WO2021223706A1 - Redundant steer-by-wire device, redundant steer-by-wire system architecture and driving apparatus - Google Patents

Abstract

Provided is a redundant steer-by-wire device. The redundant steer-by-wire device comprises a steering control mechanism (a), a steering actuator mechanism (b) and a comprehensive controller (13), wherein the steering control mechanism (a) is connected to the comprehensive controller (13) by means of a two-path CAN line, and the steering actuator mechanism (b) is connected to the comprehensive controller (13) by means of the two-path CAN line. The redundant steer-by-wire system architecture comprises a redundant steer-by-wire device, and a first whole vehicle power supply (22), a second whole vehicle power supply (25) and a whole vehicle central gateway (18) which are connected to the redundant steer-by-wire device. The driving apparatus comprises a redundant steer-by-wire system architecture. The technical effects of the redundant steer-by-wire device having a smaller arrangement space, higher control precision, higher safety and better synchronism and the whole system having a redundant architecture are achieved.

Description

Redundant steer-by-wire device, redundant steer-by-wire system architecture and driving equipment

This application claims the priority of the Chinese patent application whose application date is May 7, 2020 and the application number is 202010377982.1. The entire content of this application is incorporated into this application by reference.

Technical field

This application relates to the technical field of automatic driving steering systems, for example, to a redundant wire-controlled steering device, a redundant wire-controlled steering system architecture, and driving equipment.

Background technique

With the current rapid development of electrification and intelligence, the configuration of automatic driving functions is the overall development trend of vehicles, and the steer-by-wire system, as the next-generation core technology for steering in automatic driving functions, can be compared with L4/L5 level Autonomous driving is more deeply integrated, realizing man-machine co-driving, and bringing better handling experience to the entire vehicle.

The biggest feature of steer-by-wire technology is its flexible layout and high safety. At this stage, the general scheme of steer-by-wire technology is: the steering mechanism of the worm gear transmission structure, the steering actuator of the dual-motor scheme, and the connection in the form of electromagnetic clutch However, the above three solutions have a series of shortcomings: large space for steering control mechanism, high transmission ratio, low control accuracy; large space occupied by dual motors of steering actuator, complicated motor coordination control, poor synchronization, and lack of industrialization conditions ; The electromagnetic clutch structure has no use value under the current electronic and electrical architecture.

Summary of the invention

The present application provides a redundant wire-controlled steering device, a redundant wire-controlled steering system architecture, and driving equipment, which realizes that the redundant wire-controlled steering device has a smaller layout space, higher control accuracy, higher safety, and better synchronization. Good and the effect that the whole system has a redundant architecture.

The embodiment of the present application provides a redundant wire-controlled steering device, which includes a steering mechanism (a), a steering actuator (b), and an integrated controller (13); the steering mechanism (a) passes through a two-way controller The local area network CAN line is connected with the integrated controller (13), and the steering actuator (b) is connected with the integrated controller (13) through a dual CAN line;

Wherein, the steering mechanism (a) is a coaxial structure, including a steering wheel (1), a steering column (2), an integrated angle torque sensor (3), a planetary gear reduction mechanism (4), and a six-phase dual Winding steering control motor (5) and steering control mechanism controller (6);

The steering wheel (1) is connected to the first end of the steering column (2); the planetary speed reduction mechanism (4) is connected to the second end of the steering column (2); the angle of rotation The torque integrated sensor (3) is arranged on the steering column (2); the six-phase dual-winding steering motor (5) is connected to the planetary gear reduction mechanism (4); the steering mechanism controller (6) Connect with the six-phase dual-winding steering motor (5); the steering mechanism controller (6) is connected with the integrated controller (13);

The steering actuator (b) includes a rotation angle sensor (7), a pinion input shaft (8), a rack (9), a steering actuator controller (10), a six-phase winding steering actuator motor (11), and a belt drive Institution (12);

The rotation angle sensor (7) is connected with the first end of the pinion input shaft (8); the second end of the pinion input shaft (8) is connected with the rack (9); the The rack (9) is connected to the six-phase winding steering execution motor (11) through the belt transmission mechanism (12); the steering actuator controller (10) is respectively connected to the six-phase winding steering execution motor ( 11) Connected to the integrated controller (13), and the steering actuator controller (10) and the six-phase winding steering actuator motor (11) are arranged on the same side of the rack (9);

The integrated controller (13) is respectively connected with the steering mechanism controller (6), the steering actuator controller (10) and the vehicle central gateway (18).

