A vehicle steering angle detection structure and a vehicle

Abstract

The embodiment of the present disclosure provides a detection structure of a vehicle steering angle and a vehicle, which comprises: a shell having a receiving space; a rotating shaft rotatably arranged in the receiving space and used for being connected with a steering bridge; a first angle sensor assembly accommodated in the receiving space and fixedly connected with the rotating shaft; and a second angle sensor assembly accommodated in the receiving space and fixedly connected with the shell; one of the first angle sensor assembly and the second angle sensor assembly is used for determining the rotating angle of the rotating shaft in cooperation with the other. In the present application, the rotating shaft, the first angle sensor assembly and the second angle sensor assembly constitute a double-sensor angle monitoring structure, and the rotating angle of the rotating shaft is obtained by using the rotating angles of the first angle sensor assembly and the second angle sensor assembly received by a vehicle controller, and the rotating angle of the rotating shaft is compared with a steering instruction issued by the vehicle controller, so that whether the steering system has a deviation can be judged in real time, and closed-loop detection of the steering state is realized.

Description

Technical Field

[0001] The embodiments disclosed herein belong to the fields of smart mining, autonomous driving, and vehicle technology, specifically relating to a vehicle steering angle detection structure and vehicle. Background Technology

[0002] In the operation system of unmanned large rigid mining trucks, the steering cylinders used in the steer-by-wire system lack displacement or angle sensors. The steer-by-wire system bears the core function of receiving and executing steering commands from the Vehicle Control Unit (VCU). However, this system has significant technical limitations: the actual steering angle data of the steering axle cannot be fed back to the VCU in real time. When the steering mechanism malfunctions due to mechanical failure, electronic signal interference, or other factors, causing a deviation between the actual steering angle and the VCU command, the vehicle will deviate from the preset driving trajectory. In the complex terrain and high-frequency operation scenarios of mining areas, this deviation not only reduces transportation efficiency but may also lead to serious safety accidents such as rollovers and collisions, posing a significant threat to mining operation safety and equipment assets.

[0003] Therefore, how to solve the above problems has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] The embodiments disclosed herein are intended to at least solve one of the technical problems existing in the prior art, and to provide a vehicle steering angle detection structure and a vehicle.

[0005] A first aspect of the embodiments of this disclosure provides a vehicle steering angle detection structure, comprising: An outer casing having a receiving space; A rotating shaft, which is rotatably disposed within the receiving space and is used to connect with the steering axle; A first angle sensor assembly is housed within the housing space and fixedly connected to the rotating shaft. A second angle sensor assembly is housed within the housing space and fixedly connected to the housing. One of the first angle sensor assembly and the second angle sensor assembly is used in conjunction with the other to determine the rotation angle of the shaft.

[0006] Optionally, the detection structure further includes a bearing housed within the housing space and nested in the gap between the outer periphery of the rotating shaft and the inner wall of the housing.

[0007] Optionally, the outer casing includes a housing having the receiving space, with a top opening and a bottom opening communicating with the receiving space at opposite ends of the housing; The housing also includes a dustproof plate covering the top opening and a sealing plate covering the bottom opening, the dustproof plate having a first shaft hole for the rotating shaft to pass through.

[0008] Optionally, the detection structure further includes an oil seal housed within the housing space and sealed to the top opening, the oil seal having a second shaft hole coaxial with the first shaft hole and used for passing through the rotating shaft.

[0009] Optionally, the detection structure further includes a snap-fit ​​element housed within the receiving space and used to position the bearing.

[0010] Optionally, the snap-fit ​​component includes a first snap ring disposed axially along the shaft and on the inner wall of the housing and abutting against the upper end of the bearing, and a second snap ring disposed on the peripheral wall of the shaft and abutting against the lower end of the bearing.

[0011] Optionally, the outer casing includes a housing having the receiving space, with a top opening and a bottom opening communicating with the receiving space at opposite ends of the housing; the outer casing also includes a dustproof plate covering the top opening and a sealing plate covering the bottom opening; The first angle sensor assembly is fixed to the axial end of the rotating shaft, and the second angle sensor assembly is spaced apart from the first angle sensor assembly and fixed to the sealing plate.

