CN101213127B - 在车轮转向致动器故障的情况下包括降低等级的工作模式的车辆转向系统 - Google Patents

在车轮转向致动器故障的情况下包括降低等级的工作模式的车辆转向系统 Download PDF

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Publication number
CN101213127B
CN101213127B CN2006800243488A CN200680024348A CN101213127B CN 101213127 B CN101213127 B CN 101213127B CN 2006800243488 A CN2006800243488 A CN 2006800243488A CN 200680024348 A CN200680024348 A CN 200680024348A CN 101213127 B CN101213127 B CN 101213127B
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CN
China
Prior art keywords
steering
wheel
vehicle
steering control
rotation
Prior art date
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Expired - Fee Related
Application number
CN2006800243488A
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English (en)
Chinese (zh)
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CN101213127A (zh
Inventor
T·奥盖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Societe de Technologie Michelin SAS
Original Assignee
Michelin Recherche et Technique SA Switzerland
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Publication of CN101213127A publication Critical patent/CN101213127A/zh
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Publication of CN101213127B publication Critical patent/CN101213127B/zh
Expired - Fee Related legal-status Critical Current
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/003—Backup systems, e.g. for manual steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
CN2006800243488A 2005-07-04 2006-06-30 在车轮转向致动器故障的情况下包括降低等级的工作模式的车辆转向系统 Expired - Fee Related CN101213127B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0507178 2005-07-04
FR0507178A FR2887839B1 (fr) 2005-07-04 2005-07-04 Systeme de direction d'un vehicule comportant un mode de fonctionnement degrade en cas de panne d'un actionneur de braquage de roue.
PCT/EP2006/064758 WO2007003661A1 (fr) 2005-07-04 2006-06-30 Systeme de direction d'un véhicule comportant un mode de fonctionnement dégradé en cas de panne d'un actionneur de braquage de roue

Publications (2)

Publication Number Publication Date
CN101213127A CN101213127A (zh) 2008-07-02
CN101213127B true CN101213127B (zh) 2011-02-16

Family

ID=36010894

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2006800243488A Expired - Fee Related CN101213127B (zh) 2005-07-04 2006-06-30 在车轮转向致动器故障的情况下包括降低等级的工作模式的车辆转向系统

Country Status (9)

Country Link
US (1) US7912606B2 (https=)
EP (1) EP1904359B1 (https=)
JP (1) JP5224590B2 (https=)
KR (1) KR101225276B1 (https=)
CN (1) CN101213127B (https=)
AT (1) ATE480437T1 (https=)
DE (1) DE602006016801D1 (https=)
FR (1) FR2887839B1 (https=)
WO (1) WO2007003661A1 (https=)

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FR2914260A1 (fr) * 2007-03-27 2008-10-03 Renault Sas Vehicule motorise comprenant une unite de controle du vehicule se trouvant en situation de virage et procede correspondant.
EP1975041B1 (en) 2007-03-27 2013-10-16 Honda Motor Co., Ltd. Steering system
JP5261962B2 (ja) * 2007-04-06 2013-08-14 日産自動車株式会社 旋回挙動制御装置、自動車、及び旋回挙動制御方法
US8068955B2 (en) * 2008-01-08 2011-11-29 Honda Motor Co., Ltd. Vehicle with a variable rear toe angle
JP6000674B2 (ja) * 2012-06-14 2016-10-05 Ntn株式会社 左右独立駆動車の一輪ロック時制御装置
CN105209324B (zh) * 2013-05-20 2018-05-25 罗伯特·博世有限公司 后轮转向控制
KR101515708B1 (ko) * 2013-09-05 2015-05-04 경북대학교 산학협력단 좌우독립형 조향 제어 시스템 및 방법
KR101542010B1 (ko) * 2014-05-09 2015-08-04 경북대학교 산학협력단 좌우독립형 조향 제어 시스템의 고장대처 경로생성장치 및 방법
KR101571629B1 (ko) * 2014-07-01 2015-11-24 경북대학교 산학협력단 4륜 독립제어 조향시스템의 고장대처장치
DE102014224970A1 (de) * 2014-12-05 2016-06-09 Robert Bosch Gmbh Lenkantrieb und Lenksystem für ein Fahrzeug
US9857478B2 (en) * 2015-01-27 2018-01-02 Agjunction Llc Apparatus and method to mount steering actuator
DE102016208775B4 (de) 2016-05-20 2020-06-04 Ford Global Technologies, Llc Steer-by-Wire-System, Kraftfahrzeug und Verfahren zum Betreiben eines Steer-by-Wire-Systems
US10150470B2 (en) * 2016-08-24 2018-12-11 Ford Global Technologies, Llc Determining available dynamic turning radius
CN106515852B (zh) * 2016-12-19 2019-02-22 吉林大学 一种适用于操纵杆控制的全线控四轮转向转角测量系统
JP6834662B2 (ja) 2017-03-24 2021-02-24 アイシン精機株式会社 車両
JP6516792B2 (ja) 2017-06-22 2019-05-22 三菱電機株式会社 電動パワーステアリング装置を搭載した車両
DE102018114988A1 (de) * 2018-06-21 2019-12-24 Thyssenkrupp Ag Steer-by-Wire Architekturen mit zweitem Lenkwinkelsensor
DE102018216103B4 (de) * 2018-09-21 2021-06-24 Volkswagen Aktiengesellschaft Verfahren zum Betreiben einer Steuereinheit eines Kraftfahrzeugs sowie Kraftfahrzeug mit einer Steuereinheit zum Durchführen eines derartigen Verfahrens
CN109318989A (zh) * 2018-11-12 2019-02-12 天津清智科技有限公司 一种无人驾驶汽车底盘转向系统备份方法
DE102020100449A1 (de) * 2020-01-10 2021-07-15 Thyssenkrupp Ag Kraftfahrzeuglenksystem, Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeuglenksystems
JP7200210B2 (ja) * 2020-12-25 2023-01-06 本田技研工業株式会社 移動体
US11685434B2 (en) 2021-01-11 2023-06-27 Hyundai Mobis Co., Ltd. Method for rear steering control of a vehicle
DE102021124276A1 (de) 2021-09-20 2023-03-23 Sick Ag Fahrerloses Transportfahrzeug und Vorrichtung und Verfahren zur sicheren Erkennung einer Fahrzeugbewegung
KR102620426B1 (ko) * 2021-12-15 2024-01-03 (주)언맨드솔루션 조향 장치
KR102944877B1 (ko) 2022-04-06 2026-03-27 현대모비스 주식회사 전동식 조향장치의 제어장치 및 그 방법

