SE544214C2 - A method of calibrating a steering arrangement of a vehicle - Google Patents
A method of calibrating a steering arrangement of a vehicleInfo
- Publication number
- SE544214C2 SE544214C2 SE1951534A SE1951534A SE544214C2 SE 544214 C2 SE544214 C2 SE 544214C2 SE 1951534 A SE1951534 A SE 1951534A SE 1951534 A SE1951534 A SE 1951534A SE 544214 C2 SE544214 C2 SE 544214C2
- Authority
- SE
- Sweden
- Prior art keywords
- angle
- steering
- wheels
- pair
- steering wheel
- Prior art date
Links
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
- B62D5/0457—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
-
- 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
- B62D5/046—Controlling the motor
- B62D5/0469—End-of-stroke control
-
- 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
- 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
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
- B62D6/005—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis treating sensor outputs to obtain the actual yaw rate
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- 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
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
A method of calibrating a steering arrangement (1) of a vehicle, wherein the vehicle comprises a pair of wheels (2, 3) connected to the steering arrangement (1), wherein the method comprises the steps of determining a maxim um steering angle αmax of said pair of wheels (2, 3), determining a maxim um steering wheel angle βmax that corresponds to said maxim um steering angle αmax of said pair of wheels (2, 3), and configuring the electric control unit (11) such that it will control the electric motor (10) to apply a torque that counteracts a turning of the steering wheel (6) beyond said maxim um steering wheel angle. The step of determining the maxim um steering angle of the pair of wheels (2, 3) comprises measuring the steering angle of the pair of wheels (2, 3) by means of a gyro (12) connected to at least one of said wheels (2, 3).
Description
A method of and a device for calibrating a steeringarrangement of a vehicle TECHNICAL FIELD The present invention relates to a method of calibrating a steeringarrangement of a vehicle, wherein the vehicle comprises a pair ofwheels connected to the steering arrangement, and the methodcomprises determining a maximum steering angle of said pair ofwheels, determining a maximum steering wheel angle thatcorresponds to said maximum steering angle of said pair ofwheels, and configuring an electric control unit such that it willcontrol an electric motor to apply a torque that counteracts aturning of the steering wheel beyond said maximum steering wheel angle.
The invention also relates to a device for the calibration of a steering arrangement of a vehicle.
BACKGROUND Steering arrangements comprising a base gear and an electro-motor assisted servo unit are known. The servo unit comprisesthree main parts, namely a first part comprising an input shaft froma steering wheel and a servo gear, a second part which comprisesan electric motor for applying a torque that assists or counteractsthe torque applied by a driver onto the input shaft, and, finally, athird part comprising an electric control unit which controls theoperation of the electric motor. The first part also comprises a sensor for sensing the torque applied by a driver onto the input shaft, and a sensor for sensing the angle of the steering wheel, asmeasured from a neutral position in which the wheels are generally in parallel with a longitudinal direction of the vehicle.
During calibration of the steering arrangement, the wheels to besteered are positioned on rotational plates arranged on theground. The steering wheel is used for turning the wheels to apredetermined maximum steering angle. The rotational plates areequipped with indication marks showing their rotation angle.Either, the wheels are rotated to a predefined angle which isdefined as the maximum steering angle, regardless of if the wheelscan be further turned, and the corresponding steering wheel anglethat Alternatively, the wheels are turned until they reach an end is registered by the sensor dedicated for purpose.position in which they cannot be further turned, wherein that angleis defined as the maximum steering angle, and the correspondingsteering wheel angle is registered as the maximum steering wheel angle.
The maximum steering wheel angle is an angle at which, duringlater operation of the vehicle, the electric motor is assumed togenerate a torque that counteract the torque applied by the driver,such that further turning of the steering wheel is effectivelyprevented, up to the maximum torque of the electric motor. Suchfurther turning is to be avoided, since it results in excessiveheating of the hydraulic liquid in the servo unit. The control unit isprogrammed such that it controls the electric motor to apply acounteracting torque already at a steering wheel angle which isbelow the maximum steering wheel angle, and to ramp up the counteracting torque as the steering wheel is further turned towards its maximum steering angle, such that the counteractingtorque finally fully equals the torque applied by the driver andthereby prevents further turning of the latter.