Optionally, the steering mechanism controller (6) and the six-phase dual-winding steering motor (5) are an integrated structure; the steering actuator controller (10) and the six-phase winding steering actuator The motor (11) is an integrated structure.

Optionally, the integrated angle torque sensor (3) is configured to collect angle signals and torque signals, and the integrated angle torque sensor (3) is connected via a first communication connection line (19) and a second communication connection. The line (36) realizes the communication connection with the steering mechanism controller (6).

Optionally, the rotation angle sensor (7) realizes a communication connection with the steering actuator controller (10) through a third communication connection line (28) and a fourth communication connection line (29).

Optionally, the steering mechanism controller (6) includes a first power source, a second power source, a fifth communication connection line (30), and a sixth communication connection line (31);

The first power source is connected to a first vehicle power source (22), and the second power source is connected to a second vehicle power source (25); the steering mechanism controller (6) is connected through the fifth communication The connecting line (30) and the sixth communication connecting line (31) realize the communication connection with the integrated controller (13).

Optionally, the steering actuator controller (10) includes a third power source, a fourth power source, a seventh communication connection line (32), and an eighth communication connection line (33);

The third power source is connected to the first vehicle power source (22), and the fourth power source is connected to the second vehicle power source (25); the steering actuator controller (10) is connected through the seventh communication The connecting line (32) and the eighth communication connecting line (33) realize the communication connection with the integrated controller (13).

Optionally, the integrated controller (13) is connected to the vehicle central gateway (18) through the chassis CAN (34) and the backup CAN (35).

The embodiment of the application also provides a redundant wire-controlled steering system architecture, including the redundant wire-controlled steering device described in any of the above embodiments, a first vehicle power supply (22), and a second vehicle power supply (25) And the vehicle central gateway (18);

The redundant wire-controlled steering device is electrically connected to the first vehicle power source (22) and the second vehicle power source (25) respectively;

The integrated controller (13) in the redundant wire-controlled steering device is connected to the vehicle central gateway (18) through a chassis CAN (34) and a backup CAN (35).

Optionally, it also includes a first integrated controller power supply line (20), a first steering power supply line (21), a first steering execution power supply line (23), a second integrated controller power supply line (24), and a second Steering control power supply line (26) and second steering execution power supply line (27);

The first vehicle power supply (22) is connected to the power supply line (20) of the first integrated controller, the first steering power supply line (21), and the first steering execution power supply line (23). The integrated controller (13), the steering mechanism controller (6), and the steering actuator controller (10) in the redundant wire-controlled steering device are powered;

The second vehicle power supply (25) is connected to the power supply line (24) of the second integrated controller, the second steering control power supply line (26), and the second steering execution power supply line (27). The integrated controller (13), the steering mechanism controller (6), and the steering actuator controller (10) provide power.

An embodiment of the present application also provides a driving device, including the redundant wire-controlled steering system architecture described in any of the foregoing embodiments.

Description of the drawings

Fig. 1 is a structural diagram of a redundant wire-controlled steering device provided by an embodiment of the present application;

2 is a structural diagram of yet another redundant wire-controlled steering device provided by an embodiment of the present application;

FIG. 3 is a structural diagram of a redundant wire-controlled steering system architecture provided by an embodiment of the present application.

