KR100602662B1 - Apparatus for safety of electronic control power steering - Google Patents

Apparatus for safety of electronic control power steering Download PDF

Info

Publication number
KR100602662B1
KR100602662B1 KR1020040024093A KR20040024093A KR100602662B1 KR 100602662 B1 KR100602662 B1 KR 100602662B1 KR 1020040024093 A KR1020040024093 A KR 1020040024093A KR 20040024093 A KR20040024093 A KR 20040024093A KR 100602662 B1 KR100602662 B1 KR 100602662B1
Authority
KR
South Korea
Prior art keywords
steering
steering angle
wheel
vehicle
sensor
Prior art date
Application number
KR1020040024093A
Other languages
Korean (ko)
Other versions
KR20050098652A (en
Inventor
조기한
Original Assignee
현대모비스 주식회사
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 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020040024093A priority Critical patent/KR100602662B1/en
Publication of KR20050098652A publication Critical patent/KR20050098652A/en
Application granted granted Critical
Publication of KR100602662B1 publication Critical patent/KR100602662B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
    • B62D5/0406—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box including housing for electronic control unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0475—Controlling other elements
    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
    • 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
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/02—Control of vehicle driving stability

Abstract

본 발명은 전자제어 조향장치의 안전 장치에 관한 것으로, 보다 상세하게는 전자제어 파워 스티어링이 조타각과 바퀴회전속도차의 변화량에 따라 조타력이 가변되도록 함으로써 차량이 저중속에서 급선회시 또는 장애물 회피시 원심력에 따라 조타력이 작동하도록 한 지능형 전자제어 파워스티어링의 안전 장치에 관한 것이다.The present invention relates to a safety device for an electronically controlled steering device. More specifically, the electronically controlled power steering allows the steering power to be varied according to the change of the steering angle and the wheel rotation speed difference, so that the vehicle can be steered at low or medium speeds or avoided obstacles. The present invention relates to a safety device of intelligent electronically controlled power steering, in which a steering force is operated according to a centrifugal force.

전자제어 파워스티어링, 조타력, 조향휠, 조타각 센서, 차속센서Electronically controlled power steering, steering power, steering wheel, steering angle sensor, vehicle speed sensor

Description

전자제어 조향장치의 안전 장치{APPARATUS FOR SAFETY OF ELECTRONIC CONTROL POWER STEERING} Safety device of electronically controlled steering device {APPARATUS FOR SAFETY OF ELECTRONIC CONTROL POWER STEERING}             

도 1 은 본 발명에 의한 전자제어 조향장치의 안전 장치의 구성을 설명하기 위한 블럭도.1 is a block diagram for explaining the configuration of a safety device of an electronically controlled steering apparatus according to the present invention.

도 2 는 본 발명에 의한 전자제어 조향장치의 안전 장치의 구성도.2 is a block diagram of a safety device of an electronically controlled steering apparatus according to the present invention.

도 3 은 본 발명에 의한 조타각 및 전륜회전속도차의 변화량과 조타력과의 관계 그래프.Figure 3 is a graph of the relationship between the amount of change and steering force of the steering angle and front wheel speed difference according to the present invention.

도 4 는 본 발명에 의한 전자제어 조향장치의 안전 장치의 동작을 설명하기 위한 흐름도.Figure 4 is a flow chart for explaining the operation of the safety device of the electronically controlled steering apparatus according to the present invention.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

