CN220948158U - Emergency steering system and vehicle - Google Patents

Abstract

The utility model discloses an emergency steering system and a vehicle. The emergency steering system is used for a vehicle, the vehicle comprises a low-voltage power supply, and the emergency steering system comprises a double-winding motor, a high-voltage power supply, a high-voltage controller, a priority valve, a steering gear, a steering oil cylinder, a hydraulic pump and an oil tank; the double-winding motor comprises a high-voltage motor winding, a low-voltage motor winding and a low-voltage controller; the high-voltage motor winding and the high-voltage motor winding are connected with the hydraulic pump through the output shaft of the double-winding motor; the oil tank is connected with the hydraulic pump, the hydraulic pump is connected with the oil inlet end of the priority valve, the oil outlet end of the priority valve is connected with the oil inlet end of the steering gear, and the oil return end of the priority valve is connected with the oil tank. By adopting the scheme, the problems that the existing steering system uses two sets of pump systems to cause the vehicle to be more complex when arranging pipelines, the process is more complex, the misplacement is easy, the whole space utilization rate is low, and the redundant power hydraulic oil of the steering system is easy to waste under the non-steering and slight steering working conditions are solved.

Description

Emergency steering system and vehicle

The application claims priority from 202322212607.3 patent application (the application date of the prior application is 2023, 8 and 17, and the application is named as an emergency steering system and a vehicle).

Technical Field

The utility model relates to the technical field of vehicles, in particular to an emergency steering system and a vehicle.

Background

At present, a steering system of a vehicle generally comprises a high-voltage loop and a low-voltage loop, wherein the high-voltage loop and the low-voltage loop are separately controlled through a high-voltage motor winding, a low-voltage motor winding and two pumps with different displacement, the high-voltage motor winding adopts a permanent magnet synchronous motor and a motor controller, the low-voltage motor winding generally adopts a direct-current brush motor, the direct-current brush motor has lower efficiency, lower protection level and high energy consumption.

Because of the two sets of pump systems, the vehicle is complex in pipeline arrangement, complex in process and easy to misplace, and meanwhile, the overall space utilization rate is low. In addition, under non-steering and slight steering conditions, redundant power hydraulic oil of the steering system is easy to waste.

Disclosure of utility model

The utility model provides an emergency steering system and a vehicle, which are used for solving the problems that the existing steering system uses two sets of pump systems, so that the vehicle is complex in pipeline arrangement, complex in process and easy to misload, and meanwhile, the whole space utilization rate is low, and redundant power hydraulic oil of the steering system is easy to waste under the non-steering and slight steering working conditions.

According to an aspect of the present utility model, there is provided an emergency steering system for a vehicle including a low-voltage power supply, the emergency steering system including a dual-winding motor, a high-voltage power supply, a high-voltage controller, a priority valve, a steering gear, a steering cylinder, a hydraulic pump, and an oil tank;

The double-winding motor comprises a high-voltage motor winding, a low-voltage motor winding and a low-voltage controller;

the high-voltage power supply is electrically connected with the electric energy end of the high-voltage controller, and the control end of the high-voltage controller is electrically connected with the high-voltage motor winding;

The low-voltage power supply is electrically connected with the electric energy end of the low-voltage controller, and the control end of the low-voltage controller is electrically connected with the low-voltage winding;

The double-winding motor is provided with an output shaft, and the high-voltage motor winding are both connected with the hydraulic pump through the output shaft;

The oil tank is connected with the oil inlet end of the hydraulic pump, the oil outlet end of the hydraulic pump is connected with the oil inlet end of the priority valve, the oil outlet end of the priority valve is connected with the oil inlet end of the steering gear, the oil outlet end of the steering gear is connected with the steering oil cylinder, and the oil return end of the priority valve is connected with the oil tank.

In an alternative embodiment of the utility model, the hydraulic pump is a variable displacement pump.

In an alternative embodiment of the utility model, the double-winding motor is a double-winding permanent magnet synchronous motor.

In an alternative embodiment of the utility model, the emergency steering system further comprises a damper, said damper being arranged at the lower end of the double-winding motor.

In an alternative embodiment of the utility model, the shock absorber comprises a shock pad.