The names of the parts in the attached drawings are:

a. Steering control mechanism, b. Steering actuator, 1. Steering wheel, 2. Steering column, 3. Angle torque integrated sensor, 4. Planetary gear reduction mechanism, 5. Six-phase dual-winding steering control motor, 6. Steering mechanism controller, 7. Rotation angle sensor, 8. Pinion input shaft, 9. Rack, 10. Steering actuator controller, 11. Six-phase winding steering actuator motor, 12. Belt drive mechanism, 13. Comprehensive control Device, 14. The first terminal resistor, 15. The second terminal resistor, 16. The third terminal resistor, 17. The fourth terminal resistor, 18. The vehicle central gateway, 19. The first communication connection line, 20. The first comprehensive Controller power supply line, 21. The first steering control power supply line, 22. The first vehicle power supply, 23. The first steering execution power supply line, 24. The second integrated controller power supply line, 25. The second vehicle power supply, 26 . The second steering control power supply line, 27. The second steering execution power supply line, 28. The third communication connection line, 29. The fourth communication connection line, 30. The fifth communication connection line, 31. The sixth communication connection line, 32. . The seventh communication connection line, 33. The eighth communication connection line, 34. Chassis CAN, 35. Backup CAN, 36. The second communication connection line.

Detailed ways

It should be noted that the terms "first", "second", etc. in the specification, claims, and drawings of this application are used to distinguish different objects, rather than to limit a specific order. The following embodiments of the present application can be implemented individually, and the various embodiments can also be implemented in combination with each other, which is not specifically limited by the embodiments of the present application.

Fig. 1 is a structural diagram of a redundant wire-controlled steering device provided by an embodiment of the present application. Fig. 2 is a structural diagram of yet another redundant wire-controlled steering device provided by an embodiment of the present application. FIG. 3 is a structural diagram of a redundant wire-controlled steering system architecture provided by an embodiment of the present application.

As shown in Figures 1 and 2, the redundant wire-controlled steering device includes a steering mechanism a, a steering actuator b, and an integrated controller 13; the steering mechanism a passes through a dual controller area network (CAN) line It is connected to the integrated controller 13, and the steering actuator b is connected to the integrated controller 13 through a dual CAN line.

The steering mechanism a is a coaxial structure, and includes a steering wheel 1, a steering column 2, a rotation angle torque integrated sensor 3, a planetary gear reduction mechanism 4, a six-phase dual-winding steering motor 5, and a steering mechanism controller 6.

Referring to Figure 1, the steering wheel 1 is connected to the first end of the steering column 2; the planetary reduction mechanism 4 is connected to the second end of the steering column 2. The planetary reduction mechanism 4 is a two-stage planetary reduction, and its reduction ratio can be The setting is 9:1, and the deceleration and torque increase of the motor are realized by adding the design of the deceleration mechanism.

Referring to Fig. 1, the angle torque integrated sensor 3 is arranged on the steering column 2; optionally, as shown in Fig. 3, the angle torque integrated sensor 3 is arranged to collect the angle signal and the torque signal, and the angle torque integrated sensor 3 The sensor 3 realizes a communication connection with the steering mechanism controller 6 through the first communication connection line 19 and the second communication connection line 36 to transmit the collected rotation angle signal and torque signal.

Exemplarily, the angle torque integrated sensor 3 can output four torque signals and two angle signals, where the angle signal is usually a pulse width modulation (Pulse Width Modulation, PWM) format signal, and the torque signal is usually a single signal. The signal in the format of Single Edge Nibble Transmission (SENT) can be provided for the steering mechanism controller 6 to implement verification and redundancy control by setting multiple outputs of the same signal.

