DE102006062300A1 - Acceleration, braking and steering system controlling circuit for vehicle, has electronic control units controlling two pairs of motors, respectively, where units are connected to voltage supplies via respective lines - Google Patents

Acceleration, braking and steering system controlling circuit for vehicle, has electronic control units controlling two pairs of motors, respectively, where units are connected to voltage supplies via respective lines

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Publication number
DE102006062300A1
DE102006062300A1 DE200610062300 DE102006062300A DE102006062300A1 DE 102006062300 A1 DE102006062300 A1 DE 102006062300A1 DE 200610062300 DE200610062300 DE 200610062300 DE 102006062300 A DE102006062300 A DE 102006062300A DE 102006062300 A1 DE102006062300 A1 DE 102006062300A1
Authority
DE
Germany
Prior art keywords
acceleration
steering system
characterized
cpus
motors
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.)
Granted
Application number
DE200610062300
Other languages
German (de)
Other versions
DE102006062300B4 (en
Inventor
Anton Weldin
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.)
Schaeffler Paravan Technologie GmbH and Co KG
Original Assignee
Arnold, Roland
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
Priority to DE102006060093.2 priority Critical
Priority to DE102006060093 priority
Application filed by Arnold, Roland filed Critical Arnold, Roland
Priority to DE200610062300 priority patent/DE102006062300B4/en
Priority claimed from US11/656,109 external-priority patent/US20080147247A1/en
Publication of DE102006062300A1 publication Critical patent/DE102006062300A1/en
Publication of DE102006062300B4 publication Critical patent/DE102006062300B4/en
Application granted granted Critical
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear

Abstract

A circuit for controlling an acceleration, braking and steering system of a vehicle having at least two separate motors (13, 14) for operating the acceleration and braking system and at least two separate motors (11, 12) for operating the steering system, with at least one electronic Control unit (17) for controlling the at least two separate motors (13, 14) for actuating the acceleration and braking system and at least one electronic control unit (16) for controlling the at least two separate motors (11, 12) for actuating the steering system, all Control units (16, 17) via separate Lrgung (18, 19) are connected.

