CN117087754A - Vehicle, rear wheel steering assembly and control method thereof - Google Patents

Abstract

The application relates to the technical field of vehicles, and discloses a vehicle, a rear wheel steering assembly and a control method thereof, wherein the rear wheel steering assembly comprises: the two ends of the screw rod are respectively connected with the yoke, and the screw rod pulls the yoke to move by moving in the length direction of the screw rod so as to realize steering of the rear wheels of the vehicle; the driving assembly comprises a rotor piece and a stator piece, the stator piece is sleeved on the rotor piece, the rotor piece is sleeved on the lead screw, the rotor piece can rotate relative to the stator piece, and the lead screw is driven to move along the length direction when the rotor piece rotates; and the control device is connected with the driving assembly and used for controlling the rotor piece to rotate to a specific angle so as to enable the screw rod to be positioned at the target position. Therefore, when the rotor piece rotates to a specific angle, the screw rod is positioned at the target position, and the rotor piece has a good locking effect on the screw rod.

Description

Vehicle, rear wheel steering assembly and control method thereof

Technical Field

The application relates to the technical field of vehicles, in particular to a vehicle, a rear wheel steering assembly and a control method thereof.

Background

The rear wheel steering assembly of the vehicle is connected with the rear wheels of the vehicle and is used for controlling the rear wheels of the vehicle to rotate so as to realize steering by matching with the front wheels of the vehicle.

The lead screw in the rear wheel steering assembly may be subject to external forces causing rear wheel angle variations, such passive variations may cause vehicle misalignment and high speeds may cause vehicle instability. At this time, the screw and the reverse lock are required. After the screw rod is locked in the prior art, the screw rod still moves left and right, so that the locking effect of the screw rod is not good.

Disclosure of Invention

In view of the above, embodiments of the present application provide a vehicle, a rear wheel steering assembly, and a control method thereof, which control a rotor member to rotate to a specific angle to enable a screw to be located at a target position, thereby ensuring a good locking effect on the screw.

A first aspect of the present application provides a rear wheel steering assembly comprising: the two ends of the screw rod are respectively connected with the yoke, and the screw rod pulls the yoke to move by moving in the length direction of the screw rod so as to realize steering of the rear wheels of the vehicle; the driving assembly comprises a rotor piece and a stator piece, the stator piece is sleeved on the rotor piece, the rotor piece is sleeved on the lead screw, the rotor piece can rotate relative to the stator piece, and the lead screw is driven to move along the length direction when the rotor piece rotates; and the control device is connected with the driving assembly and used for controlling the rotor piece to rotate to a specific angle so as to enable the screw rod to be positioned at the target position.

In some embodiments, the rear wheel steering assembly further comprises a spindle, the rotor member is sleeved on the spindle and fixed relative to the spindle, the spindle is sleeved on the screw, the spindle is driven to synchronously rotate when the rotor member rotates, and the screw is driven to move along the length direction when the spindle rotates.

In some embodiments, the rear wheel steering assembly further comprises a screw member, one end of the screw member is fixedly connected with one end of the mandrel, the screw member is sleeved on the screw rod and is in threaded connection with the screw rod, the screw member is driven to rotate when the mandrel rotates, and the screw rod is driven to move along the length direction when the screw member rotates.

In some embodiments, the thickness of the threaded member is greater than the thickness of the mandrel, the inner wall of the threaded member is in abutting connection with the outer wall of the screw, and the inner wall of the mandrel is spaced from the outer wall of the screw.

In some embodiments, the rear wheel steering assembly further includes a sensing member disposed in spaced relation to the lead screw, the sensing member configured to obtain position sensing information of the lead screw.

In some embodiments, a control device is coupled to the sensing element, the control device is configured to receive the position sensing information, and the control device is configured to control the drive assembly to control movement of the lead screw based on the position sensing information.

In some embodiments, the rear wheel steering assembly further comprises a bearing, wherein the bearing is sleeved on the threaded member, and the spindle drives the threaded member to rotate in the bearing when rotating.

A second aspect of the present application provides a rear-wheel steering assembly control method, characterized in that the method is based on the rear-wheel steering assembly in the above embodiment, the method including: acquiring position sensing information of a lead screw based on a sensing piece; and controlling the driving assembly to drive the screw rod to move based on the position sensing information so that the screw rod reaches a preset position.

