GB2351953A - A "steer-by-wire" steering device for a vehicle - Google Patents
A "steer-by-wire" steering device for a vehicle Download PDFInfo
- Publication number
- GB2351953A GB2351953A GB9916539A GB9916539A GB2351953A GB 2351953 A GB2351953 A GB 2351953A GB 9916539 A GB9916539 A GB 9916539A GB 9916539 A GB9916539 A GB 9916539A GB 2351953 A GB2351953 A GB 2351953A
- Authority
- GB
- United Kingdom
- Prior art keywords
- steering
- vehicle
- resistance
- actuation element
- function
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- 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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
Abstract
A steering device for a vehicle with a steering actuation element (1) with an electrical steering-signal transmitter (5) connected to the steering column and with an actuator for generating a steering force. The said actuator is connected to at least one steered wheel of the vehicle and is capable of being controlled as a function of an electrical output signal from the steering-signal transmitter (5). The steering actuation element is connected to a resistance element (4), by means of which a variable moment of resistance acting on the steering actuation element (1) can be generated. The resistance element (4) has an electrorheological and/or magnetorheological fluid. The moment of resistance is capable of being set as a function of any one or combination of the instantaneous vehicle speed, steering speed, steering angle or user instructions.
Description
2351953 steering device fora vehicle 5 The invention relates to a steering
device for a vehicle, with a steering actuation element designed, for example, as a steering wheel, with an electrical steering-signal transmitter connected to the steering actuation element and with an actuator for generating a steering force, the said actuator being connected to at least one steered wheel of the vehicle and being capable of being controlled as a function of an electrical output signal from the steering-signal transmitter. The invention also relates to a vehicle, e.g. an industrial truck, having such a steering device.
Steering devices of the type mentioned are often termed electrical steering or "steer-by-wirell steering. In these steering devices, there is no mechanical operative connection between the steering actuation element moved by the operator and the actuator generating the steering force on the steered wheel. A movement of the steering actuation element by an operator is detected by the steering-signal transmitter which generates a corresponding electrical signal. This signal is processed in an electrical control device, and the actuator is activated correspondingly. In this case, as a rule, the actuator is designed as an electric motor which is connected to the steered wheel of the vehicle by means of a suitable gearing. In addition, it is possible to provide a proportional hydraulic valve supplying a hydraulic actuator, the hydraulic valve being controlled by the electrical control device.
Since, in generic steering devices, signal transmission between the steering actuation element and the associated actuator takes place purely electrically, the actuating force of the steering actuation element is independent of the force exerted by means of the actuator. In known generic steering devices, it is known to provide a resistance element which generates a constant moment of resistance for the steering actuation element. In steering devices of this kind, the driver is not given any feedback on the steering force actually required. The operator therefore cannot react either voluntarily or involuntarily when the steering force required changes on account of a modified driving situation. This property of electrical steering systems is detrimental to the driving safety of vehicles which are equipped with a generic steering device.
An object of the present invention is to provide a generic steering device for a vehicle, by means of which the driving safety of the vehicle is improved.
According to a first aspect of the invention there is provided a steering device for a vehicle, with a steering actuation element designed, for example, as a steering wheel, with an electrical steering-signal transmitter connected to the steering actuation element and with an actuator for generating a steering force, the said actuator being connected tQ at least one steered wheel of the vehicle and being capable of being controlled as a function of an electrical output signal from the steering-signal transmitter, wherein the steering actuation element is connected to a resistance element, by means of which a variable moment of resistance acting on the steering actuation element can be generated, the resistance element having an electrorheological and/or magnetorheological fluid.
The viscosity of an electrorheological fluid can be varied by the application of an electrical field. In a similar way, the viscosity of a magnetorheological fluid varies when a magnetic field is applied. Preferably, in the present instance of use, the viscosity of the fluid is set by means of a magnetic field, since the necessary magnetic field can be generated in a simple way by means of the on-board voltage available in a vehicle. Moreover, magnetorheological fluids have a higher yield stress than electrorheological fluids. Magnetorheological fluids are essentially suspensions of micron-sized, magnetizable particles in oil.
