6287 results about "Steering wheel" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The invention discloses a driver state sensing system based on physiological indexes and external behavior analysis, which relates to the technical field of vehicle active safety control, and comprises a sensor group integrated in a driver contact or close area and a vehicle control part and used for collecting physiological signals and behavior characteristic signals of a driver in real time, the physiological signals at least comprise heart rate and skin electric signals, and the behavior characteristic signals at least comprise eyelid movement, head posture and steering wheel operation signals. According to the driver state sensing system, the comprehensiveness and accuracy of driver state sensing are remarkably improved by integrating physiological indexes and external behavior analysis, the limitation of single signal judgment is effectively overcome through a multi-source signal fusion mechanism, the reliability of state evaluation is ensured, and the advanced signal preprocessing technology adopted by the system is high in reliability. The data anti-interference capability is enhanced, the feature extraction precision is improved, and the robustness of the model is enhanced.

The invention discloses a chassis coordination control method and system based on tire side deviation state evaluation, and relates to the technical field of four-wheel steering four-wheel drive vehicle dynamics control. The method comprises the steps that an expected front wheel rotation angle is determined based on an expected steering wheel rotation angle input by a driver, and a front wheel rotation angle is determined; further determining a feed-forward front wheel steering angle, a feed-forward rear wheel steering angle and an additional yaw moment based on feed-forward control and feedback control, determining a first tire slip angle and a second tire slip angle based on a road adhesion coefficient, and further determining a wheel torque control weight, a feedback front wheel steering angle control weight and a feedback rear wheel steering angle control weight; and further determining a driving yaw moment, a feedback front wheel steering angle and a feedback rear wheel steering angle, determining a total longitudinal force based on an expected longitudinal acceleration input by a driver, and performing four-wheel torque distribution based on the total longitudinal force and the driving yaw moment to obtain a four-wheel driving torque. The driving stability of the vehicle under the limiting working condition can be improved.

The invention discloses a light passenger car chassis steering stability self-adaptive control method, which comprises the following steps of: collecting multi-dimensional working condition parameters in real time, and covering 12 types of key parameters such as a steering wheel rotating angle and a wheel speed; after preprocessing and abnormity diagnosis, double models are adopted to estimate the dynamic state of the vehicle in parallel; dynamically setting a control target, and realizing personalized control in combination with driver style recognition; the control quantity is optimized through multi-mode strategy dynamic switching and steering and braking system cooperative control; and actuator dynamic compensation, scenarized self-learning and multi-stage fault handling mechanisms are introduced. According to the method, the complex working condition adaptability is improved, the response speed is controlled, the subsystem cooperation efficiency is improved, the system robustness and the long-term use performance are enhanced, and the driving safety of the light bus is effectively guaranteed.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention provides a trajectory tracking method, device and equipment based on steer-by-wire fault tolerance and a medium wherein the trajectory tracking method based on steer-by-wire fault tolerance comprises: when a steering execution motor has a fault, determining expected control parameters for vehicle trajectory tracking, the expected control parameters comprising an expected steering wheel steering angle and an expected differential yaw moment; reducing the expected steering angle of the steering wheel and increasing the expected differential yawing moment; determining a front axle differential steering torque and an output torque of a steering execution motor based on the expected steering wheel steering angle; and trajectory tracking is carried out based on the front axle differential steering torque, the expected differential yawing torque and the output torque of the steering execution motor. When the steering-by-wire system breaks down, the front axle differential steering torque can be used for assisting the fault steering-by-wire system in stably tracking the expected steering wheel steering angle, and then the requirement of vehicle trajectory tracking for steering is met. Meanwhile, the stability of vehicle trajectory tracking can be improved.