10 : 차속센서 20 : 조타각 센서10: vehicle speed sensor 20: steering angle sensor

21 : 조향휠 30 : ABS 센서21: steering wheel 30: ABS sensor

31 : 프런트 휠 40 : 제어부31: front wheel 40: control unit

50 : 제동력 제한밸브 60 : 기어박스50: braking force limit valve 60: gearbox

70 : 전원공급부70: power supply

본 발명은 전자제어 조향장치의 안전 장치에 관한 것으로, 보다 상세하게는 전자제어 파워 스티어링이 조타각과 바퀴회전속도차의 변화량에 따라 조타력이 가변되도록 함으로써 차량이 저중속에서 급선회시 또는 장애물 회피시 원심력에 따라 조타력이 작동하도록 한 지능형 전자제어 파워스티어링의 안전 장치에 관한 것이다.The present invention relates to a safety device for an electronically controlled steering device. More specifically, the electronically controlled power steering allows the steering power to be varied according to the change of the steering angle and the wheel rotation speed difference, so that the vehicle can be steered at low or medium speeds or avoided obstacles. The present invention relates to a safety device of intelligent electronically controlled power steering, in which a steering force is operated according to a centrifugal force.

일반적으로 전자 제어 조향장치는 ECPS(electronic control power steering)라 하며, 특히 전자적으로 자동 제어되는 파워 스티어링을 일컫는다. 이러한 파워 스티어링은 엔진에 의해 구동되는 오일 펌프의 유압으로 스티어링 오일의 조작력을 가볍게 하는 장치의 총칭을 말하게 되며, 작동원리는 압력을 높인 오일을 조향 장치와 연동하는 실린더에 넣어 피스톤의 운동에 의해 핸들의 조작력을 가볍게 하는 것이다. In general, an electronic control steering device is called electronic control power steering (ECPS), and in particular, an electronically controlled power steering. This power steering refers to a generic term for a device that reduces the operating force of the steering oil by the hydraulic pressure of the oil pump driven by the engine.The principle of operation is to put the oil with the increased pressure into a cylinder that interlocks with the steering device to handle the piston by the movement of the piston. It is to lighten the operating power of.

또한, 전자제어 파워 스티어링은 차속에 따라 스티어링 쉬프트를 구속하기 위한 힘을 솔레노이드 밸브에 의해 제어되게 하고, 솔레노이드 밸브를 제어하기 위해 일정한 제어형식이 프로세싱 된 컨트롤 유니트가 설치되며, 상기 솔레노이드 밸브에 의해 일정 유압이 샤프트에 인가되어 스티어링 휠에 직접적인 영향을 주게되며, 상기 컨트롤 유니트는 전자 클러치를 지닌 전동 모터를 차속, 엔진 회전수, 기어박스에 걸리는 토크 등의 신호에 의하여 출력 전류값을 결정하며, 클러치의 개폐 및 모터의 회전을 제어하여 파워 스티어링이 자동으로 제어 될 수 있게 설치되어 있다.In addition, the electronically controlled power steering causes the force for restraining the steering shift to be controlled by the solenoid valve according to the vehicle speed, and a control unit in which a certain control type is processed to control the solenoid valve is installed, and the solenoid valve is fixed by the solenoid valve. Hydraulic pressure is applied to the shaft and directly affects the steering wheel. The control unit determines the output current value based on signals such as vehicle speed, engine speed, torque applied to the gearbox, and the like. By controlling the opening and closing of the motor and the rotation of the power steering is installed to be automatically controlled.

즉, 종래의 전자제어 파워 스티어링은 컨트롤 유니트(E.C P.S. E.C.U )는 차속 센서의 신호만을 입력하여 제어 신호를 출력함에 따라 차량의 속도에 따라 스티어링 휠의 조타력이 단일하게 제어되고 있다.That is, in the conventional electronically controlled power steering, the control unit E.C.P.S.E.C.U receives only the signal of the vehicle speed sensor and outputs a control signal, so that steering force of the steering wheel is controlled in accordance with the speed of the vehicle.

따라서, 종래의 전자제어 파워 스티어링 장치는 단지 차량의 속도에 따라 스티어링 휠의 조타력이 조절되기 때문에 급선회시 혹은 장애물 회피시 원심력에 따라 동작하지 못하는 문제점이 있다.Therefore, the conventional electronically controlled power steering device has a problem in that it does not operate according to the centrifugal force during sharp turning or obstacle avoidance because only the steering force of the steering wheel is adjusted according to the speed of the vehicle.

