DE10107279A1 - Steering system for vehicle, uses sensors to detect track rod forces arising that can detect restoring torques on steered wheels independently of influences of weights arranged before wheels - Google Patents

Steering system for vehicle, uses sensors to detect track rod forces arising that can detect restoring torques on steered wheels independently of influences of weights arranged before wheels

Info

Publication number
DE10107279A1
DE10107279A1 DE2001107279 DE10107279A DE10107279A1 DE 10107279 A1 DE10107279 A1 DE 10107279A1 DE 2001107279 DE2001107279 DE 2001107279 DE 10107279 A DE10107279 A DE 10107279A DE 10107279 A1 DE10107279 A1 DE 10107279A1
Authority
DE
Germany
Prior art keywords
steering
steering system
detect
actuator
sensors
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Withdrawn
Application number
DE2001107279
Other languages
German (de)
Inventor
Volker Bachmann
Frank-Detlef Speck
Joerg Bart
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Priority to DE2001107279 priority Critical patent/DE10107279A1/en
Publication of DE10107279A1 publication Critical patent/DE10107279A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/16—Arrangement of linkage connections
    • B62D7/163—Arrangement of linkage connections substantially in axial direction, e.g. between rack bar and tie-rod
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/16—Arrangement of linkage connections
    • B62D7/166—Arrangement of linkage connections substantially perpendicular, e.g. between tie-rod and steering knuckle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/11—Mounting of sensors thereon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/416—Ball or spherical joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B60G2400/42—Steering torque

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The system has at least one steering wheel actuator and at least one steering actuator (1) connected together by a control loop. Sensors are used to detected track rod (2,3) forces arising and can detect restoring torques on steered wheels (4,5) independently of the influences of weights arranged before the wheels. Strain gauge strips on a connecting part between the track rod and track lever can be used as sensors.

Description

Die Erfindung betrifft ein Lenksystem nach der im Oberbegriff von Anspruch 1 näher definierten Art.The invention relates to a steering system according to the The preamble of claim 1 defined in more detail.

Lenksysteme, die nach dem steer-by-wire-Prinzip arbei­ ten, unterscheiden sich von konventionellen Lenksystemen dadurch, daß keine mechanische Verbindung zwischen dem Lenkhandrad und dem gelenkten Rad besteht. Durch die Auf­ trennung des Lenksystems fällt das von den konventionellen Lenksystemen über die Lenksäule an das Lenkhandrad gelie­ ferte Drehmoment weg. Das bisher von der Fahrbahn, den Rei­ fen, dem Fahrwerk und dem Übertragungsverhalten des Lenksy­ stems bestimmte Lenkgefühl wird ersatzweise durch einen Lenkradaktuator erzeugt. Die durch einen oder mehrere Kraft-/Drehmomentsensoren erfaßten Kräfte und Drehmomente im Lenkgestänge der gelenkten Räder werden an eine zentrale Steuereinheit weitergeleitet. Über einen Lenkradaktuator wird dem Fahrer in Abhängigkeit des jeweiligen Betriebszu­ standes eine Rückwirkung weitergegeben, die ähnlich den bei einem konventionellen Lenksystem auftretenden Kräften und Drehmomenten ist.Steering systems that work according to the steer-by-wire principle differ from conventional steering systems in that no mechanical connection between the Steering handwheel and the steered wheel. By the up separation of the steering system falls from the conventional Steering systems via the steering column to the steering handwheel removed torque. So far from the road, the Rei fen, the chassis and the transmission behavior of the Lenksy stems certain steering feel is replaced by a Steering wheel actuator generated. The one or more Force / torque sensors detect forces and torques in the steering linkage of the steered wheels are connected to a central Control unit forwarded. Via a steering wheel actuator is dependent on the respective company a retroactive effect that is similar to that in a conventional steering system and Torques is.