In an alternative embodiment of the present utility model, the number of the steering cylinders is two, one steering cylinder is used for driving the vehicle to turn left, and the other steering cylinder is used for driving the vehicle to turn right.

In an alternative embodiment of the utility model, the emergency steering system further comprises a filter connected to the tank, the filter being adapted to filter the oil output from the tank.

In an optional embodiment of the present utility model, the emergency steering system further includes a vehicle controller, an instrument, and a reminder module, where the high-voltage controller and the low-voltage controller are both connected to the vehicle controller in a communication manner, and the high-voltage controller is configured to send a fault signal to the vehicle controller when a high-voltage fault occurs;

the whole vehicle controller is in communication connection with the instrument, and is used for feeding back the fault signal to the instrument and controlling the low-voltage controller to start;

The instrument is electrically connected with the reminding module, and the instrument is used for controlling the reminding module to send out reminding information based on the fault signal.

In an alternative embodiment of the present utility model, the high voltage controller and the low voltage controller are both connected to the whole vehicle controller through a CAN bus in a communication manner;

and/or the whole vehicle controller is in communication connection with the instrument through a CAN bus.

According to another aspect of the utility model there is provided a vehicle comprising an emergency steering system according to any one of the embodiments of the utility model.

According to the technical scheme, the double-winding motor is arranged, the double-winding motor comprises two windings such as a high-voltage motor winding and a low-voltage motor winding, and meanwhile, the high-voltage motor winding and the low-voltage motor winding are connected with the hydraulic pump through the output shaft, so that only one hydraulic pump is needed to be connected with the double-winding motor, and compared with the existing scheme, the double-winding motor adopts two pumps, the pipeline arrangement is simpler, and the space utilization rate is high. Meanwhile, the pipeline arrangement is simple, interference generated during the pipeline arrangement is reduced, heat radiation and friction of the pipeline are reduced, loosening is prevented, and reliability of products and convenience in maintenance are improved. In addition, the direct current that low voltage system adopted in current scheme has not communication function, can't realize information feedback, if direct current has brush motor trouble damage, also can't inform the driver, can't realize emergent function yet. The high-voltage motor winding in this scheme is connected with high-voltage controller, low-voltage motor winding is connected with low-voltage controller, so high-voltage motor winding with when any one of low-voltage motor winding damages, can know the damage condition through high-voltage controller or low-voltage controller, improved the security of vehicle. In addition, through setting up the priority valve, because the oil return end of priority valve with the oil tank is connected, so under non-steering or slight steering operating mode, the unnecessary hydraulic oil accessible priority valve of emergent steering system returns oil to the oil tank, avoids the waste of high-pressure hydraulic oil, practices thrift the energy consumption. Therefore, the scheme solves the problems that the existing steering system uses two sets of pump systems to cause the vehicle to be more complex in pipeline arrangement, the process is more complex, the vehicle is easy to be assembled in a staggered manner, the whole space utilization rate is low, and the redundant power hydraulic oil of the steering system is easy to waste under the non-steering and slight steering working conditions.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the utility model or to delineate the scope of the utility model. Other features of the present utility model will become apparent from the description that follows.

Drawings

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

FIG. 1 is a schematic diagram of an oil circuit of an emergency steering system according to an embodiment of the present utility model;

FIG. 2 is a block diagram of a vehicle with an emergency steering system according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of a dual-winding motor of an emergency steering system according to an embodiment of the present utility model.

Wherein: 1. a double winding motor; 11. a high voltage motor winding; 12. a motor winding of a low-voltage motor; 13. a low pressure controller; 2. a high voltage power supply; 3. a high voltage controller; 4. a priority valve; 5. a diverter; 6. a steering cylinder; 7. a hydraulic pump; 8. an oil tank; 9. a damper; 10. a filter; 20. a vehicle controller; 30. a meter; 40. a reminding module; 50. a low voltage power supply.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is an oil circuit schematic diagram of an emergency steering system according to a first embodiment of the present utility model, and fig. 2 is a block diagram of a vehicle to which the emergency steering system according to the first embodiment of the present utility model is applied, where the emergency steering system is used for a vehicle, and as shown in fig. 1 and 2, the vehicle includes a low-voltage power supply 50, and the emergency steering system includes a duplex winding motor 1, a high-voltage power supply 2, a high-voltage controller 3, a priority valve 4, a steering gear 5, a steering cylinder 6, a hydraulic pump 7, and an oil tank 8.