Referring to Figure 1, the six-phase dual-winding steering control motor 5 is connected to the planetary gear reduction mechanism 4. The six-phase dual-winding steering control motor 5 is a motor with two three-phase windings, and the two three-phase windings form a six-phase winding , Through the redundant design of the dual winding, it can ensure that the motor does not fail during the working process, thereby ensuring the safety of the redundant wire-controlled steering device; the steering mechanism controller 6 is connected with the six-phase dual-winding steering motor 5, which can be Optionally, the steering mechanism controller 6 and the six-phase dual-winding steering motor 5 are an integrated structure, and the steering mechanism controller 6 and the six-phase dual-winding steering motor 5 are arranged as an integrated structure, so that the steering mechanism The layout space of a is smaller. The steering mechanism controller 6 is connected with the integrated controller 13. See Figures 2 and 3. The steering mechanism controller 6 is connected with the integrated controller 13 through a dual CAN line to realize the steering mechanism a and the integrated controller. The dual-channel redundant communication design between 13 is designed to respond to the request of the integrated controller 13 to realize steering control.

Optionally, the six-phase dual-winding steering motor 5 can also be replaced by a six-phase winding motor with a twelve-phase winding motor, which can also achieve all the above-mentioned beneficial effects, which will not be repeated here.

Optionally, referring to FIG. 3, the steering mechanism controller 6 includes a first power source, a second power source (the first power source and the second power source are not shown in FIG. 3), a fifth communication connection line 30, and a sixth communication connection line 31. The first power source is connected to the first vehicle power source 22 through the first steering power supply line 21, and the second power source is connected to the second vehicle power source 25 through the second steering power supply line 26; the steering mechanism controller 6 is connected to the second vehicle power source 25 through the The fifth communication connection line 30 and the sixth communication connection line 31 realize the communication connection with the integrated controller 13. The two communication lines check and backup each other, which not only realizes the redundant design of steering control, but also improves the controller’s performance. control precision.

The steering mechanism controller 6 is equipped with dual power sources and dual communication redundant lines, and the dual power sources are respectively connected with the two power sources of the entire vehicle (that is, the first vehicle power source 22 and the second vehicle power source 25), and the dual communication Redundant lines are all connected to the integrated controller 13, which realizes the power supply redundancy and communication redundancy inside the steering mechanism a, and realizes the power supply redundancy and communication redundancy inside the redundant wire-controlled steering device, thereby improving The technical effect of the safety of the redundant wire-controlled steering device. In addition, the full redundancy of the hardware architecture is also implemented inside the steering mechanism controller 6 to ensure the safety of the redundant wire-controlled steering device.

Optionally, as shown in FIG. 1, the steering actuator b includes a rotation angle sensor 7, a pinion input shaft 8, a rack 9, a steering actuator controller 10, a six-phase winding steering actuator motor 11 and a belt transmission mechanism 12.

Referring to Fig. 1, the rotation angle sensor 7 is connected to the first end of the pinion input shaft 8. Optionally, referring to Fig. 3, the rotation angle sensor 7 is connected to the steering actuator through the third communication connection line 28 and the fourth communication connection line 29 Communication connection between controllers 10.

Optionally, the rotation angle sensor 7 can output two rotation angle signals, which are respectively transmitted to the steering actuator controller 10 for backup and verification, thereby realizing the rotation angle signal redundancy design of the steering actuator b.

1, the second end of the pinion input shaft 8 is connected to the rack 9; the rack 9 is connected to the six-phase winding steering execution motor 11 through the belt transmission mechanism 12; optionally, the six-phase winding steering execution motor 11 It is a motor with two three-phase windings. The two three-phase windings form a six-phase winding. The redundant design of the double winding ensures that the motor does not fail during operation, thereby ensuring the redundant wire-controlled steering device. safety.

1, the steering actuator controller 10 is respectively connected to the six-phase winding steering actuator motor 11 and the integrated controller 13, and the steering actuator controller 10 and the six-phase winding steering actuator motor 11 are arranged on the same side of the rack 9 2 and 3, the steering actuator controller 10 is connected to the integrated controller 13 through a dual CAN line, and the dual redundant communication design between the steering actuator b and the integrated controller 13 is realized.

