CN221114056U - Road sense simulation structure, steer-by-wire system and vehicle - Google Patents

Abstract

The embodiment of the application provides a road feel simulation structure, a steer-by-wire system and a vehicle. The road sense simulation structure comprises a damping output mechanism and a speed reducing mechanism, the damping output mechanism comprises a driving motor and a rotary damper, the driving motor and the rotary damper are respectively connected with the input end of the speed reducing mechanism, and the output end of the speed reducing mechanism is used for transmitting torque to the steering wheel of the steering-by-wire system, so that the torque is output to the input end of the speed reducing mechanism through the driving motor and the rotary damper, is transmitted to the steering wheel after being reduced and increased in torsion through the speed reducing mechanism, and provides simulated road sense for a driver.

Description

Road sense simulation structure, steer-by-wire system and vehicle

Technical Field

The disclosure belongs to the technical field of automobiles, and particularly relates to a road feel simulation structure, a steer-by-wire system and a vehicle.

Background

The steer-by-wire system is an electric steering system which cancels the mechanical connection between a steering column and a steering gear, and transmits steering will of a driver from a steering wheel to wheels through an electric signal, and compared with the traditional mechanical steering system, the steering performance of an automobile can be remarkably improved. In the steer-by-wire system, the road feel simulation structure can output torque to the steering wheel to provide simulated road feel for a driver.

At present, the road feel simulation structure can comprise a driving motor and a speed reducing mechanism, the driving motor can output torque to the speed reducing mechanism, the speed reducing mechanism directly or indirectly transmits the torque to the steering wheel after receiving the speed reduction and torque increase, but because the space for assembling the driving motor in the vehicle is limited, the motor with smaller output torque is often adopted as the driving motor in the existing road feel simulation structure, and the output torque is difficult to meet the requirement of the steering wheel for large torque under special scenes such as soft limit, auxiliary support for driving and the like after the torque is increased by the speed reducing mechanism.

Disclosure of utility model

The embodiment of the application provides a road feel simulation structure, a steer-by-wire system and a vehicle, which can improve the torque output by the road feel simulation structure to a steering wheel and meet the requirement of the steering wheel on large torque.

In a first aspect, an embodiment of the present application provides a road feel simulation structure, including a speed reducing mechanism and a damping output mechanism, where the speed reducing mechanism includes an input end and an output end, and the output end is used to transmit torque to a steering wheel of a steer-by-wire system; the damping output mechanism comprises a driving motor and a rotary damper, and the driving motor and the rotary damper are coaxially connected and are respectively connected with the input end.

In some embodiments, the rotary damper is configured as a magnetorheological damper.

In some embodiments, the reduction mechanism includes a worm gear and a worm gear that intermesh, with an input located on the worm and an output located on the worm gear.

In some embodiments, the worm includes a meshing portion and two connection portions, the meshing portion is in meshing connection with the worm wheel, the two connection portions are respectively disposed on two sides of the meshing portion along an axial direction of the worm, the driving motor is connected to one of the two connection portions, and the rotary damper is connected to the other one.

In some embodiments, the road feel simulation structure further comprises a controller connected to the drive motor and the rotary damper, respectively, for controlling actuation of at least one of the drive motor and the rotary damper.

In some embodiments, the road feel simulation structure comprises a normal working state and a special working state, and the controller controls the driving motor to start in the normal working state; under the special working condition, the controller controls the driving motor and the rotary damper to be started respectively.

In some embodiments, the road feel simulation structure further includes a fault-compensated state in which the drive motor fails and the controller controls the rotary damper to activate.

In some embodiments, the road feel simulation structure further comprises a steering column, the steering column comprises a column body and a steering shaft, the column body is sleeved on the periphery of the steering shaft, the steering shaft comprises a first sub-shaft and a second sub-shaft which are coaxially arranged, the first sub-shaft is provided with a jack, the second sub-shaft is inserted into the jack, any one of the first sub-shaft and the second sub-shaft is connected with the speed reducing mechanism, and the other one is used for being connected with a steering wheel.