In some embodiments, the step of controlling the driving assembly to drive the screw to move based on the position sensing information so that the screw reaches the preset position further includes: acquiring a corresponding relation between the angle of the rotor piece and the middle position of the screw rod; controlling rotation of the rotor member based on the correspondence such that the position of the lead screw reaches the target position; when the command for locking the screw is obtained, the rotor piece of the driving assembly is controlled to maintain the current position so as to lock the screw.

A third aspect of the present application provides a vehicle comprising a rear wheel steering assembly as in any one of the embodiments, the rear wheel steering assembly being connected to the rear wheels, and the rear wheel steering assembly being for controlling steering of the rear wheels.

The application has at least the following beneficial effects: based on the vehicle, the rear wheel steering assembly and the control method thereof provided by the application, the rear wheel steering assembly comprises: the two ends of the screw rod are respectively connected with the yoke, and the screw rod pulls the yoke to move by moving in the length direction of the screw rod so as to realize steering of the rear wheels of the vehicle; the driving assembly comprises a rotor piece and a stator piece, the stator piece is sleeved on the rotor piece, the rotor piece is sleeved on the lead screw, the rotor piece can rotate relative to the stator piece, and the lead screw is driven to move along the length direction when the rotor piece rotates; and the control device is connected with the driving assembly and used for controlling the rotor piece to rotate to a specific angle so as to enable the screw rod to be positioned at the target position. Therefore, when the rotor piece rotates to a specific angle, the screw rod is positioned at the target position, and the rotor piece has a good locking effect on the screw rod.

The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following specific embodiments of the present application are given for clarity and understanding.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a rear-wheel steering assembly according to one embodiment of the present application;

FIG. 2 is another structural schematic view of the rear wheel steering assembly of FIG. 1;

FIG. 3 is a further schematic structural view of the rear wheel steering assembly of FIG. 1;

FIG. 4 is a cross-sectional view of the rear wheel steering assembly of FIG. 1;

FIG. 5 is an enlarged schematic view of the structure of the area A in FIG. 4;

FIG. 6 is an enlarged schematic view of an end structure of the rear wheel steering assembly shown in FIG. 1;

FIG. 7 is a flow chart of an embodiment of a rear-wheel steering control method provided by the present application;

fig. 8 is a flowchart of another embodiment of a rear-wheel steering control method according to the present application.

Reference numerals illustrate: rear wheel steering assembly 10, housing 11, lead screw 12, drive assembly 13, stator member 131, rotor member 132, control device 14, spindle 15, screw member 16, sensor member 17, bearing 18; yoke 21, telescopic structure 22, connection structure 23.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" is presented throughout this document, it is intended to include three schemes in parallel, taking "a and/or B" as an example, including a scheme, or B scheme, or a scheme where a and B meet simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

A first aspect of the present application provides a rear-wheel steering assembly 10, fig. 1 is a schematic structural view of an embodiment of the rear-wheel steering assembly 10 provided by the present application, fig. 2 is another schematic structural view of the rear-wheel steering assembly 10 in fig. 1, fig. 3 is a further schematic structural view of the rear-wheel steering assembly 10 in fig. 1, and fig. 4 is a cross-sectional view of the rear-wheel steering assembly 10 in fig. 1.

Referring to fig. 1-4, the rear wheel steering assembly 10 includes a housing 11 and a lead screw 12, the lead screw 12 being disposed within the housing 11, the lead screw 12 being movable within the housing 11. The two ends of the screw 12 are respectively connected to the yoke 21, and the yoke 21 may or may not be considered as a part of the rear wheel steering assembly 10, and the rear wheel steering assembly 10 is not particularly limited. At this time, the number of the yoke 21 is two, and the two yoke 21 are provided at both ends of the screw 12, respectively.

In particular, the yoke 21 may be directly or indirectly connected to the rear wheel via a connecting member, thereby achieving a direct or indirect connection to the rear wheel. The yoke 21 can realize steering of the rear wheels by pulling the rear wheels, thereby realizing steering of the vehicle.