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US5014802A (en) * 1990-06-04 1991-05-14 General Motors Corporation Rear steer controller
US6546323B2 (en) * 2000-09-21 2003-04-08 Nissan Motor Co., Ltd. Vehicle front/rear wheel steering angle control apparatus and vehicle front/rear wheel steering angle control method
CN1422776A (zh) * 2001-11-23 2003-06-11 米其林创意开发股份有限公司 汽车电子转向装置

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JP2663674B2 (ja) * 1990-04-06 1997-10-15 日産自動車株式会社 ロックアップクラッチの制御装置
US5402344A (en) * 1993-08-23 1995-03-28 Martin Marietta Energy Systems, Inc. Method for controlling a vehicle with two or more independently steered wheels
US6169951B1 (en) * 1998-08-21 2001-01-02 General Motors Corporation Active brake control having yaw rate estimation
JP2001322557A (ja) * 2000-05-17 2001-11-20 Toyota Motor Corp 車両の複数輪独立操舵装置
AUPR047300A0 (en) * 2000-10-03 2000-10-26 Spark, Ian James Improved off road vehicle
FR2832682A1 (fr) * 2001-11-23 2003-05-30 Conception & Dev Michelin Sa Dispositif de commande pour direction electrique active
JP4356305B2 (ja) * 2002-11-19 2009-11-04 株式会社デンソー 車両制御装置
EP1428740B1 (fr) * 2002-12-11 2007-07-25 Michelin Recherche et Technique S.A. Système de direction d'un véhicule comportant un mode de fonctionnement dégradé en cas de panne d'un actionneur de braquage de roue
US6929086B1 (en) * 2004-02-18 2005-08-16 Visteon Global Technologies, Inc. Motor vehicle steering system
EP2177413B1 (en) * 2004-07-15 2015-02-25 Hitachi, Ltd. Vehicle control system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5014802A (en) * 1990-06-04 1991-05-14 General Motors Corporation Rear steer controller
US6546323B2 (en) * 2000-09-21 2003-04-08 Nissan Motor Co., Ltd. Vehicle front/rear wheel steering angle control apparatus and vehicle front/rear wheel steering angle control method
CN1422776A (zh) * 2001-11-23 2003-06-11 米其林创意开发股份有限公司 汽车电子转向装置

Also Published As

Publication number Publication date
JP5224590B2 (ja) 2013-07-03
US20090210113A1 (en) 2009-08-20
ATE480437T1 (de) 2010-09-15
CN101213127A (zh) 2008-07-02
DE602006016801D1 (de) 2010-10-21
FR2887839A1 (fr) 2007-01-05
EP1904359A1 (fr) 2008-04-02
US7912606B2 (en) 2011-03-22
FR2887839B1 (fr) 2007-09-14
KR101225276B1 (ko) 2013-01-23
JP2008544917A (ja) 2008-12-11
WO2007003661A1 (fr) 2007-01-11
KR20080034449A (ko) 2008-04-21
EP1904359B1 (fr) 2010-09-08

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C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20170830

Address after: French Clermont Ferrand

Patentee after: Michelin Soc Tech

Address before: Swiss Lagrange - Puckett

Patentee before: Conception Dev Michelin SA

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110216

Termination date: 20180630