CN105547710A - Steering control mechanism for automatic driving of vehicle - Google Patents

Steering control mechanism for automatic driving of vehicle Download PDF

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Publication number
CN105547710A
CN105547710A CN201510876290.0A CN201510876290A CN105547710A CN 105547710 A CN105547710 A CN 105547710A CN 201510876290 A CN201510876290 A CN 201510876290A CN 105547710 A CN105547710 A CN 105547710A
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CN
China
Prior art keywords
support arm
sway brace
fixed
motor
bearing circle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510876290.0A
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Chinese (zh)
Inventor
余贵珍
吴家轩
王云鹏
周彬
吴新开
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.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CN201510876290.0A priority Critical patent/CN105547710A/en
Publication of CN105547710A publication Critical patent/CN105547710A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles

Abstract

The present invention discloses a steering control mechanism for automatic driving of a vehicle, and relates to an automatic driving device for an automobile test. The steering control mechanism comprises a fixture mechanism, a motor support arm mechanism, a motor regulation mechanism and a steering wheel holding mechanism. The fixture mechanism is connected with a driving seat; the motor regulation mechanism is connected with the fixture mechanism through the motor support arm mechanism; the motor regulation mechanism is connected with the steering wheel holding mechanism; and the steering wheel holding mechanism is configured to hold and connect a steering wheel. The steering control mechanism provided by the invention is small in size, light in weight and easy to assemble and disassemble, wherein the assembly and disassembly can be completed only by one person, the steering control mechanism is installed at a main driving seat with no need for any refitting of a vehicle. Besides, the steering control mechanism has a large size adjustment range, and is able to be adjusted in each direction, such as from front to back, from left to right, from up to down and the like, and is able to perform pitching adjustment of a steering wheel holding mechanism and a motor so as to have wide applicable types of vehicles.