In combination with the content of the above-described lead screw 12, the lead screw 12 moves by moving in the length direction thereof to pull the yoke 21 to move, so as to achieve steering of the rear wheels of the vehicle. It will be appreciated that when the screw 12 is moved in one direction, the two rear wheels are pulled to move in the same direction, thereby causing the two rear wheels to rotate in the same direction in synchronism.

Referring specifically to fig. 4, the rear wheel steering assembly 10 further includes a driving assembly 13, where the driving assembly 13 includes a rotor member 132 and a stator member 131, the stator member 131 is sleeved on the rotor member 132, the rotor member 132 is sleeved on the screw 12, and the rotor member 132 can rotate relative to the stator member 131.

In particular, the stator member 131 is fixed within the housing 11, thereby effecting positioning of the entire drive assembly 13. The rotor member 132 is rotatably disposed within the stator member 131 such that the rotor member 132 is rotatable within the stator member 131 about its rotational axis. Wherein the stator member 131 has mounted thereon a pair of dc-excited stationary main poles and the rotor member 132 has mounted thereon an armature winding. When the rotor 132 is energized, an induced electromotive force is generated, which acts as a rotating magnetic field, and thus rotates within the magnetic field generated by the stator.

Wherein the rotor member 132, when rotated, drives the lead screw 12 to move along its length. The rotation of the rotor 132 converts the rotation about its axis of rotation into a movement of the screw 12 along its length, thereby effecting a movement of the screw 12 along its length. The rotor member 132 may be directly or indirectly coupled to the lead screw 12, and the rotational movement of the rotor member 132 may be converted to linear movement of the lead screw 12 by the coupling member between the rotor member 132 and the lead screw 12.

With specific reference to fig. 4, in some embodiments, the rear wheel steering assembly 10 further includes a control device 14, where the control device 14 is disposed within the housing 11, thereby allowing for accommodation and protection of the housing 11. The control device 14 may be a microcontroller, which in turn facilitates setup. The control device 14 may be connected with a master controller of the vehicle, etc. in a wired or wireless manner, so as to implement communication between the control device 14 and the master controller of the vehicle, so that a user may send a control command to the control device 14 through the master controller of the vehicle.

The control device 14 is connected to the driving assembly 13, and the control device 14 is used for controlling the rotor member 132 to rotate to a specific angle so that the screw 12 is located at the target position. The control device 14 may control the rotation of the rotor member 132, and thus the rotor member 132, to a specific angle automatically or based on a control command of a user. It should be understood that there is a correspondence between the rotation angle of the rotor member 132 and the specific position of the screw 12, and at this time, the control device 14 may control the rotation of the rotor member 132 based on the specific angle information of the rotor member 132 and the correspondence, and further rotate the rotor member 132 by a specific angle so that the screw 12 reaches the target position.

In summary, according to the rear wheel steering assembly 10 provided by the present application, the driving assembly 13 may be controlled by the control device 14, so that the rotor member 132 rotates to drive the screw 12 to move, thereby steering the rear wheels. When the rotor 132 rotates to a specific angle, the screw 12 is located at the target position, and the rotor 132 has better position stabilizing capability and better locking effect on the screw 12.

Fig. 5 is an enlarged schematic view of the structure of the area a in fig. 4.

Referring to fig. 5, in some embodiments, the rear wheel steering assembly 10 further includes a spindle 15, the rotor member 132 is sleeved on the spindle 15 and fixed relative to the spindle 15, the spindle 15 is sleeved on the screw 12, and the rotor member 132 drives the spindle 15 to synchronously rotate when rotating, and drives the screw 12 to move along the length direction when rotating the spindle 15.

Specifically, the mandrel 15 is disposed in a tubular shape, and an outer wall of the mandrel 15 is attached to an inner wall of the rotor member 132, so that the mandrel 15 is fixed to the rotor member 132. When the mandrel 15 is sleeved on the screw rod 12, the inner wall of the mandrel 15 can be arranged at intervals with the outer wall of the screw rod 12, so that the screw rod 12 can rotate in the mandrel 15. The rotor 132 may drive the spindle 15 to rotate synchronously when rotating, or may drive the spindle 15 to rotate asynchronously, without limitation. At this time, the rotor member 132 rotates to indirectly drive the screw 12 to move in the longitudinal direction thereof.