Optionally, the steering actuator controller 10 and the six-phase winding steering actuator motor 11 are an integrated structure, which not only ensures the sealing of the redundant wire-controlled steering device, but also reduces the layout space of the steering actuator b.

Optionally, the six-phase winding steering execution motor 11 can also be replaced by a six-phase winding motor with a twelve-phase winding motor, which can also achieve all the above-mentioned effects, and will not be repeated here.

Optionally, referring to FIG. 3, the steering actuator controller 10 includes a third power source, a fourth power source (the third power source and the fourth power source are not shown in FIG. 3), a seventh communication connection line 32, and an eighth communication connection line 33. The third power source is connected to the first vehicle power source 22 through the first steering execution power supply line 23, and the fourth power source is connected to the second vehicle power source 25 through the second steering execution power supply line 27; the steering actuator controller 10 is connected to the second vehicle power source 25 through the The seventh communication connection line 32 and the eighth communication connection line 33 realize the communication connection with the integrated controller 13. The two communication lines check and backup each other, which not only realizes the redundant design of steering execution, but also improves the controller’s performance. control precision.

The steering actuator controller 10 is equipped with dual power supplies and dual communication redundant lines, and the dual power supplies are respectively connected to the two power sources of the entire vehicle (that is, the first entire vehicle power source 22 and the second entire vehicle power source 25), and the dual communication Redundant lines are all connected to the integrated controller 13, which realizes the power supply redundancy and communication redundancy inside the steering actuator b, and realizes the power supply redundancy and communication redundancy of the redundant wire-controlled steering device, thereby achieving increased redundancy. In addition to the technical effect of the safety of the wire-controlled steering device, the steering actuator controller 10 also realizes the full redundancy of the hardware architecture, which ensures the safety of the redundant wire-controlled steering device.

Optionally, referring to FIGS. 1 to 3, the integrated controller 13 is respectively connected with the steering mechanism controller 6, the steering actuator controller 10 and the vehicle central gateway 18.

2 and 3, the steering mechanism controller 6 and the steering actuator controller 10 are both connected to the integrated controller 13 through the internal private CAN line, and the steering mechanism controller 6 and the steering actuator controller 10 are set separately There are two private CAN lines connected to the integrated controller 13. This private CAN line can achieve a communication rate with a cycle of 1ms, which not only improves communication efficiency, but also ensures communication redundancy.

Optionally, referring to FIG. 3, the integrated controller 13 is connected to the vehicle central gateway 18 through the chassis CAN 34 and the backup CAN 35.

In order to ensure the high safety of the redundant wire-controlled steering device, it is necessary to ensure the redundant design of the communication. Therefore, the integrated controller 13 in this application is connected to the vehicle central gateway 18 through the chassis CAN 34 and the backup CAN 35 for interaction The signal of the whole vehicle system architecture. Refer to Figures 1 to 3, in order to ensure the stability of the vehicle signal, a first terminal resistor 14 and a second terminal resistor 15 are respectively set on the two communication terminals of the integrated controller 13, and the two channels of the vehicle central gateway 18 The communication terminals are respectively provided with a third terminal resistor 16 and a fourth terminal resistor 17, and the four terminal resistors are all selected with a resistance of 120 ohms.

In the embodiment of this application, the information of the three control components in the redundant steer-by-wire device (that is, the steering mechanism controller 6, the steering actuator controller 10, and the integrated controller 13) are performed within the three themselves. Processing, and the use of the CAN line can achieve a communication rate of 1ms cycle, which greatly improves the communication efficiency. At the same time, because only the signal required by the vehicle level is interacted with the vehicle, the network load on the bus is also reduced.

The embodiment of the present application also provides a redundant wire-controlled steering system architecture, as shown in FIG. 3, including the redundant wire-controlled steering device described in any of the above embodiments, the first vehicle power supply 22, and the second vehicle The power supply 25 and the vehicle central gateway 18; the redundant wire-controlled steering device is electrically connected to the first vehicle power source 22 and the second vehicle power source 25, respectively; the integrated controller 13 in the redundant wire-controlled steering device passes through the chassis CAN 34 and The backup CAN 35 is connected to the central gateway 18 of the vehicle.

