CN111017001A - Foldable steering wheel assembly mechanism of unmanned vehicle and control method - Google Patents
Foldable steering wheel assembly mechanism of unmanned vehicle and control method Download PDFInfo
- Publication number
- CN111017001A CN111017001A CN201911201026.1A CN201911201026A CN111017001A CN 111017001 A CN111017001 A CN 111017001A CN 201911201026 A CN201911201026 A CN 201911201026A CN 111017001 A CN111017001 A CN 111017001A
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- Prior art keywords
- steering wheel
- steering
- spoke
- motor
- shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/08—Spokes, e.g. resilient
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/20—Connecting steering column to steering gear
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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
Abstract
The invention discloses a foldable steering wheel assembly mechanism of an unmanned vehicle, which comprises a steering wheel part, a steering shaft part and a steering cross-pull rod part which are sequentially connected, wherein the torque of the steering wheel part is transmitted to the steering cross-pull rod part through the steering shaft part to realize the steering of the vehicle, the steering wheel of the steering wheel part comprises an upper spoke and a lower spoke which are hinged and connected, a left motor and a right motor are arranged at the hinged positions of the upper spoke and the lower spoke to synchronously drive the lower spoke to swing relative to the upper spoke, the middle part of the lower spoke is connected with one end of a middle end spoke, and the other end of the middle end spoke is magnetically connected with the middle part of the steering wheel through an electromagnetic mechanism and keeps the power transmission. Compared with the prior art, the technical scheme of the invention has the advantages of safety, reliability, rich functions and the like, and can effectively realize the folding of the steering wheel by switching the unmanned/manned driving modes and ensure the reliable work of the steering wheel.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a foldable steering wheel assembly mechanism of an unmanned vehicle and a control method.
Background
According to the Society of Automotive Engineers (SAE) J3016 standard for autodrive ratings, autodrive ratings can be classified into L0-L5 for 6 ratings. With the adoption of unmanned technology and Advanced Driver Assistance System (ADAS), automobile manufacturers are favored to develop unmanned automobiles with SAE L3 or even L4, which invest more resources.
Because some automobile users still have great demands on driving experience and are in consideration of safety and other factors, the automobile steering wheel still can be kept on an SAE L3 or even an L4 unmanned automobile, however, in an unmanned driving mode, the arrangement of the steering wheel in the whole driving cabin is redundant and occupies more space in the automobile, and in addition, the steering wheel has larger appearance change under the working conditions of manned driving and unmanned driving, so that the driving state of the automobile can be easily distinguished by the driver.
The structural scheme of the special steering wheel of the unmanned vehicle in the prior art has many problems in the aspects of actual working effect and time lag, for example, the structure of the special steering wheel of the unmanned vehicle is a Chinese patent (application number 201621347366.7), and the technical scheme of the patent realizes that the steering wheel can be stretched through a transmission mechanism such as oil pressure and a support rod, but the stretching amount of the steering wheel is not enough to remind a driver of the actual state of the vehicle; chinese patent (application No. 201810829156.9) then utilizes mechanism cooperations such as stopper, cassette, threaded rod, has proposed collapsible hidden steering wheel technical scheme, however this patent technical scheme can not satisfy the real-time requirement at the effect of actual operation.
Disclosure of Invention
The invention mainly aims to provide a safe, reliable and multifunctional foldable steering wheel assembly mechanism of an unmanned vehicle, and also discloses a control method using the foldable steering wheel assembly mechanism of the unmanned vehicle, aiming at designing a steering wheel which can be adapted to SAE L3 even LV4 unmanned vehicles, so that the steering wheel can be folded by switching unmanned/manned modes and the working reliability of the steering wheel can be ensured.
In order to achieve the purpose, the foldable steering wheel assembly mechanism of the unmanned vehicle comprises a steering wheel part, a steering shaft part and a steering cross-pull rod part which are sequentially connected, wherein the torque of the steering wheel part is transmitted to the steering cross-pull rod part through the steering shaft part to achieve steering of the vehicle, the steering wheel of the steering wheel part comprises an upper spoke and a lower spoke which are hinged and connected, a left motor and a right motor are arranged at the hinged positions of the upper spoke and the lower spoke to synchronously drive the lower spoke to swing relative to the upper spoke, the middle part of the lower spoke is connected with one end of a middle end spoke, and the other end of the middle end spoke is magnetically connected with the middle part of the steering wheel through an electromagnetic mechanism and keeps power transmission.
