WO2005100132A1 - Systeme de direction - Google Patents

Systeme de direction Download PDF

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Publication number
WO2005100132A1
WO2005100132A1 PCT/EP2005/003908 EP2005003908W WO2005100132A1 WO 2005100132 A1 WO2005100132 A1 WO 2005100132A1 EP 2005003908 W EP2005003908 W EP 2005003908W WO 2005100132 A1 WO2005100132 A1 WO 2005100132A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
steering system
actuator
torque
actuating device
Prior art date
Application number
PCT/EP2005/003908
Other languages
German (de)
English (en)
Inventor
Dieter Ammon
Ingo Dudeck
Axel Gern
Rainer Möbus
Volker Oltmann
Reinhold Schöb
Bernd Woltermann
Zoltan Zomotor
Original Assignee
Daimlerchrysler Ag
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 Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Priority to US11/587,394 priority Critical patent/US20070256885A1/en
Publication of WO2005100132A1 publication Critical patent/WO2005100132A1/fr

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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • 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
    • B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
    • 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
    • B62D5/0472—Controlling the motor for damping vibrations
    • 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

Definitions

  • the invention relates to steering system according to the preamble of patent claim 1.
  • the steering wheel of the vehicle is mechanically coupled to the steerable vehicle wheels.
  • DE 102 20 123 AI shows an overlay steering system with an overlay device.
  • the handle size generated by the steering actuation of the steering handle and an overlay size generated by an overlay actuator become an output variable Liberiaert by the overlay device.
  • the steering angle on the steerable vehicle wheels is adjusted by a steering actuator in accordance with the output variable.
  • BESTATIGUNGSKOPIE It is an object of the present invention to provide a steering system that improves the possibilities for active, driver-independent steering interventions.
  • the steering system according to the invention makes it possible, for example, to undertake driving dynamics interventions. It is known, for example, to influence the steering alternatively or in addition to actuating the brakes by means of dynamic vehicle systems, such as ESP systems, if the vehicle has an actual yaw rate that deviates from the target yaw rate. Steering interventions of this type can be carried out with the steering system according to the invention without the driver having irritating repercussions from the active steering intervention on the steering handle.
  • the overlay actuator and the actuating device are activated simultaneously.
  • the steering angle on the steerable vehicle wheels is influenced via the overlay actuator or the adjusting device.
  • the reaction torque on the steering wheel can be influenced with the respective other actuator - that is to say with the actuating device or the superposition actuator - whereby disturbing or irritating moments of reaction can be avoided.
  • the reaction torque could not be influenced by a driver-independent steering intervention on the steering wheel. No arbitrary, driver-independent steering intervention could take place, since the driver would have to fully support the reaction torque that occurs.
  • the driver is therefore supported by the steering system when the steering system steers his vehicle independently by means of the additional steering device and not by unexpected reaction moments irritated or unsettled as a result of an additional steering angle set independently by a driver.
  • comfort can be increased by the steering system according to the invention.
  • disturbance variables can be specifically suppressed.
  • the straight running of the vehicle can be improved and interference torques transmitted from the wheels to the steering wheel, e.g. due to bumps in the roadway can be reduced.
  • a target reaction torque is fixed or the parameters are predefined and the reaction torque is set in accordance with the target reaction torque. This measure allows desired reaction moments for haptic driver information about the current driving situation of the vehicle to be set without the risk of driver irritation. It has to be- Reaction torque can also be approximately zero, in which case no reaction is felt on the steering wheel.
  • the actuating device acts on the first steering column section connecting the steering wheel and the superimposition device.
  • the actuating device can act on the second steering column section connecting the superimposition device and a steering actuator provided for adjusting the steering angle on the steerable vehicle wheels.
  • the actuating device torque transmitted back from the actuating device to the steering wheel is then changed by the translation of the superimposition device.
  • the adjusting device can act on a steering actuator provided for adjusting the steering angle on the steerable vehicle wheels, e.g. directly onto the rack of a steering system designed as rack and pinion steering.