The resistance element is connected to the steering actuation element. It may be arranged, for example, on the shaft of a steering wheel. The moment of resistance is generated in the resistance element on the principle of a hydraulic damper. A moment of resistance is therefore generated as a force of reaction to a movement of the steering actuation element and is always directed opposite to the direction of actuation of the steering actuation element.
It is also possible to use an active resistance element, by means of which a moment of resistance can be generated independently of a movement of the steering actuation element. Such an active resistance element has its own rotary drive which is coupled to the steering actuation element via a hydraulic damper. The magnitude of the moment of resistance is set via the viscosity of the electrorheological or magnetorheological fluid used. By means of such an active resistance element, it is possible, for example, to generate a return force on the steering actuation element.
Thus, in a steering device according to the invention, the moment of resistance of the resistance element can be set by varying the viscosity of the fluid.
Preferably the resistance element has a device for generating and varying an electrical field and/or a device for generating and varying a magnetic field. The said devices either may be integrated into the resistance element or have a connection to the resistance element.
It is also preferred that the device for generating and varying an electrical field and/or the device for generating and varying a magnetic field is operatively connected to an electronic control device and can be influenced as a function of at least one operating parameter of the vehicle. The moment of resistance can consequently be influenced as a function of the current state of the vehicle.
According to a preferred embodiment of the invention, the instantaneous driving speed of the vehicle and/or the instantaneous actuating speed of the steering actuation element and/or the instantaneous steering angle and/or a user instruction is provided as an operating parameter. The magnitude of the moment of resistance is thus dependent on the operating parameters mentioned. The operating parameters are detected and evaluated continuously by the control device. The user instruction is selected by the operator via an operating element. The device for generating the electrical or magnetic field is likewise activated by means of the control device.
According to a second aspect of the invention there is provided a steering device for a vehicle, with a steering actuation element designed, for example, as a steering wheel, with an electrical steering-signal transmitter connected to the steering actuation element and with an actuator for generating a steering force, the said actuator being connected to at least one steered wheel of the vehicle and being capable of being controlled as a function of an electrical output signal from the steering-signal transmitter, wherein the steering actuation element is connected to a resistance element, by means of which a variable moment of resistance acting on the steering actuation element can be generated, the moment of resistance being capable of being set as a function of the instantaneous driving speed of the vehicle and/or as a function of the instantaneous actuating speed of the steering actuation element and/or as a function of the instantaneous steering angle and/or as a function of user instructions.
Preferably, the moment of resistance is capable of being set as a function of the height of a load and/or of the weight of a load to be lifted by the vehicle. The height of the load to be lifted by the vehicle and its weight influence the steering force required and thus should be considered in the calculation of the moment of resistance applied by the resistance element.
In this case, the moment of resistance may be set by means of any desired resistance element. Hydraulic dampers, which, as explained above, have an electrorheological or magnetorheological fluid may be used. It is also possible to use conventional hydraulic dampers, in which the damping characteristics can be modified, for example by means of adjustable damping bores. Alternatively, a damper working on the principle of mechanical friction may be used, in which the frictional force can be modified by is prestressing the frictional surfaces.
The invention also provides a vehicle having a steering device of the kind defined above.
Advantageously, the vehicle may be an industrial truck, preferably a reach truck or any other lift truck equipped with an electrical steering. In industrial trucks and warehousing appliances, such as, for example, reach trucks, electrical steering systems are often used. When industrial trucks are employed, it is frequently necessary for the truck to be steered quickly at a low driving speed, easy steering being expedient. However, the steering device must also be suitable for longer distances covered at high driving speeds. Heavy steering is desirable, in order to avoid unintentional movement of the steering actuation element. The inventive design of the steering device leads, particularly in industrial trucks, to a considerable improvement in driving behaviour and safety.
