GB2378165A - A "steer-by-wire" device for a vehicle - Google Patents
A "steer-by-wire" device for a vehicle Download PDFInfo
- Publication number
- GB2378165A GB2378165A GB0222148A GB0222148A GB2378165A GB 2378165 A GB2378165 A GB 2378165A GB 0222148 A GB0222148 A GB 0222148A GB 0222148 A GB0222148 A GB 0222148A GB 2378165 A GB2378165 A GB 2378165A
- Authority
- GB
- United Kingdom
- Prior art keywords
- steering
- vehicle
- resistance
- function
- actuation element
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A steering device for a vehicle comprises a steering actuation element 1 with an electrical steering signal transmitter 5 connected to a steering shaft 2 and with an actuator for generating a steering force. The actuator element 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 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 element 1 can be generated. The moment of resistance is capable of being set as a function of any one or combination of the instantaneous driving speed of the vehicle, the actuating speed of the steering actuation element, the steering angle, or the height or the weight of the load.
Description
2378 65
- '1 Steering device for a vehicle The invention relates to a steering device for a S 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 10 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 15 device.
Steering devices of the type mentioned are often termed electrical steering or "steer-by-wire" steering. In these steering devices, there is no 20 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 25 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 30 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 5 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 10 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 15 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 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 25 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 30 steering-signal transmitter, the steering actuation element being connected to a resistance element, by means of which a variable moment of resistance acting on the steering actuation element can be generated, wherein the moment of resistance is capable of being 35 set as a function of user instructions.
In specific embodiments of the invention, the
moment of resistance is 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 5 and/or as a function of the instantaneous steering angle. The moment of resistance is also capable of being set as a function of the height of a load and/or of 10 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 have an electrorheological or magnetorheological fluid, may be used. It is also 20 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 25 frictional force can be modified by prestressing the frictional surfaces.
The invention also provides a vehicle having a - steering device of the kind defined above.
30 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 35 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 5 element. The inventive design of the steering device leads, particularly in industrial trucks, to a considerable improvement in driving behaviour and safety. 10 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: 15 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 20 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.
25 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 30 electronically variable torsional resistance element 4 and an electrical steering-signal transmitter 5, e.g. an optical encoder. The resistance element 4 is formed by an electrorheological and/or a 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 10 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.
15 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 20 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 30 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 35 steering force feedback to the steering wheel and hence to the driver.
- 6 - 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 5 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 15 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 20 movement can occur particularly when the number of turns of the steering wheel are low. Even the movement of the driver when travailing over rough ground can cause him/her to move the steering wheel thus setting up truck oscillations or making it 25 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 30 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 35 this. This may be of particular use for reach trucks when a great deal of manocuvring takes place in the aisle at low speeds. In the mid truck speed range
- 7 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.
10 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 15 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.
20 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 25 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.
30 Line 34 shows a simple proportional characteristic steering wheel torque increasing with speed. Figure 4 shows three possible functions of the 35 steering resistance against the angular position of the steered wheel or wheels.
., - 8 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 5 steering wheel torque. In fact the software system allows for the torque to follow the exact steering geometry. Line 42 shows a constant torque regardless of the 10 position of the steered wheel or wheels and replicates a state of the art electrical steering.
Claims (6)
1. Steering device for a vehicle, with a steering actuation element designed, for example, as a steering 5 wheel, with an electrical steeringsignal 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 lO as a function of an electrical output signal from the steering-signal transmitter, the steering actuation element being connected to a resistance element, by means of which a variable moment of resistance acting on the steering actuation element can be generated, 15 wherein the moment of resistance is capable of being set as a function of user instructions.
2. Steering device according to Claim 1, wherein the moment of resistance is capable of being set as a 20 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.
3. Steering device according to claim 1 or Claim 2, 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.
4. Steering device for a vehicle according to Claim 1 and substantially as hereinbefore described with reference to and as shown in the accompanying drawings.