Referring to fig. 5, in some embodiments, the rear wheel steering assembly 10 further includes a screw 16, one end of the screw 16 is fixedly connected to one end of the spindle 15, the screw 16 is sleeved on the screw 12 and is in threaded connection with the screw 12, the spindle 15 rotates to drive the screw 16 to rotate, and the screw 12 is driven to move along the length direction thereof when the screw 16 rotates.

Specifically, one end of the screw 16 may extend into the mandrel 15, and the other end is exposed out of the mandrel 15, so that the outer wall of the screw 16 is attached to the inner wall of the mandrel 15, and further the screw 16 is fixed to the mandrel 15. The screw 16 may also be provided in a cylindrical shape, so that the screw 16 may be sleeved on the screw 12. The inner wall of the screw 16 may be provided with an internal thread, and the outer wall of the screw 12 may be correspondingly provided with an external thread, and the internal thread of the screw 16 is matched with the external thread of the screw 12, so that the screw 12 is in threaded connection with the screw 16.

It will be appreciated that since the screw 16 is fixed relative to the spindle 15, the screw 16 is driven to rotate synchronously as the spindle 15 rotates, the screw 16 itself being converted by rotation into movement of the screw 12 along its length. At this time, the driving unit 13 drives the spindle 15 and the screw 16 to rotate via the rotor 132, and indirectly drives the screw 12 to move in the longitudinal direction thereof.

With continued reference to fig. 5, in some embodiments, the thickness of the threaded member 16 is greater than the thickness of the spindle 15, and the inner wall of the threaded member 16 is in abutting engagement with the outer wall of the lead screw 12, with the inner wall of the spindle 15 being spaced from the outer wall of the lead screw 12. When the thickness of the screw 16 is greater than that of the mandrel 15, when the part of the screw 12 is disposed inside the mandrel 15 and the screw 16, the outer wall of the part of the screw 12 is connected with the inner wall of the screw 16 by adhesion, and the outer wall of the part of the screw 12 is disposed at an interval with the inner wall of the mandrel 15. In this case, the threaded spindle 12 merely abuts directly against the threaded element 16 and does not abut directly against the inner wall of the spindle 15.

In combination with the above, the rotor member 132, the mandrel 15, the screw member 16 and the screw 12 may be coaxially disposed, so that the screw 12 can be well driven when the rotor member 132 rotates, and a good driving effect is achieved. When the connection mode between the two structures is a fixed connection mode, the two structures can be connected through a welding mode, and then a good fixing effect is ensured. For example, when the mandrel 15 is fixedly connected with the screw 16, the inner wall of the mandrel 15 and the outer wall of the screw 16 can be connected by welding, so that the screw 16 can be firmly fixed on the inner wall of the mandrel 15, and the screw 16 is prevented from falling off when the mandrel 15 rotates.

Referring to fig. 4, in some embodiments, the rear wheel steering assembly 10 further includes a sensor 17, the sensor 17 being spaced apart relative to the lead screw 12, the sensor 17 being configured to obtain position sensing information of the lead screw 12. The sensing piece 17 is arranged in the shell 11, and at least part of the sensing piece 17 is arranged at intervals with the screw rod 12, so that the sensing piece 17 can conveniently acquire position sensing information of the screw rod 12. It should be appreciated that the position sensing information may reflect the position of the lead screw 12 and thus obtain a specific position of the lead screw 12.

In particular, the sensing element 17 may be a proximity sensor. For example, the sensor 17 may be an electromagnetic type, photoelectric type, differential transformer type, eddy current type, capacitive type, reed switch, hall type, or the like type sensor, without being particularly limited.

In combination with the above arrangement of the control device 14, in some embodiments, the control device 14 is connected to the sensor 17, the control device 14 is configured to receive the position sensing information, and the control device 14 is configured to control the driving assembly 13 to control the movement of the screw 12 according to the position sensing information. The sensing piece 17 and the control device 14 can be connected in a wired or wireless mode, so that the sensing piece 17 can transmit the position sensing information to the control device 14 in a wired or wireless mode after acquiring the position sensing information, and the control device 14 can control the driving assembly 13 according to the position sensing information. After the control device 14 obtains the position sensing information, the control device 14 can obtain a specific position of the screw 12 based on the position sensing information, and further control the driving assembly 13 to work according to the specific position of the screw 12.