The rotational plates that are used for the calibration are heavyand costly, and the calibration using such rotational plates is alsolabor intensive and therefore costly. lt is therefore an object of thepresent invention to present an alternative solution which is less complicated to use for the calibration.
SUMMARY The object of the invention is achieved by means of a method ofcalibrating a steering arrangement of a vehicle, wherein thevehicle comprises a pair of wheels connected to the steeringarrangement, and the steering arrangement comprises. -a steering servo device, connected to the pair of wheels via a firstshaft, -a steering wheel connected to the steering servo device via asecond shaft, -a first sensor configured to measure the steering wheel angle,-an electric motor configured to apply a torque on the second shaftwhich torque is added to or which counteracts a torque applied bythe driver onto the second shaft, -an electric control unit connected to the first sensor andconfigured to control the electric motor on basis of input from thefirst sensor.
The method comprises the steps of: -determining a maximum steering angle of said pair of wheels, -determining a maximum steering wheel angle that corresponds tosaid maximum steering angle of said pair of wheels, and -configuring the electric control unit such that it will control theelectric motor to apply a torque that counteracts a turning of thesteering wheel beyond said maximum steering wheel angle, andwherein the step of determining the maximum steering angle of thepair of wheels comprises measuring the steering angle of the pairof wheels by means of a gyro connected to at least one of said wheels.
The method is applicable to vehicles that have conventionalcommon steering for the left and right wheel and vehicles that haveseparate suspension and individual steering of the wheels of said pair of wheels.
The first sensor may also be configured to measure the steeringwheel angle indirectly, e.g. by measuring a cylinder position orsimilar which can be related to the steering wheel angle.Furthermore, with steering wheel is herein meant a device capableof steering the pair of wheels and may be e.g. a literal wheel or a joystick or similar.
According to one embodiment, the measuring gyro is connected toa right wheel for meausurement of steering angle at right turn, andconnected to the left wheel for measurement of the steering angleat left turn. Other solutions are, however, also conceivable.
According to one embodiment, the step of determining themaximum steering angle of said pair of wheels comprises simultaneously measuring the steering angle of each of the wheels, with a first gyro on the right wheel and a second gyro on the left wheel.
According to one embodiment, the steering arrangement alsocomprises a second sensor configured to measure the torqueapplied by a driver onto the second shaft, wherein the electriccontrol unit is also connected to the second sensor and configuredto control the electric motor on basis of input also from the second SGHSOF. lt should be understood that the first and second sensors may becomprised by or be incorporated in one and the same sensor unit, but are defined as separate sensors for the sake of clarity.
A gyro has the advantage of being easy to attach to a wheel, andwill be less bulky than today's rotational plates. Preferably, thegyro is temporarily connected to one or more of the wheel boltsduring the calibration process, and then easily removed.
According to one embodiment, the step of determining themaximum steering angle of said pair of wheels comprises turningthe pair of wheels until the gyro indicates that a predefined angledefined as a maximum steering angle is obtained. This angle doesnot necessarily have to be an absolute maximum steering angle,but is thus merely chosen to be defined as such. During operationof the vehicle, the electric motor will thus apply a counteractingtorque that prevents a driver from turning the steering wheelbeyond the corresponding maximum steering wheel angle, unlessthe driver applies a torque that exceeds the maximum torque of the electric motor.
According to one embodiment, the step of determining themaximum steering angle of said pair of wheels comprises turningthe pair of wheels until an end position is reached at which nofurther turning is possible and at which the gyro indicates a changeof steering angle per time unit of zero, and defining the steeringangle of the end position as the maximum steering angle. Duringoperation of the vehicle, the electric motor will thus apply acounteracting torque that prevents a driver from turning thesteering wheel beyond the corresponding maximum steering wheelangle, unless the driver applies a torque that exceeds the maximum torque of the electric motor.
