CN109703551A - The rotating direction control method and automatic driving vehicle of automatic driving vehicle - Google Patents
The rotating direction control method and automatic driving vehicle of automatic driving vehicle Download PDFInfo
- Publication number
- CN109703551A CN109703551A CN201910072738.1A CN201910072738A CN109703551A CN 109703551 A CN109703551 A CN 109703551A CN 201910072738 A CN201910072738 A CN 201910072738A CN 109703551 A CN109703551 A CN 109703551A
- Authority
- CN
- China
- Prior art keywords
- automatic driving
- driving vehicle
- torque value
- vehicle
- assist motor
- 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.)
- Withdrawn
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of rotating direction control method of automatic driving vehicle and automatic driving vehicle, 1), by servo steering system the rotating direction control method is the following steps are included: obtain the turn signal of the torque value being applied on steering wheel, the current vehicle speed of automatic driving vehicle, the throttle signal of automatic driving vehicle and steering wheel；2), judge whether the automatic driving vehicle is in default steering state；3), when automatic driving vehicle is in default steering state, the operating current of the front side assist motor and the rear side assist motor is adjusted respectively；4), pass through front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism respectively according to the operating current of the rear side assist motor after the operating current of the front side assist motor after adjusting and adjusting the steering of automatic driving vehicle is adjusted, so that automatic driving vehicle is in stable state.The rotating direction control method of the automatic driving vehicle can slow down part life damaged condition, reduce cost and reduce with changing number.
Description
Technical field
The present invention relates to Automatic vehicle for cleaning road, and in particular, to the rotating direction control method and automatic Pilot of automatic driving vehicle
Vehicle.
Background technique
There are two types of the limitation of the extreme position of wheel steering system at present is general: one is limited by diverter itself project
System, another kind are limited by increase mechanical position limitation set, stop collar, both structures are when vehicle carries out wide-angle steering
Need quick rotation steering wheel to close to extreme position, frequent limit operation will affect part life and operational comfort.And
Mechanically actuated has uniqueness, and damage parts match to change again will affect use.
Therefore it provides one kind can slow down part life damaged condition, reduces cost and reduce with the automatic Pilot for changing number
The problem of rotating direction control method and automatic driving vehicle of vehicle are urgent need to resolve of the present invention.
Summary of the invention
The present invention provides the rotating direction control method and automatic driving vehicle of a kind of automatic driving vehicle, the automatic driving vehicle
Rotating direction control method can slow down part life damaged condition, reduce cost and reduce with changing number.
To achieve the goals above, the present invention provides a kind of rotating direction control method of automatic driving vehicle, feature exists
It include that front stabilizer regulating mechanism, rear stabilizer bar regulating mechanism, front side assist motor, rear side help in, the automatic driving vehicle
Force motor and servo steering system；
The front stabilizer regulating mechanism and the front side assist motor are in mating connection, the rear side assist motor and institute
It is in mating connection to state rear stabilizer bar regulating mechanism；The rotating direction control method the following steps are included:
1) torque value being applied on steering wheel, the automatic driving vehicle, are obtained by the servo steering system
The turn signal of current vehicle speed, the throttle signal of the automatic driving vehicle and the steering wheel；
2), judged according to the torque value, the current vehicle speed, the throttle signal and the turn signal described automatic
Drive whether vehicle is in default steering state；
3), when automatic driving vehicle is in default steering state, adjust respectively the front side assist motor and it is described after
The operating current of side assist motor；When automatic driving vehicle is not at default steering state, adjusted by servo steering system
The turn signal of automatic driving vehicle；
4), according to the operating current of the rear side assist motor after the operating current of the front side assist motor after adjusting and adjusting
The steering of automatic driving vehicle is adjusted by front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism respectively, so that
Automatic driving vehicle is in stable state.
