CN108045431B - Steering control method and system, steering controller and computer readable storage medium - Google Patents
Steering control method and system, steering controller and computer readable storage medium Download PDFInfo
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- CN108045431B CN108045431B CN201711302642.7A CN201711302642A CN108045431B CN 108045431 B CN108045431 B CN 108045431B CN 201711302642 A CN201711302642 A CN 201711302642A CN 108045431 B CN108045431 B CN 108045431B
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The disclosure discloses a steering control method and system, a steering controller and a computer readable storage medium, and relates to the field of mechanical control. The steering control method comprises the following steps: calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor; and carrying out steering control on the first steering axle according to the current steering angle of the first steering axle. Therefore, automatic steering control of the steering wheel is realized when the angle sensor for detecting the steering angle fails, and the safety and reliability of vehicle running are improved.
Description
Technical Field
The present disclosure relates to the field of machine control, and in particular, to a steering control method and system, a steering controller, and a computer-readable storage medium.
Background
In order to improve the low-speed maneuvering flexibility and high-speed operation stability of the vehicle, the multi-shaft electro-hydraulic steering control technology is more and more widely applied to the wheel type heavy-load vehicle. In the running process of the vehicle, the electro-hydraulic steering safety control technology is of great importance to the motor running safety of the vehicle, and not only is the possible or impending fault required to be judged in time, but also safety protection measures are required to be made, so that the danger is reduced to the lowest.
For example, when one of the angle sensors fails or fails during the running of the vehicle, the steering controller cannot receive the actual steering angle of the failed steering axle. When the condition is met, if the condition is not processed or is not processed properly, safety problems such as vehicle running deviation, driver driving fatigue, loosening or damage of a tire nut of a failed steering axle, damage of a wheel edge of the failed steering axle, abnormal abrasion of a tire and the like can be caused.
Disclosure of Invention
One technical problem to be solved by the embodiments of the present disclosure is: safety issues arise when an angle sensor fails or fails.
The present disclosure proposes a steering control method, including:
calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor;
and carrying out steering control on the first steering axle according to the current steering angle of the first steering axle.
Optionally, when detecting that the angle sensor of the first steering axle is faulty, setting the target steering angle of the first steering axle to a degree smaller than a preset value; and carrying out steering control on the first steering axle according to the current steering angle and the target steering angle of the first steering axle, so that the actual steering angle of the first steering axle reaches the target steering angle.
Optionally, when detecting that the angle sensor of the first steering axle is faulty, setting the target steering angles of other steering axles except the first steering axle to a degree smaller than a preset value; and performing steering control on the other steering axles to enable the actual steering angles of the other steering axles to reach the target steering angles.
Optionally, the target steering angle of the first steering axle or the other steering axle is 0 degrees.
Alternatively, the steering angle relation is determined according to the steering mode and the traveling speed of the vehicle.
Optionally, the method further comprises: when a failure of the angle sensor of the first steering axle is detected, the speed of the vehicle is reduced by limiting the engine speed or the gear position.
The present disclosure also provides a steering control system, including: the steering control device, at least two steering axles, and an angle sensor and a driving device of each steering axle;
the steering controller calculates the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relational expression of the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor, and sends a control signal to a driving device of the first steering axle according to the current steering angle of the first steering axle;
and the driving device of the first steering axle controls the steering of the first steering axle according to the control signal.
Optionally, when detecting that the angle sensor of the first steering axle is faulty, the steering controller sets the target steering angle of the first steering axle to a degree smaller than a preset value, and sends a control signal to the driving device of the first steering axle according to the current steering angle and the target steering angle of the first steering axle, so that the actual steering angle of the first steering axle reaches the target steering angle thereof.
Optionally, when detecting that the angle sensor of the first steering axle is faulty, the steering controller further sets the target steering angle of the other steering axles except the first steering axle to a degree smaller than a preset value, and sends a control signal to the driving devices of the other steering axles according to the target steering angles of the other steering axles, so that the actual steering angles of the other steering axles reach the target steering angles thereof; and the driving device of the other steering axle controls the steering of the other steering axle according to the control signal.
Optionally, the target steering angle of the first steering axle or the other steering axle is 0 degrees.
The present disclosure also provides a steering controller, including: and a module for executing the steering control method.