According to one embodiment, the control unit is configured tocontrol the electric motor to apply a counteracting torque at a firststeering wheel angle which is less than said maximum steeringwheel angle, and to ramp up the counteracting torque as thesteering wheel angle increases from said first steering wheel angleto the maximum steering wheel angle. A driver will thus experiencea slight resistance to further turning of the steering wheel as thefirst steering wheel angle is reached. lf he or she continues to turnthe steering wheel towards the maximum steering wheel angle, thecounteracting torque will increase correspondingly. At themaximum steering wheel angle, the driver has to apply a torquelarger than the maximum torque of the electric motor in order toturn the steering wheel further. lt is a matter of choice and designto provide a sufficiently strong electric motor, such that the torqueof the electric motor is very unlikely to be overcome by the driver when reaching the maximum steering wheel angle.
According to one embodiment the control unit is configured toapply a counteracting torque which is lower than the torque appliedby a driver at said first steering wheel angle and which counteracting torque is equal to the torque applied by the driver at the maximum steering wheel angle.
BRIEF DESCRIPTION OF THE DRAWING Fig. 1 is a schematic representation of a part of a vehicle on which the method according to the invention is applied, Fig. 2 is a flow scheme showing a first embodiment of the method of the invention and Fig. 3 is a flow scheme showing a second embodiment of the method of the invention.
DETAILED DESCRIPTION Fig. 1 shows a part of a vehicle on which the method of theThe arrangement 1, and a pair of wheels 2, 3 connected to the steering invention is applied. vehicle comprises a steering arrangement 1 via a steering linkage system 13. The steeringlinkage system 13 is only shown by way of example, and it shouldbe understood that the invention is applicable to numerousalternative steering linkage systems, known to the person skilled in the art.
The steering arrangement 1 comprises a steering servo device 4,connected to the pair of wheels 2, 3 via a first shaft 5, which maybe referred to as an output shaft from the steering servo device 4.The steering arrangement 1 further comprises a steering wheel 6connected to the steering servo device 4 via a second shaft 7 ,which may be referred to as an input shaft to the steering servo device 4.
A first sensor 8 is provided to measure the steering wheel angleß, and a second sensor 9 is provided to measure the torqueapplied by a driver onto the input shaft 7 via the steering wheel 6.The steering arrangement1 further comprises an electric motor 10configured to apply a torque on the input shaft 7, which torque isadded to or which counteracts the torque applied by the driver onto the input shaft 7.
An electric control unit 11 is connected to the first and secondsensors 8, 9 and configured to control the electric motor 10 on basis of input from the first and second sensors 8, 9.
The method of the invention comprises determining a maximumsteering angle ormax of said pair of wheels 2, 3, followed bythat corresponds to said maximum steering angle ormax of said pair of determining a maximum steering wheel angle ßmaxwheels 2, 3, and configuring the electric control unit 11 such that it will control the electric motor 10 to apply a torque thatcounteracts a turning of the steering wheel 6 beyond saidmaximum steering wheel angle ßmax. The configuring of theelectric control unit 11 may comprise putting in ßmax into a computer program used by the electric control unit 11 for the control of the electric motor 10. The torque applied by the electricmotor 10 at ßmax is based on the torque applied by the driver ontothe input shaft 7, and equals the latter such that further turning ofthe steering wheel 6 is prevented by the electric motor 10 when ßmax is reached during driving of the vehicle.
The step of determining the maximum steering angle ormax of thepair of wheels 2, 3 comprises measuring the steering angle or ofthe pair of wheels 2, 3 by means of a gyro 12 connected to one ofsaid wheels 2, 3. ln this case, the gyro 12 is connected to the rightwheel 3 when calibrating right turn, and connected to the left wheelwhen calibrating left turn (or2, ß2 in fig. 1). The gyro 12 isconfigured to measure the steering angle or and to measure dor/dtor at least to be able to register when dor/dt=0. The gyro 12 isconnected to the wheel 3 via one or more of the wheel bolts of the wheel (not shown).
According to one embodiment, shown in fig. 2, the step ofdetermining the maximum steering angle ormax of said pair ofwheels 2, 3 comprises turning the pair of wheels 2, 3 until the gyro12 indicates that a predefined angle or, defined as a maximum steering angle ormax, is obtained.