Preferably, the default steering state is default including the first default steering state, the second default steering state, third
Steering state and the 4th default steering state；Wherein:
When the current vehicle speed of the automatic driving vehicle is less than or equal in the first preset vehicle speed and the turn signal turn
It is greater than the first predetermined angle to value and is less than or equal to the second predetermined angle and the torque value and is more than or equal to the first predetermined torque value
When, judge that the automatic driving vehicle is in the first default steering state；
When the current vehicle speed of the automatic driving vehicle is less than or equal in the first preset vehicle speed and the turn signal turn
To value greater than the second predetermined angle and when the torque value is more than or equal to the second predetermined torque value, the automatic Pilot vehicle is judged
Be in the second default steering state；Wherein, the second predetermined torque value is less than the first predetermined torque value；
Turn when the current vehicle speed of the automatic driving vehicle is greater than in first preset vehicle speed and the turn signal
It is greater than the first predetermined angle to value and is less than or equal to the second predetermined angle and the torque value and is more than or equal to third predetermined torque value
When, judge that automatic driving vehicle is in third and presets steering state, wherein it is pre- that the third predetermined torque value is less than described second
If torque value；
Turn when the current vehicle speed of the automatic driving vehicle is greater than in first preset vehicle speed and the turn signal
To value greater than second predetermined angle and when the torque value is more than or equal to the 4th predetermined torque value, automatic Pilot vehicle is judged
Be in the 4th default steering state, wherein the 4th predetermined torque value be less than third predetermined torque value.
The present invention also provides a kind of automatic driving vehicle, the automatic driving vehicle include front stabilizer regulating mechanism,
Rear stabilizer bar regulating mechanism, front side assist motor, rear side assist motor and servo steering system；The front stabilizer regulating mechanism
In mating connection with the front side assist motor, the rear side assist motor matches company with the rear stabilizer bar regulating mechanism
It connects；
The servo steering system includes information acquisition unit and central controller；The information acquisition unit is for obtaining
The current vehicle speed, described automatic of the torque value being applied on steering wheel of the automatic driving vehicle, the automatic driving vehicle
Drive the throttle signal of vehicle and the turn signal of the steering wheel；
The central controller is used for according to the torque value, the current vehicle speed, the throttle signal and the steering
Signal judges whether the automatic driving vehicle is in default steering state, and helps on front side of adjusting when in default steering state
The operating current of force motor and the rear side assist motor, and operating current and tune according to the front side assist motor after adjusting
The operating current of rear side assist motor after section passes through front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism to automatic respectively
The steering for driving vehicle is adjusted；Turn signal is adjusted when being not at default steering state so that at automatic driving vehicle
In stable state.
According to the above technical scheme, automatic driving vehicle provided by the invention rotating direction control method the following steps are included:
1), by the servo steering system obtain be applied on steering wheel torque value, the automatic driving vehicle current vehicle speed,
The turn signal of the throttle signal of the automatic driving vehicle and the steering wheel；2), according to the torque value, described work as front truck
Fast, the described throttle signal and the turn signal judge whether the automatic driving vehicle is in default steering state；3), when certainly
The dynamic vehicle that drives adjusts the work of the front side assist motor and the rear side assist motor in when presetting steering state respectively
Electric current；When automatic driving vehicle is not at default steering state, turning for automatic driving vehicle is adjusted by servo steering system
To signal；4), according to the operating current of the rear side assist motor after the operating current of the front side assist motor after adjusting and adjusting
The steering of automatic driving vehicle is adjusted by front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism respectively, so that
Automatic driving vehicle is in stable state.In this way, the rotating direction control method limits extreme position by way of software
System, can effectively solve mechanically operated uniqueness, slow down part life damaged condition, and then reduce part with number is changed, and drop
Low cost.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of process step of the rotating direction control method of the automatic driving vehicle of preferred embodiment provided by the invention
Rapid figure.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, " upper and lower, left and right, inside and outside " etc. are included in the term
The noun of locality only represents orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, without answering
It is considered as the limitation to the term.
