CN110979450A - Formula of driverless car steering mechanism that can freely switch - Google Patents
Formula of driverless car steering mechanism that can freely switch Download PDFInfo
- Publication number
- CN110979450A CN110979450A CN201911336920.XA CN201911336920A CN110979450A CN 110979450 A CN110979450 A CN 110979450A CN 201911336920 A CN201911336920 A CN 201911336920A CN 110979450 A CN110979450 A CN 110979450A
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- steering
- transmission
- racing car
- rod
- tie rod
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
Abstract
The application discloses a steering mechanism of an unmanned formula racing car capable of being freely switched, which comprises a steering tie rod used for transmitting steering power to a steering wheel of the formula racing car, wherein a transmission limiting mechanism is fixed on a frame of the formula racing car, and the steering tie rod penetrates through the transmission limiting mechanism; the transmission limiting mechanism converts steering power transmitted by a steering wheel of the formula car into axial movement of a steering tie rod through a transmission pair; the steering tie rod is fixed with a slide block, the frame is provided with a steering motor and an electromagnetic clutch through a fixing frame, wherein the input end of the electromagnetic clutch is connected with a rotating shaft of the steering motor, the output end of the electromagnetic clutch is connected with a crank, the slide block is movably provided with a connecting rod, and the ends of the crank and the connecting rod are movably connected. The problem of the structure that exists is complicated among the prior art, axial friction is big, can produce the interference when carrying out someone unmanned switching of turning to can be solved to this application, can carry out the free switching of manual driving, unmanned mode.
Description
Technical Field
The application relates to the field of steering control of electric formula racing cars, in particular to a steering mechanism of an unmanned formula racing car capable of being freely switched.
Background
At present, intelligent control and interconnection technology development are very variable, and unmanned driving is generated under the large environment. In order to promote talent development of the automotive industry in China, colleges and universities encourage students to modify the original gasoline racing car into an electric racing car, study unmanned driving technology and participate in the electric equation automobile competition (FSEC) of college students in China. The racing car should realize unmanned driving on the basis that a driver can safely drive according to the requirements of a big race. Among these, the steer-by-wire retrofit is an important part.
To solve the above problems, zhang xu et al have proposed a patent technical solution of CN208069787U a steer-by-wire system for electric racing car and control method thereof, which proposes to add an active tie rod to the tie rod, where the rack of the active tie rod is engaged with the gear on the output shaft of the motor, the motor rotates to drive the rack and the gear to rotate, and drag the active tie rod to slide left and right, and the active tie rod and the tie rod are connected by a circular key to synchronously slide left and right.
In the practical application process, the scheme is found to have the following defects:
1) the structure is more complex and the occupied space is large;
2) the axial friction is large, so that the steering response is not timely;
3) the switching of the turning direction by someone or nobody interferes.
Disclosure of Invention
The application aims to provide a free-switching steering mechanism of an unmanned formula racing car, which is used for solving the problems that the structure is complex, the axial friction is large, and interference is generated when unmanned steering switching is carried out in the prior art.
In order to realize the task, the following technical scheme is adopted in the application:
a free-switching steering mechanism of an unmanned formula car comprises a steering tie rod for transmitting steering power to a steering wheel of the formula car, wherein a transmission limiting mechanism is fixed on a frame of the formula car, and the steering tie rod penetrates through the transmission limiting mechanism; the transmission limiting mechanism converts steering power transmitted by a steering wheel of the formula car into axial movement of the tie rod through a transmission pair;
the steering mechanism is characterized in that a sliding block is fixed on the steering tie rod, a steering motor and an electromagnetic clutch are mounted on the frame through a fixing frame, wherein the input end of the electromagnetic clutch is connected with a rotating shaft of the steering motor, the output end of the electromagnetic clutch is connected with a crank, a connecting rod is movably arranged on the sliding block, the end parts of the crank and the connecting rod are movably connected, and the steering power transmitted by the steering motor is converted into the axial movement of the steering tie rod through the cooperation of the electromagnetic clutch, a transmission limiting mechanism, the crank, the connecting rod and the sliding block.