[0012] Furthermore, it also includes: a first connector for fixing the first angle sensor assembly to the rotating shaft; The second connector is used to fix the second angle sensor assembly to the housing.

[0013] Optionally, the housing has an opening connecting its external space and the receiving space; the detection structure also includes an outgoing structure disposed at the opening for passing a signal transmission line.

[0014] A second aspect of the embodiments of this disclosure provides a vehicle, comprising: Steering axle; The vehicle steering angle detection structure described above; The outer shell of the detection structure is fixedly connected to the corner kingpin of the steering axle, and the rotating shaft of the detection structure is connected to the A-arm of the steering axle via a connecting rod; or, The outer shell of the detection structure is fixedly connected to the vehicle frame, and the rotating shaft of the detection structure is connected to the steering arm of the steering axle through a connecting rod; The vehicle controller is configured to compare the rotation angle of the steering shaft obtained from the vehicle steering angle detection structure with the rotation angle corresponding to the rotation angle control signal it sends, and determine the steering state of the steering axle based on the comparison result.

[0015] The beneficial effects of the embodiments of this disclosure include: In this application, the pivot shaft, the first angle sensor assembly, and the second angle sensor assembly constitute a dual-sensor angle monitoring structure. This structure enables real-time and accurate monitoring and feedback of the actual steering angle of the vehicle. Furthermore, the rotation angle of the pivot shaft is obtained by using the rotation angles of the first and second angle sensor assemblies received by the vehicle controller (VCU). The rotation angle of the pivot shaft is then compared with the steering command issued by it, which can determine in real time whether there is a deviation in the steering system, thereby achieving closed-loop detection of the steering state. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a vehicle steering angle detection structure according to an embodiment of the present disclosure; Figure 2 This is a cross-sectional view of the detection structure according to an embodiment of the present disclosure; Figure 3 This is an exploded perspective view of the detection structure according to an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of a vehicle according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the structure of a vehicle according to another embodiment of the present disclosure; Figure 6 This is a schematic diagram of the angle detection principle based on the detection structure according to an embodiment of the present disclosure.

[0017] In the diagram, 100 is the detection structure; 200 is the vehicle; 300 is the steering axle; 1 is the housing; 2 is the shaft; 3 is the first angle sensor assembly; 4 is the second angle sensor assembly; 5 is the bearing; 6 is the oil seal; 7 is the first snap ring; 8 is the second snap ring; 9 is the first connecting piece; 10 is the second connecting piece; 11 is the receiving space; 12 is the housing; 13 is the dustproof plate; 14 is the sealing plate; 15 is the first threaded hole; 16 is the second threaded hole; 210 is the wheel; 310 is the A-arm; 320 is the steering cylinder; 330 is the steering tie rod; and 340 is the steering swing arm. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed descriptions and accompanying drawings of the following embodiments are used to exemplarily illustrate the principles of this application, but should not be used to limit the scope of this application; that is, this application is not limited to the described embodiments. In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating orientation or positional relationships 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. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0020] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" 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 direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances.

[0021] like Figure 1-3 As shown, a vehicle steering angle detection structure 100 includes a housing 1, a rotating shaft 2, a first angle sensor assembly 3, and a second angle sensor assembly 4. The housing 1 has a receiving space 11, and the rotating shaft 2 is rotatably disposed within the receiving space 11 and used to connect to the steering axle 300.

[0022] The first angle sensor assembly 3 is housed within the receiving space 11 and fixedly connected to the rotating shaft 2, and the second angle sensor assembly 4 is housed within the receiving space 11 and fixedly connected to the outer casing 1. One of the first angle sensor assembly 3 and the second angle sensor assembly is used in conjunction with the other to determine the rotation angle of the rotating shaft.

[0023] The vehicle controller is configured to obtain the rotation angle of the shaft 2 based on the rotation angles received from the first angle sensor assembly 3 and the second angle sensor assembly 4, compare the rotation angle of the shaft with the rotation angle corresponding to the rotation angle control signal it sends, and determine the steering state of the steering axle 300 based on the comparison result.