Further details and embodiments of the invention are explained in more detail, by way of example, with reference to the embodiment illustrated in the accompanying diagrammatic drawings in which: 5 Figure 1 shows a steering device according to the invention; Figure 2 shows the profile of the moment of resistance against the driving speed; Figure 3 shows the profile of the moment of resistance against the actuating speed of the steering actuation element; and Figure 4 shows the profile of the moment of resistance against the steering angle.
Figure 1 shows a steering device for an industrial truck, preferably a reach truck, or other vehicle. The steering device comprises a steering wheel forming a steering actuation element 1, a steering shaft 2, support bearings 3, an electronically variable torsional resistance element 4 and an electrical steering-signal transmitter 5, e.g. an optical encoder. According to the invention, the resistance element 4 is formed by an electrorheological and/or a 2S magnetorheological fluid damping device.
The assembly of the above components is mounted to allow the position of the steering wheel to be altered in both horizontal and vertical directions by an adjustment device 6. The resistance element 4 and the steering-signal transmitter 5 remain protected within a Cover assembly 7 at all times.
The steering shaft 2 is sized to provide a robust support for the steering wheel using two well separated roller bearings 3. The resistance element 4 connects to the steering shaft 2 with a relatively smaller input shaft, but is protected from abuse and overload by the steering shaft 2. The steering signal transmitter 5 connects to the output shaft of the resistance element 4 to complete the system.
In an alternative, more compact arrangement not shown in the drawings, the roller bearings 3 can be mounted in the housing of the resistance element 4. The resistance element 4 and the signal transmitter 5 can be arranged in one common housing. The signal transmitter can be connected to the steering shaft at any other position, eg. between the steering actuation element 1 and the resistance element 4.
The steering device operates as follows:
When the steering wheel is rotated the steering-signal transmitter 5 outputs a signal to a steering control device (not shown). The signal contains direction and speed information. A steered wheel of the truck responds to the direction and rate input accordingly.
In addition the steering control device feeds back a signal to the resistance element 4 to provide a steering force feedback to the steering wheel and hence to the driver.
The level of resistance generated is dependent on operator related or truck related factors, with the aim of providing the driver with the feeling of well balanced, safe and controlled steering during all operating conditions.
Figure 2 shows three possible functions of the steering resistance generated by the resistance element 4 against truck speed:
Line 21 shows a preferred embodiment, for a truck which is stationary or slow moving when the torque is highest and this represents a typical manual steering arrangement. Deviation occurs from this manual steering characteristic. Once the truck is moving the steering wheel torque is low. However, when the truck is very close to or at full speed, then the steering wheel torque is again high to try to reduce the unwanted movement of the steered wheel. This unwanted movement can occur particularly when the number of turns of the steering wheel are low. Even the movement of the driver when travelling over rough ground can cause him/her to move the steering wheel thus setting up truck oscillations or making it extremely difficult or even impossible to maintain a straight line at high speed.
Line 22 shows simply a fixed steering wheel torque with no change at all regardless of speed or acceleration.
Normally the torque required to turn a steered wheel is highest when the truck is stationary. Line 23 provides a characteristic which is the reverse of this. This may be of particular use for reach trucks when a great deal of manoeuvring takes place in the aisle at low speeds. In the mid truck speed range constant steering wheel torque is provided and when the truck is close to or at full speed the steering wheel torque is increased for the same reasons given for line 21.
Figure 3 shows four possible functions of the steering resistance against the actuating speed of the steering wheel.
The function according to line 31 provides highest steering wheel torque when the driver is turning the steering wheel slowly and lowest steering wheel torque when turning the steering wheel fast. This characteristic represents a current hydraulic steering system and enables the introduction of electric fly by wire steering, but the driver can choose or be provided with the same feel as he currently experiences.
Line 32 shows a constant torque regardless of the actuating speed of the steering wheel.
Line 33 shows a preferred embodiment. Medium steering wheel torque occurs when turning the wheel at low speeds, but reducing to a very low torque during mid range truck speeds and increasing slowly as the steering wheel speeds reach approximately 75% of maximum, but overall the torque levels are low.
Line 34 shows a simple proportional characteristic steering wheel torque increasing with speed.