Description

  • The The invention relates to a circuit for controlling an acceleration, Braking and steering system of a vehicle with at least two separate Motors for actuating the acceleration and braking system and at least two separate motors for actuating the Steering system and with at least one electronic control unit for controlling the at least two separate motors for actuation the acceleration and braking system and at least one electronic control unit for controlling the at least two separate motors for actuation of the steering system.
  • Steering systems with two separate motors for controlling the acceleration and braking system and for actuating the steering system are already known from the German patent application DE 10 2004 051 078 A1 known to the applicant. In addition, under the name AEVIT a acceleration, braking and steering system is known in the trade, in which for driving the braking and acceleration system and the steering system respectively motors are provided with two windings, the two windings, however, are brought together at the collector, electrically so act like a winding. There is thus no redundancy in the engines. In the AEVIT system, two separate control units are provided for controlling the motors, with the power supply of one of the control units being routed via the other control unit. This has the great disadvantage that in case of failure of that control unit, via which the power supply is led to the second control unit, and the second control unit fails. In other words, this can lead to failure of the control unit for the steering system and no braking or acceleration of the vehicle is possible or failure of the control unit for the acceleration and braking system and the steering fails.
  • From the US 5,086,870 For example, a control system for a vehicle is known, which includes a control device for the steering and for accelerating and braking. having. In this control system, however, only one motor at a time is provided as a drive for the acceleration and braking system and for the steering system, that is, even in this system, there is no redundancy with respect to the drive motors for the steering and for the acceleration and braking system.
  • Of the present invention is based on the object, a circuit to create the control of the known steering systems, the one higher safety against failure of the braking and acceleration system and the steering system.
  • The The object is achieved with a circuit for controlling an acceleration, Braking and steering system of a vehicle solved that at least two separate motors for actuating the acceleration and brake system and at least two separate motors for actuation the steering system and at least one electronic control unit for controlling the at least two separate motors for actuation the acceleration and braking system and at least one electronic Control unit for controlling the at least two separate motors for actuating the steering system and thereby is characterized in that all control units have separate Lines are connected to at least one power supply.
  • at the circuit according to the invention occurs in case of failure a control unit for one of the two systems - brakes and accelerate or steer - or in case of interruption the wiring to this control unit not at the same time also to a shutdown of each not by the failed control unit controlled system. For example, if the acceleration and brake system due to defects in the associated control unit or in the power supply lines, so the driver at least steer the vehicle. Conversely, if the Steering system to slow down the vehicle. The inventively provided separate power supply of all control units for the two separate systems thus leads to a significant Increased safety for the driver of the vehicle. The inventive circuit and the acceleration, Brake and steering system can be used for a wide variety of Use vehicles on land, in the air and on the water. Especially for vehicles for the disabled and for aircraft is one high level of security of all components, in particular the control circuit, essential.
  • In a preferred embodiment, the circuit according to the invention each have a control unit each having two identical CPU channels, each with two CPUs for controlling the at least two separate motors for actuating the acceleration and braking system and the steering system, wherein the second CPU channels each Take over function of the first CPU channels, if the first CPU channels fail, and / or the second CPU takes over the function of the first CPU, if this fails. The CPU channels each represent complete control units, which can alternatively be used without any loss of function. By providing redundant CPUs, a measure that is known per se, the reliability of the control can be further increased. In this embodiment can In addition, a security processor or logic module may preferably be provided, which monitors the function of the first CPU channels and / or first CPUs and deactivates them if one of the first, CPU channels and / or first CPUs malfunctions and instead uses the associated second channel and / or the first CPU associated second CPU activated. For each of the systems - acceleration and braking and steering - so a double drive is provided, one of the drive circuits is activated only in case of failure of the other and wherein a central security processor takes over the function control of the channels and / or the CPUs and determines which of the channels , or the CPU is currently used for the control.
  • A further measure to increase the reliability the drive circuit is to provide two power supplies and all control units with both power supplies via to connect separate lines. Thus, the failure of the Power supply protected and the inventive Independence of all control units from the function of others Control units are maintained.