In a second aspect, an embodiment of the present application further provides a steer-by-wire system, including a steering wheel and the road feel simulation structure of any one of the above, where an output end of the speed reducing mechanism is connected to the steering wheel.

In a third aspect, an embodiment of the present application also provides a vehicle including the above steer-by-wire system.

The embodiment of the application provides a road feel simulation structure, a steer-by-wire system and a vehicle. The road sense simulation structure comprises a damping output mechanism and a speed reducing mechanism, the damping output mechanism comprises a driving motor and a rotary damper, the driving motor and the rotary damper are respectively connected with the input end of the speed reducing mechanism, and the output end of the speed reducing mechanism is used for transmitting torque to the steering wheel of the steering-by-wire system, so that the torque is output to the input end of the speed reducing mechanism through the driving motor and the rotary damper, is transmitted to the steering wheel after being reduced and increased in torsion through the speed reducing mechanism, and provides simulated road sense for a driver.

Drawings

FIG. 1 is a schematic diagram of a road feel simulation architecture through which some embodiments of the present application pass;

FIG. 2 is another schematic diagram of a road feel simulation structure provided in some embodiments of the present application;

Fig. 3 is a cross-sectional view of a road feel simulation structure along the axial direction of a steering shaft provided by some embodiments of the present application.

Reference numerals illustrate:

A speed reducing mechanism 10; a worm wheel 11; a worm 12; an engagement portion 121; a connection portion 122; a damping output mechanism 20; a drive motor 21; a rotary damper 22; a steering column 30; a column body 31; a steering shaft 32; a first sub-shaft 321; a second sub-shaft 322; torsion bar 323; a first shaft section 324; a second shaft section 325; a controller 40.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

In the drive-by-wire steering system, the road sense simulation structure can output torque to the steering wheel to prevent the steering wheel from rotating, so that a driver can accurately control the steering angle of the steering wheel, the situation that the vehicle deviates from the driving direction due to overlarge steering angle is avoided, the simulated road sense is provided for the driver, in addition, the road sense simulation structure can enable the steering wheel to have a soft limit function and provide auxiliary support for the driver when the driver gets on or off the vehicle through outputting the torque to the steering wheel, the soft limit of the steering wheel means that the steering wheel is rotated to the limit position by the driver, the torque is output to the steering wheel through the road sense simulation structure, the rotation of the steering wheel is prevented, and the driver is prevented from suddenly rotating the steering wheel to the limit position to generate strong impact sound, and meanwhile, other structural damages in the steering system can be avoided.

However, because the steering wheel needs larger torque when realizing soft limit and providing auxiliary support for the driver when the driver gets on or off the vehicle, the current road feel simulation structure only outputs torque through the driving motor, and the driving motor is limited by an assembly space, which is usually a small-volume motor, and the output torque of the small-volume motor is small, the large-torque requirement of the steering wheel under the special scene is difficult to meet.

In view of the above, the embodiment of the application provides a road feel simulation structure, a steer-by-wire system and a vehicle. The road sense simulation structure comprises a damping output mechanism and a speed reducing mechanism, wherein the damping output mechanism comprises a driving motor and a rotary damper, the driving motor and the rotary damper are respectively connected with the input end of the speed reducing mechanism, and the output end of the speed reducing mechanism is used for transmitting torque to the steering wheel of the steering-by-wire system, so that the torque is output to the input end of the speed reducing mechanism through the driving motor and the rotary damper, is transmitted to the steering wheel after being reduced and increased in torsion through the speed reducing mechanism, simulated road sense is provided for a driver, and in the process, the driving motor and the rotary damper are coaxially arranged, so that the torque output by the driving motor and the torque output by the rotary damper can be output in a superposition manner, and compared with the torque output by the driving motor only, the large torque output of the damping output mechanism can be realized, and the large torque requirement of the steering wheel under special scenes such as soft limit, auxiliary support for the driver is provided for the driving and the like is met.

