Steering mechanism, steering system, vehicle, and control method
One example steering mechanism includes a first steering gear, where the first steering gear is configured to convert obtained driving force to transmit driving force to an outer-side wheel during steering, to control steering force applied to the outer-side wheel. The example steering mechanism includes a second steering gear, where the second steering gear is configured to convert obtained driving force to transmit driving force to an inner-side wheel during steering, to control steering force applied to the inner-side wheel. The first steering gear and the second steering gear are connected by using a first clutch. If the first clutch is in a disengaged state, driving force is not transmitted between the first steering gear and the second steering gear. If the first clutch is in an engaged state, driving force is transmitted between the first steering gear and the second steering gear.
1 . A steering mechanism, comprising:
a first steering gear, wherein the first steering gear is configured to convert obtained driving force to transmit driving force to an outer-side wheel during steering, to control steering force applied to the outer-side wheel; and
a second steering gear, wherein the second steering gear is configured to convert obtained driving force to transmit driving force to an inner-side wheel during steering, to control steering force applied to the inner-side wheel, wherein:
the first steering gear and the second steering gear are connected by a first clutch, and if the first clutch is in a disengaged state, driving force is not transmitted between the first steering gear and the second steering gear, or if the first clutch is in an engaged state, driving force is transmitted between the first steering gear and the second steering gear;
the steering mechanism comprises a driving apparatus;
the driving apparatus drives a rack to move by providing a rack-driving force for the rack, wherein the rack is comprised in the first steering gear or the second steering gear;
the rack transmits the rack-driving force to a first gear to allow the first gear to obtain a gear-driving force, wherein the rack and the first gear are comprised in a same steering gear; and
when the first clutch is in the engaged state, the first gear transmits the gear-driving force to a second gear by using the first clutch, wherein the first gear and the second gear are comprised in different steering gears.
2 . The steering mechanism according to claim 1 , wherein:
the first steering gear comprises a first transmission member and a second transmission member that are in a transmission connection, and the first transmission member is configured to apply obtained first driving force to the outer-side wheel by using the second transmission member; and
the second steering gear comprises a third transmission member and a fourth transmission member that are in a transmission connection, the third transmission member is configured to apply obtained second driving force to the inner-side wheel by using the fourth transmission member, and the first transmission member and the third transmission member are connected by the first clutch.
3 . The steering mechanism according to claim 2 , wherein the first driving force obtained by the first transmission member is the gear-driving force.
4 . The steering mechanism according to claim 3 , wherein
the second transmission member is the rack, the first transmission member is the first gear, and the third transmission member is the second gear.
5 . The steering mechanism according to claim 2 , wherein the second driving force obtained by the third transmission member is the gear-driving force.
6 . The steering mechanism according to claim 5 , wherein
the fourth transmission member is the rack, the third transmission member is the first gear, and the first transmission member is the second gear.
7 . The steering mechanism according to claim 2 , wherein the steering mechanism comprises a first driving apparatus and a second driving apparatus, and wherein at least one of the following occurs:
when the first clutch is in the disengaged state, the first driving apparatus drives the second transmission member to move, to control the steering force applied to the outer-side wheel; or
the second driving apparatus drives the fourth transmission member to move, to control the steering force applied to the inner-side wheel.
8 . The steering mechanism according to claim 7 , wherein:
the first transmission member is a first gear, and the second transmission member is a first rack; or
the third transmission member is a second gear, and the fourth transmission member is a second rack.
9 . A steering system, comprising an inner-side wheel, an outer-side wheel, and a steering mechanism, wherein the steering mechanism is configured to control rotation of the inner-side wheel and the outer-side wheel, and wherein the steering mechanism comprises:
a first steering gear, wherein the first steering gear is configured to convert obtained driving force to transmit driving force to an outer-side wheel during steering, to control steering force applied to the outer-side wheel; and
a second steering gear, wherein the second steering gear is configured to convert obtained driving force to transmit driving force to an inner-side wheel during steering, to control steering force applied to the inner-side wheel, wherein;
the first steering gear and the second steering gear are connected by a first clutch, and if the first clutch is in a disengaged state, driving force is not transmitted between the first steering gear and the second steering gear, or if the first clutch is in an engaged state, driving force is transmitted between the first steering gear and the second steering gear;
the steering mechanism comprises a driving apparatus;
the driving apparatus drives a rack to move by providing a rack-driving force for the rack, wherein the rack is comprised in the first steering gear or the second steering gear;
the rack transmits the rack-driving force to a first gear to allow the first gear to obtain a gear-driving force, wherein the rack and the first gear are comprised in a same steering gear; and
when the first clutch is in the engaged state, the first gear transmits the gear-driving force to a second gear by using the first clutch, wherein the first gear and the second gear are comprised in different steering gears.
