CN108909397A - Laterally interconnection air suspension interconnection state control multiagent system and control method - Google Patents
Laterally interconnection air suspension interconnection state control multiagent system and control method Download PDFInfo
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- CN108909397A CN108909397A CN201810600130.7A CN201810600130A CN108909397A CN 108909397 A CN108909397 A CN 108909397A CN 201810600130 A CN201810600130 A CN 201810600130A CN 108909397 A CN108909397 A CN 108909397A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000000725 suspension Substances 0.000 title claims abstract description 23
- 238000011156 evaluation Methods 0.000 claims abstract description 35
- 239000002131 composite material Substances 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 40
- 241000153246 Anteros Species 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004364 calculation method Methods 0.000 description 5
- 238000012549 training Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012850 discrimination method Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0528—Pressure regulating or air filling valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
- B60G2202/152—Pneumatic spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/21—Self-controlled or adjusted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to the lateral interconnection air suspension interconnection state control multiagent systems and control method in vehicle air suspension field, interconnection state control intelligent body determines current vehicle speed grade, current road grade and hysteresis section grade, calculate current ride comfort evaluation index, current handling stability evaluation index and current composite evaluation index, the combination of current composite evaluation index and hysteresis section and its grade is stored into comprehensive evaluation index matrix, the size of 9 comprehensive evaluation indexs obtains minimum value in comparator matrix, the optimal hysteresis section of current working is determined according to the serial number of minimum value；By exporting different hysteresis sections under different operating conditions, the flexibility ratio of hysteresis section variation is higher, obtains more preferable control effect, the ride comfort and handling stability of effective coordination vehicle in the process of moving in driving conditions.
Description
Technical field
The present invention relates to the air suspension of vehicle, the interconnection state of specifically a kind of laterally interconnection air suspension controls system
System.
Background technique
Air suspension has the characteristics that low intrinsic frequency, variable rigidity and bodywork height are adjustable, laterally interconnects air suspension
It is to be connected to coaxial air spring using pipeline, realizes gas free exchange in air spring.Laterally interconnection air suspension can mention
Liter vehicle isolation, disappear torsion ability, improves tire ground connection property, further promotes air suspension vehicle driving ride comfort, but in height
It can aggravate the inclination of vehicle body when speed turning, therefore need using the solenoid valve in interconnecting pipes under different operating conditions to interconnection state
It switches over.
A kind of imitative ceiling of laterally interconnection air suspension is provided in the document that China Patent Publication No. is CN106828004A
State control system is interconnected, two control parameters of sprung mass angle of heel and unsprung mass angle of heel are introduced, according to sensor
The actual parameter measured calculates two control parameters, size output control signal driving interconnection electromagnetism of the control system according to parameter
The opening and closing of valve interconnects the interconnection state of air suspension to change.But setting for hysteresis section is not directed in the control method of the patent
It sets, will cause the frequent opening and closing of interconnection solenoid valve, shorten the service life of interconnection solenoid valve, and the mutual joint control of imitative ceiling cannot be given full play to
Make the control effect of strategy.
The problem of imitating the hysteresis section of ceiling interconnection state control about laterally interconnection air suspension, is benefit in the prior art
The adaptive imitative ceiling in hysteresis section is formed with Fuzzy Neural Network Theory and interconnects state control policy, and the method is needed offline
Stage carries out genetic algorithm optimizing to the hysteresis section under different operating conditions, and carries out result as the training sample of neural network
Training obtains the hysteresis section rule for being suitble to different operating conditions.But the method speed of searching optimization is slower, and rule is not after training
It can change with actual conditions, flexibility is poor.
Summary of the invention
The purpose of the present invention is in view of the above shortcomings of the prior art, propose a kind of laterally interconnection air suspension interconnection state
Multiagent system and the control method of the system are controlled, the hysteresis section control of driving cycle variation in practical driving conditions is suitble to
System improves the adaptability and control effect of the variation of driving conditions driving cycle, obtains vehicle in the process of moving well
Vehicle comprehensive performance.
