CN113135224A - Drive-by-wire turns to road feel analog control system - Google Patents
Drive-by-wire turns to road feel analog control system Download PDFInfo
- Publication number
- CN113135224A CN113135224A CN202110587144.1A CN202110587144A CN113135224A CN 113135224 A CN113135224 A CN 113135224A CN 202110587144 A CN202110587144 A CN 202110587144A CN 113135224 A CN113135224 A CN 113135224A
- Authority
- CN
- China
- Prior art keywords
- steering
- road feel
- assembly
- control system
- analog control
- 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- Withdrawn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
Images
Classifications
-
- 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
- B62D5/0421—Electric motor acting on or near 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
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
-
- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention discloses a line-controlled steering road feel analog control system, which belongs to the technical field of automobiles and comprises a steering wheel, a steering assembly, a transmission assembly, a road feel simulator and a controller, wherein the steering wheel is connected with the steering assembly; one side of the steering wheel is connected with the steering assembly, the steering assembly is connected with the road feel simulator through the transmission assembly, and the controller is respectively connected with the steering assembly and the road feel simulator; the steering assembly is provided with a torque angle sensor, the steering wheel applies force to the steering assembly, the torque angle sensor transmits data generated by rotation of the steering assembly to the controller, and the controller controls the road feel simulator to apply resisting moment to rotation of the steering wheel according to the data. The invention reduces mechanical structures such as a steering column and the like, and avoids the damage of the steering column to a driver when collision occurs; and when the driver operates by mistake, the vehicle control unit judges and makes corresponding adjustment according to the actual condition.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a wire-controlled steering road feel analog control system.
Background
In the centuries history since the birth of automobiles, the types of automobile steering systems roughly include: five modes of a mechanical Steering system, a Hydraulic Power Steering system (HPS), an electric Hydraulic Power Steering system (EHPS), an electric Power Steering system (EPS), and a Steer-By-Wire System (SBW).
In recent years, with the continuous development of electronic control technology of automobiles, a steer-by-wire system is increasingly popular in the market as a new generation of automobile steering system. The steer-by-wire system cancels the mechanical connection between a steering wheel and the steering wheels of the automobile, and directly adopts digital signal transmission to establish the connection between a steering control component and a steering execution component instead, so as to quickly judge the driving intention and realize the quick and flexible steering of the automobile; meanwhile, the automobile anti-collision device has the advantages of small occupied space, reduction of the degree of injury to a driver when the automobile collides, and the like, and is very suitable for the intelligent requirements of automobiles. Therefore, the steer-by-wire system has become a research hotspot and a future development trend of the current automobile steering system.
However, the existing automobile steering system has the problems of complex structure, large occupied space and the like, and cannot meet the requirement of automobile intellectualization.
Disclosure of Invention
Aiming at the defects existing in the problems, the invention provides a line control steering road feel analog control system.
In order to achieve the above object, the present invention provides a steer-by-wire road feel analog control system, comprising:
the device comprises a steering wheel, a steering assembly, a transmission assembly, a road feel simulator and a controller;
one surface of the steering wheel is connected with the steering assembly, the steering assembly is connected with the road feel simulator through the transmission assembly, and the controller is respectively connected with the steering assembly and the road feel simulator;
the steering assembly is provided with a torque angle sensor, the steering wheel applies force to the steering assembly, the torque angle sensor transmits data generated by rotation of the steering assembly to the controller, and the controller controls the road feel simulator to apply resisting moment to rotation of the steering wheel according to the data.
Preferably, the steering assembly includes a steering shaft fixedly connected to the steering wheel, an output shaft connected to the steering shaft, and a torsion bar, one end of the torsion bar is connected to an inner wall of the steering shaft, and the other end of the torsion bar is connected to the output shaft pin, so that the steering shaft passes through the torsion bar, and when the steering shaft rotates a certain angle, the steering shaft drives the output shaft to move;
wherein at least one torque angle sensor is arranged on the steering shaft or the output shaft.
Preferably, the steering assembly further comprises a slide rail and a slide block arranged on the slide rail, and one end of the slide rail is fixedly connected with a baffle plate for limiting the slide block to move;
the steering shaft penetrates through the sliding block and penetrates through the baffle to be connected with the output shaft.
Preferably, be equipped with the regulating block on the slider, be equipped with the fixed block on the slide rail, the regulating block with be connected through the screw rod between the fixed block, and rotate the screw rod can adjust the fixed block with distance between the regulating block.
Preferably, the steering shaft and the output shaft are connected by a connecting flange.