Preferably, the steering wheel member rotation output end is connected to a rotor of a servo motor, a stator of the servo motor is connected to the steering shaft member tip, and the rotor rotates relative to the stator and rotates the steering wheel member back to positive.
Preferably, the steering shaft component is provided with a driving motor at the periphery thereof and fixedly connected with the frame, the rotating end of the driving motor is connected with and drives the driving gear, the middle transmission shaft of the steering shaft component comprises two separated shaft sections, the shaft ends are provided with spline teeth and connected with the shaft sleeve axial moving sleeve clamp, and the shaft sleeve is provided with a rack at the periphery thereof and is in meshing transmission with the driving gear.
Preferably, a steering motor is arranged at the bottom end of the steering shaft component, a housing of the steering motor is fixedly connected with the tie rod component, a rotating shaft end of the steering motor is connected with a first steering wheel, the first steering wheel is connected with a second steering wheel through a belt to rotate, and the tail end of the steering shaft component is fixedly connected with the second steering wheel and can drive the tie rod component to steer.
Preferably, the electromagnetic mechanism is a sheet-shaped electromagnetic adsorption mechanism.
The invention also discloses a control method using the foldable unmanned vehicle steering wheel assembly mechanism, which comprises the following steps:
step S1: when the vehicle is in a manned driving mode, the upper spokes and the lower spokes are kept in a flush state, the servo motor and the steering motor are in a static state, the middle end spokes are magnetically connected with the middle part of the steering wheel component, spline teeth of the steering wheel component are connected with an internal structure sleeve of a shaft end in a clamping manner, and the torque of the steering wheel component is transmitted to the tie rod component through the steering shaft component to realize vehicle steering;
step S2: when the vehicle is converted from a manned driving mode to an unmanned driving mode, the left side motor and the right side motor synchronously drive the lower spokes to swing downwards relative to the upper spokes, the end part of the middle end spoke is separated from the middle part of the steering wheel component, the driving motor drives the driving gear to be meshed with and drive the rack and enable the shaft sleeve to be separated from the spline teeth at the shaft end, a transmission path is disconnected in the steering shaft component, the industrial personal computer controls the steering motor to rotate and drive the first steering wheel to rotate, and then the first steering wheel drives the second steering wheel to realize vehicle steering;
step S3: when the vehicle is switched from the unmanned mode to the manned mode, the industrial personal computer controls the rotor of the servo motor to rotate relative to the stator so as to reset and right the steering wheel component, the left motor and the right motor are synchronously driven so as to enable the lower spoke to swing upwards and be flush with the upper spoke, the middle end spoke is magnetically connected with the steering wheel component, the driving motor drives the driving gear to mesh and drive the rack, the rack drives the shaft sleeve to be matched with and clamped with the spline at the shaft end again, and the torque of the steering wheel component is transmitted to the steering cross pull rod component through the steering shaft component again to achieve vehicle steering.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the technical scheme, the left motor and the right motor synchronously drive the lower spokes to swing downwards relative to the upper spokes in the unmanned mode of the steering wheel, and the middle spokes and the middle part of the steering wheel part are removed from electromagnetic connection, so that the steering wheel is partially folded, and the space occupied by the steering wheel in the unmanned mode is reduced. When the lower spokes of the steering wheel are in a folded state, the driving mode of the driver and the personnel on the vehicle is more effectively reminded,
meanwhile, according to the technical scheme of the invention, when the unmanned driving mode is switched to the manned driving mode, the steering wheel component can be effectively and quickly switched, so that the power transmission of the steering wheel can be reliably recovered. And the spline teeth are connected with the shaft sleeve in a clamping fit manner, so that the power of the steering wheel is quickly disconnected and connected in a manned/unmanned mode. The invention also provides a servo motor arranged between the steering wheel component and the steering shaft component to drive the steering wheel component to quickly and reliably restore to the right position, so that the safety airbag can play the best role.
Compared with the existing steering mechanism, the technical scheme of the invention saves a speed reducing mechanism and a separating clutch, thereby greatly reducing the time lag, improving the response efficiency of the steering mechanism, being beneficial to light weight design and reducing the cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a foldable driverless vehicle steering wheel assembly mechanism of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
fig. 3 is a partially enlarged view of B in fig. 1.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
22 | |
| 11 | |
23 | |
| 12 | |
24 | |
| 13 | |
25 | |
| 14 | Servo |
26 | |
| 15 | Middle end spoke | 27 | |
| 16 | |
28 | |
| 2 | |
3 | Steering |
| 21 | |
31 | Second steering wheel |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a foldable steering wheel assembly mechanism of an unmanned vehicle.