특히, 차량이 저중속에서 급선회시 스티어링 휠의 조타력이 차속에 의해서만 자동제어됨에 따라 가벼워진 스티어링 휠로 운전자에게 부담을 초래하고 그로 인해 안전사고가 발생하는 문제점이 있다.In particular, since the steering force of the steering wheel is automatically controlled only by the vehicle speed when the vehicle is sharply turned at low and medium speeds, the driver causes a burden on the lighter steering wheel, thereby causing a safety accident.

본 발명은 상기와 같은 종래 기술의 문제점을 해결하기 위해 창안된 것으로, 전자제어 파워 스티어링이 조타각과 바퀴회전속도차의 변화량에 따라 조타력이 가변되도록 함으로써 차량이 저중속에서 급선회시 또는 장애물 회피시 원심력에 따라 조타력이 작동하도록 한 지능형 전자제어 파워스티어링의 안전 장치를 제공하는데 그 목적이 있다.
The present invention has been made to solve the problems of the prior art as described above, the electronic control power steering is to change the steering force in accordance with the amount of change of the steering angle and the wheel rotation speed by the vehicle when turning at low or medium speed when obstacles or obstacle avoidance The object of the present invention is to provide a safety device for intelligent electronically controlled power steering which allows the steering force to operate according to the centrifugal force.

상기와 같은 목적을 달성하기 위한 본 발명은 차량의 프런트 휠에 장착되어 좌우 회전 속도차를 감지하는 ABS 센서와; 조향 휠에 장착되어 조타각을 감지하는 조타각 센서와; 차량의 속도를 감지하는 차속센서와; 상기 ABS 센서와 조타각 센서 및 차속센서의 감지신호로 차속에 따른 조타각과 바퀴 회전속도차를 연산하고 그 조타각과 바퀴회전속도차의 변화량에 따라 조타력을 가변하기 위한 제어신호를 출력하는 제어부와; 상기 제어부의 제어신호로 액츄에이터의 유압을 조절하는 제동력 제한밸브와; 상기 제동력 제한밸브에 의해 조절된 유압으로 조타력을 가변하는 기어박스;를 포함하여 이루어진다.The present invention for achieving the above object is mounted on the front wheel of the vehicle ABS sensor for detecting the left and right rotation speed difference; A steering angle sensor mounted to a steering wheel to detect a steering angle; A vehicle speed sensor for detecting a speed of the vehicle; A control unit that calculates a steering angle and a wheel rotation speed difference according to the vehicle speed using detection signals of the ABS sensor, a steering angle sensor, and a vehicle speed sensor, and outputs a control signal for varying the steering force according to the change amount of the steering angle and the wheel rotation speed difference; ; A braking force limiting valve for adjusting the hydraulic pressure of the actuator by a control signal of the controller; It comprises a; gear box for varying the steering force to the hydraulic pressure controlled by the braking force limiting valve.

삭제delete

이와 같이 본 발명은 전자제어 파워 스티어링의 입력측에 스티어링 휠 측에 부착된 조타각센서와 ABS의 프런트 좌/우 휠 센서와 연결시키고 그 센서에서 측정한 조타각과 저륜의 좌/우 회전속도 그리고 속도센서에서 측정한 차속도를 제어부로 전달한다. 그러면, 제어부는 차속과 조타각, 차속과 좌/우 전륜의 회전속도 등을 연산하여 차속에 따른 기준값을 설정하고 그 기준값에 따라 조타각 및 좌우 전륜의 회전속도차의 변화량에 비례하여 제어량을 출력함으로써 제동력 제한밸브로 유압을 조절하여 조향휠의 조타력을 가변하는 것이다.Thus, the present invention connects the steering angle sensor attached to the steering wheel side to the input side of the electronically controlled power steering and the front left / right wheel sensor of ABS, and the steering angle measured by the sensor and the left / right rotational speed and the speed sensor of the wheel. The vehicle speed measured by the controller is transmitted to the controller. Then, the controller calculates the vehicle speed and steering angle, the vehicle speed and the rotational speed of the front and rear wheels, sets a reference value according to the vehicle speed, and outputs a control amount in proportion to the change amount of the steering angle and the rotational speed difference between the left and right front wheels according to the reference value. By adjusting the hydraulic pressure by the braking force limiting valve to change the steering force of the steering wheel.