The invention discloses an electric power steering fault diagnosis and self-adaption system based on torque offset, which relates to the technical field of fault diagnosis and comprises a data acquisition unit, a model establishment unit, a torque offset evaluation unit, a fault judgment unit and a power output adjustment unit. According to the method, the return-to-power torque model is constructed based on the vehicle dynamics law and experience adjustment, the model parameters are optimized to obtain the return-to-power torque model, meanwhile, the real-time output torque of the EPS system is calculated according to the steering wheel torque signal, the deviation coefficient of the EPS system is comprehensively calculated, and the accuracy of the EPS system is improved. The deviation coefficient is evaluated according to a preset fault grading interval, a multi-grade fault judgment mechanism is established according to the change rule of the deviation coefficient, dynamic health evaluation of the EPS system motor performance is achieved, the evaluation serves as the basis of control strategy adjustment, the output assistance value can be dynamically adjusted, return control can be enhanced or a safety mode can be switched, and the reliability of the EPS system motor performance is improved. Therefore, the redundancy control capability and the driving safety are improved.

A system for collaborative steering in steer-by-wire (SBW) vehicles includes sensors, a rack motor altering a position of the vehicle's steerable road wheels and an emulator altering a torque and position of a vehicle hand wheel. A collaborative steering system application (CSSA) obtains, static and dynamic information about the vehicle and the vehicle's environment, and generates a rack torque and / or angle command to the rack motor and an emulator torque and / or angle command to the emulator. The CSSA adjusts between ADAS and manual steering ratios and automatically transitions control between ADAS SBW control and manual control. The CSSA smooths transitions between ADAS SBW control and manual steering control and adjusts hand wheel stiffness by altering the emulator torque command, and causes the rack motor and emulator to operate according to a kinematic model while adapting road wheel response and vehicle operator steering feel based on scenarios and features currently enabled.

The rail protection system is used for preventing the crown block running on a rail system from rushing out, the rail system comprises a straight rail and a bent rail in transition connection with the straight rail, in the walking direction limited by the straight rail, the straight rail is provided with a reserved straight section comprising a rail breaking opening on the first side of the bent rail, and the rail breaking opening is formed in the first side of the bent rail. The straight rail is provided with a conventional straight section on the second side of the bent rail; the track protection system comprises a blocking device fixed to the reserved straight section and a track protection device fixed to the reserved straight section. The steering guide piece is fixed above the conventional straight section; the steering device comprises a steering wheel arranged on the crown block, the steering wheel is configured to be capable of moving in the transverse direction so as to be adjusted to a guide matching position, and when the steering wheel is located at the guide matching position, the steering wheel is driven to rotate. The steering wheel can be matched with the steering guide piece when advancing along the conventional straight section so as to enable the crown block to steer and enter the bent rail, and the transverse direction and the walking direction are perpendicular to each other in the horizontal direction.

A steer by wire includes a steering wheel holding system. An emulator controller receives vehicle data from vehicle systems and determines whether a vehicle is in one of a driving mode and a non-driving mode. When the vehicle is in the driving mode, the emulator controller transmits a command to an emulator switching system to electrically couple the phases of an emulator motor to a power source to enable the emulator motor to implement steer by wire operations placing the steering wheel in an un-hold mode. When the vehicle is in the non-driving mode, the emulator controller transmits a command to the emulator switching system to electrically couple the phases of the emulator motor to ground to short the phases of the emulator motor to ground to generate a resistive torque to resist rotational movement of a steering wheel of the vehicle placing the steering wheel in a hold mode.

The invention provides an AI multi-mode voice interaction method based on a vehicle-mounted intelligent terminal and electronic equipment, and the method comprises the steps: synchronously collecting voice information, facial micro-expressions and hand touch actions of a user through a microphone array, an in-vehicle camera and a steering wheel touch sensor on the vehicle-mounted intelligent terminal, and forming multi-mode interaction data; fusing the multi-modal interaction data, and judging a current driving scene through a pre-trained driving scene recognition model; dynamically adjusting voice interaction parameters according to the driving scene judgment result; recognizing a voice instruction of the user based on the adjusted voice interaction parameter; and in combination with instruction preferences in historical interaction data of the user, intention completion is performed on the recognized voice instruction, and a personalized execution instruction is generated. According to the invention, the recognition accuracy and interaction efficiency of the voice instruction are improved.