Im Fahrbetrieb liefern Kraft-/Drehmomentsensoren im Lenkge­ stänge der gelenkten Räder Kraftsignale, die proportional zu den an den gelenkten Rädern auftretenden Lenkkräften sind. Die höchsten auftretenden Kräfte/Drehmomente werden erfaßt, von einer Steuereinheit ausgewertet und an den Lenkhandradaktuator zur Drehmomenterzeugung am Lenkhandrad weitergeleitet. Die Ansteuerung des Lenkhandradaktuators erfolgt derart, daß der vom Fahrer wahrgenommene Drehwider­ stand bzw. Drehmomentverlauf demjenigen entspricht, der von einem konventionellen Lenksystem bei gleicher Kraft-/Dreh­ momenteinwirkung im Lenkgestänge hervorgerufen worden wäre.Force / torque sensors deliver in the steering wheel when driving rods of the steered wheels force signals that are proportional to the steering forces occurring on the steered wheels are. The highest occurring forces / torques are recorded, evaluated by a control unit and sent to the Steering handwheel actuator for torque generation on the steering handwheel forwarded. The control of the steering wheel actuator takes place in such a way that the rotation resistance perceived by the driver stood or torque curve corresponds to that of  a conventional steering system with the same power / torque moment would have been caused in the steering linkage.

Um eine künstliche Rückwirkung am Lenkhandradaktuator erzeugen zu können, muß die als Radrückwirkung auftretende Spurstangenkraft erfaßt werden. Diese Meßgröße dient dann zur Regelung des erforderlichen Lenkmomentes am Lenkhand­ rad.For an artificial reaction on the steering wheel actuator To be able to produce, must occur as a wheel reaction Tie rod force can be detected. This measurand then serves to regulate the required steering torque on the steering hand wheel.

Aus dem Stand der Technik ist es bekannt, bei Lenksystemen, die einen Elektromotor im Lenkaktuator aufweisen, die Spur­ stangenkräfte über die Messung des Motorstroms zu ermit­ teln. Bei Lenksystemen mit hydraulischen Lenkaktuatoren erfolgt die Bestimmung der Spurstangenkräfte über eine Druckmessung. Hierbei tritt jedoch der Nachteil auf, daß sich vorgeschaltete Massen auf das Meßergebnis negativ aus­ wirken und so zu einem ungenauen Ergebnis führen. Dies hat zur Folge, daß an den Fahrer ein schlechtes Lenkgefühl wei­ tergegeben wird, was wiederum zu einem unsicheren Fahrver­ halten führt.It is known from the prior art for steering systems, which have an electric motor in the steering actuator, the track to determine rod forces via the measurement of the motor current stuffs. In steering systems with hydraulic steering actuators the tie rod forces are determined using a Pressure measurement. However, this has the disadvantage that upstream masses negatively affect the measurement result act and thus lead to an inaccurate result. this has with the result that the driver knows a bad steering feeling is given, which in turn leads to unsafe driving keep leads.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde ein Lenksystem darzustellen, bei dem Spurstangenkräfte und damit auch Rückstellmomente der gelenkten Räder, die durch ein Verbindungselement abgestützt werden, unabhängig von Einflüssen von vorgeschalteten Massen erfasst werden können und so der Fahrer ein gutes Lenkgefühl vermittelt bekommt.The present invention is based on the object to represent a steering system in which tie rod forces and thus also restoring torques of the steered wheels caused by a fastener is supported regardless of Influences of upstream masses can be recorded and so the driver gets a good steering feel.

Die der Erfindung zugrundeliegende Aufgabe wird durch ein, auch die kennzeichnenden Merkmale des Hauptanspruchs aufweisendes, gattungsgemäßes Lenksystem gelöst. The object underlying the invention is achieved by a, also the characteristic features of the main claim having a generic steering system solved.  