이하, 본 발명의 바람직한 실시예를 첨부한 도면을 참조하여 상세히 설명한다.Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail.

도 1 은 본 발명에 의한 전자제어 조향장치의 안전 장치의 구성을 설명하기 위한 블럭도이고, 도 2 는 본 발명에 의한 전자제어 조향장치의 안전 장치의 구성도이다.1 is a block diagram for explaining the configuration of the safety device of the electronically controlled steering apparatus according to the present invention, Figure 2 is a configuration diagram of the safety device of the electronically controlled steering apparatus according to the present invention.

도 1과 도 2에 도시한 바와 같이, 본 발명은 차량의 프런트 휠(31)에 장착되어 좌우 회전 속도차를 감지하는 ABS 센서(30)와 조향 휠(21)에 장착되어 조타각을 감지하는 조타각 센서(20)와 차량의 속도를 감지하는 차속센서(10)가 구비된다.As shown in Figure 1 and 2, the present invention is mounted on the front wheel 31 of the vehicle to detect the steering angle mounted on the ABS sensor 30 and the steering wheel 21 for detecting the left and right rotation speed difference. A steering angle sensor 20 and a vehicle speed sensor 10 for detecting a speed of a vehicle are provided.

그리고, 상기 ABS 센서(30)와 조타각 센서(20) 및 차속센서(10)의 감지신호로 차속에 따른 조타각과 바퀴 회전속도차를 연산하고, 그 조타각과 바퀴회전속도차의 변화량에 따라 조타력을 가변하기 위한 제어신호를 출력하는 제어부(40)가 구비된다.Then, the steering angle and the wheel rotation speed difference are calculated according to the vehicle speed by the detection signals of the ABS sensor 30, the steering angle sensor 20, and the vehicle speed sensor 10, and the steering angle and the wheel rotation speed difference are adjusted according to the change amount of the steering angle and the wheel rotation speed difference. The control unit 40 for outputting a control signal for varying the inertia is provided.

그리고, 상기 제어부(40)의 제어신호로 액츄에이터의 유압을 조절하는 제동력 제한밸브(50)와 상기 제동력 제한밸브(50)에 의해 조절된 유압으로 조타력을 가변하는 기어박스(60)로 구성된다.And, the control signal of the control unit 40 is composed of a braking force limiting valve 50 for adjusting the hydraulic pressure of the actuator and the gearbox 60 for varying the steering force to the hydraulic pressure controlled by the braking force limiting valve 50. .

특히, 도 3 은 본 발명에 의한 조타각 및 전륜회전속도차의 변화량과 조타력과의 관계 그래프로서, 도 3에 도시한 바와 같이, 상기 제어부(40)는 조타각과 전륜회전속도차의 변화량에 비례하여 조타력을 가변하기 위한 제어신호를 제동력 제한밸브(50)로 출력하는 것을 특징으로 한다.In particular, Figure 3 is a graph of the relationship between the change amount of the steering angle and the front wheel speed difference according to the present invention and the steering force, as shown in Figure 3, the control unit 40 is the change amount of the steering angle and the front wheel speed difference It is characterized in that for outputting a control signal for controlling the steering force in proportion to the braking force limiting valve (50).

도 4 는 본 발명에 의한 전자제어 조향장치의 안전 장치의 동작을 설명하기 위한 흐름도이다.4 is a flow chart for explaining the operation of the safety device of the electronically controlled steering apparatus according to the present invention.