Furthermore, the transmission limiting mechanism comprises a limiting sliding sleeve, a sliding hole is formed in the limiting sliding sleeve in a penetrating mode, and the steering tie rod penetrates through the sliding hole;
the transmission pair comprises a gear which is arranged inside the limiting sliding sleeve 10 and used for transmitting rotary power, and a rack which is matched with the gear is arranged on the steering tie rod.
Furthermore, the steering mechanism further comprises a steering rod, the upper end of the steering rod is connected with a steering wheel of the formula car through a first universal joint to obtain steering power, the lower end of the steering rod is connected with a transmission rod through a second universal joint, and the lower end of the transmission rod penetrates into the transmission limiting mechanism to be connected with the gear.
Furthermore, the transmission limiting mechanism further comprises an upper fixing plate and a lower fixing plate, wherein the upper fixing plate is located above the limiting sliding sleeve, the lower fixing plate is located below the limiting sliding sleeve, and the limiting sliding sleeve is fixed on the frame through the upper fixing plate and the lower fixing plate.
Furthermore, a one-key switching button is arranged on one side, located on the steering wheel, of the formula car and used for switching the working mode of the electromagnetic clutch, so that the formula car works in an automatic driving mode or a manual driving mode; the automatic driving mode provides steering power through a steering motor, and the manual driving mode provides steering power through a steering wheel.
Further, when the formula car is in an automatic driving mode, the electromagnetic clutch is connected, a detector arranged in front of the formula car is used for detecting a barrier signal in front of the formula car, the barrier signal is transmitted to the processor for analysis, a steering signal is output to the steering motor, the steering motor rotates by a corresponding angle according to the steering signal, and rotation of the steering motor is converted into axial movement of a tie rod through matching of the crank, the connecting rod and the transmission limiting mechanism, so that steering of a driving wheel of the formula car is controlled.
Further, when the formula car is in a manual driving mode, the electromagnetic clutch is disengaged, steering power provided by the steering wheel is transmitted to the gear through the first universal joint, the steering rod, the second universal joint and the transmission rod in sequence, and the gear rotates and drives the tie rod to move axially through the matching of the rack.
The application has the following technical characteristics:
1. the steering mechanism is simple: the steering can be realized only by matching the crank-slider mechanism with the motor for rotation.
2. The occupied space is small: the base is parallel with the cycle racing chassis, and the motor is perpendicular with the base, and the motor is fixed with the frame, and the lightweight of cycle racing still can be realized to the space of driving is saved to the arrangement mode.
3. The steering response is quick: in racing sports, the steering response time of a race is particularly important. The motor is directly connected with the transverse pull rod through a crank slider mechanism, and the given rotation angle of the controller can be quickly responded.
4. Mode switching freedom: an electromagnetic clutch is added between the crank and the motor, and the free switching between the manual driving mode and the unmanned driving mode can be realized by controlling the on-off state of the electromagnetic clutch.
5. The steering precision is high: the rotation of the motor drives the crank block mechanism to rotate, and the rotation angle can be accurately controlled by controlling the positive and negative rotation angles of the motor.
Drawings
FIG. 1 is a schematic overall structure of the present application;
FIG. 2 is a schematic top view of the present application;
FIG. 3 is a schematic structural view of a transmission limiting mechanism part;
FIG. 4 is a schematic structural view of a transmission pair part in the transmission limiting mechanism;
FIG. 5 is a schematic side view of the present application;
fig. 6 is a control circuit diagram of the steering motor.
The reference numbers in the figures illustrate: the device comprises a steering motor 1, a transmission limiting mechanism 2, a positioning pin 3, a connecting rod 4, a sliding block 5, a positioning screw 6, a crank 7, an electromagnetic clutch 8, a steering tie rod 9, a limiting sliding sleeve 10, a second universal joint 11, a steering rod 12, a fixing frame 13, a rack 14, a gear 15, a transmission rod 16, an upper fixing plate 17, a lower fixing plate 18, a sliding hole 19 and a first universal joint 20.
