CN104015781B - There is the automobile-used steer by wire apparatus of flexible redundant unit - Google Patents
There is the automobile-used steer by wire apparatus of flexible redundant unit Download PDFInfo
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- CN104015781B CN104015781B CN201410270724.8A CN201410270724A CN104015781B CN 104015781 B CN104015781 B CN 104015781B CN 201410270724 A CN201410270724 A CN 201410270724A CN 104015781 B CN104015781 B CN 104015781B
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- arrangement
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- worm
- steering
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Abstract
The invention discloses a kind of steer by wire apparatus with flexible redundant unit, be intended to the complexity reducing prior art, improve reliability, safety, this device comprises: turn to importation, comprises steering handwheel and steering column; Turn to output, comprise gear-rack steering mechanism; The control system that Flexible Transmission part and mode controller are formed, realize SBW, C-EPS, P-EPS mode of operation by control system, when Mechatronic Systems or power failure, device is automatically in Flexible Transmission and turns to pattern, Reliable guarantee normal direction of rotation function.
Description
Technical field
The present invention relates to a kind of steer by wire apparatus, particularly relate to and a kind of there is the automobile steering-by-wire device that can realize the flexible redundancy of multi-mode.
Background technology
Automobile steering-by-wire has space flexible arrangement, can regulate and control to drive the advantages such as road feel compared with tradition machinery steering swivel system, Collision avoidance, auxiliary driving etc. can be realized in conjunction with control technology, improve road-holding property and active safety largely, represent the developing direction of automotive safety, intelligence.
But thing followed problem is the reliability how ensureing system self, namely when Mechatronic Systems, power-supply system breaks down down how to ensure that chaufeur realizes course changing control by steering handwheel.Way relatively more conventional at present adopts: 1, electric-control system redundancy; 2, conventional mechanical system redundancy; 3, rope sheave driving device redundancy.Method 1 adopts the electric-control system of two covers or more quantity, fundamentally can not solve the potential safety hazard that the fault of electronic system own is brought, and whole system volume is large, it is complicated to control, cost is high, not easy care etc.; Method 2 generally increases arrangement of clutch on original mechanical linkage steering swivel system, and space cloth is set up still unifies sample with manual steering system, cannot embody the feature of line control system flexible arrangement; Method 3 adopts mechanical linkage in wire rope pulley transmission device alternative 2, make it not by the restriction that space is arranged, but wire rope pulley mechanism structure is complicated, rope sheave rotor inertia is large, itself needs larger predetermincd tension, adds the friction of system, makes to turn to become heavy.Easily make steel rope abrasion aggravate de-wheel fault even occurs when this foreign steamer rope is wound around, steel rope pretension is improper or rotative speed is fast, cause system to work.
A kind of auto steerer is disclosed in the patent announced [JP2005-082099A].This device adopts flexible axle to avoid above-mentioned shortcoming of taking turns rope structure, but this transposition adopts magnetic clutch directly to control the transmission of flexible axle torque, need magnetic clutch and the flexible axle of relatively high power, cause system bulk, quality large, especially flexible axle diameter is large, minimum bending radius increases, and cloth is set up limited.This device is when redundant unit has an effect, and flexible axle need overcome the magnetic field force of road feel motor, actuating motor, makes hard steering, and under steering-by-wire pattern, the anti-rotating soft axle that drags of actuating motor, adds the wearing and tearing of flexible axle, reduces system effectiveness.
Summary of the invention
The technical problem to be solved in the present invention overcomes prior art Problems existing, a kind of automobile-used steer by wire apparatus with flexible redundancy is provided, to improve premised on reliability, realize the high performance of redundant mode, be intended at utmost to provide when fault occurs and the redundancy of power-assisted can turn to pattern, keep handling maneuver portability; Under the extreme case of Mechatronic Systems et out of order or power cut-off, device transfers compliance steer pattern automatically to, fundamentally guarantees safety.