먼저 도 4에 도시한 바와 같이, 본 발명은 차속센서(10)와 조타각 센서(20) 및 ABS 센서(30)를 통해 차량의 속도와 조타각 및 전륜 좌우 회전 속도차를 측정한 다(S10).First, as shown in FIG. 4, the present invention measures the vehicle speed, steering angle, and front wheel left and right rotation speed differences through the vehicle speed sensor 10, the steering angle sensor 20, and the ABS sensor 30 (S10). ).

그리고, 상기에서 측정한 차속을 기준으로 조타각과 차속기준 바퀴회전속도차를 연산한다(S20).Then, the steering angle and the vehicle speed reference wheel rotation speed difference is calculated based on the vehicle speed measured above (S20).

이어서, 상기에서 연산한 조타각과 전륜 좌우 회전속도차 변화량에 따라 제동력 제한밸브(50)를 통해 엑츄에이터의 유압을 조절하여 조타력을 가변하는 것이다(S30).Subsequently, the steering force is varied by adjusting the hydraulic pressure of the actuator through the braking force limiting valve 50 according to the calculated steering angle and the front wheel left and right rotation speed difference amounts (S30).

이와 같이 본 발명은 전자제어 파워 스티어링의 입력측에 스티어링 휠 측에 부착된 조타각센서와 ABS의 프런트 좌/우 휠 센서와 연결시키고 그 센서에서 측정한 조타각과 저륜의 좌/우 회전속도 그리고 속도센서에서 측정한 차속도를 제어부로 전달한다.Thus, the present invention connects the steering angle sensor attached to the steering wheel side to the input side of the electronically controlled power steering and the front left / right wheel sensor of ABS, and the steering angle measured by the sensor and the left / right rotational speed and the speed sensor of the wheel. The vehicle speed measured by the controller is transmitted to the controller.

그러면, 제어부는 차속과 조타각, 차속과 좌/우 전륜의 회전속도 등을 연산하여 차속에 따른 기준값을 설정하고 그 기준값에 따라 조타각 및 좌우 전륜의 회전속도차의 변화량에 비례하여 제어량을 출력함으로써 제동력 제한밸브로 유압을 조절하여 조향휠의 조타력을 가변하는 것이다.Then, the controller calculates the vehicle speed and steering angle, the vehicle speed and the rotational speed of the front and rear wheels, sets a reference value according to the vehicle speed, and outputs a control amount in proportion to the change amount of the steering angle and the rotational speed difference between the left and right front wheels according to the reference value. By adjusting the hydraulic pressure by the braking force limiting valve to change the steering force of the steering wheel.

이처럼 본 발명은 전자제어 파워 스티어링이 조타각과 바퀴회전속도차의 변화량에 따라 조타력이 가변하도록 함으로써 원심력에 따라 조타력이 작동하도록 하는 것이다.As such, the present invention allows the electronically controlled power steering to operate the steering force according to the centrifugal force by varying the steering force according to the change amount of the steering angle and the wheel rotation speed.

상술한 바와 같이, 본 발명은 단지 차량의 속도에 따라 조향 휠의 조타력을 조절하는 전자제어 파워 스티어링을 조타각과 바퀴회전속도차의 변화량에 따라 조타력이 가변하도록 함으로써 차속과 원심력에 따라 조향휠의 조타력이 동작하여 차량이 저중속에서 급선회시 또는 장애물 회피시 조타력이 가변하여 안전사고를 방지할 수 있는 효과가 있다.



As described above, the present invention merely controls the steering wheel according to the vehicle speed and centrifugal force by the electronic control power steering to adjust the steering force of the steering wheel in accordance with the speed of the vehicle so that the steering force is variable according to the change amount of the steering angle and the wheel rotation speed. The steering force of the vehicle is effective to prevent safety accidents by varying the steering force when the vehicle is turning at low or medium speeds or avoiding obstacles.