In order to ensure high safety, the vehicle is designed with two power supplies, namely the first vehicle power source 22 and the second vehicle power source 25. Optionally, the redundant wire-controlled steering system architecture further includes a first integrated controller power supply line 20, a first steering control power supply line 21, a first steering execution power supply line 23, a second integrated controller power supply line 24, and a second steering control power supply line. The power supply line 26 and the second steering execution power supply line 27 are manipulated.

The first vehicle power supply 22 respectively controls the integrated controller 13 and the steering mechanism in the redundant wire-controlled steering device through the first integrated controller power supply line 20, the first steering control power supply line 21, and the first steering execution power supply line 23. The controller 6, the steering actuator controller 10, supplies power.

The second vehicle power supply 25 is connected to the integrated controller 13, the steering control mechanism controller 6, and the steering actuator controller through the second integrated controller power supply line 24, the second steering control power supply line 26, and the second steering execution power supply line 27 respectively. 10 power supply.

The redundant steer-by-wire system architecture provided by the embodiments of the present application includes the redundant steer-by-wire device in the above-mentioned embodiments, so the redundant steer-by-wire system architecture provided in the embodiments of the present application also has the benefits described in the above-mentioned embodiments. Effect.

An embodiment of the present application also provides a driving device, which includes the redundant wire-controlled steering system architecture described in any of the foregoing embodiments.

The driving device provided in the embodiment of the present application includes the redundant wire-controlled steering system architecture in the foregoing embodiment, so the driving device provided in the embodiment of the present application also has the beneficial effects described in the foregoing embodiment.

This application discloses a redundant wire-controlled steering device, a redundant wire-controlled steering system architecture, and driving equipment, including a steering mechanism a, a steering actuator b, and an integrated controller 13; the steering mechanism a is connected to a dual-channel CAN line The integrated controller 13 is connected, and the steering actuator b is connected with the integrated controller 13 through a dual CAN line. The present application solves the technical problems of the related technology that the steer-by-wire device occupies a large space, the control accuracy is low, and the system safety is insufficient, and realizes that the layout space of the redundant steer-by-wire device is smaller, the control accuracy is higher, and the safety is higher. High, better synchronization and the technical effect of the redundant architecture of the whole system.

In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be interpreted broadly, for example, it may be a fixed connection or a detachable connection, or Integrally connected; it can be a mechanical connection or a connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood under specific circumstances.

Claims (10)

1. A redundant wire-controlled steering device includes a steering mechanism (a), a steering actuator (b), and an integrated controller (13); the steering mechanism (a) communicates with the station via a dual-channel controller local area network CAN line The integrated controller (13) is connected, and the steering actuator (b) is connected with the integrated controller (13) through a dual CAN line;

   Wherein, the steering mechanism (a) is a coaxial structure, including a steering wheel (1), a steering column (2), an integrated angle torque sensor (3), a planetary gear reduction mechanism (4), and a six-phase dual Winding steering control motor (5) and steering control mechanism controller (6);

   The steering wheel (1) is connected to the first end of the steering column (2); the planetary speed reduction mechanism (4) is connected to the second end of the steering column (2); the angle of rotation The torque integrated sensor (3) is arranged on the steering column (2); the six-phase dual-winding steering motor (5) is connected to the planetary gear reduction mechanism (4); the steering mechanism controller (6) Connect with the six-phase dual-winding steering motor (5); the steering mechanism controller (6) is connected with the integrated controller (13);

   The steering actuator (b) includes a rotation angle sensor (7), a pinion input shaft (8), a rack (9), a steering actuator controller (10), a six-phase winding steering actuator motor (11), and a belt drive Institution (12);