Description

A kind of course changing control mechanism for Vehicular automatic driving
Technical field
The present invention relates to automobile test servomechanism, specifically a kind of course changing control mechanism for Vehicular automatic driving.
Background technology
In recent years, the fast development of Chinese Automobile Industry ' makes domestic automobile quantity have significantly to increase, and automobile safety and reliability in use come into one's own day by day, safe and reliable vehicle can reduce the injures and deaths of traffic hazard, the economic loss that minimizing accident causes.A large amount of real train test often will do in automobile comprehensive testing ground before New Car in Ge great auto vendor, and Various Complex road conditions can be simulated in automobile comprehensive testing ground, can carry out the test of each side such as power performance, security performance and endurance quality to vehicle.The most direct mode of vehicle test is pilot steering, but pilot steering is subject to the impact of human factor and environmental factor, exists a lot of not enough when testing:
Low and the repeatable difference of pilot steering control accuracy, the mensuration of such as motor vehicle emission performance normally drives tested vehicle by the precision of regulation by skilled experimenter on chassis dynamometer, follows the tracks of the speed of a motor vehicle---the time curve of setting, i.e. driving test cycle.And different drivers its operating habit when testing also has very large difference, this can affect the precision of test findings.
When carrying out danger test, as ABS, anti-tumbling test, there is great potential safety hazard in pilot steering.But automated driving system can realize accurate manipulation to vehicle and control, there is high, the reproducible and measuring accuracy advantages of higher of long-time high strength continuous firing, test efficiency, various test can be completed safely and effectively.
Summary of the invention
The object of the present invention is to provide a kind of course changing control mechanism for Vehicular automatic driving, this device performs steering order by servomotor, operates steadily, precision and execution efficiency high.Course changing control mechanism provided by the invention, both can realize separately accurate course changing control, also can be combined with each other with mechanisms such as throttle brake pedal control mechanism and gear shifting manipulators and carry out more complicated experiment.
Course changing control mechanism for Vehicular automatic driving provided by the invention, comprise fixed mechanism, motor support arm mechanism, motor governor motion and bearing circle clamping device, described fixed mechanism is connected with driver seat, described motor governor motion is connected on fixed mechanism by motor support arm mechanism, closure clamp mechanism of disk on described motor governor motion, described bearing circle clamping device is used for the bearing circle that is clamped and connected.
Described fixed mechanism is made up of steering gear fixed mount, sway brace installing plate and lower support arm restraining board, described steering gear fixed mount is the rectangular parallelepiped framed structure be welded by rectangle square steel, steering gear fixed mount is fixed on driver seat by ratchet strapping, sway brace installing plate left and right on steering gear fixed mount is slidably installed, to regulate the lateral attitude of sway brace installing plate; Lower support arm restraining board front and back on sway brace installing plate are slidably installed, and to regulate the lengthwise position of lower support arm restraining board, meanwhile, lower support arm restraining board is processed with two pairs of through holes, in order to fastening lower support arm.
Motor support arm mechanism is by lower support arm, sway brace adapter sleeve, and upper sway brace composition, on the whole in arc shape; Lower support arm is connected by two pairs, the front and back on two fastening bolts and lower support arm restraining board through hole, lower support arm is fixed on lower support arm restraining board, sway brace adapter sleeve connects upper sway brace and lower support arm, sway brace adapter sleeve machined 9 pairs of equidistant through holes simultaneously, upper and lower sway brace is made to move freely position in adapter sleeve, to regulate the height of servomotor; Sway brace adapter sleeve and upper sway brace, lower support arm are all fastened by bolts, and the through hole on sway brace adapter sleeve for regulating the relative position of upper sway brace and lower support arm, and is fixedly connected with motor clamping plate; Upper sway brace two ends are all processed with through hole, are connected respectively with adapter sleeve, motor clamping plate.