Claims (2)

차량의 프런트 휠에 장착되어 좌우 회전 속도차를 감지하는 ABS 센서와;An ABS sensor mounted on the front wheel of the vehicle and configured to detect a left and right rotation speed difference; 조향 휠에 장착되어 조타각을 감지하는 조타각 센서와;A steering angle sensor mounted to a steering wheel to detect a steering angle; 차량의 속도를 감지하는 차속센서와;A vehicle speed sensor for detecting a speed of the vehicle; 상기 ABS 센서와 조타각 센서 및 차속센서의 감지신호로 차속에 따른 조타각과 바퀴 회전속도차를 연산하고 그 조타각과 바퀴회전속도차의 변화량에 따라 조타력을 가변하기 위한 제어신호를 출력하는 제어부와;A control unit that calculates a steering angle and a wheel rotation speed difference according to the vehicle speed using detection signals of the ABS sensor, a steering angle sensor, and a vehicle speed sensor, and outputs a control signal for varying the steering force according to the change amount of the steering angle and the wheel rotation speed difference; ; 상기 제어부의 제어신호로 액츄에이터의 유압을 조절하는 제동력 제한밸브와;A braking force limiting valve for adjusting the hydraulic pressure of the actuator by a control signal of the controller; 상기 제동력 제한밸브에 의해 조절된 유압으로 조타력을 가변하는 기어박스;A gear box for varying steering force by hydraulic pressure controlled by the braking force limiting valve; 를 포함하여 이루어진 것을 특징으로 하는 전자제어 조향장치의 안전 장치.Safety device of an electronically controlled steering device, characterized in that made. 삭제delete
KR1020040024093A 2004-04-08 2004-04-08 Apparatus for safety of electronic control power steering KR100602662B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020040024093A KR100602662B1 (en) 2004-04-08 2004-04-08 Apparatus for safety of electronic control power steering

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020040024093A KR100602662B1 (en) 2004-04-08 2004-04-08 Apparatus for safety of electronic control power steering

Publications (2)

Publication Number Publication Date
KR20050098652A KR20050098652A (en) 2005-10-12
KR100602662B1 true KR100602662B1 (en) 2006-07-20

Family

ID=37278069

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020040024093A KR100602662B1 (en) 2004-04-08 2004-04-08 Apparatus for safety of electronic control power steering

Country Status (1)

Country Link
KR (1) KR100602662B1 (en)

Also Published As

Publication number Publication date
KR20050098652A (en) 2005-10-12

Similar Documents

Publication Publication Date Title
US7097520B2 (en) Steering system for small boat
JP3220952B2 (en) Steering system for cars
JP3374350B2 (en) Automotive steering system
JPH01233169A (en) Control device for power steering device for vehicle
JP2002356169A (en) Control method for power steering system
KR100192381B1 (en) Power steering system for vehicles
KR102440693B1 (en) Control appratus and method for catch-up reduction in motor driven power steering system
JP4483327B2 (en) Hydraulic gear ratio variable power steering device
US7717224B2 (en) Power steering device for four-wheel drive vehicle
CA2296249C (en) Steering responsive power boost
US8781683B2 (en) Power steering apparatus and method
KR100602662B1 (en) Apparatus for safety of electronic control power steering
KR100783319B1 (en) Controlling system of driving torque for reduction of minimum turning radius
JP2000142436A (en) Steering device
US20190270480A1 (en) Apparatus and method for turning steerable vehicle wheels
JPH0671890B2 (en) Power steering system
KR100602664B1 (en) Apparatus for safety of electronic control power steering
KR101005762B1 (en) Active front steering system for car
KR100337513B1 (en) method of activity power steering for automobile
KR101020538B1 (en) Steering power reduction apparatus for car
JPH02127168A (en) Controller of power steering for vehicle
KR20060101979A (en) Steering apparatus for responsive speed of car
JP2003261059A (en) Turning control device for working vehicle
JPH05124533A (en) Steering controller for vehicle
KR20070102804A (en) An apparatus for compensating steering force in an electric hydraulic power steering system

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20110622

Year of fee payment: 6

LAPS Lapse due to unpaid annual fee