Referring to fig. 1 to 3, a foldable steering wheel assembly mechanism of an unmanned vehicle according to an embodiment of the present invention includes a foldable steering wheel member 1, a steering shaft member 2, and a tie rod member 3, wherein when the vehicle is in a manned mode, a driver rotates the steering wheel member 1, and torque of the steering wheel member 1 is transmitted downward through the steering shaft member 2, and finally transmitted to the tie rod member 3 to steer the vehicle.
In order to ensure the transmission reliability of the steering wheel assembly 1, in the present embodiment, an electromagnetic mechanism 16 is disposed between the end of the middle end spoke 15 and the central position of the steering wheel assembly 1 to ensure that the steering wheel assembly 1 is in a folded state when the lower spoke 12 is turned downward, or to ensure the disconnection or connection reliability of the power transmission when the steering wheel assembly 1 is in a normal operating state after the lower spoke 12 is swung upward, in the case that the steering wheel assembly 1 is in a folded state when the lower spoke 12 is turned downward. Preferably, the electromagnetic mechanism 16 of the present embodiment is a sheet-like electromagnetic mechanism.
In the embodiment, a servo motor 14 is arranged at the output end of the steering wheel component 1, the steering wheel of the steering wheel component 1 is controlled to perform corresponding correction through the interaction of a rotor and a stator of the internal structure of the servo motor 14, and the steering wheel is switched to a position corresponding to the turning angle of the steering wheel in the manned mode. In terms of the structural arrangement, the output of the steering wheel unit 1 is connected to the rotor of the servomotor 14, while the stator of the servomotor 14 is connected to the shaft end of the steering shaft unit 2.
Referring to fig. 1 and fig. 2, in order to control whether the steering shaft component 2 transmits power to the tie rod component 3, in the embodiment, a driving motor 21 is disposed on a side portion of the steering shaft component 2, a housing of the driving motor 21 is fixedly connected with a frame of a vehicle, and a clutch device is disposed at a middle position of a transmission shaft section of the steering shaft component 2, wherein the clutch device includes a shaft sleeve 24 and two shaft sections which are axially separated, and spline teeth 25 are disposed at end positions of the two separated shaft sections and can be engaged with inner grooves of inner shaft holes of the shaft sleeve 24 in a matching manner and realize connection or disconnection of a transmission path of the steering shaft component 2. In the embodiment, the driving gear 22 is arranged at the output shaft section of the driving motor 21 and is in meshing transmission with the rack 23 arranged on the outer peripheral surface of the shaft sleeve 24, so that the driving gear 22 is driven by the driving motor 21 to rotate, and then the driving gear 22 is meshed with the rack 23, so that the shaft sleeve 24 axially moves relative to the two shaft sections.
Referring to fig. 1 and 3, in the present embodiment, a steering motor 26 is provided at a transmission end of a steering shaft member 2, wherein a housing of the steering motor 26 is fixedly connected to a tie rod member 3, a rotating shaft end of the steering motor 26 is connected to a first steering wheel 27, the first steering wheel 27 is connected to a second steering wheel 31 through a belt 28 for rotation, the shaft end of the steering shaft member 2 is first fixedly connected to the second steering wheel 31, and then the shaft end of the steering shaft member 2 passes through the second steering wheel 31 and is connected to the tie rod member 3 through a transmission gear at the end for transmission, so that the tie rod member 3 can be driven for steering, and thus, the steering wheel member 1 can be steered in an unmanned state or power-assisted steering in a manned state through the transmission structure.
Referring to fig. 1 to 3, the working principle of the foldable driverless vehicle steering wheel assembly mechanism of the present embodiment is as follows:
in the manned driving mode, the steering wheel assembly 1 is in the same use state and function as the steering wheel of the prior art, that is, the upper spoke 11 and the lower spoke 12 of the steering wheel assembly 1 are in the same plane, the servo motor 14 connected with the steering wheel assembly 1 is not rotated and is kept in a static state, under the electromagnetic action of the electromagnetic mechanism 16, the end part of the middle end spoke 15 is connected with the middle part of the steering wheel assembly 1 and is kept in a power connection state, meanwhile, the left side motor 13 and the right side motor arranged between the upper spoke 11 and the lower spoke 12 of the steering wheel assembly 1 are kept in a static state, and the steering wheel of the steering wheel assembly 1 is kept in an unfolded state. In addition, the sleeve 24 provided at the middle position of the steering shaft member 2 is held in a sleeve engagement state with the spline teeth 25 at the shaft ends, so that the driver rotates the steering wheel member 1 to transmit the torque of the steering wheel member 1 to the tie rod member 3 through the steering shaft member 2, and the bottom end of the steering shaft member 2 is held stationary with the first steered wheels 27 and the second steered wheels 31.