For solving the problem, the technical solution used in the present invention is: provide a kind of automobile-used steer by wire apparatus with flexible redundant unit, importation is turned to comprising one, this importation at least has a steering handwheel, steering handwheel is connected with one end key of a Steering gear, turns to input to be applied on this steering handwheel; One turns to output, and this turns to output at least to have a pinion and rack, and tooth bar and left and right turn are taken turns maintenance work and be connected, and what be directly or indirectly by the steering torque turning to input to determine is applied on this rack-and-gear; One Flexible Transmission part, it comprises the first actuating unit and the second actuating unit, first actuating unit has a worm-and-wheel gear, and the second actuating unit has a worm-and-wheel gear, and the mouth of the first actuating unit is connected by driving snake with the input end of the second actuating unit.
First actuating unit worm-wheel shaft one end with turn to Steering gear one end first torque sensor of importation affixed, its worm-wheel shaft other end connects the first rotary angle transmitter, worm screw one end of first actuating unit and input shaft one end of the first reversing arrangement affixed, the other end and the first operating motor output shaft of the first reversing arrangement are affixed;
Worm-wheel shaft one end of second actuating unit the second torque sensor is installed and with turn to gear wheel shaft one end of output affixed, its worm-wheel shaft other end installs the second rotary angle transmitter, worm screw one end of second actuating unit and input shaft one end of the second reversing arrangement affixed, the other end and the second operating motor output shaft of the second reversing arrangement are affixed.
Wherein the first reversing arrangement has a bevel gear transmission, this bevel gear transmission comprises a drive bevel gear, a driven wheel of differential and an input shaft, its input shaft is equipped with the first arrangement of clutch and the second arrangement of clutch, its first arrangement of clutch comprises one and often engages magnetic clutch, its second arrangement of clutch comprises one and is often separated magnetic clutch, and bevel gear transmission is installed between two arrangement of clutch.
Wherein the second reversing arrangement has a bevel gear transmission, this bevel gear transmission comprises a drive bevel gear, a driven wheel of differential and an input shaft, its input shaft is equipped with the 3rd arrangement of clutch and the 4th arrangement of clutch, its the 3rd arrangement of clutch comprises one and often engages magnetic clutch, its the 4th arrangement of clutch comprises one and is often separated magnetic clutch, and bevel gear transmission is installed between two arrangement of clutch.
Mode controller and Flexible Transmission part form control system, communicated by vehicle bus with failure diagnosis unit, engage or be separated arrangement of clutch realize different mode of operations according to accepted header length: when the system is normal, mode controller controls arrangement of clutch makes system be in SBW mode of operation; When the first actuating unit fault, perform P-EPS mode of operation; When the second actuating unit fault, perform C-EPS mode of operation; When the equal et out of order of first, second actuating unit or system generation power down fault, perform Flexible Transmission pattern.
Compared with prior art the invention has the beneficial effects as follows:
(1) can be connected with existing electric power steering product, be combined to form wire-controlled steering system, have the advantages that structure is simple, convenient, flexible;
(2) 3 kinds of redundancy steering modes can be realized according to system fault conditions, have reliability high, turn to light advantage.
Accompanying drawing explanation
With reference to the explanation of the preferred implementing form of accompanying drawing below, more clearly the present invention can be understood.But form of implementation and accompanying drawing are used for simple diagram and explanation, and shall not be applied to and limit scope of the present invention, scope of the present invention is determined by claims.
Fig. 1 is integral structure decomposing schematic representation of the present invention.
Fig. 2 A is the present invention first actuating unit cross-sectional schematic.
Fig. 2 B is the present invention second actuating unit cross-sectional schematic.
Fig. 3 is control system principle schematic of the present invention.
Detailed description of the invention
According to Fig. 1 ~ Fig. 3, the preferred embodiment of the present invention is described.