Preferably, the transmission assembly comprises a worm wheel connected with the output shaft and a worm screw in fit connection with the worm wheel, and the worm screw is connected with the road feel simulator.
Preferably, the transmission assembly further comprises a housing, one end of the housing is fixedly connected with the baffle, the other end of the housing is fixedly connected with the road sensing simulator, one end of the output shaft penetrates through the housing, and the worm wheel and the worm are located in the housing.
Preferably, the road sensing simulator comprises two motors which are redundant to each other, the controller is respectively connected with the two motors, and the two motors respectively control the worm.
Compared with the prior art, the invention has the beneficial effects that:
the invention comprises the following steps: the steering wheel, the steering assembly, the transmission assembly, the road feel simulator and the controller are adopted, mechanical structures such as a steering column are reduced, and when collision occurs, the damage of the steering column to a driver is avoided; and when the driver operates by mistake, the vehicle control unit judges and makes corresponding adjustment according to the actual condition.
Drawings
FIG. 1 is a schematic structural diagram of a steer-by-wire road feel analog control system according to the present invention;
FIG. 2 is a schematic diagram of an internal structure of a steer-by-wire road feel analog control system according to the present invention;
FIG. 3 is a schematic view showing the connection structure between the steering shaft and the output shaft in the steer-by-wire road feel analog control system according to the present invention
FIG. 4 is a schematic view of another angle structure of the steer-by-wire road feel analog control system of the present invention;
FIG. 5 is a schematic view of another angle structure of the steer-by-wire road feel analog control system of the present invention;
fig. 6 is another angle structure diagram of the steer-by-wire road feel analog control system of the present invention.
Reference numerals:
1. a steering wheel; 2. a steering assembly; 3. a transmission assembly; 4. a road sense simulator; 5. a connecting flange; 6. a torque angle sensor; 21. a steering shaft; 22. an output shaft; 23. a torsion bar; 24. a slide rail; 25. a slider; 26. a baffle plate; 27. an adjusting block; 28. a fixed block; 29. a screw; 211. an upper steering shaft; 212. a lower steering shaft; 31. a turbine; 32. a worm; 33. a housing.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention is described in further detail below with reference to the accompanying figures 1-6:
referring to fig. 1, the present invention provides a steer-by-wire road feel analog control system, comprising:
the device comprises a steering wheel 1, a steering component 2, a transmission component 3, a road feel simulator 4 and a controller;
one side of a steering wheel 1 is connected with a steering component 2, the steering component 2 is connected with a road feel simulator 4 through a transmission component 3, and a controller is respectively connected with the steering component 2 and the road feel simulator 4;
wherein, turn to and be equipped with moment of torsion angle sensor 6 on the subassembly 2, steering wheel 1 exerts the power to turning to the subassembly 2, and moment of torsion angle sensor 6 with turn to the data transfer that subassembly 2 rotated and produce and to the controller, the controller is according to data, and the resistance moment is exerted to the rotation of steering wheel 1 to control road feel simulator 4, makes the driver have more real road feel.
Referring to fig. 2, the steering assembly 2 includes a steering shaft 21 fixedly connected to the steering wheel 1, an output shaft 22 connected to the steering shaft 21, and a torsion bar 23, one end of the torsion bar 23 is connected to an inner wall of the steering shaft 21, and the other end of the torsion bar 23 is pinned to the output shaft 22, so that the steering shaft 21 passes through the torsion bar 23, and when the steering shaft 21 rotates by a certain angle, the output shaft 22 is driven to move;
at least one torque angle sensor 6 is arranged on the steering shaft 21 or on the output shaft 22.
In the present invention, it is preferable that one torque angle sensor 6 is provided on both the steering shaft 21 and the output shaft 22, and the steering intention of the driver can be directly transmitted to the controller; the angle average value of the two torque angle sensors 6 is more accurate; in addition, when one of the sensors fails, the function of the torque angle sensor 6 is not affected by the angle value of the torque angle sensor.
Further, the steering shaft 21 includes an upper steering shaft 211 and a lower steering shaft 212, and the lower steering shaft 212 is inserted into the upper steering shaft 211 and is fixedly connected with the upper steering shaft 211 in a matching manner, so that the length of the steering shaft 21 can be adjusted through the connection manner.
Referring to fig. 4, the steering assembly 2 further includes a slide rail 24 and a slider 25 disposed on the slide rail 24, and one end of the slide rail 24 is fixedly connected with a baffle 26 for limiting the movement of the slider 25;
the steering shaft 21 penetrates through the slider 25 and penetrates through the baffle 26 to be connected with the output shaft 22, namely, bearings are arranged at two ends of the sliding steering shaft 21 penetrating through the slider 25, and the steering shaft 21 is connected with the slider 25 in a matching manner through the bearings.