  • the steering system is designed as an electrical, hydraulic or electro-hydraulic power steering system.
  • the actuating device can be part of the auxiliary power device, so that components of the power steering system that already exist in any case are simultaneously used as the adjusting device. The component and cost expenditure can thereby be reduced.
  • the actuating device can be designed to be fluidically or electrically activatable.
  • a simple to implement fluidic activation can be brought about by a pressure difference between a first pressure potential and a second pressure potential, the size of the actuator torque depending on the amount of the pressure difference and the direction of the actuator torque depending on the sign of the pressure difference.
  • a hydraulic activation of the actuating device can be provided in particular if it is a hydraulic or electro-hydraulic auxiliary steering system.
  • the adjusting device is used simultaneously for centering the steering system or the steering wheel.
  • the steering system or the steering wheel is centered when the same pressure is present between the two pressure potentials.
  • FIG. 1 shows a schematic representation of a first exemplary embodiment of a steering system designed as a hydraulic auxiliary steering system with a superimposition device
  • FIG. 2 shows a schematic illustration of a second exemplary embodiment of a steering system designed as a hydraulic power steering system with an overlay device
  • 3 shows a schematic illustration of a third exemplary embodiment designed as a hydraulic power steering system with a superposition device
  • FIG. 4 shows a schematic illustration of a fourth exemplary embodiment of a steering system designed as an electric auxiliary steering system with a superimposition device
  • FIG. 5 shows a schematic illustration in cross section of an exemplary embodiment of an actuating device of a steering system
  • a steering system 1 which has a steering wheel 2, which is connected via a steering column 3 to a steering actuator 10, which is provided for adjusting the steering angle ⁇ L on the steerable vehicle wheels 11.
  • the steering system 1 also has an overlay device 6, which is connected to the steering wheel 2 via a first section 7 of the steering column 3.
  • the superimposition device 6 is connected to a steering actuator 10 via a second section 8 and, for example, a hydraulic auxiliary device 9.
  • the superposition device 6 is implemented as a superposition gear in all of the exemplary embodiments shown here, for example as a planetary gear or a so-called “harmony drive gear”.
  • the hydraulic auxiliary device 9 has an adjusting element 15, which adjusts the valve opening of a steering valve 16 of the auxiliary device 9 as a function of an actuating variable.
  • a first control line 17 and a second control line 18 connect the steering valve 16 to the Steering actuator 10. Via a feed line 19, the steering valve 16 is connected to a pressure source 20, for example to the pressure side of a motor-pump unit 21.
  • a return line 22 connects the steering valve 16 to a storage container 23.
  • the setting element 15 is formed by a torsion bar 24 which, as an actuation variable, detects the actuation torque or the actuation angle applied to the second section 8 of the steering column 3.
  • the valve opening of the steering valve 16 is varied depending on the direction and the amount of the actuation variable. As a result, an auxiliary force for actuating the steering actuator 10 is produced in accordance with the actuation variable.
  • the superimposition device 6 is connected to an overlay actuator 26 which can be controlled by a control device 25.
  • the overlay actuator 26 can be formed by an electric motor and generates an overlay variable U, for example formed by an overlay angle, which is mechanically transmitted to the overlay device 6.
  • the control device 25 also controls an actuating device 27, which can likewise be formed by an electric motor and which serves to influence the reaction torque MR which the driver can feel on the steering wheel 2.
  • an actuating device torque MS or section modulus can be generated via the actuating device 27, which acts on the first section 7 of the steering column 3 in the exemplary embodiment of the steering system 1 shown in FIG. 1.
  • the control device 25 determines on the basis of one or more input signals such as, for example, the handle angle ⁇ H , the steering torque, the course of the lane, the tire forces, the longitudinal vehicle speed, the actual yaw rate, the swimming angle, the lateral acceleration, etc. which superimposition size U and which actuator torque MS should be set.
  • a reaction torque MR desired on the steering wheel 2 can thereby be achieved.
  • Such input signals in particular input signals describing the current longitudinal and / or transverse dynamic state of the vehicle, can either be sensed directly in the vehicle or indirectly determined from sensor variables. In modern vehicles, many such input variables are already available on a vehicle data bus.