  • Next or alternatively to increase the reliability of the Drive circuit by providing separate connections of the Control units for power supply, the drive circuit also a higher reliability of the acceleration, Brake and steering system of the vehicle ensure that it has current measuring devices that control the flow of current through each of the at least two separate motors for actuating the acceleration and brake system and the steering system separately. In the known AEVIT system for accelerating, braking and steering a vehicle Due to the design, there is no separate current measurement of the two windings for the acceleration and braking system and for the steering system is taking place. The two windings of the motors will be on merged into a collector. The current measurement finds in front of the collector, so in common for both windings instead. Is in the current measurement in the known system a short circuit found, so can not analyze which of the two windings is shorted. It can not be one the motor windings specifically deactivated and the other operated become. For this lacking in the known system and the appropriate hardware requirements and facilities in the control. If one winding fails, the drive of the acceleration brake system or the steering system only with half the power, half the power and half the speed. If the still functioning Engine comes to a halt, it can u. U. no longer be started, because the brushes of the still functioning winding themselves 180 ° and thus the starting point can not be overcome.
  • are on the other hand, two really electrically separate motors provided and finds a current measurement for both motors separated, so. does not find any one of the motors in the event of a short circuit Reduction of the force in the end point of the movement instead. The still functioning Engine completely takes over the task, so far both engines together and over a common Transmission to the acceleration and braking system or the steering system have submitted.
  • Further It is beneficial if the circuit relays to enable and Disable each of the motors to operate the acceleration and brake system and the steering system. This can be targeted each of the motors can be switched on or off.
  • Around a fast response of the acceleration, braking and steering system to ensure the vehicle and thus in particular a Direct and backlash-free steering can be highly dynamic Servo motors with low inductance are used the drive high current levels, preferably from 36 A, need. When using these engines, it is advantageous if the circuit choke coils to drive the motors for Actuation of the acceleration and braking system and the Steering system has.
  • Further Advantages in terms of higher reliability of the Circuit can be achieved if the control and control part the circuit noise decoupled from the power section of the circuit is arranged. For this purpose, the circuit, for example, at least be arranged on a board with eight wiring levels. The single ones Wiring levels are well insulated from each other and EMC technically shielded so that for the control and control part other wiring levels can be used than for the power section.
  • Also The electronic control units can be specially designed Störstrahlsicherheit EMC (Electromagnetic Compatibility) and energy-saving and therefore cool power supply redundant electronics designed to reduce the susceptibility to interference and to minimize the thermal stresses on the system.
  • It is understood that a control of only one of the systems - acceleration and braking system or steering system - can be provided and the other function is performed by the standard drive means provided in the vehicle. With the conversion of handicapped vehicles it is - depending on the kind of Disability - often sufficient to make either the steering or the gas and brake system by joysticks or the like operable, while the other function can continue to be activated via the accelerator and brake pedal or via the steering wheel unchanged. In this case, only one of the systems must have two redundant motors, which are controlled by a control unit with two identical CPU channels. The CPU channels can have two identical CPUs and thus be complete redundant drives and monitoring devices for the two motors. All the features and benefits described in the context of driving both systems - Acceleration and Brake System and Steering System - also apply when the circuit contains only one of the systems.
  • The The invention also relates to a method of control an acceleration and braking system and a steering system of a Vehicle with at least two separate motors for actuation the acceleration and braking system and at least two separate Engines for operating the steering system, in which at least an electronic control unit signals from controls received in the vehicle for the acceleration and braking system and evaluated and the at least two separate engines the acceleration and braking system are controlled accordingly and at least one other electronic control unit Signals from control elements in the vehicle for the steering system received and evaluated and the at least two separate engines controlled by the steering system, which is characterized that the power supply is supplied separately to each control unit is monitored separately, the power supply of each control unit and in case of failure of a power supply to a second power supply is switched.
  • The supervision the power supply can be controlled by CPUs in the control unit, performed by means of a security processor or a logic device become.
  • Further Advantages in terms of redundancy and thus reliability arise when to control the at least two separate Motors of the braking and acceleration system and the steering system two identical CPU channels with two CPUs each are provided, the function of the first channels and / or the first CPUs monitored and malfunctions the first channels and / or the first CPUs the further control the motors of the braking and acceleration system and / or the steering system switched to the second channels and / or second CPUs becomes. Monitoring the function of the first channels and / or CPUs and switching to the second channels and / or CPUs may also be used by the security processor or a logic module are performed.
  • Further Advantages for the method according to the invention can be achieved by the current flow through each of the at least two separate engines of the acceleration and braking system and the steering system measured and detected a short circuit in one of the motors this is turned off. By the other, still functioning engine remains the Driving force for the braking and acceleration system or the steering system still fully maintained. Only the speed decreases. By separate current measurement for each The engines can also be determined exactly which engine straight failed, so that it can be switched off specifically.