Furthermore, an adjusting block 27 is arranged on the sliding block 25, a fixed block 28 is arranged on the sliding rail 24, the adjusting block 27 is connected with the fixed block 28 through a screw 29, and the screw 29 is rotated to adjust the distance between the fixed block 28 and the adjusting block 27. The position of the fixed slide 25 on the slide rail 24 can be adjusted by this configuration.
Referring to fig. 5, the steering shaft 21 and the output shaft 22 are connected by the connecting flange 5, and the torsion bar 23 and the output shaft 22 are connected by interference fit.
Further, the transmission assembly 3 includes a worm wheel 31 connected with the output shaft 22 and a worm 32 cooperatively connected with the worm wheel 31, and the worm 32 is connected with the road sensing simulator 4. Through this structure, road feel simulator 4 is not with steering shaft 21 lug connection, and makes road feel simulator 4 be located one side of steering shaft 21, compares with road feel simulator 4 is direct to be connected with steering shaft 21, and this connected mode makes and reduces with the same ascending mechanical structure of steering shaft 21, and its length is also short, when bumping into, has avoided the injury of steering column to the driver.
Referring to fig. 6, the transmission assembly 3 further includes a housing 33, one end of the housing 33 is fixedly connected to the baffle 26, the other end of the housing 33 is fixedly connected to the road sensing simulator 4, one end of the output shaft 22 passes through the housing 33, and the worm wheel 31 and the worm 32 are located in the housing 33.
Further, the output shaft 22 is connected with one end penetrating through the shell 33 through a bearing, one end of the worm 32 is connected with the road feel simulator 4 through a coupling elastic pad, and the other end of the worm is connected with the bearing positioned in the shell 33, so that the worm 32 can rotate in the shell 33, and the whole structure is more compact.
In the invention, the clamp spring is arranged at the position where the bearing is arranged, so that the rotating angle can be limited.
In this embodiment, the road sensing simulator 4 is two redundant motors, the controller is connected to the two motors respectively, and the two motors control the worm 32 respectively. This structure is conventional and will not be described in detail here. Through the structure, when one phase of the motor breaks down, the motor still can normally assist, and harm caused by sudden failure of the motor is reduced.
In the invention, a driver transmits a steering intention to a steering shaft 21 through a steering wheel 1, when the steering shaft 21 rotates, a torque angle sensor 6 is driven to generate angle deviation, meanwhile, a torsion bar 23 transmits torque to an output shaft 22, the torque angle sensor 6 converts an acquired angle value into an electric signal and transmits the electric signal to a controller, the controller acquires a vehicle speed signal and a rack force signal on a CAN bus, and then a road feedback torque is calculated by combining the vehicle speed, the torque of the steering wheel 1, the angle of the steering wheel 1 and the rotating speed of the steering wheel 1, and is applied to a road feeling simulator 4 through current loop control, so that a vehicle driving road feedback feeling is simulated. After receiving a torque control instruction, the road feel simulator 4 amplifies the torque through the engagement of the worm 32 and the turbine 31, transmits the amplified torque to the output shaft 22, transmits the amplified torque to the steering shaft 21 through the torsion bar 23 after the output shaft 22 reversely rotates, and finally feeds the amplified torque back to the steering wheel 1, thereby realizing the road feedback function in the steer-by-wire system.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A drive-by-wire steering road feel analog control system is characterized by comprising a steering wheel, a steering assembly, a transmission assembly, a road feel simulator and a controller;
one surface of the steering wheel is connected with the steering assembly, the steering assembly is connected with the road feel simulator through the transmission assembly, and the controller is respectively connected with the steering assembly and the road feel simulator;
the steering assembly is provided with a torque angle sensor, the steering wheel applies force to the steering assembly, the torque angle sensor transmits data generated by rotation of the steering assembly to the controller, and the controller controls the road feel simulator to apply resisting moment to rotation of the steering wheel according to the data.
2. The steer-by-wire road feel analog control system of claim 1, wherein the steering assembly comprises a steering shaft fixedly connected with the steering wheel, an output shaft connected with the steering shaft, and a torsion bar, one end of the torsion bar is connected with the inner wall of the steering shaft, and the other end of the torsion bar is connected with the output shaft pin, so that the steering shaft passes through the torsion bar, and after a certain angle is rotated, the steering shaft drives the output shaft to move;
wherein at least one torque angle sensor is arranged on the steering shaft or the output shaft.