Fig. 1 is a schematic structural diagram of a road feel simulation structure according to some embodiments of the present application.

As shown in fig. 1, in a first aspect, an embodiment of the present application provides a road feel simulation structure, including a speed reduction mechanism 10 and a damping output mechanism 20, where the speed reduction mechanism 10 includes an input end and an output end, and the output end is used for transmitting torque to a steering wheel of a steer-by-wire system; the damping output mechanism 20 includes a drive motor 21 and a rotary damper 22, and the drive motor 21 and the rotary damper 22 are coaxially connected and respectively connected to the input terminals.

Alternatively, the output end of the speed reducing mechanism 10 may be directly connected to the steering wheel, or the output end of the speed reducing mechanism 10 may be indirectly connected to the steering wheel through a torque transmission structure such as a pipe sleeve, which is not limited in this embodiment.

The embodiment of the application provides a road feel simulation structure, which comprises a damping output mechanism 20 and a speed reducing mechanism 10, wherein the damping output mechanism 20 comprises a driving motor 21 and a rotary damper 22, the driving motor 21 and the rotary damper 22 are both connected with the input end of the speed reducing mechanism 10, and the output end of the speed reducing mechanism 10 is used for transmitting torque to the steering wheel of a steer-by-wire system, so that the torque is output to the input end of the speed reducing mechanism 10 through the driving motor 21 and the rotary damper 22, and is transmitted to the steering wheel after being decelerated and torsion-increased through the speed reducing mechanism 10, so that a simulated road feel is provided for a driver. It should be clear that the damping output mechanism 20 in this embodiment can also provide a large torque output for the steering wheel in other special situations of the steering wheel, and is not limited to the above-mentioned situations of soft limit and providing auxiliary support for the driver to get on or off the vehicle.

It will be appreciated that in the present embodiment, by providing the rotary damper 22 in the damper output mechanism 20 so that it can output torque to the reduction mechanism 10 together with the drive motor 21, a smaller-sized motor can be selected as the drive motor 21 in the case where the preset maximum output torque is fixed, so that the production cost of the road feel simulation structure can be reduced while the space occupation of the road feel simulation structure is reduced. Further, the rotary damper 22 and the driving motor 21 can be controlled continuously and variably under different torque demands of the steering wheel, and the response speed is high and the execution accuracy is high.

Alternatively, the speed reduction mechanism 10 may be any type of speed reduction mechanism 10 such as a gear reduction mechanism, a planetary gear reduction mechanism, and a worm reduction mechanism, and the present embodiment is not limited.

In some embodiments, the rotary damper 22 is configured as a magnetorheological damper.

The magnetorheological damper means that by controlling the on/off of the current in the rotary damper 22, a magnetic field is generated or not generated in the rotary damper 22, when the magnetic field is generated, the magnetorheological fluid in the rotary damper 22 gradually changes to a solid state having viscosity and elasticity when passing through the magnetic field, a damping force is generated in the rotary damper 22, a torque is output to the reduction mechanism 10, and when the magnetic field is not generated, the magnetorheological fluid returns to the fluid state, and at this time, the damping force in the rotary damper 22 is reduced or even no damping force is generated, so that the torque is not output to the reduction mechanism 10.

It will be appreciated that in the present embodiment, when the degree of conversion of the magnetorheological fluid in the rotary damper 22 into the solid state is high, the damping force generated is large, the torque output to the reduction mechanism 10 is large, and when the degree of conversion of the magnetorheological fluid in the rotary damper 22 into the fluid state is high, the damping force generated is small, the torque output to the reduction mechanism 10 is small. Therefore, in the present embodiment, by controlling the magnitude of the current flowing into the rotary damper 22, the magnitude of the magnetic field generated in the rotary damper 22 can be adjusted, thereby controlling the state of the magnetorheological fluid in the rotary damper 22 to precisely control the magnitude of the damping force generated by the rotary damper 22, thereby precisely controlling the magnitude of the torque output by the rotary damper 22 to the reduction mechanism 10, and realizing precise regulation and control of the torque output by the damping output mechanism 20.