Figure 4 shows three possible functions of the steering resistance against the angular position of the steered wheel or wheels.
Lines 41 and 43 show how the steering wheel torque can peak when the steered wheel or wheels are at the full lock position. Line 41 shows a step function whereas line 43 shows a smooth change of steering wheel torque. In fact the software system allows for the torque to follow the exact steering geometry. 5 Line 42 shows a constant torque regardless of the position of the steered wheel or wheels and replicates a state of the art electrical steering. 10
Claims (10)
1. Steering device for a vehicle, with a steering actuation element designed, for example, as a steering wheel, with an electrical steering-signal transmitter connected to the steering actuation element and with an actuator for generating a steering force, the said actuator being connected to at least one steered wheel of the vehicle and being capable of being controlled as a function of an electrical output signal from the steering-signal transmitter, wherein the steering actuation element is connected to a resistance element, by means of which a variable moment of resistance acting on the steering actuation element can be generated, the resistance element having an electrorheological and/or magnetorheological fluid.
2. Steering device according to Claim 1, wherein the moment of resistance of the resistance element can be set by varying the viscosity of the fluid.
3. Steering device according to Claim 1 or claim 2, wherein the resistance element has a device for generating and varying an electrical field and/or a device for generating and varying a magnetic field.
4. Steering device according to Claim 3, wherein the device for generating and varying an electrical field and/or the device for generating and varying a magnetic field is operatively connected to an electronic control device and can be influenced as a function of at least one operating parameter of the vehicle.
5. Steering device according to Claim 4, wherein the instantaneous driving speed of the vehicle and/or the instantaneous actuating speed of the steering actuation element and/or the instantaneous steering angle and/or a user instruction is provided as an operating parameter.
6. Steering device for a vehicle, with a steering actuation element designed, for example, as a steering wheel, with an electrical steering-signal transmitter connected to the steering actuation element and with an actuator for generating a steering force, the said actuator being connected to at least one steered wheel of the vehicle and being capable of being controlled as a function of an electrical output signal from the steering-signal transmitter, wherein the steering actuation element is connected to a resistance element, by means of which a variable moment of resistance acting on the steering actuation element can be generated, the moment of resistance being capable of being set as a function of the instantaneous driving speed of the vehicle and/or as a function of the instantaneous actuating speed of the steering actuation element and/or as a function of the instantaneous steering angle and/or or as a function of user instructions.
7. Steering device according to claim 6, wherein the moment of resistance is capable of being set as a function of the height of a load and/or of the weight of a load to be lifted by the vehicle.
8. Steering device for a vehicle substantially as hereinbefore described with reference to and as shown in the accompanying drawings.
9. A vehicle having a steering device according to any one of Claims 1 to 8.
S
10. A vehicle as claimed in claim 9, wherein the vehicle is an industrial truck, preferably a reach truck.
20:27182: RESH: RI: FURNDOCS
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9916539A GB2351953B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
| GB0222148A GB2378165B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
| DE2000133107 DE10033107A1 (en) | 1999-07-14 | 2000-07-07 | Steering device for a vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9916539A GB2351953B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB9916539D0 GB9916539D0 (en) | 1999-09-15 |
| GB2351953A true GB2351953A (en) | 2001-01-17 |