Durch die Integration von Sensoren, deren Meßergebnis­ se von vorgeschalteten Massen nicht beeinflußt werden kön­ nen, ist die genaue Erfassung des Rückstellmomentes der gelenkten Räder und damit der Spurstangenkräfte möglich. Bevorzugt werden Dehnmeßstreifen oder Piezo-Druckaufnehmer als Sensoren verwendet, da sie leicht einzubauen sind und nur einen kleinen Einbauraum benötigen. Zudem liefern sie gleichbleibende Meßergebnisse unabhängig von äußeren Stö­ rungseinflüssen und vorgeschalteten Massen. Bei der Verwen­ dung von Dehnmeßstreifen wird das Verbindungsteil zwischen Spurstange und Spurhebel so verlängert, daß die Dehnmeß­ streifen angeordnet werde können. Dabei sollte das Verbin­ dungsteil mit den Dehnmeßstreifen so weit verlängert wer­ den, daß der Biegeeinfluß den Schubeinfluß weit übersteigt. Dies gewährleistet richtige und reproduzierbare Meßergeb­ nisse, da Dehnmeßstreifen bei Messungen mit biegebelasteten Bauteilen im Kraftfluß sehr gut geeignet sind. Die Piezo- Druckaufnehmer werden als Sensoren zwischen Spurstange und Schubstange des Lenkaktuators angebracht. Die Spurstange wird über ein Gewinde mit der Schubstange des Lenkaktuators verbunden. Der Piezo-Druckaufnehmer liegt vorzugsweise in Form einer Scheibe an der Schubstange des Lenkaktuators an und wird durch eine Mutter, die auf dem Gewinde der Spur­ stange sitzt, gekontert. Die Vorspannkraft der Mutter muß größer sein als die maximal auftretende Zugkraft der Spur­ stange an der Schubstange des Lenkaktuators. Dadurch wird erreicht, daß der Piezo-Druckaufnehmer ausschließlich unter Vorspannung betrieben wird und somit eine Messung von Zug- und Druckkräften mit der Dynamik von Piezo-Druckaufnehmern überhaupt erfolgen kann.By integrating sensors, their measurement result se cannot be influenced by upstream masses NEN, is the exact detection of the restoring torque steered wheels and thus the tie rod forces possible. Strain gauges or piezo pressure transducers are preferred used as sensors because they are easy to install and need only a small installation space. They also deliver constant measurement results regardless of external interference influences and upstream masses. When using Strain gauge is the connecting part between Tie rod and track lever extended so that the strain gauge strips can be arranged. The verbin manure part with the strain gauges extended so far that the influence of bending far exceeds the influence of shear. This ensures correct and reproducible measurement results nisse, as strain gauges for measurements with bending loads Components in the power flow are very suitable. The piezo Pressure sensors are used as sensors between the tie rod and Push rod of the steering actuator attached. The tie rod is threaded through the push rod of the steering actuator connected. The piezo pressure transducer is preferably in Form a disc on the push rod of the steering actuator and is through a nut on the thread of the track rod sits, countered. The mother's pretension must be greater than the maximum tractive force of the track rod on the push rod of the steering actuator. This will achieved that the piezo pressure transducer only under Bias is operated and thus a measurement of tensile and pressure forces with the dynamics of piezo pressure transducers can happen at all.

Nachfolgend sind anhand der Zeichnungen zwei Ausfüh­ rungsbeispiele der vorliegenden Erfindung prinzipgemäß be­ schrieben.Below are two versions based on the drawings Rungsbeispiele the present invention in principle be wrote.

Es zeigen:Show it:

Fig. 1 eine Darstellung eines erfindungsgemäßen Lenksystems für Kraftfahrzeuge und Fig. 1 is an illustration of a steering system for motor vehicles and

Fig. 2 eine vergrößerte Darstellung des Anbindungs­ bereiches zwischen dem Lenkaktuator und ei­ nem gelenkten Rad mit Dehnmeßstreifen als Sensoren und Fig. 2 is an enlarged view of the connection area between the steering actuator and egg nem steered wheel with strain gauges as sensors and

Fig. 3 den Anbindungsbereich zwischen Spurstange und Schubstange des Lenkaktuators mit Piezo- Kraftsensor Fig. 3 shows the connection area between tie rod and push rod of the steering actuator with piezo force sensor