Motor governor motion is by two bolts, lower adjustment threaded rod, adjusting bolt, upper adjustment threaded rod, servomotor, motor clamping plate, speed reduction unit, upper end universal joint and lower end universal joint composition, servomotor is fastened by bolts support by two pieces of motor clamping plate, described motor clamping plate connect a bolt, these bolt two ends connect on one respectively by ball bearing and regulate threaded rod, connected by a bolt between described sway brace adapter sleeve and motor clamping plate, threaded rod is regulated under the two ends of this bolt connect one respectively by ball bearing, connected by adjusting bolt between the upper adjustment threaded rod and lower adjustment threaded rod of homonymy, servomotor front end is provided with speed reduction unit, reducer output shaft and upper end universal joint are fixed, lower end universal joint is fixed on the fixed disc of bearing circle clamping device, and the moment of torsion of servomotor is by upper end universal joint and lower end cardan drive, and upper end universal joint and lower end universal joint pass through spline joint.
Bearing circle clamping device is made up of fixed disc, plywood sleeve fixed head, plywood sleeve, bearing circle clamping plate and annulus fastening bolt, fixed disc center arranges pillar construction, leg surface is processed with threaded hole, is bolted with lower end universal joint, and by bolt transmitting torque; Meanwhile, fixed disc surface perimeter is processed with threaded hole every 120 °, and for fixing three plywood sleeve fixed heads, bearing circle clamping plate and plywood sleeve are that 90 ° of positions are fixed simultaneously, make the Plane of rotation of fixed disc parallel with bearing circle plane; Described bearing circle clamping plate one end and plywood sleeve hinged, other end thread mill drilling, is screwed by annulus fastening bolt.
The invention has the advantages that:
(1) course changing control mechanism size provided by the invention is small and exquisite, lighter in weight, easy accessibility, singlely can complete dismounting, only need be fixed in main driving seat, does not need to carry out any repacking to vehicle simultaneously.
(2) course changing control mechanism size range of adjustment provided by the invention is large, the adjustment of all around, upper inferior all directions can be carried out, simultaneously can the pitch regulation of travel direction clamp mechanism of disk and motor, therefore vehicle applicatory extensively, comprises all kinds of passenger car, commercial car etc.
Accompanying drawing explanation
Fig. 1 is course changing control whole mechanism structural representation;
Fig. 2 is fixed mechanism partial schematic diagram;
Fig. 3 is motor support arm mechanism partial schematic diagram;
Fig. 4 is motor governor motion partial schematic diagram;
Fig. 5 is bearing circle clamping device partial schematic diagram.
In figure:
1-steering gear fixed mount 2-sway brace installing plate 3-lower support arm restraining board 4-lower support arm
5-sway brace adapter sleeve 6-regulates threaded rod under sway brace 7-bolt 8-
9-adjusting bolt 10-regulates threaded rod 11-servomotor 12-motor clamping plate
Universal joint 15-lower end, 13-speed reduction unit 14-upper end universal joint 16-fixed disc
17-plywood sleeve fixed head 18-plywood sleeve 19-bearing circle clamping plate 20-annulus fastening bolt
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
The invention provides a kind of course changing control mechanism for Vehicular automatic driving, comprise fixed mechanism, motor support arm mechanism, motor governor motion and bearing circle clamping device.
Fig. 2 is fixed mechanism partial schematic diagram.This part is made up of steering gear fixed mount 1, sway brace installing plate 2 and lower support arm restraining board 3.Described steering gear fixed mount 1 is the rectangular parallelepiped framed structure be welded by rectangle square steel, has both ensured integrally-built rigidity, takes into account again light-weighted principle.In actual installation process, steering gear fixed mount 1 is fixed on driver seat by ratchet strapping, and ratchet strapping is fixed, easy accessibility, and adjustable extent is large simultaneously, is applicable to the driver seat of different size.Sway brace installing plate 2 can horizontally slip on steering gear fixed mount 1, to regulate the lateral attitude of sway brace installing plate 2.Lower support arm restraining board 3 can on sway brace installing plate 2 slide anteroposterior, to regulate the lengthwise position of lower support arm restraining board 3, meanwhile, lower support arm restraining board 3 is processed with two pairs of through holes, in order to fastening lower support arm 4.
Fig. 3 is motor support arm mechanism partial schematic diagram.This part is primarily of lower support arm 4, sway brace adapter sleeve 5, and upper sway brace 6 forms, on the whole in vertical arc shape.In actual installation process, lower support arm 4 is connected by two pairs, the front and back on two fastening bolts and lower support arm restraining board 3 through hole, lower support arm 4 is fixed on lower support arm restraining board 3, described through-bore axis is parallel to the glide direction of lower support arm restraining board 3, and the situation of axial-rotation occurs when can effectively avoid lower support arm 4 stressed.The spacing of two through holes that lower support arm 4 up and down sway brace fixed head 3 connection simultaneously coordinates is greater than the width of lower support arm 4, thereby increase the surface area of lower support arm 4 fastening end, this enhance rigidity and the stability of lower support arm 4, when servomotor 11 operates or vehicle travels in bumpy sections, improve the stability of sleeve mechanism.Sway brace adapter sleeve 5 is processed as circular arc, to connect upper sway brace 6 and lower support arm 4, sway brace adapter sleeve 5 machined 9 pairs of equidistant through holes simultaneously, upper and lower sway brace can be made in adapter sleeve 5 to move freely position, to regulate the height of servomotor 11, join the bearing circle with differing heights.Adapter sleeve 5 and upper sway brace 6, lower support arm 4 are all fastened by bolts, and the through hole on adapter sleeve 5 for regulating the relative position of upper sway brace 6 and lower support arm 4, and is fixedly connected with motor clamping plate 12.Upper sway brace 6 two ends are all processed with through hole, are connected respectively with adapter sleeve 5, motor clamping plate 12.