The embodiment of the invention provides a method and system for determining a steering wheel rotation angle and a vehicle, relates to the technical field of vehicles, and can accurately determine the steering wheel rotation angle under complex and changeable road conditions. The method for determining the turning angle of the steering wheel comprises the steps that a current position point is obtained; determining a feedforward preview point and a feedback pre-anchor point corresponding to the current position point in a pre-planned driving track curve; determining a feedforward steering wheel turning angle according to the current position point, the feedforward preview point and the vehicle attribute parameters; determining a driving state deviation according to the current position point and the feedback preview point; feedback adjustment is conducted according to the driving state deviation, and a feedback steering wheel rotation angle is obtained; and determining a target steering wheel rotation angle according to the feedforward steering wheel rotation angle and the feedback steering wheel rotation angle.

The invention provides a vehicle control method, electronic equipment and a storage medium, and the method comprises the steps: controlling the driving torque of wheels according to the actual slip rate and the target slip rate of the wheels under the condition that a low-load starting stability control function of a vehicle is activated, a first deviation between the target slip rate and the actual slip rate is maintained in a first set range; and according to the actual yaw velocity and the target yaw velocity of the vehicle, the rear wheel rotation angle is controlled, so that a second deviation between the target yaw velocity and the actual yaw velocity is maintained within a second set range. According to the technical scheme, the acceleration performance of the vehicle under the low-load starting working condition is effectively improved, the steering wheel correction amplitude and frequency of a driver are effectively reduced, the control confidence of the driver is enhanced, and the driving control experience is improved.

The utility model belongs to the technical field of quality inspection and inspection, and discloses a chassis and a functional vehicle. The chassis is used for being connected with a vehicle body and comprises a chassis frame, a steering shaft, a first driving shaft, a first transmission mechanism and a motor, a steering wheel is installed on the steering shaft, the steering shaft is perpendicularly and rotatably connected to the chassis frame, the first driving shaft is rotatably installed on the chassis frame, and a first driving wheel is installed on the first driving shaft; the first driving shaft extends in the left-right direction of the vehicle body, the motor is in transmission connection with the first driving shaft, and the first transmission mechanism is in transmission connection with the first driving shaft and the steering shaft at the same time. The motor of the chassis can provide power for the first driving shaft and the steering shaft at the same time, steering and forward driving during steering are achieved, the structure is simple, and the production cost is low.

Disclosed in the present application is a torque vectoring control system for an in-wheel-motor four-wheel-drive vehicle. In the torque vectoring control system, a driving style identification module determines the driving style of a driver during the travel of an in-wheel-motor four-wheel-drive vehicle; a vehicle state sensing module acquires a steering wheel angle and a longitudinal vehicle speed in real time, and performs fault state monitoring on the in-wheel-motor four-wheel-drive vehicle; a vehicle motion control module calculates an ideal yaw rate target of the in-wheel-motor four-wheel-drive vehicle; and a torque vectoring control module calculates an additional yaw moment on the basis of the ideal yaw rate target and an actual yaw rate, executes a corresponding fault handling strategy on the basis of a fault state monitoring result, and then performs torque distribution on the basis of the additional yaw moment combined with the fault state monitoring result to generate an additional driving torque and an additional braking torque of each wheel. The present application realizes self-adaptive yaw stability control for drivers having different driving styles.

The invention discloses an automobile driving state blind area monitoring method and a rearview mirror, and relates to the technical field of blind area monitoring. Comprising the following steps of information collection, specifically, sensors and cameras are installed on wheels of an automobile, a steering wheel steering column, an automobile chassis and a steering system respectively, driving state data of the automobile speed, the steering wheel angle, the automobile acceleration and the steering angle and image data around the automobile are collected in real time, and real-time automobile information data are obtained; according to the system, driving state data such as the vehicle speed, the steering wheel angle, the vehicle acceleration and the steering angle are combined, the blind area around the vehicle is monitored in real time through the sensor and the camera, and when the vehicle steers, the blind area monitoring range is adjusted in real time to adapt to the driving direction change; the rearview mirror can display blind area images in real time, the blind area alertness of a driver can be greatly improved, and the traffic accident risk caused by the blind area is effectively reduced.