The present invention laterally interconnect air suspension interconnection state control multiagent system the technical solution adopted is that：Including sensing
Device information acquisition module and interconnection state execution module, the sensor information acquisition module acquire under the forward and backward left spring of vehicle
Mass acceleration at1、at2, forward and backward right unsprung mass acceleration at3、at4, speed v, vehicle roll angle θ, vehicle body acceleration ax,
ay,azWith axle unsprung mass angle of heel θt1、θt2Information, and by speed v, acceleration at1、at2、at3、at4Information is sent to
Road roughness recognizes module, by speed v, angle of heel θ, acceleration ax,ay,azInformation is sent to interconnection state control intelligent body,
By angle of heel θt1、θt2Information is sent to interconnection status control module；The road roughness identification module is to received information
It is handled to obtain road roughness Gq(n0) information and be sent to interconnection state control intelligent body；The interconnection state control
Intelligent body is handled to obtain the optimal hysteresis section of current working and transports to interconnection status control module to received information；It is described
Interconnection status control module handled to obtain interconnection state control signal to received information and pass and transport to interconnection state and held
Row module.
The control method of above-mentioned interconnection state control multiagent system is the technical solution adopted is that have following steps：
A：Interconnection state controls intelligent body and determines current vehicle speed grade n, n=5 according to speed v information；According to Uneven road
Spend Gq(n0) information determines current road grade k, k=5；Hysteresis section grade s, s=9 are determined according to preset hysteresis section δ；
B：Interconnection state control intelligent body calculates current ride comfort evaluation index aw_i, current handling stability evaluation index Ri
And current composite evaluation index Ji；
C：Interconnection state controls intelligent body for current composite evaluation index JiWith the combination of hysteresis section δ and its grade s=9
Storage is into comprehensive evaluation index matrix Z (n, k, s), this 9 comprehensive evaluation indexs of s=1~9 in comparator matrix Z (n, k, s)
Size obtains minimum value, determines the optimal hysteresis section δ of current working according to the serial number I of minimum value；
D：Interconnection status control module judges antero posterior axis interconnection state, outputs control signals to the execution of interconnection state
Module.
The present invention by adopting the above technical scheme after beneficial effect be：Interconnection state in present system controls intelligent body
Be integrated with hysteresis range restraint method, by interconnection state control intelligent body output under different operating conditions optimal hysteresis section to biography
The imitative ceiling intarconnected cotrol strategy of system is adjusted, by exporting different hysteresis sections, hysteresis section under different operating conditions
The flexibility ratio of variation is higher, so that imitative ceiling interconnection state control policy obtains better Control platform, obtains in driving conditions
More preferable control effect, the ride comfort and handling stability of effective coordination vehicle in the process of moving.
Detailed description of the invention
Fig. 1 is that laterally interconnection air suspension according to the present invention interconnects the structural block diagram that state controls multiagent system；
Fig. 2 is that interconnection air suspension shown in Fig. 1 interconnects the control flow chart that state controls multiagent system.
Specific embodiment
It is adopted as shown in Figure 1, the present invention laterally interconnects air suspension interconnection state control multiagent system by sensor information
Collect module, road roughness identification module, interconnection state control intelligent body, interconnection status control module, interconnection state and executes mould
Block and power module composition.
Sensor information acquisition module is by four single-axis acceleration sensors, a Hall-type vehicle speed sensor, three six
Axis gyro sensor composition.Wherein four single-axis acceleration sensors are respectively used to acquisition vehicle front left unsprung mass acceleration
at1Information, rear left unsprung mass acceleration at2Information, front right unsprung mass acceleration at3Information, rear right unsprung mass acceleration
at4Information；Hall-type speed is sensed for acquiring speed v information；One or six axis gyro sensor is for acquiring vehicle roll angle
θ information and vehicle body acceleration ax,ay,azInformation, the two or six axis gyro sensor is for acquiring front axle unsprung mass angle of heel θt1
Information, the three or six axis gyro sensor is for acquiring rear axle unsprung mass angle of heel θt2Information, each sensor pass through letter
Number transmission line transmits a signal to corresponding module.Wherein, the output of four single-axis acceleration sensors and Hall-type speed sensing
End is all connected with the input terminal of road roughness identification module, by acceleration at1、at2、at3、at4Road is sent to the information of speed v
Face unevenness recognizes module.The output end of Hall-type speed sensing and the one or six axis gyro sensor is all connected with interconnection state control
Intelligent body processed, by speed v information and vehicle roll angle θ, vehicle body acceleration ax、ay、azInformation be sent to interconnection state control intelligence
It can body.The output end of two or six axis gyro sensor and the three or six axis gyro sensor is all connected with interconnection state control mould
Block, by front axle unsprung mass angle of heel θt1, rear axle unsprung mass angle of heel θt2Information be sent to interconnection status control module.