Fig. 4 is motor governor motion partial schematic diagram.This part forms primarily of two bolts 7, lower adjustment threaded rod 8, adjusting bolt 9, upper adjustment threaded rod 10, servomotor 11, motor clamping plate 12, speed reduction unit 13, upper end universal joint 14 and lower end universal joint 15.In actual installation process, servomotor 11 is fastened by bolts support by two pieces of motor clamping plate 12, described motor clamping plate 12 connect a bolt 7, these bolt 7 two ends connect a upper adjustment threaded rod 10 respectively by ball bearing, described adapter sleeve 5 connects a bolt 7, the two ends of this bolt 7 connect a lower adjustment threaded rod 8 respectively by ball bearing, are connected between the upper adjustment threaded rod 10 and lower adjustment threaded rod 8 of homonymy by adjusting bolt 9.Described upper adjustment threaded rod 10 is processed with left-handed screw thread, lower adjustment threaded rod 8 is processed with the screw thread of dextrorotation, and the inner correspondence of adjusting bolt 9 is processed with left-handed and right-hand thread, like this when turn clockwise adjusting bolt 9 time, on, lower adjustment threaded rod is all inner by back-out adjusting bolt 9, then servomotor 11 luffing angle becomes large, when being rotated counterclockwise adjusting bolt, on, it is inner that lower adjustment threaded rod is all threaded into adjusting bolt 9, then servomotor 11 luffing angle diminishes, the so i.e. luffing angle of adjustable servomotor 11, adapt to the bearing circle of different angle.Servomotor 11 front end is provided with speed reduction unit 13, increases torque, meet the demand lacking the vehicle of power steering to reduce rotating speed.Speed reduction unit 13 output shaft and upper end universal joint 14 are fixed, lower end universal joint 15 is fixed on the fixed disc 16 of bearing circle clamping device, the moment of torsion of servomotor 11 is by upper end universal joint 14 and lower end universal joint 15 transmission, upper end universal joint 14 and lower end universal joint 15 pass through spline joint, allow while radial transmitting torque two sections of cardan axis to relative movement, in order to offset in vehicle operating because shaking the axial displacement caused, avoid servomotor 11 axially to bear excessive impact, at utmost ensure simultaneously motor shaft and steering axles to the heart.
Fig. 5 is bearing circle clamping device partial schematic diagram.This part forms primarily of fixed disc 16, plywood sleeve fixed head 17, plywood sleeve 18, bearing circle clamping plate 19 and annulus fastening bolt 20.In actual installation process, fixed disc 16 center arranges pillar construction, and leg surface is processed with threaded hole, is bolted with lower end universal joint 15, and by bolt transmitting torque.Simultaneously, fixed disc 16 surface perimeter is processed with threaded hole every 120 °, for fixing three plywood sleeve fixed heads 17, plywood sleeve fixed head 17 surface indicates scale mark, to ensure that three plywood sleeves 18 are individually fixed in position identical on three plywood sleeve fixed heads 17, can ensure that three plywood sleeves 18 are uniformly distributed on the steering wheel like this, thus make fixed disc 16 and bearing circle to the heart, avoid when rotated occurring interfering, cause the error of driving angle.Bearing circle clamping plate 19 are fixed in 90 ° of positions with plywood sleeve 18 simultaneously, and making the Plane of rotation of fixed disc 16 parallel with bearing circle plane, is the interference for avoiding in operation process equally.Bearing circle clamping plate 19 form annular clamp structure by two pieces of symmetrical semicircle snap rings, and diameter, slightly larger than bearing circle diameter, is stained with rubber blanket at snap ring inside surface, for filling up gap between bearing circle and snap ring and anti-skidding effect.This rubber blanket thickness adjustable, to meet the bearing circle size of different automobile types.Described bearing circle clamping plate 19 one end and plywood sleeve 18 hinged, can rotate freely around plywood sleeve 18, other end thread mill drilling, be screwed by annulus fastening bolt 20, eliminate the link of dismounting nut, add sleeve mechanism install convenience.In actual installation process, three bearing circle clamping plate 19 screw successively, are all consistent with the relative position of plywood sleeve 18.The circular ring section of described semicircle snap ring composition annular clamp structure and bearing circle plane orthogonal.