In combination with the above, there is a correspondence between the rotation angle of the rotor member 132 and the specific position of the screw 12, after the control device 14 obtains the specific position of the screw 12 through the position sensing information, the control device 14 controls the rotation of the rotor member 132 according to the specific position of the screw 12 and the correspondence, so that the rotor member 132 rotates by a specific angle, and the screw 12 is located at the target position.

Referring to fig. 5, in some embodiments, the rear wheel steering assembly 10 further includes a bearing 18, the bearing 18 is sleeved on the threaded member 16, and the spindle 15 rotates to drive the threaded member 16 to rotate in the bearing 18. The bearing 18 may include a rotor fixed to the housing 11 of the rear wheel steering assembly 10 and a stator in which the rotor is disposed. The balls can be arranged between the rotor and the stator, so that the rotor can rotate relative to the stator. The inner wall of the rotor may engage a portion of the outer wall of the screw 16, thereby allowing the screw 16 to be supported and secured by the bearing 18 and rotated normally.

Fig. 6 is an enlarged schematic view of an end structure of the rear wheel steering assembly 10 shown in fig. 1.

Referring to fig. 6, a telescopic structure 22 is further provided between the yoke 21 and the housing 11, and the yoke 21 is disposed at one end of the telescopic structure 22. When the screw rod 12 moves to move the yoke 21, the yoke 21 stretches and contracts the telescopic structure 22, so that the movement of the yoke 21 is adapted.

Referring to fig. 4, the rear wheel steering assembly 10 further includes a connection structure 23, one end of the connection structure 23 is connected with one end of the screw 12, and the other end of the connection structure 23 is connected with the yoke 21, so as to achieve indirect connection between the screw 12 and the yoke 21. It should be understood that the number of the connection structures 23 may be two, and the two connection structures 23 are respectively provided at both ends of the screw 12 and respectively connect the yoke 21 at both ends of the screw 12. Wherein, both ends of the connection structure 23 can be respectively and fixedly connected with the upper and the yoke 21, so that the connection structure 23 is relatively fixed with the screw rod 12 and the yoke 21.

In summary, according to the rear wheel steering assembly 10 provided by the present application, the rear wheel steering assembly 10 includes a lead screw 12, a driving assembly 13, and a control device 14. Both ends of the screw 12 are respectively used for connection with the yoke 21, and the screw 12 pulls the yoke 21 to move by moving in the length direction thereof to achieve steering of the rear wheels of the vehicle. The driving assembly 13 comprises a rotor member 132 and a stator member 131, the stator member 131 is sleeved on the rotor member 132, the rotor member 132 is sleeved on the screw rod 12, the rotor member 132 can rotate relative to the stator member 131, and the screw rod 12 is driven to move along the length direction when the rotor member 132 rotates. The control device 14 is connected to the driving assembly 13, and the control device 14 is used for controlling the rotor member 132 to rotate to a specific angle so that the screw 12 is located at the target position. Through the arrangement mode, when the rotor piece 132 rotates to a specific angle, the screw rod 12 is located at the target position, the rotor piece 132 has good position stability, and the rotor piece 132 has good locking effect on the screw rod 12.

A second aspect of the application provides a rear-wheel steering assembly 10 control method, which is based on the rear-wheel steering assembly 10 of the above-described embodiment, the rear-wheel steering control assembly including a sensor 17. The execution subject of the method may be the control device 14 of the rear wheel steering assembly 10. Fig. 7 is a flow chart of an embodiment of a rear wheel steering control method according to the present application, and with reference to fig. 7, the method includes the following steps:

s11: position sensing information of the lead screw is acquired based on the sensing piece.

In combination with the above, the sensor may be an electromagnetic sensor, a photoelectric sensor, a differential transformer sensor, an eddy current sensor, a capacitive sensor, a reed switch, a hall sensor, or the like, and the sensor can acquire position sensing information of the screw.

Based on the acquired position sensing information, the position of the screw rod can be further acquired, and further control can be performed according to the position of the screw rod. The position sensing information acquired by the sensing element can be a position sensing signal, for example, an analog signal, and the analog signal and further conversion and processing can be performed to obtain position information including the position of the screw.