When the foldable steering wheel assembly mechanism of the unmanned vehicle is in the unmanned mode, the steering wheel of the steering wheel component 1 needs to be changed into a folded state, the electromagnetic adsorption acting force between the end part of the middle end spoke 15 of the steering wheel component 1 and the middle position of the steering wheel component 1 disappears, and the left motor 13 and the right motor drive the lower spoke 12 to overturn downwards relative to the upper spoke 11 so as to realize the folded state of the steering wheel. Meanwhile, the driving motor 21 drives the driving gear 22 to rotate, the driving gear 22 is meshed with the driving rack 23, and finally, a shaft sleeve 24 connected with the rack 23 is in loose sleeve clamping relation with a spline 25 at the shaft end, so that the middle of the steering shaft component 2 is disconnected in transmission, namely, the steering wheel component 1 is disconnected in transmission through the steering shaft component 2, a steering motor 26 arranged at the bottom end of the steering shaft component 2 receives a driving instruction of an industrial personal computer to rotate with a certain torque, and drives a first steering wheel 27 to rotate so as to drive a second steering wheel 31 through a belt 28, so that the lower structure of the steering shaft component 2 and the steering tie rod component 3 synchronously steer, and further the steering action of the vehicle in the unmanned driving mode is realized.
When the unmanned driving mode is converted into the manned driving mode, the working state of the vehicle is detected by the industrial personal computer and corresponding mode switching is carried out, firstly, the rotor of the servo motor 14 at the steering end of the steering wheel component 1 rotates relative to the stator, so that the steering wheel angle of the steering wheel component 1 is adjusted to a proper position to reach a return state, after the left motor 13 and the right motor between the upper spoke 11 and the lower spoke 12 receive driving signals, the lower spoke 12 is driven to upwards overturn relative to the upper spoke 11, and after the lower spoke 12 upwards swings relative to the upper spoke 11, the electromagnetic mechanism 16 at the end part of the middle spoke 15 recovers adsorption and transmission, so that the steering wheel is more suitable for the manned driving mode. In addition, the driving motor 21 in the middle of the output shaft component 2 drives the driving gear 22 to rotate and engage with the transmission rack 23, so that the shaft sleeve 24 is matched and sleeved with the spline teeth 25 at the shaft end, the transmission of the steering wheel component 1 transmitted to the tie rod component 3 through the steering shaft component 2 is recovered, and at the moment, the steering motor 26 at the end part of the steering shaft component 2 does not work.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. The utility model provides a folded cascade unmanned vehicle steering wheel assembly mechanism, a serial communication port, including consecutive steering wheel part, steering spindle spare and steering cross-pull rod spare, the torque of steering wheel part transmits to steering cross-pull rod spare and realizes the vehicle to turn to through steering spindle spare, the steering wheel of steering wheel part is including articulated last spoke and the lower spoke that links to each other, it is equipped with left side motor and the relative spoke swing of going up of spoke under the synchronous drive of right side motor to go up spoke and lower spoke articulated position, lower spoke middle part links to each other with middle end spoke one end, the middle end spoke other end passes through electromagnetic mechanism and links to each other and keeps the power transmission with steering wheel middle part magnetism.
2. A foldable driverless vehicle steering wheel assembly mechanism according to claim 1, wherein said steering wheel member rotational output is coupled to a rotor of a servo motor, a stator of the servo motor being coupled to a top end of said steering shaft member, the rotor rotating relative to the stator and rotating the steering wheel member back to positive.
3. A foldable driverless vehicle steering wheel assembly mechanism according to claim 2 wherein said steering shaft member has a drive motor fixedly attached to the frame at an outer periphery thereof, a rotating end of the drive motor being connected to and driven by the drive gear, a central drive shaft of the steering shaft member including two separate shaft sections having spline teeth thereon for engaging with an axially movable sleeve of the sleeve, and a rack gear disposed at an outer periphery of the sleeve for engaging with the drive gear.