As shown in fig. 2 and 3, the double-winding motor 1 includes a high-voltage motor winding 11, a low-voltage motor winding 12, and a low-voltage controller 13. The double-winding motor 1 is a motor comprising two sets of windings, namely a high-voltage motor winding 11 and a low-voltage motor winding 12, and the low-voltage controller 13 is a controller which is arranged on the double-winding motor 1 and is used for monitoring and controlling the low-voltage motor winding 12. Preferably, the low voltage controller 13 comprises one of CPU, MCU, DSP and an FPGA.

The high voltage power supply 2 is electrically connected with the power end of the high voltage controller 3, and the control end of the high voltage controller 3 is electrically connected with the high voltage motor winding 11. The high-voltage power supply 2 is a power supply capable of supplying high-voltage power to the high-voltage controller 3, and the high-voltage controller 3 is a controller capable of monitoring and controlling the high-voltage motor winding 11, so that the high-voltage power supply 2, the high-voltage controller 3 and the high-voltage motor winding 11 form a high-voltage system. Preferably, the high voltage power supply 2 is a high voltage battery.

The low voltage power supply 50 is electrically connected to the power supply terminal of the low voltage controller 13, and the control terminal of the low voltage controller 13 is electrically connected to the low voltage power supply winding 12. The low voltage power supply 50 is a power supply capable of supplying low voltage to the low voltage controller 13, and the low voltage controller 13 is a component capable of controlling the low voltage motor winding 12, so that the low voltage power supply 50, the low voltage controller 13 and the low voltage motor winding 12 form a low voltage system. Preferably, the low voltage power source 50 is a 24V battery, and since the original circuit of the vehicle typically has a 24V battery, by making the low voltage power source 50 a 24V battery, no additional circuitry or components are required.

The double-winding motor 1 has an output shaft, through which both the high-voltage motor winding 11 and the low-voltage motor winding 12 are connected to the hydraulic pump 7. Because the high-voltage motor winding 11 and the high-voltage motor winding 12 are connected with the hydraulic pump 7 through the output shafts, when the high-voltage system fails, the hydraulic pump 7 can be controlled to work normally through the low-voltage system, the low-voltage controller 13 can be controlled to start, and the hydraulic pump 7 is driven to work normally through the high-voltage motor winding 12, so that safety problems cannot be caused. Preferably, the high voltage controller 3 comprises one of CPU, MCU, DSP and FPGA.

As shown in fig. 1 and 2, the oil tank 8 is connected with the oil inlet end of the hydraulic pump 7, the oil outlet end of the hydraulic pump 7 is connected with the oil inlet end of the priority valve 4, the oil outlet end of the priority valve 4 is connected with the oil inlet end of the steering gear 5, the oil outlet end of the steering gear 5 is connected with the steering cylinder 6, and the oil return end of the priority valve 4 is connected with the oil tank 8.

The oil tank 8 is a container for storing hydraulic oil, the hydraulic pump 7 can change the hydraulic oil in the oil tank 8 into high-pressure hydraulic oil to be transmitted to the priority valve 4 and then to the steering gear 5, the vehicle is usually provided with a steering wheel and wheels, the steering gear 5 is a component capable of outputting the high-pressure hydraulic oil to the steering oil cylinder 6 according to the rotating size and speed of the steering wheel, and the steering oil cylinder 6 can drive the wheels to move so as to realize steering of the vehicle. Because the oil return end of the priority valve 4 is connected with the oil tank 8, redundant hydraulic oil of the emergency steering system can return to the oil tank 8 through the priority valve 4 under the non-steering or slight steering working condition, so that the waste of high-pressure hydraulic oil is avoided, and the energy consumption is saved.