Fig. 1 represents integral structure decomposing schematic representation of the present invention.Form importation by steering handwheel 1 and Steering gear 2, steering handwheel 1 is connected with one end key of Steering gear 2, turns to input to be applied on this steering handwheel 1; The output be made up of pinion-and-rack steering engine 4, tooth bar and left and right turn are taken turns maintenance work and are connected, and what be directly or indirectly by the steering torque turning to input to determine is applied on this pinion-and-rack steering engine 4; Connect the Flexible Transmission part of input and output, this Flexible Transmission part comprises the first actuating unit and the second actuating unit, and the mouth of the first actuating unit is connected by driving snake 3 with the input end of the second actuating unit.First actuating unit mainly comprises worm-and-wheel gear 51, first reversing arrangement 52, first operating motor 53, and between its worm-wheel shaft and Steering gear, install the first torque sensor 7, connects the first rotary angle transmitter 8 at the worm-wheel shaft other end.Second actuating unit mainly comprises worm-and-wheel gear 61, second reversing arrangement 62, second operating motor 63, and the second torque sensor 9 is installed between its worm-wheel shaft and pinion shaft of pinion-and-rack steering engine, the worm-wheel shaft other end installs the second rotary angle transmitter 10.Mode controller 11 is according to the failure message detected in bus, and optionally joint or separation arrangement of clutch realize different mode of operations.When the system is normal, perform SBW mode of operation, under this pattern, the first actuating unit performs road feel simulation, and the second actuating unit performs steering-by-wire; When the first actuating unit fault, perform P-EPS mode of operation, now the second actuating unit performs power steering; When the second actuating unit fault, perform C-EPS mode of operation, now the first actuating unit performs power steering; When the equal et out of order of first, second actuating unit or system cut-off, perform Flexible Transmission pattern, now the first arrangement of clutch 522 engages, and the second arrangement of clutch 525 is separated, and the 3rd arrangement of clutch 622 engages, and the 4th arrangement of clutch 625 is separated.
Fig. 2 A is the present invention first actuating unit cross-sectional schematic.Wherein the first torque sensor 7 is housed between Steering gear 2 and worm-wheel shaft, first rotary angle transmitter 8 is installed in the bottom of worm-wheel shaft, this part can adopt existing C-EPS steering hardware assembly, specific practice is removed by the universal driving device of its worm-wheel shaft bottom, and install the first rotary angle transmitter 8 in worm-wheel shaft lower end, then electrical motor is removed for subsequent use, then need to measure the foundation of size as follow-up stud connector design of the butt flange of worm screw, worm screw mouth male splines and motor butt flange.The worm screw 51a inputted as power and input shaft 521 pass through spline joint, input shaft 521 is connected by flat key with the brake disc 522a of the first arrangement of clutch, coaxial for ensureing, install needle bearing 522c at this additional by between the rotor 522b of the first arrangement of clutch and input shaft 521, finishing bevel gear cuter 524a, 524b engagement forms commutation transmission.Its mounting means is: finishing bevel gear cuter 524a endoporus is by input shaft 521, and keep certain interval, be connected by flathead screw with attaching parts 523a, attaching parts 523a is fixedly mounted on the rotor 522b of the first arrangement of clutch by flathead screw, finishing bevel gear cuter 524b is arranged in attaching parts 523b mounting hole by needle bearing, and attaching parts 523b is connected on attaching parts 523a by screw.Input shaft 521 other end is connected by flat key with the clutch plate 525a of the second arrangement of clutch, and the output shaft of the first operating motor 53 is connected with the rotor 525b of the second arrangement of clutch by flat key.The terminal pad of the first operating motor 53 is connected by long bolt 55 with worm-and-wheel gear shell butt flange through shell 54.System is connected with driving snake by finishing bevel gear cuter 524b.The power transmission path of system has two kinds: one to be that the first arrangement of clutch 522 is in released state, second arrangement of clutch 525 is in engagement state, now the first operating motor 53 power passes to worm screw 51a through the second arrangement of clutch 525, input shaft 521, and worm screw drives worm gear to transmit twist moment; Two is that the first arrangement of clutch 522 is in engagement state, second arrangement of clutch 525 is in released state, now steering-wheel torque is through Steering gear 2, is delivered to bevel gear transmission 524 through worm and gear, the first arrangement of clutch 522, and finishing bevel gear cuter 524b drives driving snake to produce twist moment.As preferably, the major part type selection calculation of the first actuating unit can with reference to following flow process:
(1) worm gear transmission ratio is determined
wherein, T
1pwmaxfor maximum assist torque, T
1ebe the first operating motor torque rating, T
1pwmax>=T
whmax-T
drh.Wherein, T
whmaxfor the automobile acted on Steering gear is fully loaded with steering resisting torque, desirable 30 ~ 50Nm, T
drhfor chaufeur handling maneuver moment, for making to turn to light desirable 10Nm.In above-mentioned parameter, in order to reduce electrical motor volume, general T
1ebe taken as 2Nm to be advisable.