  • following is a preferred embodiment of an inventive Circuit described in more detail with reference to the drawing.
  • It demonstrate:
  • 1 a principle block diagram of a drive circuit according to the prior art;
  • 2 a principle block diagram of a drive circuit according to the invention;
  • 3 a block diagram of a control unit of the drive circuit 2 ,
  • 1 shows a block diagram of the drive circuit for the commercially available AEVIT acceleration, braking and steering system. From the acceleration and braking system is a motor 10 ' shown having two windings, whereby four brushes 11 ' and 12 ' are present, with the brushes 11 ' . 12 ' one winding each opposite by 180 °. Analogously, the acceleration and braking system is also powered by a motor 13 ' powered by two windings, resulting in the four brushes 14 ' and 15 ' is indicated. From the actual drive circuit are two control units 16 ' . 17 ' shown, where the unit 16 ' for the steering and the unit 17 ' responsible for the acceleration and braking system. Each of the control units 16 ' . 17 ' contains not explicitly shown CPUs, each unit 16 ' . 17 ' at least two identical CPUs. Further, the circuit is a main power supply 18 ' and a backup power supply 19 ' shown. As 1 clearly shows, only the control unit 16 ' directly from the power supplies 18 ' and 19 ' provided. These are each supply lines 20 ' and 21 ' intended. The control unit 17 ' receives its power supply via the control unit 16 ' via supply lines 22 ' and 23 ' , This means that in the event of a failure of the control unit 16 ' and there in particular the power supply of the CPUs and the control unit 17 ' is no longer supplied with voltage, so also fails. In such a case, both the acceleration and braking system and the steering system no longer function simultaneously. The vehicle becomes completely unable to maneuver.
  • Another disadvantage of the known circuit is that the two windings of the motors 10 ' and 13 ' are interconnected so that they are completely interdependent. This is through connection lines 24 ' . 25 ' between the brushes 11 ' and 12 ' respectively. 14 ' . 15 ' indicated. Consequently, in the known circuit via a current measuring device 26 ' . 27 ' in the control units 16 ' . 17 ' only the current passing through both windings of the motors 10 ' . 13 ' flows, measured. It can not be determined in a short circuit, which of the windings has failed. Because the control units 16 ' . 17 ' Due to their design, they have no possibilities to handle this case, this operating state leads to total failure of the steering or acceleration and braking system.
  • As 2 shows, however, the circuit according to the invention, on the other hand, the possibility of two really separate engines 11 . 12 for the steering system and 13 . 14 to control for the acceleration and braking system. The motors 11 . 12 and 13 . 14 are each connected in parallel to each other and each drive a common wave of the associated system. The circuit according to the invention also has two control units 16 . 17 for the steering system on the one hand and the acceleration and braking system on the other. The control units 16 . 17 are also provided here with two identical, redundant CPUs, the 3 can be seen. Unlike the control units 16 ' . 17 ' the circuit of the prior art are here the control units 16 . 17 and thus also the CPUs contained in them via separate supply lines 20 . 21 respectively. 22 . 23 with the main power supply 18 and a backup power supply 19 connected. If a fault occurs in one of the control unit 16 . 17 or in the power supply of these units, so the other control unit remains 16 . 17 still operational. Thus, at most one of the systems "acceleration and braking" or "steering" can fail. The vehicle can then either steer or slow down, which considerably reduces the risk of accidents.
  • Furthermore, the control units 16 . 17 the circuit according to the invention separate current measuring devices 26a , Federation 27a , b for the engines 11 . 12 and 13 . 14 on. This allows precise analysis of which of the engines 11 . 12 respectively. 13 . 14 has failed. This motor can then be relayed 28 . 29 be switched off. The other remains active and takes over the drive function alone.
  • 3 clarifies the internal structure of the control unit 16 out 2 for controlling the motors 11 . 12 for the acceleration and braking system. The control unit 17 is constructed analogously.
  • There are two channels 1 and 2 are provided in the example shown, each two identical CPUs 100 . 200 exhibit. Each channel is a unit 300 . 400 assigned to the voltage, temperatures and current flow through the motors 11 . 12 monitor and at the same time power drivers for the engines 11 . 12 are. The units 300 . 400 are identical in structure. The movement of the engines 11 . 12 or the common shaft driven by them 30 be through two potentiometers 31 . 32 as well as a digital encoder 33 captured and by the CPUs 100 . 200 evaluated. In operation, only one of the channels 1, 2 is active at a time. Is by a security processor or a logic device 34 detected a fault in the currently active channel, this fault in the CPUs 100 . 200 , in the input devices or in the units 300 . 400 can be switched to the parallel other channel, which takes over the further control.
  • The control unit 16 also has two three-channel inputs, one of the inputs being intended for signals of a second control device, for example a remote control or a control device operated by a second driver, who may in particular be a driving instructor. The other input provides signals from controls for the acceleration and braking system. Next are in 3 the connecting lines 20 . 21 to the power supplies 18 . 19 ( 2 ) as well as connecting lines 35 . 36 drawn to two separate CAN bus systems. The two-channel, redundant CAN bus system allows functions such as WLAN control with ambient sensors, driving camera data, GPS position data and control commands to be guided.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
  • Cited patent literature
    • DE 102004051078 A1 [0002]
    • - US 5086870 [0003]