| GB2351953B GB2351953B (en) | 2002-12-31 |
Family
ID=10857247
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9916539A Expired - Fee Related GB2351953B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
| GB0222148A Expired - Fee Related GB2378165B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB0222148A Expired - Fee Related GB2378165B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE10033107A1 (en) |
| GB (2) | GB2351953B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1125825A2 (en) * | 2000-02-18 | 2001-08-22 | Delphi Technologies, Inc. | Variable road feedback device for steer-by-wire systems |
| EP1211159A1 (en) * | 2000-11-22 | 2002-06-05 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| GB2383568A (en) * | 2001-12-31 | 2003-07-02 | Visteon Global Tech Inc | Steering control with magnetorheological damping |
| US8360195B2 (en) | 2007-11-10 | 2013-01-29 | Aktiebolaget Skf | Vehicle steering system |
| DE102021133680A1 (en) | 2021-12-16 | 2023-06-22 | Inventus Engineering Gmbh | Steering device for vehicles which are steered with a handlebar |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10008984B4 (en) * | 2000-02-25 | 2010-04-01 | Linde Material Handling Gmbh | Steering system for an industrial truck |
| FR2827250A1 (en) * | 2001-07-13 | 2003-01-17 | Peugeot Citroen Automobiles Sa | Steering system for vehicle, comprises steering wheel, transmission, return of effort equipment for centering and shock absorbing unit which control rack and pinion without mechanical linkage |
| DE10200826C1 (en) | 2002-01-11 | 2003-05-15 | Autoliv Dev | Steering module for steer-by-wire system for motor vehicle is fitted as prefabricated unit in vehicle accommodation space while making electrical connections between vehicle and module |
| DE10221241A1 (en) * | 2002-05-13 | 2003-11-27 | Kostal Leopold Gmbh & Co Kg | Steering device for a motor vehicle steered by a steer-by-wire device has a steering wheel, an electric drive and a device for generating a steering haptic device to act on the steering wheel |
| DE10323844A1 (en) | 2003-05-23 | 2004-12-16 | Continental Teves Ag & Co. Ohg | Control system for servo steering for vehicle which monitors the driver reaction and mode of steering and generates reaction signals which increase if the driver control is deemed to be incorrect |
| DE10354410A1 (en) | 2003-11-21 | 2005-06-23 | Still Wagner Gmbh & Co Kg | Steering device for a truck |
| DE102004009906B3 (en) * | 2004-02-26 | 2005-07-28 | Nacam Deutschland Gmbh | Rolling bearing for steering column has rheologically active substance in intermediate cavity of bearing |
| ITBO20050587A1 (en) * | 2005-09-28 | 2007-03-29 | Carrelli Elevatori Cesab | STEERING DEVICE FOR A FORKLIFT AND FORKLIFT TROLLEY |
| DE102007013172A1 (en) * | 2007-03-20 | 2008-09-25 | Gebrüder Frei GbmH & Co. KG | Steering drive system |
| MX2008014783A (en) | 2008-02-05 | 2009-08-27 | Krueger Int Inc | Chair shell with integral hollow contoured support. |
| CN105858563B (en) * | 2016-06-21 | 2018-07-03 | 浙江鼎力机械股份有限公司 | The scissor aerial work platform of rear-guard front steering |
| DE102018222235A1 (en) * | 2018-12-19 | 2020-06-25 | Zf Friedrichshafen Ag | Rotary control device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347458A (en) * | 1990-09-25 | 1994-09-13 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
| EP0860347A1 (en) * | 1997-02-19 | 1998-08-26 | Koyo Seiko Co., Ltd. | Vehicle steering apparatus |
| GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19607028C1 (en) * | 1996-02-24 | 1997-08-21 | Daimler Benz Ag | Steering for non-track-bound vehicles |
| DE19755044C1 (en) * | 1997-12-11 | 1999-03-04 | Daimler Benz Ag | Motor vehicle steering arrangement |
| DE19839951C2 (en) * | 1998-09-02 | 2000-06-21 | Daimler Chrysler Ag | Steering system for non-track-bound motor vehicles |
| DE19842066A1 (en) * | 1998-09-15 | 2000-03-23 | Daimler Chrysler Ag | Hydraulic back-up steering system for switching a vehicle steering system between normal steer-by-wire level, and emergency mode with a fall-back level using hydraulic positive coupling and hydraulic charging system |
| JP2000198453A (en) * | 1998-12-29 | 2000-07-18 | Robert Bosch Gmbh | Steer-by-wire steering system for vehicle |