Detailed Description
As shown in the attached drawings, the steering mechanism of the formula racing car capable of being switched freely is provided, the steering mechanism can realize switching between a manual driving mode and an unmanned driving mode, and is simple in structure, small in axial friction and free of interference during switching. The concrete structure is as follows:
the steering mechanism includes a tie rod 9 for transmitting steering power to the steering wheel of the formula car, as shown in fig. 1, and the tie rod 9 in this application is used for providing steering power to the steering wheel of the car so that the steering wheel is rotated according to the steering power. The tie rod 9 transmits the steering power in an axial direction, and controls the steered wheels to rotate to the left when moving to the left, and controls the steered wheels to rotate to the right when moving to the right, for example. In particular, the ends of the tie rods 9 are connected to the steering wheels through the suspension system at the front of the race car, converting the axial movement of the tie rods 9 into steering of the drive wheels.
A transmission limiting mechanism 2 is fixed on the frame of the formula car, and the steering tie rod 9 penetrates through the transmission limiting mechanism 2; wherein the transmission limiting mechanism 2 converts the steering power transmitted by the steering wheel of the formula car into the axial movement of the tie rod 9 through a transmission pair. As shown in fig. 1 to 5, the driving position limiting mechanism 2 has multiple functions and can be correspondingly matched with two driving modes. The transmission limiting mechanism 2 is fixed on the frame of the racing car, and has an important function of transmitting steering power provided by a steering wheel to a steering tie rod 9.
Specifically, the transmission limiting mechanism 2 comprises a limiting sliding sleeve 10, a sliding hole 19 is formed in the limiting sliding sleeve 10 in a penetrating mode, and the steering tie rod 9 penetrates through the sliding hole 19; the transmission pair comprises a gear 15 which is arranged inside the limiting sliding sleeve 10 and used for transmitting rotary power, and a rack 14 matched with the gear 15 is arranged on the steering tie rod 9. The steering mechanism further comprises a steering rod 12, the upper end of the steering rod 12 is connected with a steering wheel of the formula car through a first universal joint 20 to obtain steering power, the lower end of the steering rod 12 is connected with a transmission rod 16 through a second universal joint 11, and the lower end of the transmission rod 16 penetrates into the transmission limiting mechanism 2 to be connected with the gear 15.
As shown in fig. 3 and 4, when in the manual driving mode, the driver provides steering power by rotating the steering wheel and finally transmits it to the gear 15 through the transmission rod 16. A bearing is provided between the drive rod 16 and the drive limiting mechanism 2, so that the gear 15 can only rotate in a fixed position. During the rotation of the gear 15, the gear is matched with the rack 14 to convert the rotation power into the axial movement of the rack 14, so that the rack 14 drives the tie rod 9 to move axially.
In order to stabilize and reliable the operation process, the transmission limiting mechanism 2 further comprises an upper fixing plate 17 located above the limiting sliding sleeve 10 and a lower fixing plate 18 located below the limiting sliding sleeve 10, and the limiting sliding sleeve 10 is fixed on the frame through the upper fixing plate 17 and the lower fixing plate 18, so that the transmission limiting mechanism 2 is effectively fixed.
As another mode of turning to of this application, be fixed with slider 5 on the tie rod 9, install steering motor 1 and electromagnetic clutch 8 through mount 13 on the frame, wherein, the pivot of steering motor 1 is connected to electromagnetic clutch 8's input, is connected with crank 7 on electromagnetic clutch 8's the output, the movable connecting rod 4 that is provided with on slider 5, the movable connection of the tip of crank 7, connecting rod 4, through electromagnetic clutch 8, transmission stop gear 2, crank 7, connecting rod 4 and slider 5's cooperation, will turn to the axial displacement that power conversion turned to tie rod 9 through the transmission of steering motor 1 comes.
In this application, the outside cover of steering motor 1 has mount 13, and mount 13 will steer motor 1 and install on the frame steadily. When the steering motor 1 works, a steering signal is received, the rotating shaft rotates correspondingly, the electromagnetic clutch 8 is in an engaged state, and the rotating power is provided for the crank 7 and the connecting rod 4 through the electromagnetic clutch 8. The casing of the electromagnetic clutch 8 is provided with a fixing hole, and the fixing hole is fixed on a fixing frame 13 of the motor through a fixing nut, so that the fixing and the installation of the fixing hole and the fixing frame are realized.