Claims (15)

  1. Circuit for controlling an acceleration, braking and steering system of a vehicle with at least two separate motors ( 13 . 14 ) for actuating the acceleration and braking system and at least two separate engines ( 11 . 12 ) for operating the steering system, with at least one electronic control unit ( 17 ) for controlling the at least two separate motors ( 13 . 14 ) for actuating the acceleration and braking system and at least one electronic control unit ( 16 ) for controlling the at least two separate motors ( 11 . 12 ) for operating the steering system, characterized in that all control units ( 16 . 17 ) via separate lines ( 20 . 22 ) with at least one power supply ( 18 . 19 ) are connected.
  2. Circuit according to Claim 1, characterized in that in each case two identical CPU channels each having two CPUs for controlling the at least two separate motors ( 13 . 14 ; 11 . 12 ) are provided for operating the acceleration and braking system and the steering system, wherein the second CPU channels each take over the function of the first CPU channels, if the first CPU channels fail, and / or the second CPUs respectively the function of the first CPUs if the first CPUs fail.
  3. Circuit according to Claim 2, characterized that a security processor or logic device is provided, the function of the first CPU channels and / or the first CPUs monitored and malfunctions of the first CPU channels and / or the first CPUs the first CPU channel and / or the first CPU is deactivated and the associated second channel and / or the associated second CPU activated.
  4. Circuit according to one of claims 1 to 3, characterized in that at least one reserve voltage supply ( 18 . 19 ) and all the control units ( 16 . 17 ) with all power supplies ( 18 . 19 ) via separate lines ( 20 . 21 . 22 . 23 ) are connected.
  5. Circuit according to one of Claims 1 to 4, characterized in that it comprises current measuring devices ( 26a , b; 27a , b), which controls the flow of current through each of the at least two separate motors ( 11 . 12 ; 13 . 14 ) to operate the acceleration and braking system and the steering system separately.
  6. Circuit according to one of Claims 1 to 5, characterized in that they are relays ( 28 . 29 ) for activating and deactivating each of the motors ( 11 . 12 ; 13 . 14 ) for actuating the acceleration and braking system and the steering system.
  7. Circuit according to one of claims 1 to 6, characterized in that the drive and control part of Disconnected circuit from the power section of the circuit is arranged.
  8. Circuit according to one of claims 1 to 7, characterized in that it choke coils for controlling highly dynamic servomotors ( 11 . 12 . 13 . 14 ) for actuating the acceleration and braking system and the steering system.
  9. Circuit according to one of claims 1 to 8, characterized in that they are on at least one board with eight wiring levels is arranged.
  10. Circuit according to one of Claims 1 to 9, characterized in that the control units ( 16 . 17 ) each have two three-channel inputs, one of which signals from controls of the acceleration and braking system or the steering system and the other input signals of a second control device, in particular a remote control or operable by a passenger or driving instructor operable control device.
  11. Circuit according to one of Claims 1 to 10, characterized in that they have connections ( 35 . 36 ) to two separate, dual-channel CAN bus systems.
  12. Method for controlling an acceleration and braking system and a steering system of a vehicle with at least two separate motors ( 13 . 14 ) for actuating the acceleration and braking system and at least two separate engines ( 11 . 12 ) for actuating the steering system, in which at least one electronic control unit ( 17 ) Signals are received and evaluated by control elements in the vehicle for the acceleration and braking system and the at least two separate motors ( 13 . 14 ) of the acceleration and braking system are controlled accordingly and by at least one further electronic control unit ( 16 ) Received and evaluated signals from controls in the vehicle for the steering system and the at least two separate engines ( 11 . 12 ) of the steering system, characterized in that the power supply of each of the control units ( 16 . 17 ) and the power supply of the control units ( 16 . 17 ) and in the event of a power failure ( 18 . 19 ) to a second power supply ( 18 . 19 ) is switched.
  13. A method according to claim 12, characterized ge indicates that the monitoring of the power supply ( 18 . 19 ) by CPUs of the control units ( 16 . 17 ) by means of a security processor or a logic device ( 34 ) is carried out.
  14. A method according to claim 12 or 13, characterized in that for controlling the at least two separate motors ( 13 . 14 ) of the acceleration and braking system and the steering system are each provided two identical CPU channels, each with two identical CPUs, the function of the first CPU channels and / or the first CPUs monitors and in case of malfunction of the first channels and / or CPUs further control the motors of the acceleration and braking system and / or the steering system is switched to the second channels and / or second CPUs.
  15. Method according to one of claims 12 to 14, characterized in that the flow of current through each of the at least two separate motors ( 11 . 12 . 13 . 14 ) of the acceleration and braking system and the steering system and when a short circuit is detected in an engine ( 11 . 12 . 13 . 14 ) this is turned off.
DE200610062300 2006-12-18 2006-12-27 Circuit for controlling an acceleration, braking and steering system of a vehicle Active DE102006062300B4 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE102006060093.2 2006-12-18
DE102006060093 2006-12-18
DE200610062300 DE102006062300B4 (en) 2006-12-18 2006-12-27 Circuit for controlling an acceleration, braking and steering system of a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200610062300 DE102006062300B4 (en) 2006-12-18 2006-12-27 Circuit for controlling an acceleration, braking and steering system of a vehicle
US11/656,109 US20080147247A1 (en) 2006-12-18 2007-01-22 Circuit for controlling an acceleration, braking and steering system of a vehicle