The invention relates to a circuit arrangement (1) for multi-zone heating operation, comprising: a plurality of heating wires (2, 2 '), which can be supplied in parallel by a heating voltage, for heating a touch surface (19) comprising a plurality of zones (20, 20'); wherein a respective heating wire (2, 2 ') is associated with a zone (20, 20'); at least one first switching element (3a, 3a ') for each heating wire (2, 2'), which is coupled between the heating wire (2, 2 ') and one of the two different heating potentials (VH +, VH-) of the heating voltage in such a way that, in a heating mode, a heating current is applied to the respective heating wire (2, 2') in the conducting state of the first switching element (3a, 3a '), and interrupting the heating current in the OFF state of the first switching element (3a, 3a '); a control circuit (12, 6a, 6a ', 6b, 6b') configured to generate, for each heating wire (2, 2 '), individual pulse width modulated first control signals (ST1, ST1') to switch the first switching elements (3a, 3a ') between an on state and an off state, respectively, the individual pulse width modulated first control signals being applied to first control terminals (Ga, G'a) of the first switching elements (3a, 3a'), respectively; wherein the control circuits (12, 6a, 6a ', 6b, 6b') are further designed to apply a respective associated heating current to a plurality of heating wires (2, 2 ') in a common heating stage in parallel, in an overlapping manner and / or in an alternating manner, and wherein at least two of the first control signals (ST1, ST1') differ in terms of their duty cycles.

The invention relates to the field of man-machine interaction, and discloses a man-machine interaction method used in an intelligent automobile scene, which comprises the following steps of: firstly, receiving an interaction instruction of a user through a vehicle-mounted input device; vehicle state data including the vehicle speed V, the steering wheel steering angle theta and the transverse acceleration R are collected in real time; dynamically adjusting an interaction mode according to the vehicle state data; then, the interaction instruction is transmitted to a vehicle-mounted processing unit, and the processing unit analyzes the instruction; according to an analysis result, calling a corresponding vehicle-mounted function module to execute operation; and finally, an execution result is fed back to the user through the vehicle-mounted output device. The scene where the vehicle is located can be obtained through analysis according to different vehicle states, so that the interaction mode is dynamically adjusted, and the safety and response efficiency of man-machine interaction in the vehicle driving process are optimized in combination with vehicle sensor data such as the vehicle speed, the steering angle, the transverse acceleration and user behavior characteristics.

The invention discloses an automobile lane changing auxiliary system which comprises a steering lamp operating rod assembly, an electronic control unit, a left rearview mirror module, a right rearview mirror module, a position sensor, a rearview mirror position memory module and an automobile state detection module, and the steering lamp operating rod assembly is arranged on the left side of a steering wheel and provided with a neutral position, a first gear and a second gear; the electronic control unit receives an operating rod signal and outputs a control instruction; the left rearview mirror module comprises a left rearview mirror horizontal rotation actuator and a left rearview mirror lens; the right rearview mirror module comprises a right rearview mirror horizontal rotation actuator and a right rearview mirror lens. Therefore, 0-20-degree adjustment of the rearview mirror is related to the vehicle speed, a blind area is covered at a low speed in a large angle, interference is avoided at a high speed in a small angle, risks are reduced, multi-gear linkage simplifies operation, the rearview mirror returns after being loosened, automatic centering is achieved after lane changing, distraction is reduced, navigation and a corner sensor recognize the road condition, manual reset is not needed, and adaptability is high.

The invention provides an electric power steering active return control method and system, and belongs to the field of electric power steering systems.The electric power steering active return control method comprises the steps that in the rotating process of a vehicle steering wheel, zone control is conducted with the steering wheel rotating angle as the benchmark, and original request torque is obtained; estimating the inertia moment of the steering wheel in the steering wheel aligning process; and calculating the original request torque and the steering wheel inertia torque to obtain a corrected steering wheel torque, and correcting the steering wheel torque according to the corrected steering wheel torque. According to the technical scheme, the aligning torque error caused by rotating speed fluctuation of the steering wheel is eliminated, and particularly under the working condition that a driver is completely released from the hand, the stability of aligning control is remarkably improved.

