WO2022218623A1 - Fahrermoment- und lenkwinkelmessung in einem torque-overlay-steering (tos) - Google Patents
Fahrermoment- und lenkwinkelmessung in einem torque-overlay-steering (tos) Download PDFInfo
- Publication number
- WO2022218623A1 WO2022218623A1 PCT/EP2022/056326 EP2022056326W WO2022218623A1 WO 2022218623 A1 WO2022218623 A1 WO 2022218623A1 EP 2022056326 W EP2022056326 W EP 2022056326W WO 2022218623 A1 WO2022218623 A1 WO 2022218623A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- driver
- motor
- angle
- electric drive
- Prior art date
Links
- 238000005259 measurement Methods 0.000 title claims description 6
- 238000000034 method Methods 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000003213 activating effect Effects 0.000 claims 1
- 239000012530 fluid Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Classifications
-
- 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
- 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
-
- 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
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
- B62D5/083—Rotary valves
-
- 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
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
-
- 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
- B62D5/0409—Electric motor acting on the steering column
Definitions
- TOS Steering
- the invention relates to a method for determining a driver torque of a power steering assembly for an electrohydraulic power steering of motor vehicles according to the preamble of claim 1, a low-floor vehicle for carrying out such a method, and a power steering assembly for an electrohydraulic power steering of motor vehicles according to the preamble of claim 20.
- Hydraulically, electrically or electrohydraulically assisted power steering systems are known for assisting the steering of motor vehicles.
- Such power steering systems are used in light and heavy commercial vehicles, among other things, in such a way that the turning movement of a steering wheel is transmitted to tie rods either directly or indirectly via linkages, depending on the design.
- Such power steering systems have been known for a long time and are available in many designs.
- the documents DE 10 2014 106 488 A1 and DE 10 2014 106 493 A1 describe power steering in which the steering assistance is obtained through the use of hydraulics.
- the electro-hydraulic power steering systems are equipped with various combinations of sensors, such as a "torque and angle sensor” (TAS sensor), in order to be able to differentiate which torque is being applied by the driver through the steering wheel to the steering system, and which torque is being applied by the steering wheel, for example of the electric power steering.
- a TAS sensor usually includes angle sensors for determining a differential angle between the steering wheel or its input shaft into the power steering and a shaft of the electric drive of the electric power steering.
- the electric drive is connected to the input shaft via a torsion bar, so that a relative rotation between the input shaft and the electric drive is possible.With the help of the characteristic curve of the torsion bar and the differential angle, the torque that the driver applies to the power steering can be determined.
- an electro-hydraulic power steering includes hydraulic steering support.
- hydraulic power steering is connected in series to the output of the electric power steering.
- the hydraulic power steering also includes two shafts connected by a torsion bar. The two shafts together with the torsion bar form a rotary valve which is used to control the hydraulic fluid. The more the two shafts are twisted in relation to one another, the further the rotary slide valve is open and the more the steering is hydraulically assisted.
- the object of the present invention is therefore to provide an electrohydraulic power steering system for motor vehicles which is improved over the prior art and has a significantly simplified structure.
- the object of the invention is achieved by the features of the characterizing part of claim 1.
- the object according to the invention is achieved by a low-floor vehicle having the features of claim 14.
- the object of the invention is achieved by the features of the characterizing part of claim 20.
- the torsion bar which is already present due to the hydraulic power steering, is used to actuate the rotary slide valve to determine the driver's torque, and no additional torsion bar is required to determine the driver's torque.
- a large number of mechanical components such as an additional torsion bar, another shaft, bearings, etc. can be saved.
- additional resources such as a motor sensor, which is usually present on modern electric motors, and using a special controller, the number of sensors that are additionally required to determine the driver's torque can be minimized.
- the method according to the invention serves to determine a driver's torque of a power steering assembly for an electrohydraulic power steering of motor vehicles.
