KR20040024137A - neutral position returning method of steering wheel - Google Patents

neutral position returning method of steering wheel Download PDF

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Publication number
KR20040024137A
KR20040024137A KR1020020055655A KR20020055655A KR20040024137A KR 20040024137 A KR20040024137 A KR 20040024137A KR 1020020055655 A KR1020020055655 A KR 1020020055655A KR 20020055655 A KR20020055655 A KR 20020055655A KR 20040024137 A KR20040024137 A KR 20040024137A
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KR
South Korea
Prior art keywords
vehicle
steering
steering wheel
unit
detecting
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KR1020020055655A
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Korean (ko)
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KR100504276B1 (en
Inventor
이재관
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현대모비스 주식회사
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Priority to KR10-2002-0055655A priority Critical patent/KR100504276B1/en
Publication of KR20040024137A publication Critical patent/KR20040024137A/en
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Publication of KR100504276B1 publication Critical patent/KR100504276B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • 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
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/307—Torque sensors

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

Abstract

PURPOSE: A method for returning a neutral position of a steering wheel of a vehicle is provided to automatically position the steering wheel to the neutral position in parking and stopping the vehicle, accordingly to reduce risks for colliding with adjacent vehicles caused when a driver doesn't check the position of the steering wheel in starting the vehicle, and to reduce the consumption of a battery in the parking and stopping of the vehicle. CONSTITUTION: A method for returning a neutral position of a steering wheel of a vehicle is composed of a door lock detecting unit(120) for detecting the locking state of a vehicle door; a steering angle detecting unit(130) for detecting the absolute value for the steering angle of the vehicle; a starting-condition detecting unit(170) for detecting the starting-on of the vehicle; an auxiliary steering power generating unit(45) for generating the auxiliary steering power; and an ECU(Electronic Control Unit,110) for controlling operations of each unit. In addition, the neutral position returning method of the steering wheel includes steps for deciding parking/stopping intensions of the vehicle based on a starting-off detecting signal from the starting-condition detecting unit and a door locking detecting signal from the door lock detecting unit; deciding the returning of the steering wheel to the neutral position based on a detecting signal from the steering angle detecting unit if parking/stopping intensions exist; and driving the auxiliary steering power generating unit until the steering wheel returns to the neutral position.

Description

차량의 조향 핸들 중립점 복귀 방법{neutral position returning method of steering wheel}Neutral position returning method of steering wheel

본 발명은 차량의 조향 핸들 중립점 복귀 방법에 관한 것으로, 특히 차량에 기 설치된 전동식 동력 조향 장치와 연계하여 주/정차 시 차량의 조향 핸들을 자동으로 중립점에 위치시키는 차량의 조향 핸들 중립점 복귀 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering wheel neutral point return method of a vehicle, and more particularly, to a steering wheel neutral point return of a vehicle for automatically positioning a steering wheel of a vehicle at a neutral point when a vehicle is parked / stopped in connection with an electric power steering device installed in the vehicle. It is about a method.

현재 국내에서는 차량의 대수가 폭증함에 따라 출퇴근 시에는 가히 주차 전쟁이 벌어진다고 해도 과언이 아니며, 비록 동일한 주차 공간일지라도 운전자의 주차 능력이나 습관에 따라서 타이어의 위치 또한 가지각색일 수밖에 없다. 그런데, 이와 같이 타이어의 각도가 제 각각으로 되어 있는 상태에서 운전자가 이를 확인하지 않은 채로 차량의 시동을 걸고 운행을 개시할 때 자칫 아주 가까운 거리에 나란히 주/정차되어 있는 인접 차량과 충돌할 염려가 있었다.It is no exaggeration to say that there is a parking war when commuting due to the explosion of vehicles in Korea. Even in the same parking spaces, tire positions may vary depending on the driver's parking ability or habits. However, when the driver starts the vehicle without starting the vehicle and starts to operate the vehicle in a state where the tire angles are different from each other, there is a danger of colliding with an adjacent vehicle that is parked or stopped side by side at a very close distance. there was.