The output end of the electromagnetic clutch 8 is connected with a crank 7 through a spline, the end part of the crank 7 and the end part of the connecting rod 4 are provided with positioning holes, the end parts of the crank 7 and the connecting rod 4 are movably connected through the positioning holes and the positioning pins 3, and the end part of the connecting rod 4 is connected with the sliding block 5 through the positioning holes and the positioning pins 3. The slide block 5 is provided with a through hole which is sleeved on the tie rod 9, and the slide block 5 and the tie rod 9 are locked by a positioning screw 6. When the crank 7 drives the connecting rod 4 to move, the sliding block 5 is driven to move, the sliding block 5 is fixed on the tie rod 9, the tie rod 9 can only move axially due to the limitation of the sliding hole 19 in the transmission limiting mechanism 2, and the sliding hole 19 limits the radial movement of the tie rod, so that the steering power transmitted by the steering motor 1 is converted into the axial movement of the tie rod 9 through the matching of the electromagnetic clutch 8, the transmission limiting mechanism 2, the crank 7, the connecting rod 4 and the sliding block 5.
The two modes of operation of the present application are further described below.
A one-key switching button is arranged on one side, located on the steering wheel, of the formula car and used for switching the working mode of the electromagnetic clutch 8, so that the formula car works in an automatic driving mode or a manual driving mode; the automatic driving mode provides steering power through a steering motor, and the manual driving mode provides steering power through a steering wheel. The driver can select whether to switch through a one-key switching button according to actual road conditions and requirements, and the one-key switching button is used for controlling whether the electromagnetic clutch 8 is in an engaged state or a disengaged state, so that whether to connect the steering motor 1 can be determined, and switching of two modes can be controlled.
When a one-key switching button is pressed, an engaging signal is sent to the electromagnetic clutch 8, the electromagnetic clutch 8 is engaged, and the formula car is in an automatic driving mode. The front of the formula car is provided with various detectors, such as an ultrasonic sensor, an infrared sensor and the like, for detecting front obstacle signals. And transmitting the obstacle signal to a processor for analysis, outputting a steering signal to the steering motor 1 when the processor judges that the obstacle exists in front, rotating the steering motor 1 by a corresponding angle according to the steering signal, and converting the rotation of the steering motor 1 into the axial movement of a tie rod 9 through the matching of the crank 7, the connecting rod 4 and the transmission limiting mechanism 2 so as to control the steering of the driving wheel of the formula car.
Specifically, the forward and reverse rotation of the steering motor 1 is realized by a forward and reverse rotation circuit of a three-phase asynchronous motor, and the steering of the motor can be changed by only exchanging any two phases of three-phase power supply incoming lines of the motor, and a circuit diagram of the forward and reverse rotation circuit is shown in fig. 6. The KM1 and the KM2 are main contacts of the AC contactor, and the forward rotation of the motor is realized by assuming that KM1 is attracted and KM2 is disconnected; and the KM1 is disconnected, and the KM2 is attracted to realize the reverse rotation of the motor. FU1 functions as a short circuit protection.
When the one-key switching button is pressed again, a disconnection signal is sent to the electromagnetic clutch 8, the electromagnetic clutch 8 is disconnected, and the manual driving mode is switched, so that even if the rotating shaft of the steering motor 1 rotates, power cannot be continuously transmitted between the input end and the output end of the electromagnetic clutch 8 because the electromagnetic clutch 8 is disconnected, and the power source, namely the steering motor 1 and the steering mechanism are disconnected relatively. When the formula car is in a manual driving mode, steering power provided by a steering wheel is transmitted to the gear 15 through the first universal joint 20, the steering rod 12, the second universal joint 11 and the transmission rod 16 in sequence, and when the gear 15 rotates, the rack 14 is matched with the steering tie rod 9 to drive the steering tie rod to move axially, so that a driver can control the steering of the car through the steering wheel to drive the car manually without being influenced by the steering motor 1.