[0024] In this application, the rotating shaft 2, together with the first angle sensor assembly 3 and the second angle sensor assembly 4, constitute a dual-sensor angle monitoring structure. This structure enables real-time and accurate monitoring and feedback of the actual turning angle of the vehicle 200. The rotation angle of the rotating shaft 2 is obtained by using the rotation angles of the first angle sensor assembly 3 and the second angle sensor assembly 4 received by the vehicle controller (VCU). The rotation angle of the rotating shaft 2 is compared with the steering command issued by it, so as to determine in real time whether there is a deviation in the steering system, thereby realizing closed-loop detection of the steering state.

[0025] In some embodiments, the detection structure 100 further includes a bearing 5 housed within the housing space 11 and nested in the gap between the outer periphery of the rotating shaft 2 and the inner wall of the housing 1.

[0026] Specifically, an annular gap is formed between the outer periphery of the rotating shaft 2 and the inner wall of the outer casing 1, with the bearing 5 slidably disposed within the annular gap.

[0027] This application adds a bearing 5, which is used to slide and support the rotating shaft 2 and achieve smooth, low-friction rotation, thereby ensuring that minute angle changes of the steering axle 300 of the vehicle 200 can be sensitively and accurately transmitted to the first angle sensor assembly 3. This setting eliminates measurement errors caused by mechanical jamming and radial clearance, and significantly improves the measurement accuracy, working stability and environmental durability of the detection structure 100.

[0028] In some embodiments, the outer casing 1 includes a housing 12 having the receiving space 11, with a top opening and a bottom opening communicating with the receiving space 11 at opposite ends of the housing 12.

[0029] The outer casing 1 also includes a dustproof plate 13 covering the top opening and a sealing plate 14 covering the bottom opening. The dustproof plate 13 is provided with a first shaft hole for the rotating shaft 2 to pass through.

[0030] In this application, the housing 12 has two openings, one at the top and one at the bottom, which are respectively covered by a dustproof plate 13 and a sealing plate 14, forming an openable modular housing 1 structure. This design greatly facilitates the installation, debugging, and subsequent maintenance of the internal sensor components and bearings 5. Furthermore, this design allows the detection structure 100 to be inspected internally without having to be completely removed from the steering axle 300; only the dustproof plate 13 or the sealing plate 14 needs to be opened, reducing maintenance costs and time.

[0031] In addition, the dustproof plate 13 on the top of the housing 12 can prevent foreign objects such as dust and debris from falling into the housing 12 through the first shaft hole, effectively ensuring the airtightness of the housing 12. The sealing plate 14 is installed at the bottom opening of the housing 12, which can isolate the precision sensor components from the external environment, further ensuring the airtightness.

[0032] Specifically, the shell 12 has a convex cross-section.

[0033] In this application, the shell 12 adopts a convex (or I-shaped or stepped) cross section design. Compared with a simple rectangular or circular cross section, the convex shell 12 can significantly improve the bending and torsional stiffness of the shell 12 without significantly increasing the wall thickness. It can better withstand the complex loads and vibrations from the steering axle 300 and is conducive to miniaturization design.

[0034] In some embodiments, the detection structure 100 further includes an oil seal 6 housed within the housing space 11 and sealed to the top opening, the oil seal 6 having a second shaft hole coaxial with the first shaft hole and used to pass through the rotating shaft 2.

[0035] Specifically, the top of the housing 12, together with the dustproof plate 13 and the rotating shaft 2, forms a sealed space around the rotating shaft 2, and the oil seal 6 is embedded in the sealed space and seals the annular gap.

[0036] In this application, the dustproof plate 13 and the oil seal 6 together form a complete sealing structure, further enhancing the sealing performance of the housing 12.

[0037] In some embodiments, the detection structure 100 further includes a snap-fit ​​element housed within the housing space 11 and used to position the bearing 5.

[0038] In some embodiments, the snap-fit ​​member includes a first snap ring 7 disposed axially along the shaft 2 on the inner wall of the housing 1 and abutting against the upper end of the bearing 5, and a second snap ring 8 disposed on the peripheral wall of the shaft 2 and abutting against the lower end of the bearing 5.

[0039] Specifically, the first retaining ring 7 and the second retaining ring 8 are arranged at opposite ends of the annular gap and are diagonally arranged. The first retaining ring 7 is engaged with the inner wall of the outer casing 1 and abuts against the upper end of the bearing 5, and the second retaining ring 8 is engaged with the peripheral wall of the rotating shaft 2 and abuts against the lower end of the bearing 5.