Road roughness recognizes module to received speed v information and unsprung mass acceleration at1、at2、at3、at4Information into
Row processing, obtains road roughness Gq(n0) information.In the present invention, road roughness Gq(n0) rely on unsprung mass acceleration
at1、at2、at3、at4Information and speed v information are recognized, and specific discrimination method is documented in Chinese Patent Application No. and is
In CN201410581629.X, entitled " a kind of road roughness on-line identification system and method ", it will not be described here.Road surface
The road roughness G that unevenness identification module will obtainq(n0) information be sent to interconnection state control intelligent body.
It is integrated with hysteresis range restraint method in interconnection state control intelligent body, this method is with sensor information acquisition module
Speed v information, the vehicle roll angle θ information, vehicle body acceleration a of outputx、ay、azInformation and road roughness identification module output
Road roughness Gq(n0) information is input, it is output with the optimal hysteresis section of current working, and by the optimal hysteresis of current working
Section is transmitted to interconnection status control module.
Interconnection status control module is integrated with imitative ceiling interconnection state control algorithm, has preset initial hysteresis section δ, to pass
The front axle unsprung mass angle of heel θ of sensor information acquisition module outputt1Information, rear axle unsprung mass angle of heel θt2Information and mutually
The optimal hysteresis section of current working that connection state controls intelligent body output is input, to interconnect state control signal as output, and
Control is transmitted to interconnection state execution module.In the present invention, during specifically imitative ceiling interconnection condition control method is documented in
State's number of patent application is CN201611118739.8, entitled " a kind of imitative ceiling of laterally interconnection air suspension interconnects state control
In system and control method ", it will not be described here.
Interconnection state execution module interconnects solenoid valve and rear axle interconnection solenoid valve block to interconnect state control mould by front axle
The control signal of block output is input, if the input of interconnection state execution module is high level signal, controls interconnection solenoid valve
It opens；If the input for interconnecting state execution module is low level signal, controls interconnection solenoid valve and close.
Power module recognizes module, interconnection shape to sensor information acquisition module, road roughness respectively by power supply line
State controls intelligent body, interconnection status control module, interconnection state execution module power supply.
The hysteresis range restraint method integrated in interconnection state control intelligent body as shown in Figure 2,
Step 1：In sensor information acquisition module, single-axis acceleration sensors acquire unsprung mass acceleration at1、at2、
at3、at4Information, Hall-type vehicle speed sensor acquire speed v information, and the one or six axis gyro sensor acquires vehicle roll angle θ
Information and vehicle body acceleration ax,ay,azInformation, the two or six axis gyro sensor acquire front axle unsprung mass angle of heel θt1Information,
Three or six axis gyro sensor acquires rear axle unsprung mass angle of heel θt2Information, by speed v information and unsprung mass acceleration
at1、at2、at3、at4Information is transmitted to road roughness by signal transmssion line and recognizes module, by speed v information, vehicle roll angle
θ information and vehicle body acceleration ax、ay、azInformation is transmitted to interconnection state by signal transmssion line and controls in intelligent body, by front axle spring
Lower quality angle of heel θt1Information and rear axle unsprung mass angle of heel θt2Information is transmitted to the control of interconnection state by signal transmssion line
In module.