Wherein the position of the lead screw may be indicated in various ways. For example, the position of the center portion of the screw may be set to the position of the rotor member, and the position of the end portion of the screw may be set to the position of the rotor member.

S12: and controlling the driving assembly to drive the screw rod to move based on the position sensing information so that the screw rod reaches a preset position.

After the position sensing information is acquired, the specific position of the screw rod can be further acquired based on the position sensing information, and the screw rod is further controlled to move according to the specific position of the screw rod. In combination with the above, there is a correspondence between the position of the screw and the rotation angle of the rotor member, and the correspondence is preset and stored. When the screw is driven, the movement of the screw can be controlled according to the position information and the corresponding relation of the screw, so that the screw moves to a preset position, and the preset position can be the target position of a user.

In summary, according to the rear wheel steering assembly control method provided by the application, the position sensing information of the position screw rod can be obtained through the sensing piece, and then the specific position of the screw rod can be obtained according to the position sensing information. At this time, the screw can be further driven to move according to the specific position and the correspondence relation of the screw, and the screw can be further moved to the specific position.

In some embodiments, the preset position is a neutral position, and when the screw is in the neutral position, the two rear wheels corresponding to the screw are in a non-steering state, and the vehicle is in a non-steering state.

Fig. 8 is a schematic flow chart of another embodiment of a rear wheel steering control method according to the present application, and in combination with fig. 8, after the step of controlling the driving assembly to drive the screw to move based on the position sensing information so that the screw reaches the preset position, that is, after the step S12, the method further includes:

s13: and acquiring the corresponding relation between the angle of the rotor piece and the middle position of the screw rod.

The angle of the rotor member is a specific rotation angle of the rotor member, and after the corresponding relationship between the middle position and the initial angle of the rotor member is established, the corresponding relationship between other positions of the rotor member and other angles of the rotor member can be further obtained. At this time, the correspondence between each angle of the rotor member and each position of the screw can be obtained.

S14: the rotation of the rotor member is controlled based on the correspondence relationship so that the position of the lead screw reaches the target position.

In combination with the above, after the correspondence between the angle of the rotor member and the neutral position of the screw is obtained, the correspondence between each angle of the rotor member and each position of the screw can be obtained. Based on the corresponding relation and the target position, the angle of the rotor piece which needs to rotate can be obtained, and the rotor piece is further controlled to rotate by a certain angle, so that the screw rod reaches the target position.

Therefore, when the position information of the screw rod is obtained, the step can further obtain the angle of the rotor piece to be rotated according to the corresponding relation, and further control the rotor piece to rotate for a certain angle, so that the position of the screw rod reaches the target position.

S15: when the command for locking the screw is obtained, the rotor piece of the driving assembly is controlled to maintain the current position so as to lock the screw.

The command for locking the screw rod can be automatically generated by the system or input by a user. For example, the control device may establish a communication connection with the terminal, through which the user may effect locking of the screw. In combination with the manner in which the control device is connected with the vehicle master controller, a user can input a user instruction on the vehicle master controller, and then input the user instruction into the control device through the vehicle master controller.

It will be appreciated that locking the screw is necessary to ensure that the screw remains stable in the current position and cannot be subject to large positional fluctuations. At this time, the rotor piece of the control driving assembly keeps the current position, namely, the rotor piece is controlled to keep the current rotation angle, and then the lead screw is enabled to guarantee the current position, so that the stability of the position of the lead screw is kept.

It will be appreciated that the position of the screw and the angle of rotation of the rotor member will remain stable when the screw is in the locked condition. Whether the position of the threaded spindle changes can be monitored by means of a sensor element, and whether the position of the rotor element changes can be detected by means of a sensor element within the drive device. When the position of the screw rod is changed, the rotating angle of the rotor member is generally changed, and when the rotating angle of the rotor member is changed, the position of the screw rod is changed.

In some embodiments, after the step S15, if the position of the screw is changed and/or the rotation angle of the rotor member is changed, the rotor member may be further controlled to rotate, so that the position of the screw returns to the position corresponding to the locking state, and the screw is always in the locking state at the specific position.

The screw may be kept in a locked state at any position, for example, when the screw is in a neutral position. When the screw is in the non-neutral position, the screw can also be kept in a locked state, thereby enabling the rear wheels of the vehicle to be in a specific steering state.