- the power steering assembly includes an input shaft for introducing a driver's torque, an output shaft for driving a steering linkage and a torsion bar between the input shaft and output shaft for actuating a rotary slide valve, an electric drive for electric power steering, and a control unit for controlling the electric drive.
- the method according to the invention provides that a sensor arrangement of the power steering assembly uses the torsion bar to actuate the rotary slide valve to determine an actual torque, and that the control unit determines a driver's torque based on the actual torque.
- the input shaft is connected to a direction selector of the motor vehicle.
- the direction selection element is usually a steering wheel and is connected to the input shaft via a steering column.
- the driver controls the steering wheel by turning a torque - the driver torque - via the input shaft in the power steering assembly. Once the steering has been assisted, the power is passed on via the output shaft to a steering linkage to change the direction of the vehicle.
- the input shaft is connected to the output shaft via a torsion bar.
- This assembly is designed as a rotary slide valve for the hydraulic power steering. This means that the input shaft can be rotated relative to the output shaft, with the rotation opening or closing a valve opening, via which the hydraulic fluid is then regulated. The hydraulic fluid is then used for hydraulic power steering.
- An electric drive can be coupled to the input shaft for additional electric power steering or to influence the steering.
- a coupling to the output shaft or other shafts that are frictionally connected to the steering linkage is also conceivable.
- the driver torque is regularly determined to control the electric drive. This is determined using the sensor array that monitors the torsion bar that actuates the rotary valve. If the driver operates the steering wheel, a differential angle between the input shaft and the output shaft is initially established. Together with the characteristic of the torsion bar, this can be converted into the actual torque.
- Actual Torque is the actual torque applied to the steering linkage. The actual torque can be made up of several components.
- the driver's torque As a rule, it consists of the driver's torque and the torques from the various steering assistance systems and is directed in the opposite direction to the vehicle's steering resistance.
- the actual torque can be converted into the driver's torque, taking into account the prevailing torque and, in particular, the torque introduced by the electric drive. This value is then used to control the electric drive.
- the electric drive preferably includes an electric motor and a transmission.
- the electric motor is preferably equipped with an internal motor sensor, which measures and outputs motor characteristics. These motor characteristics may include motor current, motor shaft angle, voltage, or similar values.
- the gearbox is not limited to a specific design and can be Be realized in the form of a spur, planetary, worm or helical gear. Other types of gears can definitely make sense.
- this is characterized in that the driver torque is also determined based on an assisting torque delivered by the electric drive.
- the driver's torque must be known in order to be able to control the supporting electric motor. Therefore, the torque, for example, of the electric motor—that is, the support torque—is usually known or can be estimated, so that this torque can be used to calculate the driver's torque.
- the method is characterized in that the sensor arrangement uses a TAS system to determine the driver's torque.
- a TAS system is a sensor arrangement called “torque and angle sensor” and usually includes several angle sensors with which torque and steering angle are measured.
- a TAS system is attached to the intersection of two shafts and monitors them.
- the TAS system is attached to the interface between the input shaft and the output shaft and does not require an additional intermediate shaft with an additional torsion bar, as is usually the case.
- the sensors of the TAS system can be used to measure the torque, the difference angle and the absolute angle of the two shafts.
- the TAS is preferred -System set up to measure a differential angle between the input shaft and the output shaft and the resulting torque on the torsion bar, an absolute angle of the input shaft and/or an absolute angle of the output shaft.
- the number of sensors is not limited to the sensors mentioned above. Rather, the Number and type of used Choosing sensors so that both the angle and the torque can be measured.
- the TAS system of the sensor arrangement preferably comprises several sensors such as torque sensors, and/or angle sensors, and/or sensors for detecting the number of revolutions of the input shaft, with the aim of reliably and precisely detecting the torque and angles according to the application. It is therefore preferred that the sensor arrangement uses a plurality of sensors to determine the actual torque, in particular torque ment sensors and/or angle sensors and/or sensors for the number of revolutions of the input shaft. The number of revolutions of the input shaft is therefore interesting, as this usually corresponds to the number of revolutions of the steering wheel.