한편, 근래에는 많은 차량에서 동력 조향 장치를 채택하고 있는데, 이와 같은 동력 조향 장치는 차량의 속도에 따라 조향 핸들의 조타력을 조절하는 것으로, 차량의 속도가 증가하면 조향 핸들의 조타력을 무겁게 하여 안정감을 주고, 차량의 속도가 감소하면 조향 핸들의 조타력을 가볍게 하여 적은 힘으로도 조향 핸들을 조작할 수 있도록 하는 장치이다. 이와 같은 동력 조향 장치에서는 즉시 가동성을 높이기 위한 방편으로 차량의 주/정차 중에 조향 핸들의 현재 각도를 감지하여 주기적으로 메모리에 기억시키고 있는데, 이에 따라 배터리 전력이 낭비되고 전술한 바와 같은 운전 개시 시의 충돌 위험성이 해소되지 않는 문제점이 있다.On the other hand, in recent years, many vehicles employ a power steering device. Such a power steering device adjusts the steering force of the steering wheel according to the speed of the vehicle. As the vehicle speed increases, the steering power of the steering wheel becomes heavy. It gives a sense of stability, and when the speed of the vehicle decreases, the steering wheel of the steering wheel is lightened so that the steering wheel can be operated with a small force. In such a power steering system, the current steering angle of the steering wheel is detected and periodically stored in the memory while the vehicle is parked or stopped. There is a problem that the risk of collision is not solved.

본 발명은 전술한 문제점을 해결하기 위해 안출한 것으로서, 차량의 주/정차 시에 차량의 조향 핸들을 중립점에 위치시킴으로써 운전 개시 시에 조향 핸들의 위치를 확인하지 못함으로 인해 발생하는 인접 차량과의 충돌 위험성을 감소시키고 주/정차 중의 배터리의 낭비도 감소시킬 수 있도록 한 차량의 조향 핸들 중립점 복귀 방법을 제공하는데 그 목적이 있다.The present invention has been made to solve the above-described problems, and the vehicle is adjacent to the vehicle generated by failing to determine the steering wheel position at the start of driving by positioning the steering wheel of the vehicle at a neutral point when the vehicle is stopped / stopped; It is an object of the present invention to provide a steering wheel neutral point return method of a vehicle to reduce the risk of collision and reduce the waste of batteries during parking / stopping.

전술한 목적을 달성하기 위한 본 발명은 차량 도어의 록킹 여부를 검출하는 도어록 검출부, 차량의 절대치 조향각을 검출하는 조향각 검출부, 시동 온 여부를 검출하는 시동상태 검출부, 보타력을 발생하는 보타력 발생부 및 상기 각 부를 동작을 제어하는 전자 제어 유니트를 기반으로 하여 이루어진 차량의 중립점 복귀 방법에 있어서, (a) 상기 시동상태 검출부로부터의 시동 오프 검출 신호 및 상기 도어록 검출부로부터의 도어록킹 검출 신호에 의거하여 차량의 주/정차 의사의 존부를 판단하는 단계 및 (b) 상기 단계 (a)에서의 판단 결과, 주/정차 의사가 존재하는 경우에는 상기 조향각 검출부로부터의 검출 신호에 의거하여 조향 핸들의 중립점 복귀 여부를 판단하면서 상기 중립점에 복귀할 때까지 상기 보타력 발생부를 구동하는 단계를 포함하여 이루어진 것을 특징으로 한다.The present invention for achieving the above object is a door lock detection unit for detecting whether the vehicle door is locked, a steering angle detection unit for detecting the absolute steering angle of the vehicle, a start state detection unit for detecting whether the start-up, a steering force generating unit for generating a steering force And a neutral point return method for a vehicle made based on an electronic control unit for controlling the operation of each unit, the method comprising: (a) based on a start-off detection signal from the start state detection unit and a door lock detection signal from the door lock detection unit; Judging the presence / absence of the vehicle's starting / stopping intention; and (b) neutralizing the steering wheel on the basis of the detection signal from the steering angle detecting unit, if the determination of the parking / stopping is present. Driving the coercive force generating unit until it returns to the neutral point while determining whether to return a point. Characterized in that binary luer.