4. A foldable driverless vehicle steering wheel assembly mechanism according to claim 3, wherein a steering motor is provided at a bottom end of the steering shaft member, a housing of the steering motor is fixedly coupled to the tie rod member, a rotating shaft end of the steering motor is coupled to a first steering wheel, the first steering wheel is rotatably coupled to a second steering wheel by a belt, and an end of the steering shaft member shaft is fixedly coupled to the second steering wheel and is adapted to drive the tie rod member to steer.
5. Foldable driverless vehicle steering wheel assembly mechanism according to claim 4, wherein said electromagnetic mechanism is a sheet-like electromagnetic adsorption mechanism.
6. A control method using a foldable driverless vehicle steering wheel assembly mechanism according to claim 5, comprising the steps of:
step S1: when the vehicle is in a manned driving mode, the upper spokes and the lower spokes are kept in a flush state, the servo motor and the steering motor are in a static state, the middle end spokes are magnetically connected with the middle part of the steering wheel component, spline teeth of the steering wheel component are connected with an internal structure sleeve of a shaft end in a clamping manner, and the torque of the steering wheel component is transmitted to the tie rod component through the steering shaft component to realize vehicle steering;
step S2: when the vehicle is converted from a manned driving mode to an unmanned driving mode, the left side motor and the right side motor synchronously drive the lower spokes to swing downwards relative to the upper spokes, the end part of the middle end spoke is separated from the middle part of the steering wheel component, the driving motor drives the driving gear to be meshed with and drive the rack and enable the shaft sleeve to be separated from the spline teeth at the shaft end, a transmission path is disconnected in the steering shaft component, the industrial personal computer controls the steering motor to rotate and drive the first steering wheel to rotate, and then the first steering wheel drives the second steering wheel to realize vehicle steering;
step S3: when the vehicle is switched from the unmanned mode to the manned mode, the industrial personal computer controls the rotor of the servo motor to rotate relative to the stator so as to reset and right the steering wheel component, the left motor and the right motor are synchronously driven so as to enable the lower spoke to swing upwards and be flush with the upper spoke, the middle end spoke is magnetically connected with the steering wheel component, the driving motor drives the driving gear to mesh and drive the rack, the rack drives the shaft sleeve to be matched with and clamped with the spline at the shaft end again, and the torque of the steering wheel component is transmitted to the steering cross pull rod component through the steering shaft component again to achieve vehicle steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911201026.1A CN111017001A (en) | 2019-11-29 | 2019-11-29 | Foldable steering wheel assembly mechanism of unmanned vehicle and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911201026.1A CN111017001A (en) | 2019-11-29 | 2019-11-29 | Foldable steering wheel assembly mechanism of unmanned vehicle and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111017001A true CN111017001A (en) | 2020-04-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911201026.1A Pending CN111017001A (en) | 2019-11-29 | 2019-11-29 | Foldable steering wheel assembly mechanism of unmanned vehicle and control method |
Country Status (1)
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| CN (1) | CN111017001A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112638747A (en) * | 2020-07-24 | 2021-04-09 | 华为技术有限公司 | Steer-by-wire system and steering control method |
| CN113274967A (en) * | 2021-06-15 | 2021-08-20 | 浙江商业职业技术学院(杭州商业技工学校) | Powder fog mixer |
| WO2022052640A1 (en) * | 2020-09-09 | 2022-03-17 | 奥托立夫开发公司 | Steering wheel |
| KR102412639B1 (en) * | 2021-04-13 | 2022-06-23 | 주식회사 대유에이피 | Foldable steering wheel |
| WO2022143807A1 (en) * | 2020-12-30 | 2022-07-07 | 比亚迪股份有限公司 | Vehicle steering system, and vehicle having same |
-
2019
- 2019-11-29 CN CN201911201026.1A patent/CN111017001A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112638747A (en) * | 2020-07-24 | 2021-04-09 | 华为技术有限公司 | Steer-by-wire system and steering control method |
| WO2022052640A1 (en) * | 2020-09-09 | 2022-03-17 | 奥托立夫开发公司 | Steering wheel |
| WO2022143807A1 (en) * | 2020-12-30 | 2022-07-07 | 比亚迪股份有限公司 | Vehicle steering system, and vehicle having same |
| KR102412639B1 (en) * | 2021-04-13 | 2022-06-23 | 주식회사 대유에이피 | Foldable steering wheel |
| CN113274967A (en) * | 2021-06-15 | 2021-08-20 | 浙江商业职业技术学院(杭州商业技工学校) | Powder fog mixer |
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