Claims (5)

1. the course changing control mechanism for Vehicular automatic driving, it is characterized in that: comprise fixed mechanism, motor support arm mechanism, motor governor motion and bearing circle clamping device, described fixed mechanism is connected with driver seat, described motor governor motion is connected on fixed mechanism by motor support arm mechanism, closure clamp mechanism of disk on described motor governor motion, described bearing circle clamping device is used for the bearing circle that is clamped and connected;
Described fixed mechanism is made up of steering gear fixed mount, sway brace installing plate and lower support arm restraining board, described steering gear fixed mount is the rectangular parallelepiped framed structure be welded by rectangle square steel, steering gear fixed mount is fixed on driver seat by ratchet strapping, sway brace installing plate left and right on steering gear fixed mount is slidably installed, to regulate the lateral attitude of sway brace installing plate; Lower support arm restraining board front and back on sway brace installing plate are slidably installed, and to regulate the lengthwise position of lower support arm restraining board, meanwhile, lower support arm restraining board is processed with two pairs of through holes, in order to fastening lower support arm;
Motor support arm mechanism is by lower support arm, sway brace adapter sleeve, and upper sway brace composition, on the whole in arc shape; Lower support arm is connected by two pairs, the front and back on two fastening bolts and lower support arm restraining board through hole, lower support arm is fixed on lower support arm restraining board, sway brace adapter sleeve connects upper sway brace and lower support arm, sway brace adapter sleeve machined 9 pairs of equidistant through holes simultaneously, upper and lower sway brace is made to move freely position in adapter sleeve, to regulate the height of servomotor; Sway brace adapter sleeve and upper sway brace, lower support arm are all fastened by bolts, and the through hole on sway brace adapter sleeve for regulating the relative position of upper sway brace and lower support arm, and is fixedly connected with motor clamping plate; Upper sway brace two ends are all processed with through hole, are connected respectively with adapter sleeve, motor clamping plate;
Motor governor motion is by two bolts, lower adjustment threaded rod, adjusting bolt, upper adjustment threaded rod, servomotor, motor clamping plate, speed reduction unit, upper end universal joint and lower end universal joint composition, servomotor is fastened by bolts support by two pieces of motor clamping plate, described motor clamping plate connect a bolt, these bolt two ends connect on one respectively by ball bearing and regulate threaded rod, connected by a bolt between described sway brace adapter sleeve and motor clamping plate, threaded rod is regulated under the two ends of this bolt connect one respectively by ball bearing, connected by adjusting bolt between the upper adjustment threaded rod and lower adjustment threaded rod of homonymy, servomotor front end is provided with speed reduction unit, reducer output shaft and upper end universal joint are fixed, lower end universal joint is fixed on the fixed disc of bearing circle clamping device, and the moment of torsion of servomotor is by upper end universal joint and lower end cardan drive, and upper end universal joint and lower end universal joint pass through spline joint,
Bearing circle clamping device is made up of fixed disc, plywood sleeve fixed head, plywood sleeve, bearing circle clamping plate and annulus fastening bolt, fixed disc center arranges pillar construction, leg surface is processed with threaded hole, is bolted with lower end universal joint, and by bolt transmitting torque; Meanwhile, fixed disc surface perimeter is processed with threaded hole every 120 °, and for fixing three plywood sleeve fixed heads, bearing circle clamping plate and plywood sleeve are that 90 ° of positions are fixed simultaneously, make the Plane of rotation of fixed disc parallel with bearing circle plane; Described bearing circle clamping plate one end and plywood sleeve hinged, other end thread mill drilling, is screwed by annulus fastening bolt.
2. a kind of course changing control mechanism for Vehicular automatic driving according to claim 1, is characterized in that: the spacing of two through holes that sway brace fixed head connection in lower support arm up and down coordinates is greater than the width of lower support arm.
3. a kind of course changing control mechanism for Vehicular automatic driving according to claim 1, it is characterized in that: described upper adjustment threaded rod is processed with left-handed screw thread, lower adjustment threaded rod is processed with the screw thread of dextrorotation, and the inner correspondence of adjusting bolt is processed with left-handed and right-hand thread, like this when turn clockwise adjusting bolt time, on, lower adjustment threaded rod is all inner by back-out adjusting bolt, then servomotor luffing angle becomes large, when being rotated counterclockwise adjusting bolt, on, lower adjustment threaded rod is all threaded into adjusting bolt inside, then servomotor luffing angle diminishes.
4. a kind of course changing control mechanism for Vehicular automatic driving according to claim 1, is characterized in that: described plywood sleeve fixed head surface indicates scale mark.
5. a kind of course changing control mechanism for Vehicular automatic driving according to claim 1, it is characterized in that: bearing circle clamping plate form annular clamp structure by two pieces of symmetrical semicircle snap rings, diameter is greater than bearing circle diameter, rubber blanket is stained with, the circular ring section of described semicircle snap ring composition annular clamp structure and bearing circle plane orthogonal at snap ring inside surface.
CN201510876290.0A 2015-12-03 2015-12-03 Steering control mechanism for automatic driving of vehicle Pending CN105547710A (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106627723A (en) * 2016-09-30 2017-05-10 杨娇仔 Special steering wheel for unmanned driving
CN106840705A (en) * 2017-03-20 2017-06-13 南京理工大学 A kind of Vehicle Driver Robot steering mechanical hand
CN107132056A (en) * 2017-06-21 2017-09-05 重庆长安汽车股份有限公司 Vehicle steering comfortableness verifies device
CN107271096A (en) * 2017-07-12 2017-10-20 安徽江淮汽车集团股份有限公司 A kind of load steering wheel installing mechanism
CN107962575A (en) * 2017-12-11 2018-04-27 南京理工大学 A kind of quick-installed Vehicle Driver Robot steering mechanical hand
CN108128345A (en) * 2017-12-11 2018-06-08 南京理工大学 A kind of angle regulator of motor turning machinery hand
CN108344588A (en) * 2018-05-11 2018-07-31 安徽江淮汽车集团股份有限公司 A kind of steering test device of vehicle
CN109291983A (en) * 2018-10-17 2019-02-01 上海应用技术大学 A kind of Vehicular automatic driving auxiliary system and vehicle
CN110770676A (en) * 2017-06-21 2020-02-07 Zf腓德烈斯哈芬股份公司 Rotation control device