The present invention provides a kind of rotating direction control method of automatic driving vehicle, the automatic driving vehicle includes preceding stabilization
Bar regulating mechanism, rear stabilizer bar regulating mechanism, front side assist motor, rear side assist motor and servo steering system；
The front stabilizer regulating mechanism and the front side assist motor are in mating connection, the rear side assist motor and institute
It is in mating connection to state rear stabilizer bar regulating mechanism；The rotating direction control method the following steps are included:
1) torque value being applied on steering wheel, the automatic driving vehicle, are obtained by the servo steering system
The turn signal of current vehicle speed, the throttle signal of the automatic driving vehicle and the steering wheel；
2), judged according to the torque value, the current vehicle speed, the throttle signal and the turn signal described automatic
Drive whether vehicle is in default steering state；
3), when automatic driving vehicle is in default steering state, adjust respectively the front side assist motor and it is described after
The operating current of side assist motor；When automatic driving vehicle is not at default steering state, adjusted by servo steering system
The turn signal of automatic driving vehicle；
4), according to the operating current of the rear side assist motor after the operating current of the front side assist motor after adjusting and adjusting
The steering of automatic driving vehicle is adjusted by front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism respectively, so that
Automatic driving vehicle is in stable state.
Spirit of the invention, which is to provide one kind, can slow down part life damaged condition, reduce cost and reduce with changing number
The rotating direction control method of automatic driving vehicle.As shown in Figure 1,1), by described the rotating direction control method is the following steps are included: help
Power steering system obtains the torque value being applied on steering wheel, the current vehicle speed of the automatic driving vehicle, the automatic Pilot
The turn signal of the throttle signal of vehicle and the steering wheel；2), according to the torque value, the current vehicle speed, the throttle
Signal and the turn signal judge whether the automatic driving vehicle is in default steering state；3), work as automatic driving vehicle
When in default steering state, the operating current of the front side assist motor and the rear side assist motor is adjusted respectively；When certainly
When dynamic driving vehicle is not at default steering state, pass through the turn signal that servo steering system adjusts automatic driving vehicle；4),
Before being passed through respectively according to the operating current of the rear side assist motor after the operating current of the front side assist motor after adjusting and adjusting
The steering of automatic driving vehicle is adjusted in stabiliser bar regulating mechanism and rear stabilizer bar regulating mechanism, so that automatic Pilot vehicle
Be in stable state.
In step 1), the torque value being applied on steering wheel is obtained by the servo steering system, described is driven automatically
Sail the turn signal of the current vehicle speed of vehicle, the throttle signal of the automatic driving vehicle and the steering wheel；It specifically, can be with
Current vehicle speed, throttle signal and the turn signal of automatic driving vehicle are obtained by corresponding sensor.
In a preferred embodiment of the invention, the default steering state include the first default steering state,
Second default steering state, third preset steering state and the 4th default steering state；Wherein: when the automatic driving vehicle
The turning value that current vehicle speed is less than or equal in the first preset vehicle speed and the turn signal is greater than the first predetermined angle and is less than etc.
In the second predetermined angle and when the torque value is more than or equal to the first predetermined torque value, judge that the automatic driving vehicle is in
First default steering state；When the current vehicle speed of the automatic driving vehicle is less than or equal to the first preset vehicle speed and the steering
Turning value in signal is greater than the second predetermined angle and when the torque value is more than or equal to the second predetermined torque value, described in judgement
Automatic driving vehicle is in the second default steering state；Wherein, the second predetermined torque value is less than first predetermined torque
Value；When the current vehicle speed of the automatic driving vehicle is greater than the turning value in first preset vehicle speed and the turn signal
Greater than the first predetermined angle and less than or equal to the second predetermined angle and when the torque value is more than or equal to third predetermined torque value,
Judge that automatic driving vehicle is in third and presets steering state, wherein it is default that the third predetermined torque value is less than described second
Torque value；Turn when the current vehicle speed of the automatic driving vehicle is greater than in first preset vehicle speed and the turn signal
To value greater than second predetermined angle and when the torque value is more than or equal to the 4th predetermined torque value, automatic Pilot vehicle is judged
Be in the 4th default steering state, wherein the 4th predetermined torque value be less than third predetermined torque value.