According to the scheme, by arranging the double-winding motor 1, the double-winding motor 1 comprises two windings such as the high-voltage motor winding 11 and the low-voltage motor winding 12, and meanwhile, the high-voltage motor winding 11 and the low-voltage motor winding 12 are connected with the hydraulic pump 7 through the output shaft, so that only one hydraulic pump 7 is needed to be connected with the double-winding motor 1, compared with the two pumps adopted in the existing scheme, the double-winding motor is simpler in pipeline arrangement and high in space utilization rate. Meanwhile, the pipeline arrangement is simple, interference generated during the pipeline arrangement is reduced, heat radiation and friction of the pipeline are reduced, loosening is prevented, and reliability of products and convenience in maintenance are improved. In addition, the direct current that low voltage system adopted in current scheme has not communication function, can't realize information feedback, if direct current has brush motor trouble damage, also can't inform the driver, can't realize emergent function yet. The high-voltage motor winding 11 in this scheme is connected with high-voltage controller 3, and low-voltage motor winding 12 is connected with low-voltage controller 13, so when any one of high-voltage motor winding 11 and low-voltage motor winding 12 damages, can know the damage condition through high-voltage controller 3 or low-voltage controller 13, improved the security of vehicle. In addition, through setting up priority valve 4, because the oil return end of priority valve 4 is connected with oil tank 8, so under non-steering or slight steering operating mode, the unnecessary hydraulic oil of emergent steering system accessible priority valve 4 returns oil to oil tank 8, avoids the waste of high-pressure hydraulic oil, practices thrift the energy consumption. Therefore, the scheme solves the problems that the existing steering system uses two sets of pump systems to cause the vehicle to be more complex in pipeline arrangement, the process is more complex, the vehicle is easy to be assembled in a staggered manner, the whole space utilization rate is low, and the redundant power hydraulic oil of the steering system is easy to waste under the non-steering and slight steering working conditions.

In an alternative embodiment of the utility model, the hydraulic pump 7 is a variable displacement pump. The variable displacement pump is a pump in which the displacement is changed by changing a variable displacement mechanism such as the inclination direction or the compression ratio of a swash plate of an axial plunger pump, etc., with the rotation direction of a prime mover unchanged. Because the load of the vehicle is large, if a constant displacement pump is adopted, the power and torque requirements of the high-voltage motor winding 11 are larger, so that the connecting wires are relatively thicker, the wiring of the vehicle is difficult, collision is easy to generate, the risk of damage to the wire harness caused by abrasion is caused, the hydraulic pump 7 is made to be a variable displacement pump, and when the hydraulic pump works normally, the high-voltage motor winding 11 works, the output power, the torque and the rotating speed are higher, and the displacement of the hydraulic pump 7 is controlled to work in a maximum state; if the high voltage is faulty, the low voltage motor winding 12 automatically intervenes in operation, and because the power, torque and rotation speed output by the low voltage motor winding 12 are low, in order to ensure the normal operation of the low voltage motor winding 12, the hydraulic pump 7 is controlled to perform variable, and the high displacement hydraulic pump 7 is controlled to be the low displacement hydraulic pump 7, so that the steering performance of the whole machine is ensured.

In an alternative embodiment of the utility model, the double-winding motor 1 is a double-winding permanent magnet synchronous motor. The double-winding permanent magnet synchronous motor is a permanent magnet synchronous motor with double windings, and the permanent magnet synchronous motor uses permanent magnets to provide excitation, so that the motor structure is simpler, the processing and assembly cost is reduced, a collecting ring and an electric brush which are easy to cause problems are omitted, and the running reliability of the motor is improved; and because exciting current is not needed, exciting loss is avoided, and the efficiency and the power density of the motor are improved. Therefore, the double-winding permanent magnet synchronous motor has high efficiency and small size, meanwhile, the motor winding 12 and the low-voltage controller 13 are integrated into a whole, the integration level is high, the protection level is high, and the energy-saving effect is good.

In an alternative embodiment of the utility model, as shown in fig. 3, the emergency steering system further comprises a damper 9, the damper 9 being arranged at the lower end of the double-winding motor 1. The shock absorber 9 is a component capable of damping vibration, and the shock absorber 9 is arranged at the lower end of the double-winding motor 1, so that the whole vehicle can be prevented from generating resonance due to the hydraulic impact effect in the operation process of the emergency steering system, and meanwhile, the vibration of the whole vehicle is reduced. Preferably, the number of the dampers 9 is two, and the two dampers 9 are arranged at the lower end of the double-winding motor 1 at intervals.