3. The steer-by-wire road feel analog control system of claim 2, wherein the steering assembly further comprises a slide rail and a slide block disposed on the slide rail, one end of the slide rail is fixedly connected with a baffle plate for limiting the movement of the slide block;
the steering shaft penetrates through the sliding block and penetrates through the baffle to be connected with the output shaft.
4. The steer-by-wire road feel analog control system of claim 3, wherein an adjusting block is arranged on the slider, a fixed block is arranged on the slide rail, the adjusting block is connected with the fixed block through a screw, and the distance between the fixed block and the adjusting block can be adjusted by rotating the screw.
5. The steer-by-wire road feel analog control system of claim 3, wherein the steering shaft is connected to the output shaft by a connecting flange.
6. The steer-by-wire road feel analog control system of claim 3 wherein said drive assembly includes a worm gear coupled to said output shaft and a worm screw cooperatively coupled to said worm gear, said worm screw coupled to said road feel simulator.
7. The steer-by-wire road feel analog control system of claim 6 wherein the drive assembly further comprises a housing, one end of the housing is fixedly connected to the baffle, the other end is fixedly connected to the road feel simulator, and one end of the output shaft passes through the housing, and the worm gear and the worm are located within the housing.
8. The steer-by-wire road feel analog control system of claim 7, wherein the road feel simulators are two motors that are redundant of each other, the controller is connected to the two motors, and the two motors control the worm, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110587144.1A CN113135224A (en) | 2021-05-27 | 2021-05-27 | Drive-by-wire turns to road feel analog control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110587144.1A CN113135224A (en) | 2021-05-27 | 2021-05-27 | Drive-by-wire turns to road feel analog control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113135224A true CN113135224A (en) | 2021-07-20 |
Family
ID=76815815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110587144.1A Withdrawn CN113135224A (en) | 2021-05-27 | 2021-05-27 | Drive-by-wire turns to road feel analog control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113135224A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212144A (en) * | 2021-11-24 | 2022-03-22 | 中汽创智科技有限公司 | Vehicle steering system |
| CN114360318A (en) * | 2022-03-21 | 2022-04-15 | 南京睿辰欣创网络科技股份有限公司 | Steering mechanism simulation device |
| CN114802413A (en) * | 2022-04-17 | 2022-07-29 | 浙江世宝股份有限公司 | Variable pitch gear ratio tooth form structure for steering gear of commercial vehicle |
| CN115285213A (en) * | 2022-08-18 | 2022-11-04 | 浙江极氪智能科技有限公司 | Road feel simulation method, system, device and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6097286A (en) * | 1997-09-30 | 2000-08-01 | Reliance Electric Technologies, Llc | Steer by wire system with feedback |
| CN101121414A (en) * | 2006-08-10 | 2008-02-13 | 丰田自动车株式会社 | Electric power steering apparatus |
| CN105128929A (en) * | 2015-09-21 | 2015-12-09 | 北京理工大学 | Intelligent drive-by-wire electro-hydraulic steering system |
| CN108657264A (en) * | 2018-05-17 | 2018-10-16 | 荆州恒隆汽车技术(检测)中心 | A kind of road feel torque simulation mechanism and vehicle |
| CN108698627A (en) * | 2016-02-18 | 2018-10-23 | 蒂森克虏伯普利斯坦股份公司 | For motor vehicles can motor adjust steering column |
| US20180370559A1 (en) * | 2017-06-26 | 2018-12-27 | Nio Usa, Inc. | Retractable telescopic mechanism for steering column with feedback actuator |
| CN110126911A (en) * | 2019-04-02 | 2019-08-16 | 上海衡鲁汽车科技有限公司 | A kind of unmanned redundancy transfer meeting ASIL_D standard and its control method |
| CN211391440U (en) * | 2019-09-03 | 2020-09-01 | 耐世特汽车系统（苏州）有限公司 | Electric power steering system and torque sensing device thereof |
| CN112109796A (en) * | 2020-10-12 | 2020-12-22 | 坤泰车辆系统（常州）有限公司 | Steering column of automatic driving vehicle |
| CN112590921A (en) * | 2020-12-25 | 2021-04-02 | 吉林大学 | Intelligent automobile redundant steer-by-wire device and control method thereof |