Wherein, the first preset vehicle speed, the first predetermined angle, the first predetermined torque value, the second predetermined angle, the second default torsion
Square value, third predetermined torque value and the 4th predetermined torque value can be demarcated according to the actual situation.Generally, the first preset vehicle speed
It can be 30-50km/h, the second predetermined angle can be 25-35 degree, and the second predetermined angle can be 70-80 degree.Usual situation
Under, vehicle generally will appear two states in steering procedure, and one is understeer state, another kind is ovdersteering shape
State.Wherein, when understeer occurs for vehicle, the turning radius of vehicle be will increase, so that centrifugal force reduces, and with
The reduction of centrifugal force, traction would be possible to provide required driving force and centrifugal force, so that vehicle tends towards stability
It turns to；When ovdersteering occurs for vehicle, the turning radius of vehicle will reduce, and centrifugal force will be gradually increased, so as to cause vehicle
Further ovdersteering, so that whipping to lose control of one's vehicle, causes safety accident.Two kinds of different conditions examines when based on Vehicular turn
Consider, in the present invention, understeer control will be carried out using software mode, and guarantee Vehicular turn safety.
The present invention also provides a kind of automatic driving vehicle, which can guarantee safety in steering procedure.
The automatic driving vehicle is including front stabilizer regulating mechanism, rear stabilizer bar regulating mechanism, front side assist motor, rear side power-assisted
Motor and servo steering system；The front stabilizer regulating mechanism and the front side assist motor are in mating connection, the rear side
Assist motor and the rear stabilizer bar regulating mechanism are in mating connection；The servo steering system includes information acquisition unit in
Entreat controller；The information acquisition unit is used to obtain the torque value being applied on steering wheel, the institute of the automatic driving vehicle
State the turn signal of the current vehicle speed of automatic driving vehicle, the throttle signal of the automatic driving vehicle and the steering wheel；Institute
Central controller is stated for judging institute according to the torque value, the current vehicle speed, the throttle signal and the turn signal
It states automatic driving vehicle and whether is in default steering state, and assist motor and institute on front side of adjusting when in default steering state
The operating current of rear side assist motor is stated, and according to the rear side after the operating current of the front side assist motor after adjusting and adjusting
The operating current of assist motor passes through front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism to automatic driving vehicle respectively
Steering is adjusted；Turn signal is adjusted when being not at default steering state so that automatic driving vehicle, which is in, stablizes shape
State.The steering of vehicle is realized by way of adjusting operating current in this way, i.e., is turned by the vehicle that is implemented in combination with of software and hardware
To automatic driving vehicle, effectively prevent turning to variation when reaching critical speed effectively improving vehicle the case where loss of stability
The safety of steering ensure that safety when driver drives.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (3)
1. a kind of rotating direction control method of automatic driving vehicle, which is characterized in that the automatic driving vehicle includes front stabilizer
Regulating mechanism, rear stabilizer bar regulating mechanism, front side assist motor, rear side assist motor and servo steering system；
The front stabilizer regulating mechanism and the front side assist motor are in mating connection, the rear side assist motor and it is described after
Stabiliser bar regulating mechanism is in mating connection；The rotating direction control method the following steps are included:
1), by the servo steering system obtain be applied on steering wheel torque value, the automatic driving vehicle it is current
The turn signal of speed, the throttle signal of the automatic driving vehicle and the steering wheel；
2) automatic Pilot, is judged according to the torque value, the current vehicle speed, the throttle signal and the turn signal
Whether vehicle is in default steering state；
3), when automatic driving vehicle is in default steering state, the front side assist motor is adjusted respectively and the rear side helps
The operating current of force motor；When automatic driving vehicle is not at default steering state, adjusted by servo steering system automatic
Drive the turn signal of vehicle；
4), distinguished according to the operating current of the rear side assist motor after the operating current of the front side assist motor after adjusting and adjusting
The steering of automatic driving vehicle is adjusted by front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism, so that automatically
It drives vehicle and is in stable state.