Fig. 2 is another schematic diagram of a road feel simulation structure according to some embodiments of the present application.

As shown in fig. 2, in some embodiments, the reduction mechanism 10 includes a worm gear 11 and a worm 12 that intermesh, with an input end located on the worm 12 and an output end located on the worm gear 11.

The worm 12 is respectively connected with a motor shaft of the driving motor 21 and the rotary damper 22, the rotary damper 22 and the driving motor 21 respectively drive the worm 12 to rotate so as to transmit torque to the worm 12, the worm 12 is meshed with the worm wheel 11, and the torque is transmitted to the worm wheel 11 to simultaneously realize speed reduction and torque increase, so that the structure is simple and the transmission is stable. It will be appreciated that in the reduction mechanism 10, the gear ratio between the worm 12 and the worm wheel 11 is greater than 1, so that a reduction and torque-up effect can be achieved.

With reference to fig. 2, in some embodiments, the worm 12 includes a meshing portion 121 and two connecting portions 122, the meshing portion 121 is meshed with the worm wheel 11, the two connecting portions 122 are disposed on two sides of the meshing portion 121 along an axial direction of the worm 12, the driving motor 21 is connected to one of the two connecting portions 122, and the rotary damper 22 is connected to the other, so as to improve balance of the driving motor 21 and the rotary damper 22 when assembled to the worm 12, and further improve transmission stability.

Alternatively, the reduction mechanism 10 may further include a housing, and the housing of the driving motor 21 and the housing of the rotary damper 22 may be connected with the housing of the reduction mechanism 10, thereby reducing the overall volume of the road feel simulation structure and reducing its space occupation in the wire harness steering system and even the vehicle.

Optionally, the speed reducing mechanism 10 may further include a first bearing sleeved on the connecting portion 122 and located between the driving motor 21 and the engaging portion 121, where the first bearing is connected to the housing of the speed reducing mechanism 10, so as to improve the transmission stability of the worm 12; and/or, the speed reducing mechanism 10 may further include a second bearing, which is sleeved on the connection portion 122 and is located between the rotary damper 22 and the engagement portion 121, and the second bearing is connected to the housing of the speed reducing mechanism 10, so as to further improve the driving stability of the worm 12.

In some embodiments, the worm 12 is provided with a first external spline, the rotary damper 22 is provided with a first internal spline, and the rotary damper 22 and the worm 12 are in meshed connection with each other through the first internal spline and the first external spline, so that on the basis of ensuring the connection reliability of the worm 12 and the rotary damper 22, the force transmission uniformity between the worm 12 and the rotary damper 22 is improved, and the transmission is more stable.

With continued reference to fig. 1 and fig. 2, in some embodiments, the road feel simulation structure further includes a controller 40, where the controller 40 is connected to the driving motor 21 and the rotary damper 22 respectively, and is used for controlling at least one of the driving motor 21 and the rotary damper 22 to start, so that the driving motor 21 and the rotary damper 22 can be reasonably controlled to start or close according to the requirements of the vehicle, thereby avoiding wasting resources.

In some embodiments, the road feel simulation structure includes a normal operation state and a special operation state, where the controller 40 controls the driving motor 21 to start; under special working conditions, the controller 40 controls the driving motor 21 and the rotary damper 22 to be started respectively.