The present disclosure also provides a steering controller, including: a memory; and a processor coupled to the memory, the processor configured to execute the aforementioned steering control method based on instructions stored in the memory.
The present disclosure also proposes a computer-readable storage medium on which a computer program is stored, which program, when executed by a processor, implements the aforementioned steering control method.
Therefore, automatic steering control of the steering wheel is realized when the angle sensor for detecting the steering angle fails, and the safety and reliability of vehicle running are improved.
Drawings
The drawings that will be used in the description of the embodiments or the related art will be briefly described below. The present disclosure will be more clearly understood from the following detailed description, which proceeds with reference to the accompanying drawings,
it is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without undue inventive faculty.
FIG. 1 is a schematic diagram of one embodiment of a steering control system of the present disclosure.
FIG. 2 is a schematic diagram of an exemplary control logic of the steering controller of the present disclosure.
Fig. 3 is a flowchart illustrating an embodiment of a steering control method according to the present disclosure.
FIG. 4 is a schematic structural diagram of one embodiment of a steering controller according to the present disclosure.
Fig. 5 is a schematic structural diagram of yet another embodiment of the steering controller of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure.
FIG. 1 is a schematic diagram of one embodiment of a steering control system of the present disclosure.
As shown in fig. 1, the steering control system includes, for example: steering controller 110, at least two steering axles 120 (n steering axles are exemplarily shown in the figure), and at least one angle sensor 130 and driving device 140 installed at each steering axle for detecting a steering angle, and may further include an upper controller 150, etc.
Each steering axle 120 is installed in one steering wheel, and the steering angle of the steering wheel can be controlled by controlling the steering angle of the steering axle 120, thereby realizing the steering control of the vehicle. Steering axle 120 may be, for example, an electro-hydraulic steering axle.
The drive device 140 includes, for example, an electro-hydraulic steering pump, and a steering cylinder for each steering axle, and a proportional valve for controlling the operation of the steering cylinder.
The control principle of the steering controller 110 includes: steering controller 110 receives the actual steering angle (angle may be digital input DI or analog input AI) detected by angle sensor 130 of each steer axle 120, determining the target steering angle of each steering axle 120 according to the current steering mode of the vehicle, calculating by a control algorithm according to the difference between the actual steering angle of each steering axle 120 and the target steering angle, sends a corresponding PWM (pulse width modulation) signal or CAN (controller area network) signal to the proportional valve in the corresponding drive device 140 of each steer axle 120, the valve core of the proportional valve is driven to adjust the pressure or flow of the electro-hydraulic steering pump to the steering oil cylinder so as to control the action of the steering oil cylinder, so as to output corresponding force or moment to the steering axle 120 to change the steering angle of the steering axle 120, thereby changing the steering angle of the steered wheels, and further realizing the steering control of the vehicle.
In the vehicle steering control process, an angle sensor of a certain steering axle can be selected as a steering reference, and a target steering angle of each steering axle in the current steering mode can be converted according to a steering program set in a steering controller.
One example of the control process of the steering controller 110 is: according to a steering angle relation between a first steering axle with a fault angle sensor and a second steering axle with a normal angle sensor, calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor, sending a control signal to a driving device 140 of the first steering axle according to the current steering angle of the first steering axle, and controlling the steering of the first steering axle by the driving device of the first steering axle according to the control signal. The steering angle relation between the steering axles can be determined according to the steering mode and the running speed of the vehicle. The steering mode may be, for example, all-wheel steering, front-wheel steering, or forward, reverse, left-turn, right-turn, etc.
Therefore, automatic steering control of the steering axle with the angle sensor fault is realized, and the safety and reliability of vehicle running are improved. In addition, the automatic steering control process can be realized without adding an additional steering middle position detection device or a locking device.
In another embodiment of the control process of the steering controller 110, the steering controller 110 sets the target steering angle of the first steering axle to a degree smaller than a preset value (for example, 0 degrees or close to 0 degrees) when detecting a failure of the angle sensor of the first steering axle, and sends a control signal to the driving device of the first steering axle according to the current steering angle and the target steering angle of the first steering axle calculated as described above so that the actual steering angle of the first steering axle reaches its target steering angle.