(2) the first operating motor rating horsepower is determined
First operating motor is optional gets brush direct current motor or DC brushless motor, and its rating horsepower is calculated as:
wherein,
for steering handwheel mean speed, generally desirable 400 ° ~ 500 °/s.
(3) first, second arrangement of clutch is determined
First clutch transposition adopts electromagnet-friction energising divergence type, and the second arrangement of clutch adopts electromagnet-friction energising maqting type.The voltage of arrangement of clutch gets 24V, T
ct>=T
1e, T
ctfor maximum static friction torque of clutch.Can carry out primary election according to voltage and static friction torque, power-transfer clutch installs the size of aperture and keyway, has the specification of standard, and special specification needs to hold consultation with magnetic clutch manufacturer.
(4) bevel gear transmission transmitting ratio is determined
Finishing bevel gear cuter mainly plays change transmission direction, and object avoids cloth to be set up restriction to driving snake minimum bending radius.Therefore get 1:1 at this.Number of teeth modulus and profile of tooth can be determined on the basis meeting above-mentioned selected power-transfer clutch dimensions.
Fig. 2 B is the present invention second actuating unit cross-sectional schematic.Wherein 4 is pinion-and-rack steering engine, second torque sensor 9 is housed between steering box miniature gears 4a and worm-wheel shaft, second rotary angle transmitter 10 is installed in the bottom of worm-wheel shaft, this part can adopt existing P-EPS steering hardware assembly, specific practice is removed by the universal driving device on its worm-wheel shaft top, and install the second rotary angle transmitter 10 in worm-wheel shaft lower end, then electrical motor is removed for subsequent use, then need to measure the foundation of size as follow-up stud connector design of the butt flange of worm screw, worm screw mouth male splines and motor butt flange.The worm screw 61a inputted as power and input shaft 621 pass through spline joint, input shaft 621 is connected by flat key with the brake disc 622a of the 3rd arrangement of clutch, coaxial for ensureing, install needle bearing 622c at this additional by between the rotor 622b of the 3rd arrangement of clutch and input shaft 621, finishing bevel gear cuter 624a, 624b engagement forms commutation transmission.Concrete mounting means is: finishing bevel gear cuter 624a endoporus is by input shaft 621, and keep certain interval, be connected by flathead screw with attaching parts 623a, attaching parts 623a is fixedly mounted on the rotor 622b of the 3rd arrangement of clutch by flathead screw, finishing bevel gear cuter 624b is arranged in attaching parts 623b mounting hole by needle bearing, and attaching parts 623b is connected on attaching parts 623a by screw.Input shaft 621 other end is connected by flat key with the clutch plate 625a of the 4th arrangement of clutch 625, and the output shaft of the second operating motor 63 is connected by the rotor 625b of flat key with the 4th arrangement of clutch 625.The terminal pad of the second operating motor 63 is connected by long bolt 65 with worm-and-wheel gear shell butt flange through shell 64.System is connected with driving snake by finishing bevel gear cuter 624b.The power transmission path of system has two kinds: one to be that the 3rd arrangement of clutch 622 is in released state, 4th arrangement of clutch 625 is in engagement state, now the second operating motor 63 power passes to worm screw 61a through the 4th arrangement of clutch 625, input shaft 621, and worm screw drives worm gear to transmit twist moment; Two is that the 3rd arrangement of clutch 622 is in engagement state, 4th arrangement of clutch 625 is in released state, now power by driving snake through bevel gear transmission 624, worm screw 61a is passed to by the 3rd arrangement of clutch 622, input shaft 621, worm screw drives worm gear, worm gear driven gear tooth bar steering box carry-over moment.As preferably, the major part type selection calculation of the second actuating unit can with reference to following flow process:
(1) worm gear transmission ratio is determined
wherein, T
2pwmaxfor maximum assist torque, T
2ebe the second operating motor torque rating, T
2pwmax>=T
whmax-T
drh.Wherein, T
whmaxfor the automobile acted on Steering gear is fully loaded with steering resisting torque, desirable 30 ~ 50Nm, T
drhfor chaufeur handling maneuver moment, for making to turn to light desirable 10Nm.In above-mentioned parameter, in order to reduce motor volume, general T
2ebe taken as 2Nm to be advisable.