Fig. 1 zeigt ein erfindungsgemäßes Lenksystem für Kraftfahrzeuge mit einem Lenkaktuator 1, der über Spurstan­ gen 2 und 3 mit gelenkten Fahrzeugrädern 4 und 5 verbunden ist. Die Spurstangen 2 und 3 sind über eine Schubstange 6 fest miteinander verbunden. Der Lenkaktuator 1 kann bei­ spielsweise ein Elektromotor mit Kugelumlaufgetriebe oder ein Arbeitskolben mit einem Proportionalventil sein. Die über die gelenkten Fahrzeugräder 4, 5 und die Spurstangen 2, 3 eingeleiteten Kräfte wirken über die Schubstange 6 direkt auf die Befestigungselemente 7, 8 und den Fahr­ zeugaufbau 9. Fig. 1 shows a steering system for motor vehicles according to the invention with a steering actuator 1 , which is connected via spanking gene 2 and 3 with steered vehicle wheels 4 and 5 . The tie rods 2 and 3 are firmly connected to one another via a push rod 6 . The steering actuator 1 can be, for example, an electric motor with a ball screw or a working piston with a proportional valve. The forces introduced via the steered vehicle wheels 4 , 5 and the tie rods 2 , 3 act via the push rod 6 directly on the fastening elements 7 , 8 and the vehicle structure 9 .

In Fig. 2 ist der Anbindungsbereich zwischen Lenkak­ tuator 1 und gelenktem Rad 4 vergrößert dargestellt. In der Spurstange 2 sitzt ein Außengelenk 10 in Form eines Kugel­ gelenkes. Über ein Verbindungsteil 11 und einen Gewindezap­ fen 12 ist die Spurstange 2 mit einem Spurhebel 13 verbun­ den. Das Verbindungsteil 11 ist so ausgeführt, daß Dehnmeß­ streifen 14 befestigt werden können.In Fig. 2, the connection area between Lenkak tuator 1 and steered wheel 4 is shown enlarged. In the tie rod 2 is an outer joint 10 in the form of a ball joint. Via a connecting part 11 and a threaded tap 12 , the tie rod 2 is connected to a track lever 13 . The connecting part 11 is designed so that strain gauges 14 can be attached.

Fig. 3 zeigt den Anbindungsbereich zwischen Schubstan­ ge 6 des Lenkaktuators 1 und Spurstange 2 des gelenkten Rades 4. Die Spurstange 2 ist mit der Schubstange 6 über ein Gewinde verbunden. Ein Piezo-Druckaufnehmer 15 ist in Form einer Scheibe zwischen zwei Scheiben 16 montiert und über eine Mutter 17 fixiert. Fig. 3 shows the connection area between Schubstan ge 6 of the steering actuator 1 and tie rod 2 of the steered wheel 4th The tie rod 2 is connected to the push rod 6 via a thread. A piezo pressure sensor 15 is mounted in the form of a disk between two disks 16 and fixed via a nut 17 .

Bezugszeichenreference numeral

11

Lenkaktuator
steering actuator

22

Spurstange
tie rod

33

Spurstange
tie rod

44

gelenktes Fahrzeugrad
steered vehicle wheel

55

gelenktes Fahrzeugrad
steered vehicle wheel

66

Verbindungselement
connecting element

77

Befestigungselement
fastener

88th

Befestigungselement
fastener

99

Fahrzeugaufbau
vehicle body

1010

Außengelenk
outer joint

1111

Verbindungsteil
connecting part

1212

Gewindezapfen
threaded pin

1313

Spurhebel
knuckle arm

1414

Dehnmeßstreifen
strain gauges

1515

Piezo-Druckaufnehmer
Piezo transducer

1616

Scheibe
disc

1717

Mutter
mother

Claims (9)