  • a higher-level driving system controller (not shown) can be present, which determines the superimposition size U and transmits it to the control unit 25, so that the control unit 25 only determines the actuating device torque MS.
  • the driving system controller is provided, for example, to regulate the straight running of the vehicle and / or to regulate transverse dynamic disturbance variables such as cross winds or lane crossings and / or to regulate the actual yaw angle of the vehicle in accordance with the current steering wheel angle and / or to perform driver-independent tracking.
  • One or more of the input signals mentioned are fed to the driving system controller.
  • a reaction torque MR acting back on the steering wheel is caused, which in the present invention results from a superimposition torque MU caused by the overlay actuator and the actuator torque MS.
  • the additional degree of freedom that is provided by the provision of the actuating device makes it possible to fix the steering column by means of the actuating device torque, to carry out a steering intervention or to react ent MR set according to a predetermined target reaction torque.
  • the target reaction torque can also be non-zero in terms of amount in order to give the driver a desired haptic feedback via the driver independent steering intervention. If the target reaction torque is selected to be approximately zero in terms of amount, the actuating device torque MS must be selected such that the superimposition torque MU is compensated for.
  • the setpoint reaction torque As an alternative to the possibility of specifying the setpoint reaction torque in a fixed manner, it is also possible to set the setpoint reaction torque depending on parameters using a characteristic curve and / or a map and / or a calculation model.
  • One or more of the following variables or correlated variables can be used as parameters: longitudinal vehicle speed, longitudinal vehicle acceleration, lateral vehicle acceleration, yaw rate, wheel speeds, steering wheel angle, steering wheel angular velocity, angular velocity at the output of the superimposition device 6 or the second section 8 of the steering column 3, angular velocity one pinion acting on the steering actuator 10, the auxiliary force provided on the steering actuator 10 via the auxiliary power device 9, the hydraulic pressures prevailing in the control lines 17, 18 or in the steering actuator in the case of a hydraulic auxiliary power device 9, the steering torque on the steerable vehicle wheels 11, the motor current of the electric motor executed overlay actuator 26 or the actuating device 27 designed as an electric motor, the actuating device torque MS, the overlay actuator caused by the overlay actuator 26 MU and wheel braking torques
  • the characteristic curve, the map or the calculation model can also be updated while driving.
  • the superposition torque MU can be calculated from the difference between the total steering torque MG currently present at the input of the steering actuator 10 during the actuation of the superposition actuator 26 and a basic steering torque MO when the superposition actuator 26 is not actuated:
  • the total steering torque MG can be detected directly by sensors or calculated from the motor current I of the superposition controller 26, the following equation applying to the first embodiment according to FIG. 1:
  • MG I «i « k (2) with: MG: total steering torque at the input of the steering actuator 10 I: motor current of the superposition actuator 26 i: transmission ratio of the superimposition device 6 k: motor constant of the superposition actuator 26
  • the basic steering torque MO when the superposition actuator 26 is not actuated can be determined from a map and / or a calculation model, the basic steering torque MO depending on one or more of the following parameters: tire forces, lateral acceleration, steering wheel angle, steering wheel angular speed and vehicle longitudinal speed or one correlated with one of the parameters mentioned Size.
  • the superimposition torque MU can be determined as follows when the superposition actuator is actuated:
  • FIG. 2 shows a further embodiment of a steering system 1, the actuating device 27 not acting on the first section 7 of the steering column 3 as in FIG. 1, but on the second section 8 of the steering column 3 between the superimposition device 6 and the auxiliary power device 9. Otherwise, the steering system according to FIG. 2 corresponds to the first exemplary embodiment shown in FIG. 1.
  • FIG. 3 A third embodiment of the steering system 1 is shown in FIG. 3.
  • the auxiliary power device 9 is arranged in the first section 7 of the steering column 3, so that the second section 8 of the steering column 3 connects the output of the superimposition device 6 directly to the input of the steering actuator 10.
  • the actuating device 27 engages to generate an actuating device torque MS acting on the steering wheel 2 on the first section 7 of the steering column 3 ′ between the steering wheel 2 and the auxiliary power device 9.
  • the actuating device between the auxiliary power device 9 and the superimposition device 6 can engage the first section 7 of the steering column 3.