-
1999
- 1999-07-14 GB GB9916539A patent/GB2351953B/en not_active Expired - Fee Related
- 1999-07-14 GB GB0222148A patent/GB2378165B/en not_active Expired - Fee Related
-
2000
- 2000-07-07 DE DE2000133107 patent/DE10033107A1/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347458A (en) * | 1990-09-25 | 1994-09-13 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
| EP0860347A1 (en) * | 1997-02-19 | 1998-08-26 | Koyo Seiko Co., Ltd. | Vehicle steering apparatus |
| GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1125825A2 (en) * | 2000-02-18 | 2001-08-22 | Delphi Technologies, Inc. | Variable road feedback device for steer-by-wire systems |
| EP1125825A3 (en) * | 2000-02-18 | 2002-04-24 | Delphi Technologies, Inc. | Variable road feedback device for steer-by-wire systems |
| US6550565B2 (en) | 2000-02-18 | 2003-04-22 | Delphi Technologies, Inc. | Variable road feedback device for steer-by-wire systems |
| EP1211159A1 (en) * | 2000-11-22 | 2002-06-05 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| US6557662B1 (en) | 2000-11-22 | 2003-05-06 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| GB2383568A (en) * | 2001-12-31 | 2003-07-02 | Visteon Global Tech Inc | Steering control with magnetorheological damping |
| GB2383568B (en) * | 2001-12-31 | 2004-06-09 | Visteon Global Tech Inc | Steering control with variable damper assistance and method implementing the same |
| US6761243B2 (en) | 2001-12-31 | 2004-07-13 | Visteon Global Technologies, Inc. | Steering control with variable damper assistance and method implementing the same |
| US8360195B2 (en) | 2007-11-10 | 2013-01-29 | Aktiebolaget Skf | Vehicle steering system |
| DE102021133680A1 (en) | 2021-12-16 | 2023-06-22 | Inventus Engineering Gmbh | Steering device for vehicles which are steered with a handlebar |
Also Published As
| Publication number | Publication date |
|---|---|
| GB9916539D0 (en) | 1999-09-15 |
| GB2351953B (en) | 2002-12-31 |
| DE10033107A1 (en) | 2001-01-18 |
| GB0222148D0 (en) | 2002-10-30 |
| GB2378165B (en) | 2003-05-07 |
| GB2378165A (en) | 2003-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| GB2351953A (en) | A "steer-by-wire" steering device for a vehicle | |
| US6535806B2 (en) | Tactile feedback control for steer-by-wire systems | |
| EP1409326B1 (en) | Steer unit for steer-by-wire | |
| US7849955B2 (en) | Materials handling vehicle having a steer system including a tactile feedback device | |
| EP1433691B1 (en) | Vehicle steering system with an integral feedback control | |
| EP1354787B1 (en) | Active front steering actuator and method for controlling a vehicle | |
| US6179082B1 (en) | Hydraulic steering apparatus and method | |
| US5181173A (en) | Variable ratio steering system for a motor vehicle | |
| EP0150303B1 (en) | Steering system | |
| JP2012516262A (en) | Drive control system | |
| US5964814A (en) | Steering angle adjusting device for a motor vehicle | |
| US20040168848A1 (en) | Vehicle steering system | |
| CN112049179A (en) | Manually operable control device | |
| JP2020075697A (en) | Machine steering angle control system | |
| US7063636B2 (en) | Mechanically linked active steering system | |
| CN111348106A (en) | Method for controlling a steer-by-wire system in a motor vehicle and steer-by-wire system | |
| GB2308832A (en) | Generating reaction force in a vehicle steering system with no mechanical connection between the manual steering input and the steered wheels | |
| US20030178243A1 (en) | Steering-shaft train | |
| GB2301568A (en) | Hydraulic power-assisted steering system | |
| GB2399325A (en) | Steering device with simulated reaction force generation | |
| DE10008984A1 (en) | Steering system for lift truck has steering movement of steerable wheel dependent on weight or lift height of load | |
| JP2003165451A (en) | Power steering | |
| CN116745194A (en) | Steer-by-wire steering system comprising an adjusted control signal and method for operating a steer-by-wire steering system | |
| KR19990011099A (en) | Electronically controlled steering system using electric viscous fluid | |
| KR20030004482A (en) | Device for steering wheel reaction torque of steer-by-wire using electromagnetic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 20160714 |