-
2021
- 2021-05-27 CN CN202110587144.1A patent/CN113135224A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6097286A (en) * | 1997-09-30 | 2000-08-01 | Reliance Electric Technologies, Llc | Steer by wire system with feedback |
| CN101121414A (en) * | 2006-08-10 | 2008-02-13 | 丰田自动车株式会社 | Electric power steering apparatus |
| CN105128929A (en) * | 2015-09-21 | 2015-12-09 | 北京理工大学 | Intelligent drive-by-wire electro-hydraulic steering system |
| CN108698627A (en) * | 2016-02-18 | 2018-10-23 | 蒂森克虏伯普利斯坦股份公司 | For motor vehicles can motor adjust steering column |
| US20180370559A1 (en) * | 2017-06-26 | 2018-12-27 | Nio Usa, Inc. | Retractable telescopic mechanism for steering column with feedback actuator |
| CN108657264A (en) * | 2018-05-17 | 2018-10-16 | 荆州恒隆汽车技术(检测)中心 | A kind of road feel torque simulation mechanism and vehicle |
| CN110126911A (en) * | 2019-04-02 | 2019-08-16 | 上海衡鲁汽车科技有限公司 | A kind of unmanned redundancy transfer meeting ASIL_D standard and its control method |
| CN211391440U (en) * | 2019-09-03 | 2020-09-01 | 耐世特汽车系统（苏州）有限公司 | Electric power steering system and torque sensing device thereof |
| CN112109796A (en) * | 2020-10-12 | 2020-12-22 | 坤泰车辆系统（常州）有限公司 | Steering column of automatic driving vehicle |
| CN112590921A (en) * | 2020-12-25 | 2021-04-02 | 吉林大学 | Intelligent automobile redundant steer-by-wire device and control method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212144A (en) * | 2021-11-24 | 2022-03-22 | 中汽创智科技有限公司 | Vehicle steering system |
| CN114360318A (en) * | 2022-03-21 | 2022-04-15 | 南京睿辰欣创网络科技股份有限公司 | Steering mechanism simulation device |
| CN114360318B (en) * | 2022-03-21 | 2022-07-08 | 南京睿辰欣创网络科技股份有限公司 | Steering mechanism simulation device |
| CN114802413A (en) * | 2022-04-17 | 2022-07-29 | 浙江世宝股份有限公司 | Variable pitch gear ratio tooth form structure for steering gear of commercial vehicle |
| CN115285213A (en) * | 2022-08-18 | 2022-11-04 | 浙江极氪智能科技有限公司 | Road feel simulation method, system, device and storage medium |
| CN115285213B (en) * | 2022-08-18 | 2023-04-25 | 浙江极氪智能科技有限公司 | Road sense simulation method, system, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113135224A (en) | Drive-by-wire turns to road feel analog control system | |
| EP3620350B1 (en) | Vehicle steering wheel assembly and vehicle | |
| CN110001765B (en) | Vehicular steer-by-wire device with redundant mechanism and control method | |
| JP3185022B2 (en) | Vehicle steering system | |
| US8176865B2 (en) | Steering actuator for a steer-by-wire ship's control system and method for operating said steering actuator | |
| US20210245794A1 (en) | Reaction force generating device and steering device | |
| US20200070878A1 (en) | Vehicle steering control system, vehicle and control method | |
| CN215154991U (en) | Rack-assisted steer-by-wire system and rack-assisted steering device | |
| CN112660234A (en) | Double-motor steer-by-wire system of commercial vehicle | |
| CN110861703A (en) | Steering control apparatus | |
| JP2011131777A (en) | Steering device for forklift | |
| US5249638A (en) | Motor assisted steering apparatus for vehicle | |
| EP0475742B1 (en) | Vehicle rear wheels steering apparatus | |
| CN210502849U (en) | Dual-motor circulating ball type electric power steering gear | |
| JP3581946B2 (en) | Vehicle steering system | |
| EP3401189A1 (en) | Electric power steering assembly and system with anti-rotation coupler | |
| US20080078263A1 (en) | Electric power steering system | |
| CN108657264A (en) | A kind of road feel torque simulation mechanism and vehicle | |
| US20220379950A1 (en) | Steer-by-wire type steering apparatus | |
| CN210139894U (en) | Automatic steering refitting kit for electric golf cart | |
| CN211869502U (en) | Steering wheel device suitable for steer-by-wire system | |
| CN117068254B (en) | Redundant-design automobile steering system, control method and vehicle | |
| CN220009885U (en) | Steering assist assembly, steering system and vehicle | |
| US20240092420A1 (en) | Steering apparatus | |
| CN218750980U (en) | Wire-controlled steering lower actuator mechanism, wire-controlled steering system and vehicle |
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: 20210720 |