도 1은 일반적인 전동식 동력 조향 장치의 개략적인 구성도,1 is a schematic configuration diagram of a general electric power steering device,

도 2는 본 발명의 차량의 조향 핸들 중립점 복귀 방법이 적용될 수 있는 차량의 전기적인 블록 구성도,2 is an electrical block diagram of a vehicle to which the steering wheel neutral point return method of the vehicle of the present invention can be applied;

도 3은 본 발명의 차량의 조향 핸들 중립점 복귀 방법을 설명하는 플로우차트이다.3 is a flowchart illustrating a steering wheel neutral point return method of the vehicle of the present invention.

*** 도면의 주요 부분에 대한 부호의 설명*** Explanation of symbols for the main parts of the drawings

40: 조향 핸들,41: 조향각 센서,40: steering wheel, 41: steering angle sensor,

42: 조향축,43: 토오크 센서,42: steering shaft, 43: torque sensor,

44: 차속 센서,45: 보타력 발생모터,44: vehicle speed sensor, 45: steering force generating motor,

46: 콘트롤러,47: 베벨 기어,46: controller, 47: bevel gear,

48: 랙바,49: 피니언 기어,48: rack bar, 49: pinion gear,

50: 바퀴,110: 전자제어 유니트,50: wheels, 110: electronic control unit,

120: 도어록 검출부,130: 조향각 검출부,120: door lock detection unit, 130: steering angle detection unit,

140: 자동복귀 설정부,150: 모터 구동부,140: automatic return setting unit, 150: motor drive unit,

160: 데이터 저장부,170: 시동상태 검출부160: data storage unit 170: start state detection unit

이하 첨부한 도면을 참조하여 본 발명의 차량의 조향 핸들의 중립점 복귀 방법의 바람직한 실시예에 대해서 상세하게 설명한다.Hereinafter, a preferred embodiment of the neutral point return method of the steering wheel of the vehicle according to the present invention will be described in detail.

도 1은 일반적인 전동식 동력 조향 장치의 개략적인 구성도이다. 도 1에 도시한 바와 같이, 전동식 동력 조향 장치의 구성은 조향 핸들(40)의 절대치 조향각을 감지하는 조향각 센서(41), 조향축(42) 내에 설치되어 조향 비틀림을 감지하는 토오크 센서(43), 차량의 진행 속도를 감지하는 차속 센서(44), 보타력을 발생하는 보타력 발생모터(45) 및 조향각 센서(41), 차속 센서(44)와 토오크 센서(43)로부터 입력되는 신호를 처리하여 보타력 발생모터(45)의 구동을 제어하는 컨트롤러(46)를 포함하여 이루어진다.1 is a schematic configuration diagram of a general electric power steering apparatus. As shown in FIG. 1, the electric power steering apparatus includes a steering angle sensor 41 for detecting an absolute steering angle of the steering handle 40 and a torque sensor 43 installed in the steering shaft 42 to detect a steering twist. The vehicle receives a signal input from the vehicle speed sensor 44 for detecting the traveling speed of the vehicle, the steering force generating motor 45 for generating the steering force, the steering angle sensor 41, the vehicle speed sensor 44, and the torque sensor 43. It comprises a controller 46 for controlling the drive of the steering force generating motor (45).

한편, 조향축(42)의 단부에는 랙바(48)와 기어 결합된 피니언 기어(49)가 설치되어 조향축(42)의 회전 운동이 랙바(48)의 직선 운동으로 변환되어 바퀴(50)를 조향할 수 있도록 되어 있다. 보타력 발생모터(45)의 구동력은 베벨 기어(47)를 통해 조향축(42)에 보타력을 전달하는 구조로 이루어져 있다.On the other hand, the pinion gear 49 geared with the rack bar 48 is installed at the end of the steering shaft 42, the rotational movement of the steering shaft 42 is converted to the linear movement of the rack bar 48 to the wheel 50 It is designed to steer. The driving force of the steering force generating motor 45 is configured to transmit the steering force to the steering shaft 42 through the bevel gear 47.