[0040] In this application, the first retaining ring 7 (fixed to the outer shell 1) and the second retaining ring 8 (fixed to the rotating shaft 2) respectively abut against the bearing 5 from the upper and lower ends, thereby eliminating the axial clearance of the bearing 5. This makes the bearing 5 firmly locked in the preset position in the axial direction, and can withstand the axial force and impact from both directions of the steering axle 300. This effectively prevents the bearing 5 from axially moving during operation and provides extremely high rotational stability for the rotating shaft 2.

[0041] Using snap rings as fasteners replaces the complex structures of traditional flange end caps or threaded lock nuts, greatly saving radial and axial space and making the overall design more compact. At the same time, the snap rings are easy to install, significantly reducing the difficulty and time cost of manufacturing and maintenance.

[0042] In some embodiments, the outer casing 1 includes a housing 12 having the receiving space 11, with a top opening and a bottom opening respectively at opposite ends of the housing 12 communicating with the receiving space 11. The outer casing 1 also includes a dustproof plate 13 covering the top opening and a sealing plate 14 covering the bottom opening.

[0043] The first angle sensor assembly 3 is fixed to the axial end of the rotating shaft 2, and the second angle sensor assembly 4 is spaced apart from the first angle sensor assembly 3 and fixed to the sealing plate 14.

[0044] The detection structure 100 of this application can be flexibly installed on key parts such as the kingpin of the steering axle 300 of the vehicle 200. Its core function is to accurately collect real-time steering angle data of the steering axle 300 and transmit the signal to the vehicle controller (VCU) in real time. This detection structure 100 establishes a closed-loop feedback mechanism: by dynamically comparing the rotation angle returned by the shaft 2 with the rotation angle corresponding to the rotation angle control signal issued by the VCU, the operating status of the steering system is continuously monitored. Once a deviation is detected between the actual steering angle of the steering axle 300 and the VCU command, the device will immediately trigger a fault signal feedback, enabling the vehicle 200 control system to quickly take safety measures such as warning, speed reduction, or braking, effectively avoiding driving risks caused by steering abnormalities, and providing reliable protection for the safe operation of unmanned large mining rigid trucks. It can be understood that the rotation angle of the shaft 2 is calculated by subtracting the rotation angle between the first angle sensor assembly 3 and the second angle sensor assembly 4.

[0045] In some embodiments, the housing 1 has an opening 17 that connects its external space and the receiving space 11, and the detection structure 100 further includes an outgoing structure disposed at the opening 17 for passing a signal transmission line.

[0046] One end of the signal transmission line is electrically connected to the first angle sensor assembly 3 and the second angle sensor assembly 4, respectively, and the other end is electrically connected to the vehicle controller. The rotation angle detected by the first angle sensor assembly 3 and the second angle sensor assembly 4 is transmitted to the vehicle controller through the signal transmission line.

[0047] Understandably, signal transmission lines can be routed together with other wiring harnesses in the vehicle, or they can be routed separately.

[0048] The beneficial effects of the detection structure 100 of this application include: 1. The detection structure 100 of this application is compact, easy to install, and has good adaptability. 2. The detection structure 100 of this application can detect angle signals in real time and transmit them to the VCU or other controllers. 3. The detection structure 100 of this application has high accuracy in detecting rotation angles.

[0049] In one embodiment, this disclosure provides a vehicle, including: a steering axle 300 and the vehicle steering angle detection structure 100 described above.

[0050] The outer shell 1 of the detection structure is fixedly connected to the corner kingpin of the steering axle 300, and the rotating shaft 2 of the detection structure is connected to the A-arm 310 of the steering axle via a connecting rod. Alternatively, the outer shell 1 of the detection structure 100 is fixedly connected to the vehicle frame, and the rotating shaft 2 of the detection structure is connected to the steering swing arm 340 of the steering axle 300 via a connecting rod.

[0051] The vehicle also includes a vehicle controller, which is configured to compare the rotation angle of the steering shaft obtained from the vehicle steering angle detection structure with the rotation angle corresponding to the rotation angle control signal it sends, and determine the steering state of the steering axle based on the comparison result.