   The rotation angle sensor (7) is connected with the first end of the pinion input shaft (8); the second end of the pinion input shaft (8) is connected with the rack (9); the The rack (9) is connected to the six-phase winding steering execution motor (11) through the belt transmission mechanism (12); the steering actuator controller (10) is respectively connected to the six-phase winding steering execution motor ( 11) Connected to the integrated controller (13), and the steering actuator controller (10) and the six-phase winding steering actuator motor (11) are arranged on the same side of the rack (9);

   The integrated controller (13) is respectively connected with the steering mechanism controller (6), the steering actuator controller (10) and the vehicle central gateway (18).
2. The redundant wire-controlled steering device according to claim 1, wherein the steering mechanism controller (6) and the six-phase dual-winding steering motor (5) are an integrated structure; the steering actuator controls The device (10) and the six-phase winding steering execution motor (11) are an integrated structure.
3. The redundant steer-by-wire device according to claim 1, wherein the angle torque integrated sensor (3) is configured to collect angle signals and torque signals, and the angle torque integrated sensor (3) passes through the A communication connection line (19) and a second communication connection line (36) realize the communication connection with the steering mechanism controller (6).
4. The redundant wire-controlled steering device according to claim 1, wherein the rotation angle sensor (7) is connected to the steering actuator controller through a third communication connection line (28) and a fourth communication connection line (29). (10) Communication connection between.
5. The redundant wire-controlled steering device according to claim 1, wherein the steering mechanism controller (6) includes a first power source, a second power source, a fifth communication connection line (30), and a sixth communication connection line ( 31);

   The first power source is connected to a first vehicle power source (22), and the second power source is connected to a second vehicle power source (25); the steering mechanism controller (6) is connected through the fifth communication The connecting line (30) and the sixth communication connecting line (31) realize the communication connection with the integrated controller (13).
6. The redundant wire-controlled steering device according to claim 1, wherein the steering actuator controller (10) includes a third power source, a fourth power source, a seventh communication connection line (32), and an eighth communication connection line ( 33);

   The third power source is connected to the first vehicle power source (22), and the fourth power source is connected to the second vehicle power source (25); the steering actuator controller (10) is connected through the seventh communication The connecting line (32) and the eighth communication connecting line (33) realize the communication connection with the integrated controller (13).
7. The redundant wire-controlled steering device according to claim 1, wherein the integrated controller (13) is connected to the vehicle central gateway (18) through the chassis CAN (34) and the backup CAN (35).
8. A redundant wire-controlled steering system architecture, comprising the redundant wire-controlled steering device according to any one of claims 1-7, a first vehicle power supply (22), a second vehicle power supply (25) and a vehicle center Gateway (18);

   The redundant wire-controlled steering device is electrically connected to the first vehicle power source (22) and the second vehicle power source (25) respectively;

   The integrated controller (13) in the redundant wire-controlled steering device is connected to the vehicle central gateway (18) through a chassis CAN (34) and a backup CAN (35).
9. The redundant wire-controlled steering system architecture according to claim 1, further comprising a first integrated controller power supply line (20), a first steering power supply line (21), a first steering execution power supply line (23), a second Integrated controller power supply line (24), second steering control power supply line (26), and second steering execution power supply line (27);

   The first vehicle power supply (22) is connected to the power supply line (20) of the first integrated controller, the first steering power supply line (21), and the first steering execution power supply line (23). The integrated controller (13), the steering mechanism controller (6), and the steering actuator controller (10) in the redundant wire-controlled steering device are powered;

   The second whole vehicle power supply (25) is connected to the power supply line (27) through the second integrated controller power supply line (24), the second steering control power supply line (26), and the second steering execution power supply line (27). The integrated controller (13), the steering mechanism controller (6), and the steering actuator controller (10) provide power.
10. A driving device comprising the redundant wire-controlled steering system architecture according to any one of claims 8 to 9.

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