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CN103863381A (en) * 2014-03-10 2014-06-18 同济大学 Control device for steering wheel of unmanned vehicle

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Publication number Priority date Publication date Assignee Title
US2937839A (en) * 1958-08-14 1960-05-24 Avco Mfg Corp Curved telescoping slide
EP0236518A1 (en) * 1986-03-08 1987-09-16 Carl Schenck Ag Apparatus and process for the automatic operation of operating devices of motor vehicles
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106627723A (en) * 2016-09-30 2017-05-10 杨娇仔 Special steering wheel for unmanned driving
CN106840705A (en) * 2017-03-20 2017-06-13 南京理工大学 A kind of Vehicle Driver Robot steering mechanical hand
CN107132056A (en) * 2017-06-21 2017-09-05 重庆长安汽车股份有限公司 Vehicle steering comfortableness verifies device
CN110770676A (en) * 2017-06-21 2020-02-07 Zf腓德烈斯哈芬股份公司 Rotation control device
CN107132056B (en) * 2017-06-21 2019-05-03 重庆长安汽车股份有限公司 Vehicle steering wheel comfort verifies device
CN107271096A (en) * 2017-07-12 2017-10-20 安徽江淮汽车集团股份有限公司 A kind of load steering wheel installing mechanism
CN107962575A (en) * 2017-12-11 2018-04-27 南京理工大学 A kind of quick-installed Vehicle Driver Robot steering mechanical hand
CN108128345A (en) * 2017-12-11 2018-06-08 南京理工大学 A kind of angle regulator of motor turning machinery hand
CN108344588A (en) * 2018-05-11 2018-07-31 安徽江淮汽车集团股份有限公司 A kind of steering test device of vehicle
CN109291983A (en) * 2018-10-17 2019-02-01 上海应用技术大学 A kind of Vehicular automatic driving auxiliary system and vehicle
CN109291983B (en) * 2018-10-17 2021-03-23 上海应用技术大学 Vehicle automatic driving auxiliary system and vehicle

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Application publication date: 20160504