Specifically, when the vehicle is running normally, the road feel simulation structure may be in a normal working state, the controller 40 controls the driving motor 21 to start and the rotary damper 22 to close, and outputs torque to the input end of the speed reducing mechanism 10 through the driving motor 21, and the torque is transmitted to the steering wheel through the output end after being reduced and increased in the speed reducing mechanism 10, so as to provide simulated road feel for the driver. When the soft limit function of the steering wheel is required to be achieved or the steering wheel is required to provide auxiliary support for getting on or off the vehicle, the road feel simulation structure can be in a special working condition state, the controller 40 controls the driving motor 21 and the rotary damper 22 to be started simultaneously, the torque output by the driving motor 21 and the torque output by the rotary damper 22 can be transmitted to the speed reducing mechanism 10 in a superposition mode, and the torque is transmitted to the steering wheel after being reduced and increased at the speed reducing mechanism 10, so that the requirement of the steering wheel for large torque under special scenes such as soft limit, auxiliary support for the driver and the like is met. Of course, the road feel simulation structure can be in a special working condition state under the scenes of other large torque demands of the steering wheel, and the embodiment is not limited.

In the present embodiment, the road feel simulation structure is correspondingly in different states under different scenes of the vehicle, and the driving motor 21 and/or the rotary damper 22 are controlled to be started by the controller 40 under different states, so that flexible control of the driving motor 21 and the rotary damper 22 is realized, and the road feel simulation structure can flexibly output torque outwards.

In some embodiments, the road feel simulation structure further includes a fault compensation state, in which the driving motor 21 is in fault, and the controller 40 controls the rotary damper 22 to be started, so that the rotary damper 22 can output torque to the steering wheel instead of the driving motor 21, so as to avoid the situation that the torque cannot be output to the steering wheel due to the fault of the driving motor 21, and thus the safety performance of the vehicle is affected.

Fig. 3 is a cross-sectional view of a road feel simulation structure along the axial direction of a steering shaft provided by some embodiments of the present application.

As shown in fig. 1, 2 and 3, in some embodiments, the road feel simulation structure further includes a steering column 30, the steering column 30 includes a column body 31 and a steering shaft 32, the column body 31 is sleeved on the outer periphery of the steering shaft 32, the steering shaft 32 includes a first sub-shaft 321 and a second sub-shaft 322 coaxially disposed, the first sub-shaft 321 is formed with a jack, the second sub-shaft 322 is inserted into the jack, any one of the first sub-shaft 321 and the second sub-shaft 322 is connected with the speed reduction mechanism 10, and the other is used for being connected with a steering wheel.

The steering column 30 is disposed between the output end of the reduction mechanism 10 and the steering wheel to transmit torque, so that the volume of the reduction mechanism 10 can be reduced compared with the case where the steering wheel is directly connected with the reduction mechanism 10, and at this time, the reduction mechanism 10 can be a standard component, thereby reducing the difficulty and cost of production of the road feel simulation structure. In the steering column 30, the column body 31 is fitted around the steering shaft 32, so that the steering shaft 32 can be protected. The steering shaft 32 includes a first sub-shaft 321 and a second sub-shaft 322 coaxially disposed, any one of the first sub-shaft 321 and the second sub-shaft 322 is connected with the speed reduction mechanism 10, and the other is connected with the steering wheel, therefore, the worm wheel 11 of the speed reduction mechanism 10 can be sleeved on any one of the first sub-shaft 321 and the second sub-shaft 322, and the steering wheel is sleeved on the other, when the damping output mechanism 20 outputs torque to the worm 12 of the speed reduction mechanism 10, the worm 12 is meshed with the worm wheel 11, the worm wheel 11 is driven to rotate and transmit the torque to the worm wheel 11, the worm wheel 11 further drives the first sub-shaft 321 and the second sub-shaft 322 to rotate and transmit the torque to the first sub-shaft 321 and the second sub-shaft 322, and further the torque is transmitted to the steering wheel through the first sub-shaft 321 and the second sub-shaft 322, so as to block the rotation of the steering wheel, and provide a simulated sense for the driver. The first sub-shaft 321 and the second sub-shaft 322 are detachably connected, specifically, the first sub-shaft 321 is provided with a jack along the axial direction of the steering shaft 32, the second sub-shaft 322 is inserted into the jack to realize assembly, the structure is simple, the assembly is convenient, meanwhile, the height of the steering wheel can be adjusted by controlling the second sub-shaft 322 to be inserted into the jack along the axial direction of the steering shaft 32, so that the steering wheel can be suitable for different drivers, and the comfort of the drivers in driving vehicles is improved.