(2) the second operating motor rating horsepower is determined
Second operating motor is optional gets brush direct current motor or DC brushless motor, and its rating horsepower is calculated as:
wherein,
for steering handwheel mean speed, generally desirable 400 ° ~ 500 °/s.
(3) the 3rd, the 4th arrangement of clutch is determined
3rd clutch transposition adopts electromagnet-friction energising divergence type, and the 4th arrangement of clutch adopts electromagnet-friction energising maqting type.The voltage of arrangement of clutch gets 24V, T
ct>=T
2e, T
ctfor maximum static friction torque of clutch.Can carry out primary election according to voltage and static friction torque, power-transfer clutch installs the size of aperture and keyway specification, has the specification of standard, and special specification needs to hold consultation with magnetic clutch manufacturer.
(4) bevel gear transmission transmitting ratio is determined
Finishing bevel gear cuter mainly plays change transmission direction, and object avoids cloth to be set up restriction to driving snake minimum bending radius.Therefore get 1:1 at this.Number of teeth modulus and profile of tooth can be determined on the basis meeting above-mentioned selected power-transfer clutch dimensions.
The torque that the type selecting Main Basis of driving snake transmits and bending spring, the torque of transmission can be determined according to following empirical equation, and bending spring is then determined according to actual arrangement space.By calculating torque and bending spring can carry out type selecting.
T
c---the calculating torque of driving snake transmission, Ncm; The required torque of transmitting of T---driving snake driven end, Ncm; N---driving snake working speed, r/min, as n < n
0time, use rated speed of rotation n
0substitute into; K
1---cross loading factor, when instantaneous maximum load is no more than driving snake without the maximum torque allowed time bending, get K
1=1; When being greater than the maximum torque of permission, get K
1for the two ratio; K
2---steer coefficient, when cover wire is tending towards tightening when driving snake rotates, get K
2=1, when the necessary rotating of driving snake, get K
2=1.5; K
3---span coefficient, when the support span of driving snake in flexible pipe and driving snake diameter ratio are less than 50, get K
3=1; When being greater than 150, get K
3=1.25; The driving efficiency of η---driving snake, usual η=1 ~ 0.7, when driving snake is without bending work, η=1; Bending spring is less, bending section the more, η value is lower.