도 2는 본 발명의 차량의 조향 핸들 중립점 복귀 방법이 적용될 수 있는 차량의 전기적인 블록 구성도로서, 전동식 동력 조향 장치의 일부 구성을 공용할 수 있다. 도 2에 도시한 바와 같이, 본 발명의 차량의 조향 핸들 중립점 복귀 방법이 적용될 수 있는 차량의 전기적인 구성은 도어의 록킹 또는 언록킹 상태를 검출하는 도어록 검출부(120), 조향 핸들의 절대치 조향각을 검출하는 조향각 검출부(130), 보타력 발생모터(45)와 보타력 발생모터(45)를 구동하는 모터 구동부(150), 시동 온 여부를 검출하는 시동상태 검출부(170) 및 장치의 동작에 필요한 각종 프로그램이나 데이터를 저장하는 데이터 저장부(160) 및 상기한 각 부의 전반적인 동작을 제어하는 전자제어 유니트(110)를 포함하여 이루어질 수 있다.2 is an electrical block diagram of a vehicle to which the steering wheel neutral point return method of the vehicle of the present invention may be applied, and some components of the electric power steering apparatus may be shared. As shown in Figure 2, the electric configuration of the vehicle to which the steering wheel neutral point return method of the vehicle of the present invention can be applied, the door lock detection unit 120 for detecting the locking or unlocking state of the door, the absolute steering angle of the steering wheel Steering angle detection unit 130 for detecting the operation, the steering force generating motor 45 and the motor driving unit 150 for driving the steering force generating motor 45, the starting state detection unit 170 for detecting whether the start-up and the operation of the device It may include a data storage unit 160 for storing the necessary various programs or data, and the electronic control unit 110 for controlling the overall operation of the above-described parts.

전술한 구성에서, 조향각 검출부(130)는 조향각 센서(41)와 그 주변 회로 소자를 포함하여 이루어질 수 있다. 도어록 검출부(120) 및 시동상태 검출부(170)는 차량의 각종 안전, 방범 또는 편의 장치에서 알려진 것을 그대로 채택할 수 있을 것이다. 미설명 부호 140은 본 발명의 차량의 조향 핸들 중립점 복귀 방법의 가동 여부를 지시하는 자동복귀 설정부를 나타내는 바, 예를 들어 운전석 전방의 인스트루먼트 패널 상에 쌍안정 스위치 형태로 설치되어 운전자의 의사를 입력받는데 사용된다.In the above-described configuration, the steering angle detector 130 may include a steering angle sensor 41 and its peripheral circuit elements. The door lock detector 120 and the starting state detector 170 may adopt what is known from various safety, crime prevention, or convenience devices of the vehicle. Reference numeral 140 denotes an automatic return setting unit for instructing whether or not the steering wheel neutral point return method of the vehicle of the present invention is operated. For example, it is installed in the form of a bi-stable switch on the instrument panel in front of the driver's seat to provide the driver's intention. Used to receive input.

도 3은 본 발명의 차량의 조향 핸들 중립점 복귀 방법을 설명하는 플로우차트인 바, 전자제어 유니트(110)가 주체가 되어 수행함을 밝혀 둔다. 도 3에 도시한 바와 같이, 본 발명의 차량의 조향 핸들 중립점 복귀 방법에 따르면 단계(S2)에서는 시동상태 검출부(170)로부터의 검출 신호에 의거하여 차량의 시동이 오프되어 있는 지를 확인한다. 단계(S2)에서의 확인 결과, 시동이 오프되어 있는 경우에는 단계(S4)에서 도어록 검출부(120)로부터의 검출 신호에 의거하여 도어가 록킹되어 있는 지를 확인한다.3 is a flowchart illustrating a method for returning a steering wheel neutral point of a vehicle according to the present invention, and the electronic control unit 110 is performed as a main body. As shown in FIG. 3, according to the steering wheel neutral point return method of the vehicle of the present invention, in step S2, it is checked whether the vehicle is turned off based on the detection signal from the starting state detection unit 170. As a result of the check in step S2, when the start is turned off, it is checked in step S4 whether the door is locked based on the detection signal from the door lock detection unit 120.