According to one embodiment, shown in fig. 3, the step ofdetermining the maximum steering angle ormax of said pair ofwheels 2, 3 comprises turning the pair of wheels 2, 3 until an endposition is reached at which no further turning is possible and atwhich the gyro 12 indicates a change of steering angle per time unit, dor/dt, of zero, and defining the steering angle or of the end 11 position as the maximum steering angle ormax of the pair of wheels2, 3.
Needless to say, the calibration should be performed in both of the opposite steering directions or, or2 of the pair of wheels 2, 3.
The control unit 11 may be configured to control the electric motor10 to apply a counteracting torque at a first steering wheel anglewhich is less than said maximum steering wheel angle ßmax, andto ramp up the counteracting torque as the steering wheel angle ßincreases from said first steering wheel angle to the maximumsteering wheel angle ßmax. This gives the driver the informationthat he or she will very soon be at the maximum steering wheelangle ßmax if he or she continues turning the steering in the givendirection. The control unit is thus configured to apply acounteracting torque which is lower than the torque applied by adriver at said first steering wheel angle and which counteractingtorque is equal to the torque applied by the driver at the maximum steering wheel angle ßmax.
Claims (6)
1. 1. A method of calibrating a steering arrangement (1) of a vehicle,wherein the vehicle comprises a pair of wheels (2, 3) connected tothe steering arrangement (1), and the steering arrangement (1)comprises. -a steering servo device (4), connected to the pair of wheels (2, 3)via a first shaft (5), -a steering wheel connected to the steering servo device (4) via asecond shaft (7), -a first sensor (8) configured to measure the steering wheel angle(ß), -an electric motor (10) configured to apply a torque on the secondshaft (7) which torque is added to or which counteracts a torqueapplied by the driver onto the second shaft (7), -an electric control unit (11) connected to the first sensor (8) andconfigured to control the electric motor (10) on basis of input fromthe first sensor (8), wherein the method comprises the steps of-determining a maximum steering angle ormax of said pair ofwheels (2, 3), -determining a maximum steering wheel thatcorresponds to said maximum steering angle ormax of said pair ofwheels (2, 3), and -configuring the electric control unit (11) such that it will control angle ßmax the electric motor (10) to apply a torque that counteracts a turningof the steering wheel (6) beyond said maximum steering wheelangle ßmax, and wherein the step of determining the maximumsteering angle ormax of the pair of wheels (2, 3) comprisesmeasuring the steering angle of the pair of wheels (2, 3) by means of a gyro (12) connected to at least one of said wheels (2, 3).
2. A method according to claim 1, wherein the step of determiningthe maximum steering angle of said pair of wheels (2, 3) comprisesturning the pair of wheels (2, 3) until the gyro (12) indicates that defined as a maximum steering angle ormax is obtained.
3. A method according to claim 1, wherein the step of determiningmaximum steering angle of said pair of wheels (2, 3) comprisesturning the pair of wheels (2, 3) until an end position is reached atwhich no further turning is possible and at which the gyro indicatesa change of steering angle per time unit of zero, and defining thesteering angle of the end position as the maximum steering angle GmaX.
4. A method according to any one of claims 1-3, wherein thesteering arrangement (1) also comprises a second sensor (9)configured to measure the torque applied by a driver onto thesecond shaft (7), wherein the electric control unit (11) is alsoconnected to the second sensor (9) and configured to control the electric motor (10) on basis of input also from the second sensor (9).
5. A method according to any one of claims 1-4, wherein thecontrol unit (11) is configured to control the electric motor (10) toapply a counteracting torque at a first steering wheel angle whichis less than said maximum steering wheel angle, and to ramp upthe counteracting torque as the steering wheel angle increasesfrom said first steering wheel angle to the maximum steering wheel angle.