Publications (2)

Publication Number Publication Date
DE102006062300A1 true DE102006062300A1 (en) 2008-10-09
DE102006062300B4 DE102006062300B4 (en) 2011-07-21

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Cited By (8)

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EP2805873A3 (en) * 2013-05-23 2015-07-15 Caterpillar, Inc. Managing steering with short from battery to ground
WO2017058707A1 (en) * 2015-09-28 2017-04-06 Faraday&Future Inc. System and method for steering compensation
DE102017100618A1 (en) 2017-01-13 2018-07-19 HELLA GmbH & Co. KGaA Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
DE102017117297A1 (en) * 2017-07-31 2019-01-31 HELLA GmbH & Co. KGaA Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
US10202090B2 (en) 2013-02-12 2019-02-12 Schaeffler Paravan Technologie Gmbh & Co. Kg Circuit for controlling an acceleration, braking and steering system of a vehicle
DE102017216460A1 (en) * 2017-09-18 2019-03-21 Continental Teves Ag & Co. Ohg Vehicle with electric drive device, in particular for autonomous driving, and method for driving drive and steering devices in such a vehicle
DE102017218271A1 (en) * 2017-10-12 2019-04-18 Bayerische Motoren Werke Aktiengesellschaft Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
DE102018112254A1 (en) * 2018-05-22 2019-11-28 Bayerische Motoren Werke Aktiengesellschaft Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium

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US5086870A (en) 1990-10-31 1992-02-11 Division Driving Systems, Inc. Joystick-operated driving system
DE102004051078A1 (en) 2004-10-20 2006-05-11 Roland Arnold By-wire drive, braking and steering system for wheel-driven land vehicles has group of closely adjacent servomotors, common gear mechanism, force output device via which motor force of servomotors of group is fed to same control element

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10202090B2 (en) 2013-02-12 2019-02-12 Schaeffler Paravan Technologie Gmbh & Co. Kg Circuit for controlling an acceleration, braking and steering system of a vehicle
EP2805873A3 (en) * 2013-05-23 2015-07-15 Caterpillar, Inc. Managing steering with short from battery to ground
US9139223B2 (en) 2013-05-23 2015-09-22 Caterpillar Inc. Managing steering with short from battery to ground
WO2017058707A1 (en) * 2015-09-28 2017-04-06 Faraday&Future Inc. System and method for steering compensation
DE102017100618A1 (en) 2017-01-13 2018-07-19 HELLA GmbH & Co. KGaA Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
DE102017117297A1 (en) * 2017-07-31 2019-01-31 HELLA GmbH & Co. KGaA Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
DE102017216460A1 (en) * 2017-09-18 2019-03-21 Continental Teves Ag & Co. Ohg Vehicle with electric drive device, in particular for autonomous driving, and method for driving drive and steering devices in such a vehicle
DE102017218271A1 (en) * 2017-10-12 2019-04-18 Bayerische Motoren Werke Aktiengesellschaft Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
WO2019072592A1 (en) * 2017-10-12 2019-04-18 HELLA GmbH & Co. KGaA Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium
DE102018112254A1 (en) * 2018-05-22 2019-11-28 Bayerische Motoren Werke Aktiengesellschaft Control system for a motor vehicle, motor vehicle, method for controlling a motor vehicle, computer program product and computer-readable medium

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