다시 단계(S4)에서의 확인 결과, 모든 도어가 록킹되어 있으면, 운전자가 현재 차량을 주/정차시킨 상태에 있다고 판단하고, 단계(S10)를 수행하여 자동복귀 설정부(140)로부터 중립점 자동복귀 의사가 존재하는 지를 판단한다. 단계(S10)에서의 판단 결과, 중립점 자동복귀 의사가 존재하지 않는 경우에는 프로그램을 종료하고, 존재하는 경우에는 단계(S20)에서 조향각 검출부(130)로부터의 검출 신호에 의거하여 조향 핸들의 절대치 조향각을 확인하게 된다.As a result of checking in step S4 again, if all the doors are locked, it is determined that the driver is in a state of stopping / stopping the vehicle at present, and performing step S10, the neutral point is automatically set from the automatic return setting unit 140. Determine if there is a return intent. As a result of the determination in step S10, if the neutral point automatic return intention does not exist, the program is terminated, and if present, the absolute value of the steering wheel based on the detection signal from the steering angle detector 130 in step S20. The steering angle is checked.

다시, 단계(S30)에서는 단계(S20)에서 확인된 절대치 조향각이 중립점에 복귀하였는 지를 판단하는데, 복귀하지 않은 경우에는 단계(S40)로 진행하여 중립점을 향하는 방향으로 보타력 발생모터(45)를 정해진 량만큼 구동한 후에 단계(S20)로 복귀하게 된다. 이렇게 하여 단계(S30)에서 중립점 복귀가 확인된 경우에 프로그램은 종료된다. 그리고, 이렇게 프로그램이 종료된 경우에는 조향 핸들이 중립점에 위치하기 때문에 구태여 조향각을 검출하여 메모리에 수시로 저장할 필요가 없어진다.Again, in step S30 it is determined whether the absolute steering angle identified in step S20 has returned to the neutral point. If not, proceed to step S40 and the steering force generating motor 45 in the direction toward the neutral point. ) Is driven by a predetermined amount, and then the process returns to step S20. In this way, when the neutral point return is confirmed in step S30, the program ends. When the program is ended, the steering wheel is located at the neutral point so that the steering angle is not detected and stored in the memory at any time.

본 발명의 차량의 조향 핸들 중립점 복귀 방법은 전술한 실시예에 국한되지 않고 본 발명의 기술 사상이 허용하는 범위 내에서 다양하게 변형하여 실시할 수가 있다.The steering wheel neutral point return method of the vehicle of the present invention is not limited to the above-described embodiments, and can be modified in various ways within the scope of the technical idea of the present invention.

이상에서 설명한 바와 같은 본 발명의 차량의 중립점 복귀 방법에 따르면, 차량의 주/정차 시에 차량의 조향 핸들을 자동으로 중립점에 위치시킴으로써 운전 개시 시에 조향 핸들의 위치를 확인하지 못함으로 인해 발생하는 인접 차량과의 충돌 위험성을 감소시키고 주/정차 중의 배터리의 낭비도 감소시킬 수 있는 효과가 있다.According to the neutral point return method of the vehicle of the present invention as described above, because the steering wheel of the vehicle is automatically located at the neutral point when the vehicle is stopped or stopped, the steering wheel cannot be checked at the start of driving. There is an effect that can reduce the risk of collisions with adjacent vehicles occurring, and also reduce the waste of batteries during parking / stopping.