In the technical scheme of this application, the transmission stop gear 2 of design and the steering motor 1, the 7 connecting rod 4 mechanisms of crank etc. of introduction, the reliability is high, and power transmission efficiency is high, compares in prior art's complex construction, and the structure of this application is simple relatively, and the installation is reformed transform conveniently, can effectively save space.
In the technical scheme of this application, be connected through spacing sliding sleeve 10 between tie rod 9 and the transmission stop gear 2, there is the transmission pair that gear 15, rack 14 constitute in the slide opening 19 of spacing sliding sleeve 10, and the transmission pair is when carrying out power transmission, and axial friction is less relatively, and the loss of transmission power is little, therefore turns to the accuracy.
In the technical scheme of this application, owing to designed electromagnetic clutch 8 structure, under the manual driving mode, after electromagnetic clutch 8 declutches, it can not continue to transmit power, so the steering power that turns to motor 1 can not provide crank 7 connecting rod 4 through electromagnetic clutch 8 to realize that manual driving, unmanned driving mode can not appear the condition that power interferes each other, can carry out the free switching of two kinds of modes.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (7)
1. The steering mechanism of the unmanned formula racing car capable of being freely switched is characterized by comprising a steering tie rod (9) for transmitting steering power to a steering wheel of the formula racing car, wherein a transmission limiting mechanism (2) is fixed on a frame of the formula racing car, and the steering tie rod (9) penetrates through the transmission limiting mechanism (2); the transmission limiting mechanism (2) converts steering power transmitted by a steering wheel of the formula car into axial movement of the tie rod (9) through a transmission pair;
be fixed with slider (5) on tie rod (9), install steering motor (1) and electromagnetic clutch (8) through mount (13) on the frame, wherein, the pivot of steering motor (1) is connected to the input of electromagnetic clutch (8), is connected with crank (7) on the output of electromagnetic clutch (8), slider (5) are gone up the movable connecting rod (4) that is provided with, and the tip of crank (7), connecting rod (4) is movable to be connected, through electromagnetic clutch (8), transmission stop gear (2), crank (7), connecting rod (4) and slider (5) the cooperation, will turn to the axial displacement that power that comes through steering motor (1) transmission turned into tie rod (9).
2. The free-switching steering mechanism for the formula racing unmanned aerial vehicle as claimed in claim 1, wherein the transmission limiting mechanism (2) comprises a limiting sliding sleeve (10), a sliding hole (19) is formed in the limiting sliding sleeve (10) in a penetrating manner, and the tie rod (9) penetrates through the sliding hole (19);
the transmission pair comprises a gear (15) which is arranged inside the limiting sliding sleeve (10) and used for transmitting rotary power, and a rack (14) matched with the gear (15) is arranged on the steering tie rod (9).
3. The free-switching steering mechanism for the unmanned formula racing car as claimed in claim 2, wherein the steering mechanism further comprises a steering rod (12), the upper end of the steering rod (12) is connected with a steering wheel of the formula racing car through a first universal joint (20) to obtain steering power, the lower end of the steering rod (12) is connected with a transmission rod (16) through a second universal joint (11), and the lower end of the transmission rod (16) penetrates into the transmission limiting mechanism (2) to be connected with the gear (15).
4. The free-switching formula racing steering mechanism of claim 2, wherein the transmission limiting mechanism (2) further comprises an upper fixing plate (17) above the limiting sliding sleeve (10) and a lower fixing plate (18) below the limiting sliding sleeve (10), and the limiting sliding sleeve (10) is fixed on the vehicle frame through the upper fixing plate (17) and the lower fixing plate (18).
5. The free-switching steering mechanism for unmanned formula racing car as claimed in claim 3, wherein the formula racing car is provided with a one-key switching button at one side of the steering wheel, the one-key switching button is used for switching the working mode of the electromagnetic clutch (8), so that the formula racing car can work in an automatic driving mode or a manual driving mode; the automatic driving mode provides steering power through a steering motor (1), and the manual driving mode provides steering power through a steering wheel.