Therefore, steering return control of the steering axle with the fault angle sensor is realized, and the steering wheel with the fault angle sensor can run in a straight line. Therefore, safety problems such as running deviation of the vehicle, driving fatigue of a driver, loosening or damage of a tire nut of a fault steering axle, damage of a wheel edge of the fault steering axle, abnormal abrasion of tires and the like are not easy to occur.
On the basis of the previous embodiment, when detecting that the angle sensor of the first steering axle is faulty, the steering controller 110 further sets the target steering angles of the other steering axles except the first steering axle to a degree smaller than a preset value (for example, 0 degree or close to 0 degree), and sends control signals to the driving devices of the other steering axles according to the target steering angles of the other steering axles and the current steering angles of the steering axles detected by the respective angle sensors, so that the actual steering angles of the other steering axles reach the target steering angles thereof; and the driving devices of other steering axles perform steering control on the other steering axles according to the control signals.
Therefore, steering return control of the steering axle of the non-fault angle sensor is further realized, and the steering wheel of the non-fault angle sensor can also run in a straight line. Therefore, safety problems such as running deviation of the vehicle, driving fatigue of a driver, loosening or damage of a tire nut of a fault steering axle, damage of a wheel edge of the fault steering axle, abnormal abrasion of tires and the like are not easy to occur.
FIG. 2 is a schematic diagram of an exemplary control logic of the steering controller of the present disclosure.
It is assumed that at least one angle sensor in each steering axle is working properly, for example, the angle sensor of steering axle i is working properly. When the steering controller diagnoses a failure or malfunction of the angle sensor of steer axle j, the following control logic shown in FIG. 2 may be activated:
first, when the steering controller diagnoses a failure or malfunction of the angle sensor of the steering axle j, the target steering angle of each steering axle is set to 0 °. The steering angle relationship of the steering axles can be determined according to the currently selected steering mode.
Then, the steering controller uses the steering angle relation theta between the steering axle j with the fault angle sensor and the steering axle i with the normal angle sensorj＝f(θi) Wherein, thetaiAnd thetajThe steering angles of the steering axle i and the steering axle j are respectively represented, and the current steering angle theta of the steering axle i measured by the normal angle sensor is used'iThe current steering angle theta 'of the steering axle j can be calculated by substituting the steering angle relation formula'j。
And then, the steering controller sends a corresponding PWM signal or CAN signal to the proportional valve of each steering axle through calculation of a control algorithm according to the difference value between the current steering angle and the target steering angle of 0 DEG of each steering axle, drives the valve core of the proportional valve of each steering axle to act, and realizes the active steering return control of each steering axle under the action of the output force and the output torque of the steering oil cylinder of each steering axle.
And finally, when the steering controller calculates that the difference value between the current steering angle of each steering axle and the target steering angle of 0 degrees is smaller than a certain allowable tolerance range, finishing the active steering and aligning control of the sight-driven vehicle.
In one embodiment, between upper controller 150 and steering controller 110, steering controller 110 transmits a safety protection request to upper controller 150 to limit the vehicle speed, for example, when angle sensor 130 fails, and upper controller 150 transmits information to steering controller 110 about the vehicle speed, engine speed, gear position, etc. to reduce the vehicle speed by limiting the engine speed or gear position. Thereby reducing the personal danger or other economic losses caused by the failure of the steering system.
Fig. 3 is a flowchart illustrating an embodiment of a steering control method according to the present disclosure.
As shown in fig. 3, the steering control method includes:
in step 310, the steering controller diagnoses whether the steering system has fault information.
And step 320, if no fault information exists, driving and steering according to a set program.
In step 330, if a failure of an angle sensor of a first steering axle in the steering system is detected, executing any one of the following steering control logics:
the steering control logic one: calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor; the first steer axle is steer-controlled according to a current steer angle of the first steer axle to adjust the first steer axle to a desired steer angle.
Therefore, automatic steering control of the steering axle with the angle sensor fault is realized, and the safety and reliability of vehicle running are improved. In addition, the automatic steering control process can be realized without adding an additional steering middle position detection device or a locking device.
And a second steering control logic: when detecting that the angle sensor of the first steering axle is out of order, setting a target steering angle of the first steering axle to a degree smaller than a preset value (for example, 0 degree or close to 0 degree); calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor; and steering control is carried out on the first steering axle according to the current steering angle and the target steering angle of the first steering axle, so that the actual steering angle of the first steering axle reaches the target steering angle.
