first fastener 142 and the second fastener 143 can be removed, the reinforcing component 14 can be removed, the auxiliary controller 13 can be pulled out, a new auxiliary controller 13 can be replaced, and the above operation can be repeated to complete the maintenance of the auxiliary controller 13. This detachable connection method improves the convenience of maintaining and upgrading the auxiliary controller 13 during the use of the steering control unit 10.

[0047] In some alternative embodiments, the reinforcement component 14 is a hook and loop fastener, which includes a hook face and a loop face. One of the hook face and the loop face is connected to the housing 11, and the other of the hook face and the loop face is connected to the auxiliary controller 13. The hook face and the loop face are abutted to connect the auxiliary controller 13 to the housing 11.

[0048] The hook and loop fastener is a conventional hook and loop fastener, comprising a separable hook face and a loop face. Specifically, the hook face includes a first connecting portion connected to the loop face and a second connecting portion opposite to the first connecting portion. The loop face includes a third connecting portion connected to the hook face and a fourth connecting portion opposite to the third connecting portion. The first connecting portion is provided with numerous small, curved hooks with a certain degree of rigidity and elasticity, while the third connecting portion is provided with numerous small, soft fibers densely arranged to form a fluffy surface. In practical applications, the second connecting portion is connected to the surface of one of the auxiliary controller 13 and the housing 11, and the fourth connecting portion is connected to the surface of the other of the auxiliary controller 13 and the housing 11. Then, the first connecting portion can be abutted against the third connecting portion, allowing the hooks to catch the fibers and form a mechanical engagement to achieve the connection between the auxiliary controller 13 and the housing 11. This connection is reversible; by applying a certain pulling force, the hooks can be released from the fibers, achieving separation between the first and third connecting portions.

[0049] In this reinforcement method, during assembly, the output port 131 of the auxiliary controller 13 can be aligned with the input port 121 of the main controller and then plugged in to achieve the initial connection between the auxiliary controller 13 and the main controller. Then, pressure is applied to the auxiliary controller 13 toward the housing 11 so that the hooks of the hook face hook the fibers of the hair face, thus achieving the connection between the two.

[0050] It should be noted that the above-mentioned reinforcement component 14 is only an example to illustrate the detachable connection method between the auxiliary controller 13 and the housing 11. In actual applications, other detachable connection methods can be selected, and this application does not make specific limitations on this.

[0051] Optionally, the steering control unit 10 also includes a connector, through which the output port 131 is connected to the input port 121. By providing a connector between the input port 121 and the output port 131, the flexibility of the auxiliary controller 13's position design is improved, allowing it to adapt to complex installation environments.

[0052] Specifically, the connector can be a wiring harness or a flexible circuit board. Both ends of the connector are adapted to and plugged into the output port 131 and input port 121 respectively to achieve connection and data transmission between the auxiliary controller 13 and the main controller. In practical applications, due to space constraints in the vehicle layout, if the output port 131 of the auxiliary controller 13 is directly plugged into the input port 121 of the main controller, the auxiliary controller 13 needs to be positioned close to the input port 121. During assembly, the auxiliary controller 13 may interfere with other structures. In this case, by adding a connector between the output port 131 and the input port 121 to achieve connection and data transmission between the auxiliary controller 13 and the main controller, the installation position of the auxiliary controller 13 can be more flexible, thus adapting to the limited layout space and complex installation environment in the vehicle.

[0053] In summary, the steering control unit provided in this application embodiment may include at least the following advantages:

[0054] In this embodiment, by setting an input port on the main controller of the steering control unit, the auxiliary controller can be connected to this input port through an output port and achieve communication with the main controller. This integrates the computing power of the auxiliary controller with that of the main controller, improving the overall performance and computing power of the steering control unit. This method of adding an auxiliary controller to connect with the main controller enhances the computing power of the main controller, thereby improving the performance of the steering control unit and adapting to the current trend of vehicle intelligence.

[0055] This application also discloses a hand feel simulation device 100, which includes the steering control unit 10 as described in any of the above embodiments.

[0056] The hand feel simulation device 100 is a device that simulates the driver's hand force in a steer-by-wire system. In this embodiment, the hand feel simulation device 100 also includes an adjustment column 20, which is responsible for transmitting the driver's steering intention. The adjustment column 20 is prior art and will not be described in detail here.

[0057] It should be noted that, in this embodiment of the application, the functionality of the hand feel simulation device 100 including the steering control unit 10 has been enhanced and its overall performance has been improved through the improvement of the steering control unit 10.

[0058] This application also discloses a steering control system, which includes the steering control unit 10 as described in any of the above embodiments, or the hand feel simulation device 100 as described above.

[0059] This application also discloses a vehicle that includes the steering control unit 10 as described in any of the above embodiments, or the hand feel simulation device 100 as described above, or the steering control system as described above.

[0060] It should be noted that in this embodiment, the structure of the steering control unit 10, the hand feel simulation device 100 and the steering control system is the same as that of the steering control unit 10, the hand feel simulation device 100 and the steering control system in any of the above embodiments, and their beneficial effects are also similar, so they will not be described in detail here.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A steering control unit characterized by comprising: The steering control unit (10) comprises: a main controller configured to receive and process a steering signal and form a steering control signal, the main controller being provided with an input port (121); and an auxiliary controller (13) provided with an output port (131) connected to the input port (121) so that the auxiliary controller (13) is communicatively connected to the main controller.

2. The steering control unit according to claim 1, characterized by The steering control unit (10) further comprises a housing (11) provided with a receiving cavity in which the main controller is arranged, and the input port (121) is at least partially exposed outside the housing (11).

3. The steering control unit according to claim 2, characterized by The housing (11) comprises a body portion (111) and a protruding portion (112) protruding from the body portion (111), and the input port (121) is at least partially exposed outside the protruding portion (112); wherein, when the output port (131) is connected to the input port (121), the auxiliary controller (13) is also connected to the body portion (111).

4. The steering control unit according to any one of claims 2 to 3, characterized by, The steering control unit (10) further comprises a reinforcing assembly (14), and the auxiliary controller (13) is connected to the reinforcing assembly (14) and is detachably connected to the housing (11) through the reinforcing assembly (14).

5. The steering control unit according to claim 4, characterized by The reinforcing assembly (14) comprises a fixing bracket (141), a first fastener (142) and a second fastener (143), wherein the fixing bracket (141) is connected to the auxiliary controller (13) through the first fastener (142) and is connected to the housing (11) through the second fastener (143).

6. The steering control unit according to claim 4, characterized by The reinforcing assembly (14) is a Velcro, and one of the hook surface and the loop surface is connected to the housing (11), and the other of the hook surface and the loop surface is connected to the auxiliary controller (13), and the hook surface and the loop surface are attached to each other to connect the auxiliary controller (13) to the housing (11).

7. The steering control unit according to claim 1, characterized by The steering control unit (10) further comprises a connecting piece, and the output port (131) is connected to the input port (121) through the connecting piece.

8. A hand feel simulation device characterized by, The hand feeling simulation device (100) comprises the steering control unit (10) according to any one of claims 1 to 7.

9. A steering control system characterized by comprising: The steering control system comprises the steering control unit (10) according to any one of claims 1 to 7, or the hand feeling simulation device (100) according to claim 8.

10. A vehicle characterized by comprising: The vehicle comprises the steering control unit (10) according to any one of claims 1 to 7, or the hand feeling simulation device (100) according to claim 8, or the steering control system according to claim 9.

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