A third aspect of the present application provides a vehicle comprising a rear wheel steering assembly as in any one of the embodiments, the rear wheel steering assembly being connected to the rear wheels, and the rear wheel steering assembly being for controlling steering of the rear wheels. The rear wheel steering control method provided by the application can be applied to the rear wheel steering assembly, and the rear wheel steering assembly is controlled by the rear wheel steering control method.

The foregoing description is only of the optional embodiments of the present application, and is not intended to limit the scope of the application, and all the modifications of the equivalent structures described in the specification and drawings of the present application or the direct/indirect application of the present application to other related technical fields are included in the scope of the present application.

Claims (10)

1. A rear wheel steering assembly, comprising:

the two ends of the screw rod are respectively connected with the yoke, and the screw rod pulls the yoke to move by moving in the length direction of the screw rod so as to realize steering of the rear wheels of the vehicle;

the driving assembly comprises a rotor piece and a stator piece, the stator piece is sleeved on the rotor piece, the rotor piece is sleeved on the lead screw, the rotor piece can rotate relative to the stator piece, and the lead screw is driven to move along the length direction when the rotor piece rotates;

and the control device is connected with the driving assembly and is used for controlling the rotor piece to rotate to a specific angle so as to enable the screw rod to be positioned at a target position.

2. The rear wheel steering assembly of claim 1, wherein,

the rear wheel steering assembly further comprises a mandrel, the rotor piece is sleeved on the mandrel and fixed relative to the mandrel, the mandrel is sleeved on the screw rod, the mandrel is driven to synchronously rotate when the rotor piece rotates, and the screw rod is driven to move along the length direction of the screw rod when the mandrel rotates.

3. The rear wheel steering assembly of claim 2, wherein,

the rear wheel steering assembly further comprises a threaded piece, one end of the threaded piece is fixedly connected with one end of the mandrel, the threaded piece is sleeved on the screw rod and is in threaded connection with the screw rod, the threaded piece is driven to rotate when the mandrel rotates, and the screw rod is driven to move along the length direction of the screw rod when the threaded piece rotates.

4. The rear wheel steering assembly of claim 3, wherein,

the thickness of the threaded piece is greater than that of the mandrel, the inner wall of the threaded piece is connected with the outer wall of the screw rod in a fitting mode, and the inner wall of the mandrel is arranged at intervals with the outer wall of the screw rod.

5. The rear wheel steering assembly of claim 1, wherein,

the rear wheel steering assembly further comprises a sensing piece, the sensing piece is arranged at intervals relative to the screw rod, and the sensing piece is used for acquiring position sensing information of the screw rod.

6. The rear wheel steering assembly of claim 5, wherein,

the control device is connected with the sensing piece and used for receiving the position sensing information, and the control device is used for controlling the driving assembly to control the screw rod to move according to the position sensing information.

7. The rear wheel steering assembly of claim 3, wherein,

the rear wheel steering assembly further comprises a bearing, the bearing is sleeved on the threaded piece, and the threaded piece is driven to rotate in the bearing when the mandrel rotates.

8. A rear wheel steering assembly control method, characterized in that the method is based on the rear wheel steering assembly of claim 5, the method comprising:

acquiring position sensing information of the lead screw based on the sensing piece;

and controlling the driving assembly to drive the screw rod to move based on the position sensing information so that the screw rod reaches a preset position.

9. The rear wheel steering assembly control method according to claim 8, wherein,

the preset position is a middle position, and after the step of controlling the driving assembly to drive the screw rod to move based on the position sensing information so that the screw rod reaches the preset position, the method further comprises the following steps:

acquiring a corresponding relation between the angle of the rotor piece and the middle position of the screw rod;

controlling rotation of the rotor member based on the correspondence such that a position of the lead screw reaches a target position;

and when an instruction for locking the screw rod is acquired, controlling the rotor piece of the driving assembly to keep the current position so as to lock the screw rod.

10. A vehicle comprising a rear wheel steering assembly as claimed in any one of claims 1 to 7 and a rear wheel, the rear wheel steering assembly being connected to the rear wheel, the rear wheel steering assembly being for controlling steering of the rear wheel.