Therefore, steering return control of the steering axle with the fault angle sensor is realized, and the steering wheel with the fault angle sensor can run in a straight line. Therefore, safety problems such as running deviation of the vehicle, driving fatigue of a driver, loosening or damage of a tire nut of a fault steering axle, damage of a wheel edge of the fault steering axle, abnormal abrasion of tires and the like are not easy to occur.
Steering control logic three: when detecting that the angle sensor of the first steering axle is failed, setting the target steering angles of all steering axles (including the first steering axle and other steering axles except the first steering axle) to be degrees smaller than a preset value (for example, 0 degree or close to 0 degree); calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor; steering control is carried out on the first steering axle according to the current steering angle and the target steering angle of the first steering axle, so that the actual steering angle of the first steering axle reaches the target steering angle; and performing steering control on other steering axles according to the target steering angles of other steering axles and the current steering angles of the steering axles detected by the respective angle sensors, so that the actual steering angles of other steering axles reach the target steering angles.
Therefore, steering return control of all steering axles including failed and non-failed angle sensors is realized, and the steering wheels of the failed and non-failed angle sensors can run in a straight line. Therefore, safety problems such as running deviation of the vehicle, driving fatigue of a driver, loosening or damage of a tire nut of a fault steering axle, damage of a wheel edge of the fault steering axle, abnormal abrasion of tires and the like are not easy to occur.
Optionally, the speed of the vehicle is reduced by limiting the engine speed or gear position when a failure of the angle sensor of the first steer axle is detected, step 340. Thereby reducing the personal danger or other economic losses caused by the failure of the steering system.
Therefore, when the angle sensor for detecting the steering angle of a part of steering axles breaks down, the automatic steering control of each steering wheel can be still realized, and the safety and reliability of vehicle running are improved. In addition, the automatic steering control process can be realized without adding an additional steering middle position detection device or a locking device.
FIG. 4 is a schematic structural diagram of one embodiment of a steering controller according to the present disclosure.
As shown in fig. 4, the steering controller includes, for example, the following modules:
the angle calculating module 410 is configured to calculate a current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to a steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor.
And the steering control module 420 is configured to perform steering control on the first steering axle according to the current steering angle of the first steering axle.
As shown in fig. 4, the steering controller may further include: a setting module 415, configured to set a target steering angle of the first steering axle to a degree smaller than a preset value when detecting that the angle sensor of the first steering axle is faulty; and, the steering control module 420 is configured to perform steering control on the first steering axle according to the current steering angle and the target steering angle of the first steering axle, so that the actual steering angle of the first steering axle reaches the target steering angle.
The setting module 415 is further configured to, when detecting that the angle sensor of the first steering axle is faulty, set the target steering angles of the other steering axles except the first steering axle to a degree smaller than a preset value; the steering control module 420 is further configured to perform steering control on the other steering axles so that the actual steering angles of the other steering axles reach the target steering angles thereof.
And the target steering angle of the first steering axle or other steering axles is 0 degree.
As shown in fig. 4, the steering controller further includes, for example: the speed control module 430 is configured to reduce a speed of the vehicle by limiting an engine speed or a gear position when a failure of the angle sensor of the first steer axle is detected.
Therefore, when the angle sensor for detecting the steering angle of a part of steering axles breaks down, the automatic steering control of each steering wheel can be still realized, and the safety and reliability of vehicle running are improved. In addition, the automatic steering control process can be realized without adding an additional steering middle position detection device or a locking device.
Fig. 5 is a schematic structural diagram of yet another embodiment of the steering controller of the present disclosure.
As shown in fig. 5, the steering controller includes, for example: a memory 510; and a processor 520 coupled to the memory 510, the processor 520 configured to execute the aforementioned steering control method based on instructions stored in the memory 510.
Memory 510 may include, for example, system memory, fixed non-volatile storage media, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader (Boot Loader), and other programs.