6. The free-switching steering mechanism for unmanned formula racing car as claimed in claim 5, wherein when the formula racing car is in the automatic driving mode, the electromagnetic clutch (8) is engaged, the detector arranged in front of the formula racing car is used for detecting the obstacle signal in front of the formula racing car, the obstacle signal is transmitted to the processor for analysis and outputting the steering signal to the steering motor (1), the steering motor (1) rotates corresponding angle according to the steering signal, and the rotation of the steering motor (1) is converted into the axial movement of the tie rod (9) through the cooperation of the crank (7), the connecting rod (4) and the transmission limiting mechanism (2), so as to control the steering of the driving wheel of the formula racing car.
7. The free-switching steering mechanism for the unmanned formula racing car as claimed in claim 5, wherein when the formula racing car is in a manual driving mode, the electromagnetic clutch (8) is disengaged, the steering power provided by the steering wheel is transmitted to the gear (15) through the first universal joint (20), the steering rod (12), the second universal joint (11) and the transmission rod (16), and when the gear (15) rotates, the rack (14) is matched to drive the tie rod (9) to axially move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911336920.XA CN110979450A (en) | 2019-12-23 | 2019-12-23 | Formula of driverless car steering mechanism that can freely switch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911336920.XA CN110979450A (en) | 2019-12-23 | 2019-12-23 | Formula of driverless car steering mechanism that can freely switch |
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| Publication Number | Publication Date |
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| CN110979450A true CN110979450A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911336920.XA Pending CN110979450A (en) | 2019-12-23 | 2019-12-23 | Formula of driverless car steering mechanism that can freely switch |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845923A (en) * | 2020-07-31 | 2020-10-30 | 湖北汽车工业学院 | Steer-by-wire system applied to unmanned vehicle and control method |
| CN111942456A (en) * | 2020-08-12 | 2020-11-17 | 内蒙古第一机械集团股份有限公司 | General type steering wheel suitable for manned and unmanned tracked vehicle |
| CN112158255A (en) * | 2020-08-20 | 2021-01-01 | 南京中智腾飞航空科技研究院有限公司 | Beidou navigation automatic steering wheel device |
| CN112455535A (en) * | 2020-12-08 | 2021-03-09 | 斯沃博达汽车电子（昆山）有限公司 | Automobile steering power-assisted system module unit and production process |
| CN112977607A (en) * | 2021-04-16 | 2021-06-18 | 合肥工业大学 | Automatic steering clutch device suitable for formula car of unmanned driving |
| CN113184042A (en) * | 2021-04-30 | 2021-07-30 | 东南大学 | Switching device for manned steering and unmanned steering of unmanned formula car |
-
2019
- 2019-12-23 CN CN201911336920.XA patent/CN110979450A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845923A (en) * | 2020-07-31 | 2020-10-30 | 湖北汽车工业学院 | Steer-by-wire system applied to unmanned vehicle and control method |
| CN111942456A (en) * | 2020-08-12 | 2020-11-17 | 内蒙古第一机械集团股份有限公司 | General type steering wheel suitable for manned and unmanned tracked vehicle |
| CN111942456B (en) * | 2020-08-12 | 2023-01-06 | 内蒙古第一机械集团股份有限公司 | General type steering wheel suitable for manned and unmanned tracked vehicle |
| CN112158255A (en) * | 2020-08-20 | 2021-01-01 | 南京中智腾飞航空科技研究院有限公司 | Beidou navigation automatic steering wheel device |
| CN112455535A (en) * | 2020-12-08 | 2021-03-09 | 斯沃博达汽车电子（昆山）有限公司 | Automobile steering power-assisted system module unit and production process |
| CN112455535B (en) * | 2020-12-08 | 2024-03-12 | 斯沃博达汽车电子（昆山）有限公司 | Automobile steering power-assisted system module unit and production process |
| CN112977607A (en) * | 2021-04-16 | 2021-06-18 | 合肥工业大学 | Automatic steering clutch device suitable for formula car of unmanned driving |
| CN113184042A (en) * | 2021-04-30 | 2021-07-30 | 东南大学 | Switching device for manned steering and unmanned steering of unmanned formula car |
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