The invention relates to the technical field of intelligent traffic. The driver state recognition and vehicle control method comprises the steps that driver monitoring information comprises eye movement information, voice information and steering wheel operation information, and the eye movement information, the voice information and the steering wheel operation information are input into a multi-modal fusion judgment model; the multi-modal fusion judgment model dynamically adjusts the weight of each modal feature based on the attention mechanism and in combination with preset driver modal preference parameters to obtain fusion feature representation data, determines driver state information based on the fusion feature representation data, matches a preset composite event recognition rule according to the driver state information, and judges whether the driver state information is abnormal or not. And if the driver state information represents any one of a fatigue state, a distraction state or an emotional stress state, determining a corresponding event triggering level, and generating corresponding vehicle control information based on the event triggering level. The method has the effect of improving the driving safety.

A motor vehicle including a steering wheel comprising a touch-sensitive portion, a user interface comprising a control device for triggering an enablement of a hill descent control function, and a control unit coupled to the steering wheel and to the user interface is disclosed. The control unit is configured to detect the enablement of the hill descent control function by the control device and to start the hill descent control function in response to a touch on the touch-sensitive portion by a driver of the motor vehicle, provided that the hill descent control function is enabled.

The invention provides an automatic driving method and system and a readable storage medium, and the method comprises the steps: S1, obtaining point cloud data through a laser radar, and outputting the boundary information of an obstacle; s2, acquiring vehicle position information based on a Beidou positioning module; s3, the obstacle boundary information and the vehicle position information are input into a decision-making module, driving behaviors are determined through a preset state machine, and the driving behaviors comprise driving in a lane, lane-borrowing overtaking and decelerating for giving way; s4, track planning is carried out according to the driving behavior; s5, obtaining a track for control based on the smooth path and the planned speed; s6, generating a steering wheel turning angle by adopting an LQR algorithm based on a kinematic model on the basis of a track for control, and generating an acceleration compensation instruction by adopting a double-PID controller in which a position PID and a speed PID are connected in series; and S7, the vehicle executing mechanism controls the vehicle to run through the steering wheel rotation angle and the acceleration compensation instruction.

The invention belongs to the technical field of vehicle braking control, and provides a vehicle braking system failure auxiliary processing method, system and device and a medium. When the state is a non-failure state, executing a pressure building braking strategy; when the vehicle is in the failure state, an auxiliary processing strategy is executed, and the auxiliary processing strategy comprises the steps that the braking intention is judged based on vehicle braking feedback, and vehicle stability control threshold setting, deceleration distribution of electric braking and hydraulic braking, active adjustment of the braking pressure and active adjustment of the motor torque are sequentially completed based on the judgment result; and the wheel slip rate of the vehicle is monitored in real time, and the steering force of the vehicle is corrected in combination with vehicle braking feedback. While the deceleration of the vehicle meets the requirement of a driver, drifting or rollover of the vehicle due to the fact that the driver suddenly turns the steering wheel can be avoided, so that the stability of the vehicle is ensured.

A lighted steering wheel device is provided. The device is comprised of a steering wheel that integrates customizable and functional lighting features to enhance both safety and aesthetics. The steering wheel comprises various materials and configurations, with embedded flexible LED strips encased in impact-resistant, UV-protected casings, capable of displaying a wide range of static or dynamic light patterns. These patterns can be synchronized with vehicle systems, such as flashing red for emergency braking or reacting to turn signals, and brightness can adjust based on vehicle speed. The device includes a control interface embedded in the wheel and offers further customization via a mobile app, which provides remote access to light settings and synchronization features. Additionally, the device can generate safety alerts, utilizing proximity sensors, GPS integration, and haptic feedback for a multisensory driver experience, with an illuminated emblem adding a complementary design element.