Fig. 3 is control system principle schematic of the present invention, for illustration of the principle of work of control system of the present invention.When vehicle travels, chaufeur inputs actuating force by steering handwheel 1, the information collected is delivered to failure diagnosis unit 12 together with other sensor informations such as electric current, the speed of a motor vehicle by vehicle bus 13 by the first torque sensor 7, second torque sensor 9 of system and the first rotary angle transmitter 8, second rotary angle transmitter 10, failure diagnosis unit 12 judges through diagnosing interior faults program, and with certain frequency to bus 13 transmission system status command, mode controller 11 receives this status command with certain frequency.When status command shows that system is normal, mode controller 11 controls maintenance first to fourth arrangement of clutch power supply state, and now the first arrangement of clutch is separated, second arrangement of clutch engages, 3rd arrangement of clutch is separated, and the 4th arrangement of clutch engages, and driving snake 3 does not participate in transmission.First actuating unit 5 performs road feel simulation, and the second actuating unit 6 performs steering-by-wire, and system is in SBW mode of operation, when status command shows that the first operating motor of the first actuating unit 5 breaks down, mode controller 11 controls first, second arrangement of clutch power-off, 3rd arrangement of clutch power-off, 4th arrangement of clutch continues to keep power supply state, now the first arrangement of clutch engages, second arrangement of clutch is separated, 3rd arrangement of clutch engages, 4th arrangement of clutch engages, steering handwheel 1 input torque passes to the second actuating unit 6 through the first arrangement of clutch, bevel gear transmission, driving snake, second actuating unit 6 transfers power steering state to, and system is in P-EPS mode of operation, when status command shows that the second operating motor of the second actuating unit 6 breaks down, mode controller 11 controls the 3rd, 4th arrangement of clutch power-off, first arrangement of clutch power-off, second arrangement of clutch continues to keep power supply state, now the 3rd arrangement of clutch engages, 4th arrangement of clutch is separated, first arrangement of clutch engages, second arrangement of clutch engages, steering-wheel torque is through the first arrangement of clutch, the power torque of the first operating motor through the second arrangement of clutch together through bevel gear transmission, the finishing bevel gear cuter mechanism of the second actuating unit 6 is given in driving snake transmission, pinion-and-rack steering engine 4 is passed to again through the 3rd clutch transposition, first actuating unit 5 transfers power steering state to, system is in C-EPS mode of operation.When status command shows that the first actuating unit 5, second actuating unit 6 all breaks down, mode controller 11 controls to make first to fourth arrangement of clutch power-off, now the first arrangement of clutch engages, second arrangement of clutch is separated, 3rd arrangement of clutch engages, 4th arrangement of clutch is separated, and driving snake 3 participates in transmission, and system is in pure Flexible Transmission mode of operation; If the unexpected power down of system caused due to power supply, wiring faults, now due to first to fourth arrangement of clutch power-off, system is in Flexible Transmission mode of operation automatically, makes system still keep turning to controlled.
Claims (3)
1. have an automobile-used steer by wire apparatus for flexible redundant unit, it comprises:
One turns to importation, and it comprises a steering handwheel, and one end of steering handwheel and a Steering gear is affixed, turns to input to be applied on this steering handwheel;
One turns to output, and it comprises a pinion-and-rack steering engine, and tooth bar and left and right turn are taken turns maintenance work and be connected, and what be directly or indirectly by the steering torque turning to input to determine is applied on this pinion-and-rack steering engine;
One mode controller, is communicated by vehicle bus with failure diagnosis unit, optionally engages or be separated arrangement of clutch to realize different mode of operations according to the status command received;
One Flexible Transmission part, it comprises the first actuating unit and the second actuating unit, first actuating unit has a worm-and-wheel gear, and the second actuating unit has a worm-and-wheel gear, and the mouth of the first actuating unit is connected by driving snake with the input end of the second actuating unit;
It is characterized in that:
First actuating unit worm-wheel shaft one end with turn to Steering gear one end first torque sensor of importation affixed, its worm-wheel shaft other end connects the first rotary angle transmitter, worm screw one end of first actuating unit and input shaft one end of the first reversing arrangement affixed, the other end and the first operating motor output shaft of the first reversing arrangement are affixed;
Worm-wheel shaft one end of second actuating unit the second torque sensor is installed and with turn to gear wheel shaft one end of output affixed, its worm-wheel shaft other end installs the second rotary angle transmitter, worm screw one end of second actuating unit and input shaft one end of the second reversing arrangement affixed, the other end and the second operating motor output shaft of the second reversing arrangement are affixed.
2. the automobile-used steer by wire apparatus with flexible redundant unit according to claim 1, it is characterized in that: the first described reversing arrangement has a bevel gear transmission, this bevel gear transmission comprises a drive bevel gear, a driven wheel of differential and an input shaft, its input shaft is equipped with the first arrangement of clutch and the second arrangement of clutch, its first arrangement of clutch comprises one and often engages magnetic clutch, its second arrangement of clutch comprises one and is often separated magnetic clutch, and bevel gear transmission is installed between two arrangement of clutch.