Step 2：Road roughness recognizes module for speed v information and unsprung mass acceleration at1、at2、at3、at4Information into
Row processing obtains road roughness Gq(n0) information, and interconnection state is transmitted to by signal transmssion line and controls intelligent body.
Step 3：Interconnection state controls intelligent body and first determines driving cycle grade.It is determined by the speed v information in following formula (1)
Current vehicle speed grade n, n=5；According to road roughness Gq(n0) information determines current road grade k, k=5；According to preset stagnant
It returns section δ and determines that current hysteresis section grade s, s=9, hysteresis section δ initial value are (0,0).
Step 4：Interconnection state controls intelligent body according to vehicle body acceleration ax、ay、azInformation calculates ride comfort evaluation index
aw, circular is documented in GB/T 4970-2009《Automobile ride test method》, it will not be described here.
Resulting ride comfort evaluation index a will be calculatedwIt is denoted as aw_new, with the last ride comfort evaluation index a storedw_i-1
It is weighted, obtains current ride comfort evaluation index aw_i, calculation formula is as follows：
Step 5：Interconnection state controls intelligent body according to vehicle body side acceleration ayHandling stability is calculated with vehicle roll angle θ to comment
Valence index R, calculation formula are as follows：
Wherein, m is automobile gross mass, msFor sprung mass, B is wheelspan, hRFor the height of roll center, hSFor vehicle body matter
Distance of the heart to roll center, ayFor vehicle body side acceleration, θ is vehicle roll angle, g=9.8m/s2。
Resulting handling stability evaluation index R will be calculated and be denoted as Rnew, with the last handling stability evaluation index R storedi-1Into
Row weighted calculation obtains current handling stability evaluation index Ri, calculation formula is as follows：
Step 6：According to current ride comfort evaluation index aw_iWith current handling stability evaluation index RiCurrent composite is calculated to comment
Valence index Ji, calculation formula is as follows：
Wherein, aw_iFor current ride comfort evaluation index, RiFor current handling stability evaluation index.
Step 7：By current composite evaluation index JiCombination with hysteresis section δ and its grade s=9 is stored to overall merit
In index matrix Z (n, k, s).
Step 8：By matrix Z (n, k, s), 9 stored comprehensive evaluation index J under the coordinate of s=1~9iIt takes out, is denoted as J1
=Z (n, k, 1), J2=Z (n, k, 2), J3=Z (n, k, 3), J4=Z (n, k, 4), J5=Z (n, k, 5), J6=Z (n, k, 6), J7
=Z (n, k, 7), J8=Z (n, k, 8), J9=Z (n, k, 9), and the size of its value is compared.
Step 9：Compare J1、J2、J3、J4、J5、J6、J7、J8、J9In minimum value, the subscript serial number of minimum value is denoted as
I determines the optimal hysteresis section δ under current working according to I value, and as shown in following formula (7), which is transported to interconnection state
Control module.
Step 10：It interconnects status control module and condition control method (specific controlling party is interconnected according to built-in imitative ceiling
Method is documented in Chinese application number CN201611118739.8, a kind of entitled " imitative ceiling interconnection state of laterally interconnection air suspension
In the document of control system and control method ") antero posterior axis interconnection state is judged, it outputs control signals to interconnection state and holds
Row module.
Step 11：Interconnection state execution module is to interconnect status control module output control signal as input, if input is
High level signal, control interconnection solenoid valve are opened；If input is low level signal, control interconnection solenoid valve is closed.
Claims (8)
1. a kind of laterally interconnection air suspension interconnection state controls multiagent system, including sensor information acquisition module and interconnection
State execution module, it is characterized in that：
The sensor information acquisition module acquires the forward and backward left unsprung mass acceleration a of vehiclet1、at2, matter under forward and backward right spring
Measure acceleration at3、at4, speed v, vehicle roll angle θ, vehicle body acceleration ax,ay,azWith axle unsprung mass angle of heel θt1、
θt2Information, and by speed v, acceleration at1、at2、at3、at4Information is sent to road roughness identification module, by speed v, rolls
Angle θ, acceleration ax,ay,azInformation is sent to interconnection state control intelligent body, by angle of heel θt1、θt2Information is sent to interconnection shape
State control module；
The road roughness identification module handles received information to obtain road roughness Gq(n0) information and send
Intelligent body is controlled to interconnection state；
The described interconnection state control intelligent body is handled to obtain the optimal hysteresis section of current working and defeated to received information
To interconnection status control module；
The interconnection status control module is handled to obtain interconnection state control signal to received information and passes and transport to mutual
Connection state execution module.