1. Lenksystem mit mindestens einem Lenkradaktuator und mindestens einem Lenkaktuator, die über einen Regelkreis miteinander verbunden sind, dadurch gekenn­ zeichnet, daß zur Erfassung der auftretenden Spurstangenkräfte Sensoren verwendet werden, die unabhängig von Einflüssen von vorgeschalteten Massen Rückstellmomente von gelenkten Rädern erfassen können.1. Steering system with at least one steering wheel actuator and at least one steering actuator, which are connected to one another via a control circuit, characterized in that sensors are used to detect the tie rod forces that occur, which can detect restoring moments of steered wheels independently of influences from upstream masses. 2. Lenksystem nach Anspruch 1, dadurch ge­ kennzeichnet, daß als Sensoren Dehnmeßstrei­ fen (14) verwendet werden, die auf einem Verbindungsteil (11) angeordnet sind, das Spurstange (2) und Spurhebel (13) miteinander verbindet.2. Steering system according to claim 1, characterized in that Dehnmeßstrei fen ( 14 ) are used as sensors, which are arranged on a connecting part ( 11 ), which connects the tie rod ( 2 ) and track lever ( 13 ). 3. Lenksystem nach Anspruch 2, dadurch ge­ kennzeichnet, daß das Verbindungsteil (11) zwischen Spurstange (2) und Spurhebel (13) so verlängert ist, daß die Dehnmeßstreifen (14) angeordnet werden kön­ nen.3. Steering system according to claim 2, characterized in that the connecting part ( 11 ) between the tie rod ( 2 ) and the lever ( 13 ) is extended so that the strain gauges ( 14 ) can be arranged. 4. Lenksystem nach Anspruch 3, dadurch ge­ kennzeichnet, daß das Verbindungsteil (11) zwischen Spurstange (2) und Spurhebel (13) so ausgebildet ist, daß der Biegeeinfluß den Schubeinfluß am Verbindungs­ teil (11) deutlich übersteigt. 4. Steering system according to claim 3, characterized in that the connecting part ( 11 ) between the tie rod ( 2 ) and the track lever ( 13 ) is designed so that the bending influence of the thrust influence on the connecting part ( 11 ) significantly exceeds. 5. Lenksystem nach Anspruch 1, dadurch ge­ kennzeichnet, daß als Sensoren Piezo- Druckaufnehmer (15) verwendet werden, die zwischen Spur­ stange (2) und Schubstange (6) des Lenkaktuators (1) ange­ ordnet sind.5. Steering system according to claim 1, characterized in that piezo pressure sensors ( 15 ) are used as sensors, the rod between track ( 2 ) and push rod ( 6 ) of the steering actuator ( 1 ) are arranged. 6. Lenksystem nach Anspruch 5, dadurch ge­ kennzeichnet, daß die Piezo-Druckaufnehmer (15) in Form von Scheiben ausgeführt sind, die durch Mut­ tern (17) fixiert werden.6. Steering system according to claim 5, characterized in that the piezo pressure transducers ( 15 ) are designed in the form of disks, which are fixed by Mut tern ( 17 ). 7. Lenksystem nach Anspruch 6, dadurch ge­ kennzeichnet, daß die Vorspannkraft der Mut­ tern (17) mindestens so groß sein muß wie die maximal auf­ tretende Zugkraft der Spurstange (2) an der Schubstange (6) des Lenkaktuators (1).7. Steering system according to claim 6, characterized in that the pretensioning force of the brackets ( 17 ) must be at least as large as the maximum tractive force of the tie rod ( 2 ) on the push rod ( 6 ) of the steering actuator ( 1 ). 8. Lenksystem nach Anspruch 1, dadurch ge­ kennzeichnet, daß der Lenkaktuator (1) einen Elektromotor aufweist, der auf einen Lenkmechanismus eine Lenkunterstützung ausüben kann.8. Steering system according to claim 1, characterized in that the steering actuator ( 1 ) has an electric motor which can exert steering assistance on a steering mechanism. 9. Lenksystem nach Anspruch 1, dadurch ge­ kennzeichnet, daß der Lenkradaktuator einen Elektromotor aufweist, der dem Fahrer über das Lenkhandrad ein Drehmoment zurückliefert.9. Steering system according to claim 1, characterized ge indicates that the steering wheel actuator Has electric motor that the driver on the steering wheel delivers a torque.
DE2001107279 2001-02-16 2001-02-16 Steering system for vehicle, uses sensors to detect track rod forces arising that can detect restoring torques on steered wheels independently of influences of weights arranged before wheels Withdrawn DE10107279A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2001107279 DE10107279A1 (en) 2001-02-16 2001-02-16 Steering system for vehicle, uses sensors to detect track rod forces arising that can detect restoring torques on steered wheels independently of influences of weights arranged before wheels