The present disclosure also proposes a computer-readable storage medium on which a computer program is stored, which program, when executed by a processor, implements the aforementioned steering control method.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (11)
1. A steering control method comprising:
calculating the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by the normal angle sensor according to the steering angle relation between the first steering axle with the fault angle sensor and the second steering axle with the normal angle sensor;
when detecting that an angle sensor of the first steering axle is in fault, setting a target steering angle of the first steering axle to be a degree smaller than a preset value;
and according to the calculated current steering angle of the first steering axle and the set target steering angle, performing steering control on the first steering axle to enable the actual steering angle of the first steering axle to reach the target steering angle.
2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of a red light source, a green light source, and a blue light source,
when detecting that the angle sensor of the first steering axle is in fault, setting target steering angles of other steering axles except the first steering axle to be degrees smaller than a preset value;
and performing steering control on the other steering axles to enable the actual steering angles of the other steering axles to reach the target steering angles.
3. The method of claim 2, wherein the target steering angle of the first steering axle or the other steering axle is 0 degrees.
4. The method of claim 1, wherein the steering angle relationship is determined based on a steering mode and a travel speed of the vehicle.
5. The method of claim 1, further comprising:
when a failure of the angle sensor of the first steering axle is detected, the speed of the vehicle is reduced by limiting the engine speed or the gear position.
6. A steering control system comprising: the steering control device, at least two steering axles, and an angle sensor and a driving device of each steering axle;
the steering controller calculates the current steering angle of the first steering axle by using the current steering angle of the second steering axle measured by a normal angle sensor according to a steering angle relational expression of a first steering axle with a fault angle sensor and a second steering axle with a normal angle sensor, sets the target steering angle of the first steering axle to be a degree smaller than a preset value when the fault angle sensor of the first steering axle is detected, and sends a control signal to a driving device of the first steering axle according to the calculated current steering angle of the first steering axle and the set target steering angle;
and the driving device of the first steering axle performs steering control on the first steering axle according to the control signal, so that the actual steering angle of the first steering axle reaches the target steering angle.
7. The system of claim 6, wherein the first and second sensors are arranged in a single unit,
when detecting that the angle sensor of the first steering axle is in fault, the steering controller also sets the target steering angles of other steering axles except the first steering axle to be degrees smaller than a preset value, and sends control signals to driving devices of other steering axles according to the target steering angles of other steering axles so that the actual steering angles of other steering axles reach the target steering angles;
and the driving device of the other steering axle controls the steering of the other steering axle according to the control signal.
8. The system of claim 7, wherein the target steering angle of the first steering axle or the other steering axle is 0 degrees.
9. A steering controller, comprising:
a module that executes the steering control method according to any one of claims 1-5.
10. A steering controller, comprising:
a memory; and
a processor coupled to the memory, the processor configured to execute the steering control method of any of claims 1-5 based on instructions stored in the memory.
11. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the steering control method according to any one of claims 1-5.
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|---|---|---|---|---|
| ES2250255T3 (en) * | 2000-09-20 | 2006-04-16 | Thyssenkrupp Presta Steertec Gmbh | ADDITIONAL EMERGENCY LEVEL IN CASE OF ANGULAR SENSORS FAILURE FOR A CABLE CONTROLLED SYSTEM WITHOUT MECHANICAL / HYDRAULIC EMERGENCY CONNECTION AND PROCEDURE TO DETERMINE ROTATION ANGLE OF THE MANEUVER ELEMENT ADDRESS OF AN ASSISTED ADDRESS. |
| CN201901172U (en) * | 2010-12-21 | 2011-07-20 | 徐州重型机械有限公司 | Multi-axle chassis steering control system and wheel crane employing same |
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| JP2007190985A (en) * | 2006-01-18 | 2007-08-02 | Honda Motor Co Ltd | Steering device for vehicle |
| CN102730057A (en) * | 2012-07-12 | 2012-10-17 | 徐州重型机械有限公司 | Method and system for controlling turning of chassis and crane with system |
| CN104875786A (en) * | 2014-02-27 | 2015-09-02 | 株式会社捷太格特 | Vehicle steering device, and failure determination method for vehicle steering device |
| CN106043418A (en) * | 2016-06-12 | 2016-10-26 | 农业部南京农业机械化研究所 | Steering system of rice transplanter and control method of steering system |
| CN107010108A (en) * | 2017-05-02 | 2017-08-04 | 山东五征集团有限公司 | Electric-controlled hydraulic four-wheel steering system and forward method |
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| CN108045431A (en) | 2018-05-18 |
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