Claims (1)

차량 도어의 록킹 여부를 검출하는 도어록 검출부, 차량의 절대치 조향각을 검출하는 조향각 검출부, 시동 온 여부를 검출하는 시동상태 검출부, 보타력을 발생하는 보타력 발생부 및 상기 각 부를 동작을 제어하는 전자 제어 유니트를 기반으로 하여 이루어진 차량의 중립점 복귀 방법에 있어서,Door lock detection unit for detecting whether the vehicle door is locked, steering angle detection unit for detecting the absolute steering angle of the vehicle, starting state detection unit for detecting the start-up, a steering force generating unit for generating the steering force and electronic control for controlling the operation of each unit In the neutral point return method of the vehicle made based on the unit, (a) 상기 시동상태 검출부로부터의 시동 오프 검출 신호 및 상기 도어록 검출부로부터의 도어록킹 검출 신호에 의거하여 차량의 주/정차 의사의 존부를 판단하는 단계 및(a) determining the presence / absence of the starting / stopping intention of the vehicle based on the start-off detection signal from the start state detection unit and the door locking detection signal from the door lock detection unit; (b) 상기 단계 (a)에서의 판단 결과, 주/정차 의사가 존재하는 경우에는 상기 조향각 검출부로부터의 검출 신호에 의거하여 조향 핸들의 중립점 복귀 여부를 판단하면서 상기 중립점에 복귀할 때까지 상기 보타력 발생부를 구동하는 단계를 포함하여 이루어진 것을 특징으로 하는 차량의 조향 핸들 중립점 복귀 방법.(b) If the determination result of step (a) indicates that there is a parking / stopping intention, it returns to the neutral point while determining whether the steering wheel returns to the neutral point based on the detection signal from the steering angle detector. Steering wheel neutral point return method of a vehicle, characterized in that comprising the step of driving the steering force generating unit.
KR10-2002-0055655A 2002-09-13 2002-09-13 neutral position returning method of steering wheel KR100504276B1 (en)

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WO2014155311A1 (en) * 2013-03-27 2014-10-02 Tata Motors Limited A system for centre alignment of wheels of a vehicle and a method thereof
US20150134201A1 (en) * 2013-11-08 2015-05-14 Ford Global Technologies, Llc Tire windup compensation
CN113581283A (en) * 2021-08-31 2021-11-02 奇瑞汽车股份有限公司 Steering wheel control method, device, equipment and medium
CN114162212A (en) * 2020-09-10 2022-03-11 长城汽车股份有限公司 Automatic steering correcting method and automobile
CN114524018A (en) * 2022-03-04 2022-05-24 奇瑞汽车股份有限公司 Control method, device and equipment of steering wheel and storage medium

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JPH01247272A (en) * 1988-03-30 1989-10-03 Aisin Seiki Co Ltd Motor-driven power steering device
KR980001634A (en) * 1996-06-07 1998-03-30 오상수 Steering system
KR19980031394A (en) * 1996-10-31 1998-07-25 양재신 In-place restoring device of steering wheel when key off
KR100387464B1 (en) * 1999-12-23 2003-06-18 현대자동차주식회사 Controlling device and method for auto parking of vehicle

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WO2014155311A1 (en) * 2013-03-27 2014-10-02 Tata Motors Limited A system for centre alignment of wheels of a vehicle and a method thereof
US20150134201A1 (en) * 2013-11-08 2015-05-14 Ford Global Technologies, Llc Tire windup compensation
US9434415B2 (en) 2013-11-08 2016-09-06 Ford Global Technologies, Llc Tire windup compensation
CN114162212A (en) * 2020-09-10 2022-03-11 长城汽车股份有限公司 Automatic steering correcting method and automobile
CN113581283A (en) * 2021-08-31 2021-11-02 奇瑞汽车股份有限公司 Steering wheel control method, device, equipment and medium
CN114524018A (en) * 2022-03-04 2022-05-24 奇瑞汽车股份有限公司 Control method, device and equipment of steering wheel and storage medium

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