  • the superposition device 6 can be connected on the input side directly to the steering valve 16 of the auxiliary power device 9 and on the output side directly to the steering actuator 10, as a result of which a structural unit is formed, which leads to a particularly compact design.
  • the mode of operation in this third embodiment corresponds to that of the first embodiment in accordance with FIG. 1.
  • FIG. 4 shows a fourth exemplary embodiment of the steering system 1, which is designed as an electric power steering system.
  • an electrical auxiliary power device 9 ' having an auxiliary electric motor 30 is provided instead of the hydraulic auxiliary power device 9.
  • the auxiliary electric motor 30 is also used as an actuating device 27, so that an additional electric motor for the actuating device 27 can be omitted. It is possible here for the auxiliary electric motor 30 serving as the adjusting device 27 to act directly on a toothed rack of the steering actuator 10, not shown.
  • a steering system 1 with a plurality of actuating devices 27 which act at different locations, in particular at one connected mechanically to the steering wheel-side input of the superimposing device 6 and to the output of the superimposing device 6 steering part.
  • the actuating device 27 can also be part of the auxiliary power device 9, so that the space requirement can be reduced.
  • the actuating device 27 is designed as a hydraulically actuated actuating device. A possible embodiment of a hydraulic actuating device 27 is shown in FIG. 5.
  • auxiliary power device 9 is based on a modified reaction arrangement of an auxiliary power device 9.
  • a reaction arrangement serves for centering the hydraulic power steering system and is described, for example, in DE 196 16 439 Cl, to which reference is expressly made in this regard.
  • a tubular slide valve 46 is coaxially surrounded by a control bushing 45 in the region of an axial section, with the rotary valve 46 and the control bushing 45 relative to one another. others are rotatable in the radial direction. Depending on the size and direction of the relative rotation, a differential pressure is generated at two pressure connections of the control bush 45.
  • Such a device is known steering systems at auxiliary power.
  • FIG. 5 shows the control device 27 in cross section through the control bush 45 and the rotary slide 46 for explanation.
  • the control bush 45 and the rotary slide 46 delimit a plurality of axial recesses 47 which are arranged next to one another evenly distributed in the circumferential direction.
  • Each of the axial recesses 47 has a first recess region 55 with a first pressure connection pi and a second recess region 56 with a second pressure connection p 2 .
  • a ball 48 or 49 is arranged in each of the two recess areas 55, 56 of an axial recess 47 and is arranged between the control bush 45 and the rotary slide 46. In the idle state, the respective ball 48, 49 lies against the associated recess area opening 57 in such a way that it closes it in a fluid-tight manner.
  • the two recess regions 55, 56 of an axial recess 47 can be fluidly connected to one another via an inner region 58.
  • the inner region 58 is formed by a groove-like recess 59 in the outer surface of the rotary valve 46 facing the control bush 45.
  • the recess 59 has an approximately trapezoidal contour with two inclined flanks 51, 52, the two flanks 51, 52 being connected to one another via an essentially radially extending connecting surface 60, which forms the groove base of the groove-like recess 59.
  • the flanks 51, 52 are inclined when viewed in the axial direction of the steering column 3, so that the flanks 51, 52 have a ramp-like profile when viewed in the axial direction of the steering column 3.
  • the two in The balls 48, 49 provided in the axial recess 47 each rest on one of the flanks 51 and 52, respectively.
  • a hydraulic or pneumatic pressure can be applied to the respectively assigned recess area 55 or 56 via the pressure connections p1 or p2, as a result of which the assigned balls 48 or 49 are pressed against the flanks 51, 52 of the rotary slide valve 46.
  • the rotary slide 46 is centered with respect to the control bush 45. If the pressure at the first pressure connection pi is greater than the pressure at the pressure connection p 2 , the rotary slide 46 rotates relative to the control bush 45 counterclockwise. Conversely, a higher pressure at the second pressure connection p 2 than at the first pressure connection px would result in a relative rotation of the rotary slide valve 46 in a clockwise direction relative to the control bushing 45.
  • the actuating device torque MS can therefore be produced. It is also possible by means of this generated relative rotation between rotary slide valve 46 and control bush 45 to set a handle angle ⁇ H or a steering angle ⁇ i.
  • the actuating device 27 is used at the same time for fixing or centering the steering system 1 and / or the steering handle 2. This fixation and / or centering takes place when the same pressure is present between the two pressure potentials pl, p2.