2. the rotating direction control method of automatic driving vehicle according to claim 1, which is characterized in that the default steering shape
State includes the first default steering state, the second default steering state, the default steering state of third and the 4th default steering state；Its
In:
When the current vehicle speed of the automatic driving vehicle is less than or equal to the turning value in the first preset vehicle speed and the turn signal
Greater than the first predetermined angle and less than or equal to the second predetermined angle and when the torque value is more than or equal to the first predetermined torque value,
Judge that the automatic driving vehicle is in the first default steering state；
When the current vehicle speed of the automatic driving vehicle is less than or equal to the turning value in the first preset vehicle speed and the turn signal
Greater than the second predetermined angle and when the torque value is more than or equal to the second predetermined torque value, judge at the automatic driving vehicle
In the second default steering state；Wherein, the second predetermined torque value is less than the first predetermined torque value；
When the current vehicle speed of the automatic driving vehicle is greater than the turning value in first preset vehicle speed and the turn signal
Greater than the first predetermined angle and less than or equal to the second predetermined angle and when the torque value is more than or equal to third predetermined torque value,
Judge that automatic driving vehicle is in third and presets steering state, wherein it is default that the third predetermined torque value is less than described second
Torque value；
When the current vehicle speed of the automatic driving vehicle is greater than the turning value in first preset vehicle speed and the turn signal
Greater than second predetermined angle and when the torque value is more than or equal to the 4th predetermined torque value, judge at automatic driving vehicle
In the 4th default steering state, wherein the 4th predetermined torque value is less than third predetermined torque value.
3. a kind of automatic driving vehicle, which is characterized in that the automatic driving vehicle include front stabilizer regulating mechanism, it is rear steady
Fixed pole regulating mechanism, front side assist motor, rear side assist motor and servo steering system；The front stabilizer regulating mechanism and institute
Assist motor is in mating connection on front side of stating, and the rear side assist motor and the rear stabilizer bar regulating mechanism are in mating connection；
The servo steering system includes information acquisition unit and central controller；The information acquisition unit is described for obtaining
The torque value of automatic driving vehicle being applied on steering wheel, the current vehicle speed of the automatic driving vehicle, the automatic Pilot
The turn signal of the throttle signal of vehicle and the steering wheel；
The central controller is used for according to the torque value, the current vehicle speed, the throttle signal and the turn signal
Judge whether the automatic driving vehicle is in default steering state, and power-assisted is electric on front side of adjusting when in default steering state
The operating current of machine and the rear side assist motor, and according to the operating current of the front side assist motor after adjusting and adjusting after
The operating current of rear side assist motor pass through front stabilizer regulating mechanism and rear stabilizer bar regulating mechanism respectively to automatic Pilot
The steering of vehicle is adjusted；Turn signal is adjusted when being not at default steering state so that automatic driving vehicle is in steady
Determine state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910072738.1A CN109703551A (en) | 2019-01-25 | 2019-01-25 | The rotating direction control method and automatic driving vehicle of automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910072738.1A CN109703551A (en) | 2019-01-25 | 2019-01-25 | The rotating direction control method and automatic driving vehicle of automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109703551A true CN109703551A (en) | 2019-05-03 |
Family