On the basis of the above embodiment, the damper 9 includes a damper pad. Wherein the shock pad has an excellent damping effect, and the vibration of the double-winding motor 1 can be well reduced by making the shock absorber 9 include the shock pad.

In an alternative embodiment of the present utility model, as shown in fig. 1 and 2, the number of steering cylinders 6 is two, one steering cylinder 6 being used to drive the vehicle to turn left and the other steering cylinder 6 being used to drive the vehicle to turn right. Wherein, the vehicle can turn left or right when turning, and the vehicle can be conveniently driven to turn left or right by arranging two steering oil cylinders 6. Specifically, the vehicle includes a steering column for driving wheels to rotate, two steering cylinders 6 are connected to the steering column, one steering cylinder is for driving the wheels to turn left through the steering column, and the other steering cylinder 6 is for driving the wheels to turn right through the steering column.

In an alternative embodiment of the utility model, the emergency steering system further comprises a filter 10, the filter 10 being connected to the tank 8, the filter 10 being adapted to filter the oil output from the tank 8. The filter 10 is a component capable of filtering impurities, and impurities in the oil tank 8 can be filtered by the filter 10, so that the hydraulic oil is prevented from influencing the normal operation of the emergency steering system due to impurities, and the safety of the emergency steering system is ensured.

In an alternative embodiment of the present utility model, the emergency steering system further includes a vehicle controller 20, an instrument 30, and a reminder module 40, where the high-voltage controller 3 and the low-voltage controller 13 are both communicatively connected to the vehicle controller 20, and the high-voltage controller 3 is configured to send a fault signal to the vehicle controller 20 when a high-voltage fault occurs.

The vehicle controller 20 is in communication connection with the meter 30, and the vehicle controller 20 is used for feeding back a fault signal to the meter 30 and controlling the low-voltage controller 13 to start.

The instrument 30 is electrically connected with the reminding module 40, and the instrument 30 is used for controlling the reminding module 40 to send out reminding information based on the fault signal.

The vehicle control unit 20 (VCU for short) is a core controller for controlling the vehicle, and manages a battery system, an electric drive system, a thermal management system and the like through a CAN/LIN bus or a hard wire, specifically includes control of a gear, an accelerator pedal, a brake pedal, calculates torque control required to be output according to the electric quantity of a real-time power battery, and controls low-voltage and high-voltage power on and off, energy recovery and the like of the vehicle.

The meter 30 is a device that reflects the operation conditions of various systems of the vehicle. Common fuel oil indicator lamps, cleaning liquid indicator lamps, electronic throttle indicator lamps, front and rear fog lamp indicator lamps, alarm lamps and the like.

The reminding module 40 is a module capable of sending out reminding information, preferably, the reminding module 40 comprises an LED lamp, and the reminding information is LED light at the moment. Further, the reminding module 40 includes a buzzer, and the reminding information is a beeping sound, further, the reminding module 40 includes a buzzer and an LED lamp, and the reminding information includes a beeping sound and an LED light. The reminding module 40 can be set according to the requirement, and can only play a role of reminding the user, and is not particularly limited herein.

The fault signal indicates that there is a high-voltage fault, when the vehicle controller 20 receives the fault signal, the low-voltage controller 13 can be controlled to start, so that the low-voltage controller 13 can work normally, the low-voltage controller 13 drives the hydraulic pump 7 to work normally through the low-voltage motor winding 12, no safety problem is caused, meanwhile, because the high-voltage controller 3, the low-voltage controller 13, the vehicle controller 20 and the instrument 30 can communicate with each other to perform information interaction, when the emergency steering system breaks down, the vehicle controller 20 feeds back the fault signal to the instrument 30, and the instrument 30 sends reminding information through the reminding module 40 to remind a driver so that the driver can learn the fault condition in time, and the safety of the vehicle is improved.

On the basis of the above embodiment, the high-voltage controller 3 and the low-voltage controller 13 are both connected in communication with the vehicle controller 20 through the CAN bus. Among them, CAN bus (CAN, controller Area Network) is a serial communication protocol bus for real-time application, which CAN use twisted pair wires to transmit signals, and is one of the most widely used field buses in the world. The CAN protocol is used for communication between various components in an automobile to replace expensive and heavy wiring harnesses. The high-voltage controller 3 and the low-voltage controller 13 are all in communication connection with the whole vehicle controller 20 through the CAN bus, and the high-voltage controller 3, the low-voltage controller 13 and the whole vehicle controller 20 CAN conveniently conduct information interaction.