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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

Système de direction (1) pour un véhicule à moteur, qui comporte un volant (2) couplé mécaniquement via une colonne de direction (3) aux roues (11) orientables du véhicule. En vue de la production d'une grandeur de superposition (U), ledit système comporte un actionneur de superposition (26) pouvant être commandé par un dispositif de commande (25), indépendamment du conducteur. Un dispositif de superposition (6) superpose une grandeur de volant (δH) décrivant l'actionnement du volant (2) et la grandeur de superposition (U) pour produire une grandeur de sortie. Un actionneur de direction (19) régule un angle de braquage (δL) sur les roues orientables (20) du véhicule en fonction de la grandeur de sortie. Ledit système comporte en outre un dispositif de réglage (27) qui est commandé par le dispositif de commande (25) pour produire un couple de rotation (MS) de dispositif de réglage agissant sur la colonne de direction. Le dispositif de commande (25) commande simultanément l'actionneur de superposition (26) et le dispositif de réglage (27), si bien qu'il en résulte une influence, indépendante du conducteur, sur l'angle de braquage (δL) et sur un couple de rétroaction (MR) agissant rétroactivement sur le volant (2) et produit à partir de la grandeur de superposition (U) et du couple de rotation (MS) de dispositif de réglage.
PCT/EP2005/003908 2004-04-14 2005-04-14 Systeme de direction WO2005100132A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US11/587,394 US20070256885A1 (en) 2004-04-14 2005-04-14 Steering System

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE102004017987 2004-04-14
DE102004017987.5 2004-04-14
DE102004027583.1 2004-06-05
DE102004027583 2004-06-05
DE102004037960A DE102004037960A1 (de) 2004-04-14 2004-08-05 Lenksystem
DE102004037960.2 2004-08-05

Publications (1)

Publication Number Publication Date
WO2005100132A1 true WO2005100132A1 (fr) 2005-10-27

Family

ID=34964621

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/003908 WO2005100132A1 (fr) 2004-04-14 2005-04-14 Systeme de direction

Country Status (2)

Country Link
DE (1) DE102004037960A1 (fr)
WO (1) WO2005100132A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2070804A1 (fr) * 2006-10-03 2009-06-17 JTEKT Corporation Dispositif de direction de vehicule
EP3492344A1 (fr) * 2017-11-30 2019-06-05 CNH Industrial Italia S.p.A. Véhicule ayant un rapport de direction variable