10 . The steering system according to claim 9 , wherein the steering system further comprises a first steering wheel, the first steering wheel is connected to a first transmission member by using a first steering drag link, a second clutch is disposed on the first steering drag link, and if the second clutch is in an engaged state, the first steering wheel provides a first driving force for the first transmission member by using the first steering drag link, or if the second clutch is in a disengaged state, the first steering wheel is unable to provide the first driving force for the first transmission member by using the first steering drag link.
11 . A control method for a steering system, wherein the steering system comprises:
a first steering gear, and the first steering gear is configured to convert obtained driving force to transmit driving force to an outer-side wheel during steering, to control steering force applied to the outer-side wheel; and
a second steering gear, wherein the second steering gear is configured to convert obtained driving force to transmit driving force to an inner-side wheel during steering, to control steering force applied to the inner-side wheel, and the first steering gear and the second steering gear are connected by a first clutch, wherein the control method comprises:
controlling, by a controller, the first clutch to be in a disengaged state to disallow driving force to be transmitted between the first steering gear and the second steering gear; and
controlling, by the controller, the first clutch to be in an engaged state to allow driving force to be transmitted between the first steering gear and the second steering gear, wherein the steering system comprises a driving apparatus, and wherein the controlling, by the controller, the first clutch to be in an engaged state comprises:
controlling, by the controller, the driving apparatus to provide a rack-driving force for a rack to drive the rack to move, allowing the rack to transmit the rack-driving force to a first gear to allow the first gear to obtain a gear-driving force, wherein the rack is comprised in the first steering gear or the second steering gear, and wherein the rack and the first gear are comprised in a same steering gear; and
controlling, by the controller, the first clutch to be in the engaged state to allow the gear-driving force to be transmitted to a second gear by using the first clutch, wherein the first gear and the second gear are comprised in different steering gears.
12 . The method according to claim 11 , wherein:
the first steering gear comprises a first transmission member and a second transmission member that are in a transmission connection, and the first transmission member is configured to apply obtained first driving force to the outer-side wheel by using the second transmission member; and
the second steering gear comprises a third transmission member and a fourth transmission member that are in a transmission connection, the third transmission member is configured to apply obtained second driving force to the inner-side wheel by using the fourth transmission member, and the first transmission member and the third transmission member are connected by the first clutch.
13 . The method according to claim 12 , wherein
the first driving force obtained by the first transmission member is the gear-driving force.
14 . The method according to claim 13 , wherein
the second transmission member is the rack, the first transmission member is the first gear, and the third transmission member is the second gear.
15 . The method according to claim 13 , wherein the steering system comprises a first driving apparatus and a second driving apparatus, and the method further comprises at least one of the following:
when the first clutch is in the disengaged state, controlling, by the controller, the first driving apparatus to drive the second transmission member to move, to control the steering force applied to the outer-side wheel; or
controlling, by the controller, the second driving apparatus to drive the fourth transmission member to move, to control the steering force applied to the inner-side wheel.
16 . The method according to claim 15 , wherein:
the first transmission member is a first gear, and the second transmission member is a first rack; or
the third transmission member is a second gear, and the fourth transmission member is a second rack.
17 . The method according to claim 12 , wherein
the second driving force obtained by the third transmission member is the gear-driving force.
18 . The method according to claim 17 , wherein
the fourth transmission member is the rack, the third transmission member is the first gear, and the first transmission member is the second gear.
19 . A control apparatus for a steering system, wherein the steering system comprises:
a first steering gear, and the first steering gear is configured to convert obtained driving force to transmit driving force to an outer-side wheel during steering, to control steering force applied to the outer-side wheel; and
a second steering gear, wherein the second steering gear is configured to convert obtained driving force to transmit driving force to an inner-side wheel during steering, to control steering force applied to the inner-side wheel, and the first steering gear and the second steering gear are connected by a first clutch, wherein the control apparatus comprises:
at least one processor; and
one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to:
control the first clutch to be in a disengaged state to disallow driving force to be transmitted between the first steering gear and the second steering gear; and
control the first clutch to be in an engaged state to allow driving force to be transmitted between the first steering gear and the second steering gear, wherein the steering system comprises a driving apparatus, and wherein controlling the first clutch to be in the engaged state comprises:
controlling the driving apparatus to provide a rack-driving force for a rack to drive the rack to move, allowing the rack to transmit the rack-driving force to a first gear to allow the first gear to obtain a gear-driving force, wherein the rack is comprised in the first steering gear or the second steering gear, and wherein the rack and the first gear are comprised in a same steering gear; and
controlling the first clutch to be in the engaged state to allow the gear-driving force to be transmitted to a second gear by using the first clutch, wherein the first gear and the second gear are comprised in different steering gears.