6. A method according to any one of claims 1-5, wherein thecontrol unit (11) is configured to apply a counteracting torquewhich is lower than the torque applied by a driver at said firststeering wheel angle and which counteracting torque is equal tothe torque applied by the driver at the maximum steering wheel angle.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1951534A SE544214C2 (en) | 2019-12-20 | 2019-12-20 | A method of calibrating a steering arrangement of a vehicle |
| BR102020023323-8A BR102020023323A2 (en) | 2019-12-20 | 2020-11-16 | method and device for calibrating a vehicle steering arrangement |
| DE102020130704.7A DE102020130704B4 (en) | 2019-12-20 | 2020-11-20 | Method and device for calibrating a steering arrangement of a vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1951534A SE544214C2 (en) | 2019-12-20 | 2019-12-20 | A method of calibrating a steering arrangement of a vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE1951534A1 SE1951534A1 (en) | 2021-06-21 |
| SE544214C2 true SE544214C2 (en) | 2022-03-01 |
Family
ID=76206641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE1951534A SE544214C2 (en) | 2019-12-20 | 2019-12-20 | A method of calibrating a steering arrangement of a vehicle |
Country Status (3)
| Country | Link |
|---|---|
| BR (1) | BR102020023323A2 (en) |
| DE (1) | DE102020130704B4 (en) |
| SE (1) | SE544214C2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220014526A (en) | 2020-07-29 | 2022-02-07 | 주식회사 만도 | Steering contorl system, steering control apparatus and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19825740A1 (en) * | 1998-06-09 | 1999-12-16 | Hofmann Werkstatt Technik | Method to determine angular positions of vehicle wheels |
| US20070088477A1 (en) * | 2005-10-15 | 2007-04-19 | Brewer Douglas E | Vehicle gyro based steering assembly angle and angular rate sensor |
| US20150025742A1 (en) * | 2013-07-17 | 2015-01-22 | GM Global Technology Operations LLC | Systems and methods for variable steering assist |
| EP3069959A1 (en) * | 2015-03-16 | 2016-09-21 | Jtekt Corporation | Steering system |
| DE102019107768A1 (en) * | 2018-03-28 | 2019-10-02 | GM Global Technology Operations LLC | Systems and methods for automatically determining a center of an autonomous steering system |
| US20190367074A1 (en) * | 2018-06-04 | 2019-12-05 | Ford Global Technologies, Llc | Steer-by-wire steering systems for vehicles and related methods |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008001179B4 (en) | 2008-04-15 | 2017-02-02 | Robert Bosch Automotive Steering Gmbh | Method for operating a steering system in a vehicle |
| DE102011122772A1 (en) | 2011-11-02 | 2013-05-02 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Electrical limitation of a steering device travel |
-
2019
- 2019-12-20 SE SE1951534A patent/SE544214C2/en unknown
-
2020
- 2020-11-16 BR BR102020023323-8A patent/BR102020023323A2/en unknown
- 2020-11-20 DE DE102020130704.7A patent/DE102020130704B4/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19825740A1 (en) * | 1998-06-09 | 1999-12-16 | Hofmann Werkstatt Technik | Method to determine angular positions of vehicle wheels |
| US20070088477A1 (en) * | 2005-10-15 | 2007-04-19 | Brewer Douglas E | Vehicle gyro based steering assembly angle and angular rate sensor |
| US20150025742A1 (en) * | 2013-07-17 | 2015-01-22 | GM Global Technology Operations LLC | Systems and methods for variable steering assist |
| EP3069959A1 (en) * | 2015-03-16 | 2016-09-21 | Jtekt Corporation | Steering system |
| DE102019107768A1 (en) * | 2018-03-28 | 2019-10-02 | GM Global Technology Operations LLC | Systems and methods for automatically determining a center of an autonomous steering system |
| US20190367074A1 (en) * | 2018-06-04 | 2019-12-05 | Ford Global Technologies, Llc | Steer-by-wire steering systems for vehicles and related methods |
Also Published As
| Publication number | Publication date |
|---|---|
| BR102020023323A2 (en) | 2021-07-06 |
| SE1951534A1 (en) | 2021-06-21 |
| DE102020130704A1 (en) | 2021-06-24 |
| DE102020130704B4 (en) | 2023-09-28 |
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