3. the automobile-used steer by wire apparatus with flexible redundant unit according to claim 1, it is characterized in that: the second described reversing arrangement has a bevel gear transmission, this bevel gear transmission comprises a drive bevel gear, a driven wheel of differential and an input shaft, its input shaft is equipped with the 3rd arrangement of clutch and the 4th arrangement of clutch, its the 3rd arrangement of clutch comprises one and often engages magnetic clutch, its the 4th arrangement of clutch comprises one and is often separated magnetic clutch, and bevel gear transmission is installed between two arrangement of clutch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410270724.8A CN104015781B (en) | 2014-06-17 | 2014-06-17 | There is the automobile-used steer by wire apparatus of flexible redundant unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410270724.8A CN104015781B (en) | 2014-06-17 | 2014-06-17 | There is the automobile-used steer by wire apparatus of flexible redundant unit |
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| Publication Number | Publication Date |
|---|---|
| CN104015781A CN104015781A (en) | 2014-09-03 |
| CN104015781B true CN104015781B (en) | 2016-03-30 |
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| CN201410270724.8A Expired - Fee Related CN104015781B (en) | 2014-06-17 | 2014-06-17 | There is the automobile-used steer by wire apparatus of flexible redundant unit |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108173391B (en) * | 2018-01-23 | 2019-07-26 | 奇瑞新能源汽车技术有限公司 | A kind of mechanical oscillation-device for converting electric energy of integrated mechanical rectification mechanism |
| DE102018130875A1 (en) | 2018-12-04 | 2020-06-04 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle with a steering device |
| CN117022432A (en) * | 2023-09-05 | 2023-11-10 | 小米汽车科技有限公司 | Steering control method and device, storage medium and vehicle |
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| JP2002225733A (en) * | 2001-01-29 | 2002-08-14 | Koyo Seiko Co Ltd | Vehicle steering device |
| JP2004224096A (en) * | 2003-01-21 | 2004-08-12 | Kayaba Ind Co Ltd | Electric power steering device |
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| DE102006001820A1 (en) * | 2006-01-13 | 2007-07-19 | Bayerische Motoren Werke Ag | Steering system for double-tracked motor vehicle, has reduction gear provided between steering wheel and flexible transmission unit for lowering torque that is to be transferred from transmission unit |
| JP4594129B2 (en) * | 2005-02-17 | 2010-12-08 | トヨタ自動車株式会社 | Vehicle steering device |
| CN203876816U (en) * | 2014-06-17 | 2014-10-15 | 吉林大学 | Vehicle steer-by-wire device with flexible redundancy mechanism |
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2014
- 2014-06-17 CN CN201410270724.8A patent/CN104015781B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3899739B2 (en) * | 1999-09-21 | 2007-03-28 | 日産自動車株式会社 | Vehicle steering system |
| JP2002225733A (en) * | 2001-01-29 | 2002-08-14 | Koyo Seiko Co Ltd | Vehicle steering device |
| JP2004224096A (en) * | 2003-01-21 | 2004-08-12 | Kayaba Ind Co Ltd | Electric power steering device |
| JP2005029011A (en) * | 2003-07-14 | 2005-02-03 | Honda Motor Co Ltd | Steering device for vehicle |
| JP4594129B2 (en) * | 2005-02-17 | 2010-12-08 | トヨタ自動車株式会社 | Vehicle steering device |
| DE102006001820A1 (en) * | 2006-01-13 | 2007-07-19 | Bayerische Motoren Werke Ag | Steering system for double-tracked motor vehicle, has reduction gear provided between steering wheel and flexible transmission unit for lowering torque that is to be transferred from transmission unit |
| CN203876816U (en) * | 2014-06-17 | 2014-10-15 | 吉林大学 | Vehicle steer-by-wire device with flexible redundancy mechanism |
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|---|---|
| CN104015781A (en) | 2014-09-03 |
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