On the basis of the above embodiment, the whole vehicle controller 20 is communicatively connected with the meter 30 through the CAN bus. The whole vehicle controller 20 is in communication connection with the instrument 30 through the CAN bus, and the whole vehicle controller 20 and the instrument 30 CAN conveniently perform information interaction.

Example two

A second embodiment of the present utility model provides a vehicle including an emergency steering system according to any of the embodiments of the present utility model.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present utility model may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present utility model are achieved, and the present utility model is not limited herein.

The above embodiments do not limit the scope of the present utility model. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included in the scope of the present utility model.

Claims (10)

1. An emergency steering system for a vehicle, the vehicle comprising a low voltage power supply (50), characterized in that the emergency steering system comprises a double-winding motor (1), a high voltage power supply (2), a high voltage controller (3), a priority valve (4), a steering gear (5), a steering cylinder (6), a hydraulic pump (7) and an oil tank (8);

The double-winding motor (1) comprises a high-voltage motor winding (11), a low-voltage motor winding (12) and a low-voltage controller (13);

The high-voltage power supply (2) is electrically connected with the electric energy end of the high-voltage controller (3), and the control end of the high-voltage controller (3) is electrically connected with the high-voltage motor winding (11);

The low-voltage power supply (50) is electrically connected with the electric energy end of the low-voltage controller (13), and the control end of the low-voltage controller (13) is electrically connected with the low-voltage motor winding (12);

The double-winding motor (1) is provided with an output shaft, and the high-voltage motor winding (11) and the low-voltage motor winding (12) are connected with the hydraulic pump (7) through the output shaft;

The oil tank (8) is connected with the oil inlet end of the hydraulic pump (7), the oil outlet end of the hydraulic pump (7) is connected with the oil inlet end of the priority valve (4), the oil outlet end of the priority valve (4) is connected with the oil inlet end of the steering gear (5), the oil outlet end of the steering gear (5) is connected with the steering oil cylinder (6), and the oil return end of the priority valve (4) is connected with the oil tank (8).

2. Emergency steering system according to claim 1, characterized in that the hydraulic pump (7) is a variable displacement pump.

3. Emergency steering system according to claim 1, characterized in that the double-winding motor (1) is a double-winding permanent magnet synchronous motor.

4. An emergency steering system according to any one of claims 1-3, characterized in that the emergency steering system further comprises a shock absorber (9), the shock absorber (9) being arranged at the lower end of the double winding motor (1).

5. Emergency steering system according to claim 4, characterized in that the shock absorber (9) comprises a shock pad.

6. An emergency steering system according to any one of claims 1 to 3, characterized in that the number of steering cylinders (6) is two, one steering cylinder (6) being used to drive the vehicle to turn left and the other steering cylinder (6) being used to drive the vehicle to turn right.

7. An emergency steering system according to any one of claims 1-3, characterized in that the emergency steering system further comprises a filter (10), the filter (10) being connected to the oil tank (8), the filter (10) being adapted to filter the oil output from the oil tank (8).

8. The emergency steering system according to any one of claims 1 to 3, further comprising a vehicle controller (20), an instrument (30) and a reminder module (40), wherein the high-voltage controller (3) and the low-voltage controller (13) are both in communication connection with the vehicle controller (20), and the high-voltage controller (3) is configured to send a fault signal to the vehicle controller (20) when a high-voltage fault occurs;

the whole vehicle controller (20) is in communication connection with the instrument (30), and the whole vehicle controller (20) is used for feeding back the fault signal to the instrument (30) and controlling the low-voltage controller (13) to start;

The instrument (30) is electrically connected with the reminding module (40), and the instrument (30) is used for controlling the reminding module (40) to send out reminding information based on the fault signal.

9. The emergency steering system according to claim 8, wherein the high-voltage controller (3) and the low-voltage controller (13) are both communicatively connected to the vehicle controller (20) via a CAN bus;

And/or the whole vehicle controller (20) is in communication connection with the instrument (30) through a CAN bus.

10. A vehicle comprising an emergency steering system according to any one of claims 1-9.