5. A vehicle having a steering device according to any one of Claims 1 to 4.
- 10 (
6. A vehicle as claimed in Claim 5, wherein the vehicle is an industrial truck, preferably a reach truck.
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 |
|---|---|
| GB0222148D0 GB0222148D0 (en) | 2002-10-30 |
| GB2378165A true GB2378165A (en) | 2003-02-05 |
| GB2378165B GB2378165B (en) | 2003-05-07 |
Family
ID=10857247
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB0222148A Expired - Fee Related GB2378165B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
| GB9916539A Expired - Fee Related GB2351953B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9916539A Expired - Fee Related GB2351953B (en) | 1999-07-14 | 1999-07-14 | Steering device for a vehicle |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE10033107A1 (en) |
| GB (2) | GB2378165B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007036767A1 (en) * | 2005-09-28 | 2007-04-05 | Cesab Carrelli Elevatori S.P.A. | Forklift truck steering device and forklift truck |
| CN105858563A (en) * | 2016-06-21 | 2016-08-17 | 浙江鼎力机械股份有限公司 | Rear-guard front-steering shears-fork type aerial work platform |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1125825A3 (en) | 2000-02-18 | 2002-04-24 | Delphi Technologies, Inc. | Variable road feedback device for steer-by-wire systems |
| DE10008984B4 (en) * | 2000-02-25 | 2010-04-01 | Linde Material Handling Gmbh | Steering system for an industrial truck |
| US6557662B1 (en) * | 2000-11-22 | 2003-05-06 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| 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 |
| US6761243B2 (en) * | 2001-12-31 | 2004-07-13 | Visteon Global Technologies, Inc. | Steering control with variable damper assistance and method implementing the same |
| 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 |
| DE102007013172A1 (en) * | 2007-03-20 | 2008-09-25 | Gebrüder Frei GbmH & Co. KG | Steering drive system |
| DE102007053694B4 (en) | 2007-11-10 | 2010-05-20 | Ab Skf | Vehicle steering system |
| MX2008014783A (en) | 2008-02-05 | 2009-08-27 | Krueger Int Inc | Chair shell with integral hollow contoured support. |
| DE102018222235A1 (en) * | 2018-12-19 | 2020-06-25 | Zf Friedrichshafen Ag | Rotary control device |
| DE102021133680A1 (en) | 2021-12-16 | 2023-06-22 | Inventus Engineering Gmbh | Steering device for vehicles which are steered with a handlebar |
Citations (7)
| 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 |
| GB2341586A (en) * | 1998-09-15 | 2000-03-22 | Daimler Chrysler Ag | Hydraulic back-up steering system |
| US6041882A (en) * | 1996-02-24 | 2000-03-28 | Daimlerchrysler Ag | Vehicle steering system |
| US6138788A (en) * | 1997-12-11 | 2000-10-31 | Daimlerchrysler Ag | Vehicle steering system |
| US6219604B1 (en) * | 1998-12-29 | 2001-04-17 | Robert Bosch Gmbh | Steer-by-wire steering system for motorized vehicles |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19839951C2 (en) * | 1998-09-02 | 2000-06-21 | Daimler Chrysler Ag | Steering system for non-track-bound motor vehicles |
-
1999
- 1999-07-14 GB GB0222148A patent/GB2378165B/en not_active Expired - Fee Related
- 1999-07-14 GB GB9916539A patent/GB2351953B/en not_active Expired - Fee Related
-
2000
- 2000-07-07 DE DE2000133107 patent/DE10033107A1/en not_active Withdrawn
Patent Citations (7)
| 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 |
| US6041882A (en) * | 1996-02-24 | 2000-03-28 | Daimlerchrysler Ag | Vehicle steering system |
| EP0860347A1 (en) * | 1997-02-19 | 1998-08-26 | Koyo Seiko Co., Ltd. | Vehicle steering apparatus |
| US6138788A (en) * | 1997-12-11 | 2000-10-31 | Daimlerchrysler Ag | Vehicle steering system |
| GB2341586A (en) * | 1998-09-15 | 2000-03-22 | Daimler Chrysler Ag | Hydraulic back-up steering system |
| GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
| US6219604B1 (en) * | 1998-12-29 | 2001-04-17 | Robert Bosch Gmbh | Steer-by-wire steering system for motorized vehicles |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007036767A1 (en) * | 2005-09-28 | 2007-04-05 | Cesab Carrelli Elevatori S.P.A. | Forklift truck steering device and forklift truck |
| CN105858563A (en) * | 2016-06-21 | 2016-08-17 | 浙江鼎力机械股份有限公司 | Rear-guard front-steering shears-fork type aerial work platform |
Also Published As
| Publication number | Publication date |
|---|---|
| GB9916539D0 (en) | 1999-09-15 |
| GB2351953B (en) | 2002-12-31 |
| GB2378165B (en) | 2003-05-07 |
| GB0222148D0 (en) | 2002-10-30 |
| GB2351953A (en) | 2001-01-17 |
| DE10033107A1 (en) | 2001-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| GB2378165A (en) | A "steer-by-wire" device for a vehicle | |
| EP1409326B1 (en) | Steer unit for steer-by-wire | |
| US6535806B2 (en) | Tactile feedback control for steer-by-wire systems | |
| US8172033B2 (en) | Materials handling vehicle with a module capable of changing a steerable wheel to control handle position ratio | |
| EP1433691B1 (en) | Vehicle steering system with an integral feedback control | |
| US7278509B2 (en) | Counterbalanced forklift truck with a device for electro-hydraulic or electric steering | |
| US5931256A (en) | Device for controlling a reaction force using an electric motor to provide a steering assistance force in a hydraulic power steering system | |
| US5181173A (en) | Variable ratio steering system for a motor vehicle | |
| US6389343B1 (en) | Steering resistance device | |
| US5072804A (en) | Power-assisted steering system | |
| EP1354787B1 (en) | Active front steering actuator and method for controlling a vehicle | |
| US5964814A (en) | Steering angle adjusting device for a motor vehicle | |
| JP2012516262A (en) | Drive control system | |
| US6938720B2 (en) | Steering input devices for steer-by-wire systems | |
| EP2530005A1 (en) | Passenger conveyance device with automatic steering force altering | |
| CN111348106A (en) | Method for controlling a steer-by-wire system in a motor vehicle and steer-by-wire system | |
| GB2321439A (en) | A device for controlling the steering angle of a motor vehicle | |
| EP1268258B1 (en) | Steer-by-wire steering system with road feel | |
| GB2301568A (en) | Hydraulic power-assisted steering system | |
| GB2399325A (en) | Steering device with simulated reaction force generation | |
| US20200361531A1 (en) | Method and Device for Operating a Steering System for a Motor Vehicle, Steering System | |
| EP2530002B1 (en) | Passenger conveyance device with automatic steering angle limitation and speed reduction | |
| EP4017768A1 (en) | Method for controlling steering locking of a steer-by-wire steering system of a motor vehicle | |
| JPH0323417Y2 (en) | ||
| JPH0311943B2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 20160714 |