Optionally, the steering column 30 may further include a third bearing sleeved on the steering shaft 32 and located between the steering shaft 32 and the column body 31, and the steering shaft 32 is mounted on the column body 31 through the third bearing to improve assembly reliability.

Alternatively, when the second sub-shaft 322 is inserted into the jack, the second sub-shaft 322 may be connected to the first sub-shaft 321 through another connection structure, for example, through a magnetic lock, which is not limited in this embodiment.

Alternatively, the column body 31 may be connected with the housing of the reduction mechanism 10, thereby reducing the overall volume of the road feel simulation structure and reducing the space occupation.

In some embodiments, the inner wall of the jack is formed with a second internal spline, the second sub-shaft 322 is formed with a second external spline, and the first sub-shaft 321 and the second sub-shaft 322 are connected in a meshed manner through the second internal spline and the second external spline, so that the assembly is convenient, and the connection reliability of the first sub-shaft and the second sub-shaft can be improved.

With continued reference to fig. 3, in some embodiments, the road-feel simulation structure further includes a sensor, the second sub-shaft 322 includes a torsion bar 323, a first shaft section 324 and a second shaft section 325, the first shaft section 324 is connected with the reduction mechanism 10, the second shaft section 325 is connected with the first sub-shaft 321, the first shaft section 324 and the second shaft section 325 are detachably connected, two ends of the torsion bar 323 are respectively inserted into the first shaft section 324 and the second shaft section 325 along the axial direction of the steering shaft 32, and the sensor is used for detecting torque at the torsion bar 323.

Specifically, in the second sub-shaft 322, two ends of the torsion bar 323 are respectively inserted into the first shaft section 324 and the second shaft section 325 along the axial direction of the steering shaft 32, and the first shaft section 324 is connected with the reduction mechanism 10, and the second shaft section 325 is connected with the first sub-shaft 321, so when the damping output mechanism 20 outputs torque to the reduction mechanism 10, the torque is transmitted to the first shaft section 324 after being reduced and increased by the reduction mechanism 10, and is transmitted to the second shaft section 325 through the first shaft section 324, and then transmitted to the first sub-shaft 321 through the second shaft section 325, so as to finally be transmitted to the steering wheel, in the process, when the torque is transmitted from the first shaft section 324 to the second shaft section 325, the torsion bar 323 between the first shaft section 324 and the second shaft section 325 is twisted, and the degree of the torsion bar 323 is detected through the sensor, so that the magnitude of the torque can be obtained, the structure is simple, and the detection accuracy is high. It will be appreciated that in this embodiment, the torque detected by the sensor is the torque after the speed reduction mechanism 10 has reduced the speed and increased the torque, that is, the torque transmitted from the steering shaft 32 to the steering wheel.

The first shaft section 324 and the second shaft section 325 are detachably connected, thereby facilitating disassembly. Alternatively, the first shaft section 324 and the second shaft section 325 may be connected by a spline, any one of the first shaft section 324 and the second shaft section 325 is formed with a third internal spline, the other is formed with a third external spline, and the first shaft section 324 may rotate the second shaft section 325 by engagement of the third internal spline with the third external spline and transmit torque to the second shaft section 325. Preferably, when the first shaft section 324 and the second shaft section 325 are spline-connected, the first shaft section 324 and the second shaft section 325 are configured to be fixed in the axial direction of the steering shaft 32, and are not slid in the axial direction of the steering shaft 32, so that the torsion bar 323 can be prevented from coming off the first shaft section 324 or the second shaft section 325.

Alternatively, the sensor may be disposed near the junction of the first shaft section 324 and the second shaft section 325, so that the detection accuracy may be further improved.