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DE2001107279 DE10107279A1 (en) 2001-02-16 2001-02-16 Steering system for vehicle, uses sensors to detect track rod forces arising that can detect restoring torques on steered wheels independently of influences of weights arranged before wheels

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
WO2006042537A1 (en) * 2004-10-21 2006-04-27 Zf Friedrichshafen Ag Force-sensing system comprising at least one ball-and-socket joint
WO2007003162A1 (en) 2005-06-30 2007-01-11 Zf Friedrichshafen Ag Ball-and-socket joint comprising a sensor device, method for measuring loads, and method for measuring wear
DE102006043069A1 (en) * 2006-09-14 2008-03-27 Zf Lenksysteme Gmbh Electronic servo steering system operating method for motor vehicle, involves recognizing track misalignment of vehicle when forces differentiate around preset value from each other at preset period of time in magnitude and/or direction
US7762736B2 (en) 2005-06-15 2010-07-27 Zf Friedrichshafen Ag Ball and socket joint with sensor device and process for wear measurement
WO2020007564A1 (en) * 2018-07-03 2020-01-09 Audi Ag Method for steering a motor vehicle

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GB849328A (en) * 1959-06-16 1960-09-28 Gen Motors Corp Improved road vehicle steering system
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DE4422386C1 (en) * 1994-06-27 1995-09-28 Daimler Benz Ag Parameter-dependent resistance force control for hydraulic servo steering
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DE19804821A1 (en) * 1997-02-07 1998-08-13 Toyota Motor Co Ltd Steering control device for wheeled vehicle
DE19823775A1 (en) * 1998-05-28 1999-12-02 Mannesmann Vdo Ag Vehicle with steering unit

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB849328A (en) * 1959-06-16 1960-09-28 Gen Motors Corp Improved road vehicle steering system
DE4232256A1 (en) * 1991-09-27 1993-04-08 Honda Motor Co Ltd MOTOR VEHICLE STEERING SYSTEM WITH AUTOMATIC INTERFERENCE CANCELLATION
DE4422386C1 (en) * 1994-06-27 1995-09-28 Daimler Benz Ag Parameter-dependent resistance force control for hydraulic servo steering
DE19519875C1 (en) * 1995-05-31 1996-07-04 Daimler Benz Ag Hydraulic power steering device for motor vehicle
DE19650475C1 (en) * 1996-12-05 1998-04-16 Daimler Benz Ag Motor vehicle steering system
DE19804821A1 (en) * 1997-02-07 1998-08-13 Toyota Motor Co Ltd Steering control device for wheeled vehicle
DE19823775A1 (en) * 1998-05-28 1999-12-02 Mannesmann Vdo Ag Vehicle with steering unit

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006042537A1 (en) * 2004-10-21 2006-04-27 Zf Friedrichshafen Ag Force-sensing system comprising at least one ball-and-socket joint
US7552653B2 (en) 2004-10-21 2009-06-30 Zf Friedrichshafen Ag Load-sensing system with at least one ball and socket joint
US7762736B2 (en) 2005-06-15 2010-07-27 Zf Friedrichshafen Ag Ball and socket joint with sensor device and process for wear measurement
WO2007003162A1 (en) 2005-06-30 2007-01-11 Zf Friedrichshafen Ag Ball-and-socket joint comprising a sensor device, method for measuring loads, and method for measuring wear
DE102005030971B4 (en) * 2005-06-30 2016-01-21 Zf Friedrichshafen Ag Ball joint with sensor device, method for load measurement and method for wear measurement
DE102006043069A1 (en) * 2006-09-14 2008-03-27 Zf Lenksysteme Gmbh Electronic servo steering system operating method for motor vehicle, involves recognizing track misalignment of vehicle when forces differentiate around preset value from each other at preset period of time in magnitude and/or direction
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CN112424056A (en) * 2018-07-03 2021-02-26 奥迪股份公司 Method for steering a motor vehicle
CN112424056B (en) * 2018-07-03 2023-04-04 奥迪股份公司 Method for steering a motor vehicle
US11738801B2 (en) 2018-07-03 2023-08-29 Audi Ag Method for steering a motor vehicle

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