The invention discloses a building material transfer device based on the Internet of Things, and relates to the technical field of material transfer, the building material transfer device comprises an AGV body and an Internet of Things control module arranged in the AGV body, four connecting blocks symmetrically arranged at four corners are fixedly arranged at the bottom of the AGV body, and a first rotating rod is rotatably arranged in each connecting block in a penetrating manner; the rod wall of the first rotating rod is fixedly sleeved with an adjusting plate, a supporting rod is fixedly arranged at the lower end of the adjusting plate, the rod wall of the supporting rod is rotationally sleeved with a supporting plate, and a steering wheel is fixedly arranged at the bottom of each supporting plate. In the material transferring process, the walking height between the AGV body and the ground can be conveniently adjusted according to materials stacked on the construction ground, the whole device can stably cross the stacked materials or avoid the height limit, and it is guaranteed that the materials can be stably and rapidly transferred.

The invention provides a vehicle drifting control method, device and equipment, a computer readable storage medium and a computer program product. The method comprises the steps that based on target state information and actual state information of a vehicle, a first slip rate component and a second slip rate component are obtained, the first slip rate component is used for slip angle stability control, and the second slip rate component is used for yaw velocity control; determining a left rear wheel slip rate target and a right rear wheel slip rate target based on a basic slip rate target, the first slip rate component and the second slip rate component; and rotating speed calculation is conducted based on the actual state information, the left rear wheel slip rate target and the right rear wheel slip rate target, and the vehicle is controlled based on the obtained left rear wheel rotating speed target and the obtained right rear wheel rotating speed target. According to the invention, a driver can maintain stable drifting of the vehicle only by operating the steering wheel and the accelerator.

The invention is suitable for the technical field of automatic driving, and provides an automatic driving quit judgment method considering the fatigue state of a driver, and the method can evaluate the real-time fatigue state of the driver more comprehensively and accurately through fusing the muscle fatigue and face visual fatigue characteristics of the driver. The input torque threshold value of the steering wheel is dynamically adjusted on the basis, so that when the fatigue degree of a driver is high, pipe connection can be triggered with smaller operating force, and the pipe connection difficulty risk caused by fatigue is reduced; and when the driver is in a good state, larger operating force is needed to avoid false triggering, so that the intelligence and humanization of automatic driving quit judgment are realized on the premise of ensuring safety, and the safety and reliability of man-machine co-driving are improved.

The invention relates to the technical field of vehicle-mounted integrated navigation, in particular to a double-clock synchronization IMU error correction method and system fused with 5G communication. The method comprises the following steps: acquiring a GNSS main clock signal, an auxiliary clock signal and a 5G communication clock signal, and establishing a unified time reference system; constructing a transverse speed prediction model to predict a transverse movement track in the high-speed lane changing process of the vehicle, and combining the transverse movement track with IMU inertial measurement data to calculate a transverse offset residual error of the vehicle; inputting the lateral offset residual error, the lane center line offset, the steering wheel angle data and the yaw velocity data of the vehicle into the improved error risk prediction neural network model for joint processing; and correcting the vehicle navigation state data in real time by using an extended Kalman filter. According to the invention, the 5G communication and GNSS double clock sources are fused in the vehicle high-speed lane changing scene, and high-precision IMU error correction of vehicle lane changing navigation state correction is carried out.

The invention relates to a steering wheel vibration testing device, and belongs to the technical field of new energy automobile accessory testing, the steering wheel vibration testing device comprises a testing table body, the testing table body is composed of a box body, a controller and a cover plate, and the top of the box body is provided with a rotation driving mechanism; the box body is internally provided with a multi-direction reciprocating structure for providing up-down and front-back vibration excitation for the rotary driving mechanism, and the box body is internally provided with an impact simulation mechanism and a transmission mechanism which are respectively linked with the multi-direction reciprocating structure and the rotary driving mechanism; the multi-direction reciprocating structure comprises a reciprocating structure and a connecting rod structure. The steering wheel vibration testing device has the advantages of being flexible in control, high in testing precision and the like, vibration synthesis and torque simulation of the steering wheel in multiple directions are achieved, the problems that a traditional testing device is single in vibration direction, large in energy loss, unreal in testing and the like are solved, the actual driving vibration environment is comprehensively and truly simulated, and the testing accuracy and reliability are improved.