ID=66261841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910072738.1A Withdrawn CN109703551A (en) | 2019-01-25 | 2019-01-25 | The rotating direction control method and automatic driving vehicle of automatic driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109703551A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635961A (en) * | 2020-04-27 | 2021-11-12 | 比亚迪股份有限公司 | Distributed driving automobile steering control method and device and automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1749077A (en) * | 2005-10-14 | 2006-03-22 | 上海燃料电池汽车动力系统有限公司 | Electronic stabilizing control system depending on power booster turning system to carrying out active turning |
| CN101734135A (en) * | 2009-12-29 | 2010-06-16 | 东莞市精航达电动转向系统有限公司 | Electric power-assisted steering control method and control device for vehicles |
| CN105774898A (en) * | 2016-03-24 | 2016-07-20 | 奇瑞汽车股份有限公司 | Electric power steering system |
| US20170144697A1 (en) * | 2015-11-20 | 2017-05-25 | Hyundai Mobis Co., Ltd. | Apparatus and method for controlling steering return of motor driven power steering system |
| CN108068880A (en) * | 2016-11-14 | 2018-05-25 | 比亚迪股份有限公司 | Vehicle steering control method, device and vehicle |
| CN108394459A (en) * | 2018-02-07 | 2018-08-14 | 北京汽车股份有限公司 | Rotating direction control method, system and the vehicle of vehicle |
-
2019
- 2019-01-25 CN CN201910072738.1A patent/CN109703551A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1749077A (en) * | 2005-10-14 | 2006-03-22 | 上海燃料电池汽车动力系统有限公司 | Electronic stabilizing control system depending on power booster turning system to carrying out active turning |
| CN101734135A (en) * | 2009-12-29 | 2010-06-16 | 东莞市精航达电动转向系统有限公司 | Electric power-assisted steering control method and control device for vehicles |
| US20170144697A1 (en) * | 2015-11-20 | 2017-05-25 | Hyundai Mobis Co., Ltd. | Apparatus and method for controlling steering return of motor driven power steering system |
| CN105774898A (en) * | 2016-03-24 | 2016-07-20 | 奇瑞汽车股份有限公司 | Electric power steering system |
| CN108068880A (en) * | 2016-11-14 | 2018-05-25 | 比亚迪股份有限公司 | Vehicle steering control method, device and vehicle |
| CN108394459A (en) * | 2018-02-07 | 2018-08-14 | 北京汽车股份有限公司 | Rotating direction control method, system and the vehicle of vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 吴基安 吴洋: "《汽车电子技术问答》", 31 October 2001, 金盾出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635961A (en) * | 2020-04-27 | 2021-11-12 | 比亚迪股份有限公司 | Distributed driving automobile steering control method and device and automobile |
| CN113635961B (en) * | 2020-04-27 | 2022-09-09 | 比亚迪股份有限公司 | Distributed driving automobile steering control method and device and automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR900005709B1 (en) | Motor-driven power steering apparatus | |
| JP4019873B2 (en) | Rudder angle ratio control device | |
| WO2009066789A1 (en) | Vehicle steering control device | |
| EP1650101A3 (en) | Steering control apparatus | |
| US20030178246A1 (en) | Electric power steering apparatus | |
| US8565973B2 (en) | Method for operating a motor vehicle, and motor vehicle | |
| JP3206783B2 (en) | Vehicle rear wheel steering system | |
| CN109703551A (en) | The rotating direction control method and automatic driving vehicle of automatic driving vehicle | |
| JP4719901B2 (en) | Rear wheel steering angle control device | |
| US11059472B2 (en) | Control device of vehicle and control method of vehicle | |
| JP3899739B2 (en) | Vehicle steering system | |
| US6481524B1 (en) | Vehicle equipped with turning mechanism | |
| JPH11301507A (en) | Steering control unit for vehicle | |
| KR20180027753A (en) | Torque steer compensation method of Motor Driven Power Steering | |
| KR102673010B1 (en) | System and method for controlling motor driven power steering | |
| KR100522833B1 (en) | Electric way power steering for car use | |
| KR20170086980A (en) | Active front steering system apparatus for vehicle and controlling method thereof | |
| JPH11255134A (en) | Electric hydraulic power steering device | |
| JP2024025551A (en) | Vehicle | |
| JP7435485B2 (en) | vehicle drive system | |
| KR20140047821A (en) | Electric forklift truck having fault controller of eps system | |
| KR0147519B1 (en) | Diagnosis method of the actuator defect of the 4-wheel steering system | |
| JP3488988B2 (en) | Electric power steering device | |
| JPH11227620A (en) | Motor-driven hydraulic power steering device | |
| CN118107654A (en) | Steering auxiliary torque control method, vehicle controller and electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190503 |