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006019790A1 (de) * 2006-04-28 2007-10-31 Zf Lenksysteme Gmbh Verfahren zur Lenkungsregelung
FR2930505B1 (fr) * 2008-04-29 2012-08-17 Renault Sas Procede et dispositif de commande a transition d'un systeme de direction electrique a demultiplication variable d'un vehicule automobile
FR2930507B1 (fr) * 2008-04-29 2012-01-13 Renault Sas Procede et dispositif de commande unilateral d'un systeme de direction electrique a demultiplication d'un vehicule automobile
FR2930506A1 (fr) * 2008-04-29 2009-10-30 Renault Sas Procede et dispositif de commande bilateral d'un systeme de direction electronique a demultiplication variable d'un vehicule automobile
DE102009028581A1 (de) * 2009-08-17 2011-02-24 Zf Lenksysteme Gmbh Lenksystem in einem Fahrzeug
DE102012001666A1 (de) 2012-01-28 2013-08-01 Audi Ag Verfahren zum Lenken eines Fahrzeugs mittels eines Lenkassistenzsystems
SE541624C2 (en) 2017-10-12 2019-11-12 Scania Cv Ab Method and system for determining hydraulic failure of an active hydraulic steering system of a vehicle

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JPH0577751A (ja) * 1991-09-17 1993-03-30 Fuji Heavy Ind Ltd 車両用ステアリング制御装置
DE10220123A1 (de) 2001-05-23 2002-12-12 Continental Teves Ag & Co Ohg Überlagerungslenkung
DE10160716A1 (de) * 2001-12-11 2003-06-18 Mercedes Benz Lenkungen Gmbh Lenkung mit angetriebenem Umlaufgetriebe zur Erzeugung eines bestimmten Handmoments am Lenkrad
US20030150666A1 (en) * 2002-02-14 2003-08-14 Mitsubishi Denki Kabushiki Kaisha Steering device for a vehicle
EP1508494A2 (fr) * 2003-08-19 2005-02-23 Bayerische Motoren Werke Aktiengesellschaft Système de direction assistée pour véhicule, avec centre ouvert hydraulique

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DE19616439C1 (de) * 1996-04-25 1997-12-11 Daimler Benz Ag Rückwirkungsanordnung an einer Servoventilanordnung
DE10200097A1 (de) * 2002-01-03 2003-07-17 Zf Lenksysteme Gmbh Lenksystem für Kraftfahrzeuge
DE10236261A1 (de) * 2002-08-07 2004-02-26 Mercedes-Benz Lenkungen Gmbh Kraftfahrzeuglenkung mit Überlagerungslenkung

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Publication number Priority date Publication date Assignee Title
JPH0577751A (ja) * 1991-09-17 1993-03-30 Fuji Heavy Ind Ltd 車両用ステアリング制御装置
DE10220123A1 (de) 2001-05-23 2002-12-12 Continental Teves Ag & Co Ohg Überlagerungslenkung
DE10160716A1 (de) * 2001-12-11 2003-06-18 Mercedes Benz Lenkungen Gmbh Lenkung mit angetriebenem Umlaufgetriebe zur Erzeugung eines bestimmten Handmoments am Lenkrad
US20030150666A1 (en) * 2002-02-14 2003-08-14 Mitsubishi Denki Kabushiki Kaisha Steering device for a vehicle
EP1508494A2 (fr) * 2003-08-19 2005-02-23 Bayerische Motoren Werke Aktiengesellschaft Système de direction assistée pour véhicule, avec centre ouvert hydraulique

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PATENT ABSTRACTS OF JAPAN vol. 017, no. 403 (M - 1453) 28 July 1993 (1993-07-28) *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2070804A1 (fr) * 2006-10-03 2009-06-17 JTEKT Corporation Dispositif de direction de vehicule
EP2070804A4 (fr) * 2006-10-03 2010-08-11 Jtekt Corp Dispositif de direction de vehicule
EP3492344A1 (fr) * 2017-11-30 2019-06-05 CNH Industrial Italia S.p.A. Véhicule ayant un rapport de direction variable

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