[0052] refer to Figure 4 In one specific embodiment of this disclosure, a vehicle 200 is provided, including a steering axle 300, the detection structure 100, and a vehicle controller.

[0053] The outer shell 1 of the detection structure 100 is fixedly connected to the corner kingpin of the steering axle 300, and the rotating shaft 2 of the detection structure 100 is connected to the A-arm 310 of the steering axle 300 through a connecting rod.

[0054] The vehicle controller is configured to obtain the rotation angle of the shaft 2 based on the rotation angles received from the first angle sensor assembly 3 and the second angle sensor assembly 4, compare the rotation angle of the shaft 2 with the rotation angle corresponding to the rotation angle control signal it sends, and determine the steering state of the steering axle 300 based on the comparison result.

[0055] In this application, the detection structure 100 is mounted on the steering axle 300 of the vehicle 200. The housing 12 is fixedly connected to the steering kingpin, and the rotating shaft 2 is connected to the A-arm 310 of the axle via a connecting rod. When the vehicle 200 turns, the second angle sensor assembly 4 of the vehicle steering angle detection structure 100 rotates with the steering kingpin of the vehicle steering axle. The rotating shaft 2, being connected to the A-arm 310, acts as a stator and does not rotate. Therefore, when the vehicle 200 turns, the second angle sensor assembly 4 rotates while the first angle sensor assembly 3 remains stationary, creating an angle difference between them. This allows the detection mechanism 100 to detect the rotation angle of the steering axle 300 via the rotating shaft 2.

[0056] refer to Figure 5 In another specific embodiment of this disclosure, a vehicle 200 is provided, including a frame, a steering axle 300, the detection structure 100, and a vehicle controller. The steering axle 300 is disposed on the frame.

[0057] The outer shell 1 of the detection structure 100 is fixedly connected to the vehicle frame, and the rotating shaft 2 of the detection structure 100 is connected to the steering arm 340 of the steering axle 300 through a connecting rod.

[0058] The vehicle controller is configured to obtain the rotation angle of the shaft 2 based on the rotation angles received from the first angle sensor assembly 3 and the second angle sensor assembly 4, compare the rotation angle of the shaft 2 with the rotation angle corresponding to the rotation angle control signal it sends, and determine the steering state of the steering axle 300 based on the comparison result.

[0059] In this application, the detection structure 100 is mounted on the frame of the front axle area of ​​the steering axle 300, i.e., the housing 12 is fixed to the frame, and the second angle sensor assembly 4 is equivalent to the stator. The rotating shaft 2 is connected to the steering swing arm 340 through a connecting rod. When the vehicle 200 turns, the first angle sensor assembly 3 is equivalent to the rotor and rotates with the steering axle 300 of the vehicle 200. The first angle sensor assembly 3 and the second angle sensor assembly 4 will rotate relative to each other, and thus the detection mechanism 100 can detect the rotation angle of the steering axle 300 through the rotating shaft 2.

[0060] In some embodiments, the detection structure 100 further includes a first connector 9 and a second connector 10, wherein the first connector 9 is used to fix the first angle sensor assembly 3 to the rotating shaft 2, and the second connector 10 is used to fix the second angle sensor assembly 4 to the housing 1.

[0061] Specifically, both the first connecting member 9 and the second connecting member 10 are bolts. A first threaded hole 15 is formed on the rotating shaft 2, and a second threaded hole 16 is formed on the sealing plate 14. The first angle sensor assembly 3 is fixed to the first threaded hole 15 on the rotating shaft 2 by bolts. The rotating shaft 2 and the housing 12 are connected by a bearing 5 and a retaining ring. The second angle sensor assembly 4 is fixed to the second threaded hole 16 on the sealing plate 14 by bolts. The sealing plate 14 and the housing 12 are fixedly connected by bolts. A 1mm gap is provided between the first angle sensor assembly 3 and the second angle sensor assembly 4.

[0062] refer to Figure 6The working principle of the detection structure 100 in this application includes: when the vehicle 200 is in an unmanned driving state and needs to turn, the VCU will send a turning angle command signal to the steering system of the vehicle 200 according to the running trajectory of the vehicle 200, and the steering axle 300 of the vehicle 200 will rotate the corresponding angle according to the command. It can be understood that the steering system includes the steering axle 300.