2. laterally interconnection air suspension interconnection state according to claim 1 controls multiagent system, it is characterized in that：It is described
Sensor information acquisition module by four single-axis acceleration sensors, a Hall-type vehicle speed sensor, three six axis gyros
Instrument sensor composition, four single-axis acceleration sensors are respectively used to acquisition vehicle front left unsprung mass acceleration at1Information, after
Left unsprung mass acceleration at2Information, front right unsprung mass acceleration at3Information, rear right unsprung mass acceleration at4Information；Suddenly
You sense for acquiring speed v information formula speed；One or six axis gyro sensor is for acquiring vehicle roll angle θ information and vehicle
Body acceleration ax,ay,azInformation, the two or six axis gyro sensor is for acquiring front axle unsprung mass angle of heel θt1Information, third
Six axis gyro sensors are for acquiring rear axle unsprung mass angle of heel θt2Information.
3. a kind of control method of laterally interconnection air suspension interconnection state control multiagent system as described in claim 1,
It is characterized in that having following steps：
A：Interconnection state controls intelligent body and determines current vehicle speed grade n, n=5 according to speed v information；According to road roughness Gq
(n0) information determines current road grade k, k=5；Hysteresis section grade s, s=9 are determined according to preset hysteresis section δ；
B：Interconnection state control intelligent body calculates current ride comfort evaluation index aw_i, current handling stability evaluation index RiAnd work as
Preceding comprehensive evaluation index Ji；
C：Interconnection state controls intelligent body for current composite evaluation index JiCombination with hysteresis section δ and its grade s=9 stores
Into comprehensive evaluation index matrix Z (n, k, s), the size of this 9 comprehensive evaluation indexs of s=1~9 in comparator matrix Z (n, k, s)
It obtains minimum value, the optimal hysteresis section δ of current working is determined according to the serial number I of minimum value；
D：Interconnection status control module judges antero posterior axis interconnection state, outputs control signals to interconnection state and executes mould
Block.
4. control method according to claim 3, it is characterized in that：In step A,
5. control method according to claim 4, it is characterized in that：In step B, according toHandling stability evaluation index R is calculated, R is denoted asnew, with the last behaviour stored
Evaluation of stability index Ri-1It is weighted, obtains current handling stability evaluation indexM is automobile gross mass,
msFor sprung mass, B is wheelspan, hRFor the height of roll center, hSFor the distance of vehicle body mass center to roll center, ayFor vehicle body
Side acceleration, θ are vehicle roll angle, g=9.8m/s2。
6. control method according to claim 5, it is characterized in that：In step B, current composite evaluation index
7. control method according to claim 6, it is characterized in that：In step C, determined according to the serial number I of minimum value
The optimal hysteresis section of current working
8. control method according to claim 7, it is characterized in that：In step D, status control module is interconnected according to built-in
Imitative ceiling interconnection condition control method judges antero posterior axis interconnection state, outputs control signals to interconnection state and executes mould
Block.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116176689A (en) * | 2023-02-21 | 2023-05-30 | 豫北转向智能科技(苏州)有限公司 | Drive-by-wire steering system suitable for automatic driving automobile and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176689A (en) * | 2023-02-21 | 2023-05-30 | 豫北转向智能科技(苏州)有限公司 | Drive-by-wire steering system suitable for automatic driving automobile and control method |
| CN116176689B (en) * | 2023-02-21 | 2023-10-03 | 豫北转向智能科技(苏州)有限公司 | Drive-by-wire steering system suitable for automatic driving automobile and control method |
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