With continued reference to fig. 1 and 2, the housing of the controller 40 is optionally fixedly connected with the housing of the driving motor 21, so as to improve the integration level of the steer-by-wire system and reduce the overall volume of the road feel simulation structure.

The controller 40 may also be connected to a sensor, where the sensor may generate a detected torque signal to the controller 40, and the controller 40 may receive the torque signal from the sensor and a vehicle state signal from the whole vehicle controller 40, determine a required torque value of the steering wheel in the state according to a vehicle state corresponding to the vehicle state signal, and determine whether the torque value corresponding to the torque signal reaches the required torque value of the steering wheel, and if not, control the driving motor 21 and/or the rotary damper 22 to output a larger torque to the reduction mechanism 10, so as to meet the torque requirements of the steering wheel in various states. It will be appreciated that the required torque value of the steering wheel may be different depending on the condition in which the vehicle is located, for example, the required torque value of the steering wheel in the normal running condition of the vehicle may be different from the required torque value of the steering wheel in the soft limit condition, and the required torque value of the steering wheel in the normal running condition of the vehicle may be different from the torque value of the steering wheel in providing the driver with support for getting on or off the vehicle.

In a second aspect, an embodiment of the present application further provides a steer-by-wire system, including a steering wheel and the road feel simulation structure of any one of the above, where an output end of the speed reducing mechanism 10 is connected to the steering wheel. The steer-by-wire system provided by the embodiment of the present application has the technical effects of the road feel simulation structure in any of the above embodiments, and the explanation of the same or corresponding structure and terms as those of the above embodiments is not repeated herein.

In a third aspect, an embodiment of the present application also provides a vehicle including the above steer-by-wire system.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims (10)

1. A road feel simulation structure, characterized by comprising:

The speed reducing mechanism comprises an input end and an output end, and the output end is used for transmitting torque to a steering wheel of the steer-by-wire system;

The damping output mechanism comprises a driving motor and a rotary damper, wherein the driving motor and the rotary damper are coaxially connected and are respectively connected with the input end.

2. The road feel simulation structure of claim 1, wherein the rotary damper is configured as a magnetorheological damper.

3. The road feel simulation structure according to claim 1, wherein the speed reducing mechanism includes a worm wheel and a worm screw meshed with each other, the input end being located on the worm screw, and the output end being located on the worm wheel.

4. A road feel simulation structure according to claim 3, wherein the worm includes a meshing portion and two connecting portions, the meshing portion is in meshing connection with the worm wheel, the two connecting portions are respectively provided on both sides of the meshing portion in an axial direction of the worm, the driving motor is connected to one of the two connecting portions, and the rotary damper is connected to the other.

5. The road feel simulation structure according to claim 1, further comprising a controller connected to the driving motor and the rotary damper, respectively, for controlling actuation of at least one of the driving motor and the rotary damper.

6. The road feel simulation structure according to claim 5, wherein the road feel simulation structure comprises a normal operation state and a special operation state,

Under the normal working state, the controller controls the driving motor to start;

And under the special working condition, the controller controls the driving motor and the rotary damper to be started respectively.

7. The road feel simulation structure according to claim 6, further comprising a fault-compensated state in which the driving motor is faulty, the controller controlling the rotary damper to be activated.

8. The road feel simulation structure according to any one of claims 1 to 7, further comprising a steering column including a column body and a steering shaft, the column body being fitted around the steering shaft, the steering shaft including a first sub-shaft and a second sub-shaft coaxially provided, the first sub-shaft being formed with an insertion hole, the second sub-shaft being inserted into the insertion hole, any one of the first sub-shaft and the second sub-shaft being connected with the speed reducing mechanism, the other being for connection with the steering wheel.

9. A steer-by-wire system comprising a steering wheel and a road feel simulation structure according to any one of claims 1-8, wherein an output end of the reduction mechanism is connected to the steering wheel.

10. A vehicle comprising the steer-by-wire system of claim 9.