[0063] The rotating shaft 2 of the detection structure 100 is linked to the steering axle 300 via a connecting structure. When the axle turns, the rotating shaft 2 and the first angle sensor assembly 3 rotate synchronously. During the rotation, the second angle sensor assembly 4 can detect the rotation angle of the first angle sensor assembly 3 and feed it back to the vehicle's VCU via a hard wire (also known as a signal transmission line). The VCU can then compare and verify the received rotation angle signal with the issued rotation angle control signal to ensure that the steering axle 300 correctly executes the steering command. If the VCU detects that the received rotation angle signal and the issued rotation angle control signal are inconsistent, it will issue a fault message.

[0064] The detection structure 100 of this application is installed on the steering axle 300, which can detect the actual rotation angle of the steering axle 300 of the vehicle 200 and transmit the rotation angle to the vehicle controller in real time, thereby realizing closed-loop detection of the steering angle signal of the vehicle 200, and is applicable to various models of vehicles 200.

[0065] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A vehicle steering angle detection structure, characterized in that, include: An outer casing having a receiving space; A rotating shaft, which is rotatably disposed within the receiving space and is used to connect with the steering axle; A first angle sensor assembly is housed within the housing space and fixedly connected to the rotating shaft. A second angle sensor assembly is housed within the housing space and fixedly connected to the housing. One of the first angle sensor assembly and the second angle sensor assembly is used in conjunction with the other to determine the rotation angle of the shaft.

2. The vehicle steering angle detection structure according to claim 1, characterized in that, The detection structure also includes a bearing housed within the housing space and nested in the gap between the outer periphery of the shaft and the inner wall of the housing.

3. The vehicle steering angle detection structure according to claim 1, characterized in that, The outer shell includes a shell having the receiving space, and the shell has a top opening and a bottom opening communicating with the receiving space at opposite ends; The housing also includes a dustproof plate covering the top opening and a sealing plate covering the bottom opening, the dustproof plate having a first shaft hole for the rotating shaft to pass through.

4. The vehicle steering angle detection structure according to claim 3, characterized in that, The detection structure also includes an oil seal housed within the housing space and sealed to the top opening. The oil seal has a second shaft hole coaxial with the first shaft hole and used to pass through the rotating shaft.

5. The vehicle steering angle detection structure according to claim 2, characterized in that, The detection structure also includes a snap-fit ​​component housed within the housing space and used to position the bearing.

6. The vehicle steering angle detection structure according to claim 5, characterized in that, The snap-fit ​​component includes a first snap ring disposed axially along the shaft and on the inner wall of the housing, abutting against the upper end of the bearing, and a second snap ring disposed on the circumferential wall of the shaft and abutting against the lower end of the bearing.

7. The vehicle steering angle detection structure according to claim 1, characterized in that, The outer casing includes a housing having the receiving space, with a top opening and a bottom opening communicating with the receiving space at opposite ends of the housing; the outer casing also includes a dustproof plate covering the top opening and a sealing plate covering the bottom opening; The first angle sensor assembly is fixed to the axial end of the rotating shaft, and the second angle sensor assembly is spaced apart from the first angle sensor assembly and fixed to the sealing plate.

8. The vehicle steering angle detection structure according to claim 1, characterized in that, Also includes: A first connector is used to fix the first angle sensor assembly to the rotating shaft; The second connector is used to fix the second angle sensor assembly to the housing.

9. The vehicle steering angle detection structure according to claim 1, characterized in that, The outer casing has an opening connecting its external space and the receiving space; the detection structure also includes an outgoing structure disposed at the opening for passing a signal transmission line.

10. A vehicle, characterized in that, include: Steering axle; The vehicle steering angle detection structure according to any one of claims 1-9; The outer shell of the detection structure is fixedly connected to the corner kingpin of the steering axle, and the rotating shaft of the detection structure is connected to the A-arm of the steering axle through a connecting rod; or, The outer shell of the detection structure is fixedly connected to the vehicle frame, and the rotating shaft of the detection structure is connected to the steering arm of the steering axle through a connecting rod; The vehicle controller is configured to compare the rotation angle of the steering shaft obtained from the vehicle steering angle detection structure with the rotation angle corresponding to the rotation angle control signal it sends, and determine the steering state of the steering axle based on the comparison result.

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