- the TAS system preferably includes a torque sensor for determining the actual torque and/or an absolute angle sensor.
- the method is characterized in that the sensor arrangement uses only one sensor for determining the driver's torque, which is designed as an angle sensor, the driver's torque being determined from the data from the angle sensor and the data from a motor sensor included in the electric drive for monitoring of an electric motor of the electric drive is determined.
- the angle sensor is preferably set up to determine a differential angle between the input shaft and the output shaft. For such a calculation of the driver's torque, the difference angle between the input shaft and the output shaft is detected by the sensor arrangement and combined with the measurement data from the engine sensor.
- the motor sensor is preferably also an angle sensor. This can be referred to as a motor angle sensor.
- both the driver's torque can be determined from the differential angle and the characteristic curve of the torsion bar for actuating the rotary slide valve, and the rotational position of a motor shaft of the electric motor can be determined from the angle sensor of the motor sensor of the electric motor.
- the method is characterized in that the sensor arrangement detects the actual torque redundantly.
- a redundant recording of the actual torque means that the actual torque is recorded based on two different measured values. This is preferably done by redundant sensor design. Since an intervention in the steering of a motor vehicle is relevant to safety, it makes sense to design the sensor arrangement redundantly. In the simplest case, this can be done by providing the sensors of the sensor arrangement twice. However, it can also be useful to provide different sensor types for the same measured value. In this way, a measurement error that would occur due to external circumstances with a specific type of sensor can be detected. It can It can be provided that the electric drive is switched to passive or switched to a safe mode if the measured values are ambiguous.
- the method is characterized in that the sensor arrangement is set up in such a way that the actual torque is determined using a differential angle. Determining the actual torque using a difference angle is a good idea, since the actual torque can be calculated using the characteristic curve of the torsion bar.
- the method is characterized in that the sensor arrangement detects a differential angle between the input shaft and the output shaft in order to calculate the actual torque.
- the method is characterized in that the sensor arrangement detects a differential angle between a motor shaft of an electric motor of the electric drive and the output shaft to calculate the driver's torque.
- This differential angle lends itself to calculation, since the angle of the motor shaft is already known from the motor sensor, and only the angle of the output shaft has to be additionally recorded.
- the method is characterized in that the sensor arrangement detects a differential angle between a shaft of a transmission of the electric drive and the output shaft to calculate the driver's torque. It can also be the case that the sensor arrangement is set up in such a way that a differential angle between a shaft of a transmission of the electric drive and the input shaft is detected in order to calculate the driver's torque.
- the sensor arrangement may be necessary to add a gearbox to the output shaft in order to increase either the power or the speed. Since a gearbox essentially does not allow any differential angles between the individual gearbox shafts, it is also possible to determine the differential angle for determining the driver torque using a shaft in the gearbox and not necessarily directly on the input or output shaft of the power steering assembly.
- the gear comprises a worm gear.
- the method is characterized in that the sensor arrangement detects a differential angle between a motor shaft of an electric motor of the electric drive and the input shaft to calculate the driver's torque.
- a preferred embodiment of the method is characterized in that the electric drive exerts a motor torque on the input shaft for steering assistance. It is preferred that the electric drive engages with the input shaft. In this case, the engine torque is transmitted directly from the electric drive to the input shaft.
- This engine torque can also be used to determine the driver's torque.
- a further preferred embodiment of the method is correspondingly characterized in that the control unit also determines the driver torque based on the engine torque.
- the engine torque can be determined in any way.
- the control unit determines the motor torque based on a measurement of a motor current for operating the electric drive.
- the measured motor current can be a motor current for operating the electric motor.
- other variables and in particular other measured variables can also be used to determine the engine torque.
- the method is characterized in that the sensor arrangement detects a multi-turn capable steering angle from the angle of a motor shaft of an electric motor of the electric drive and the angle of the output shaft.
- a steering angle capable of mutiturn is a steering angle that clearly defines where the steering wheel is, even with more than one full turn of the steering wheel. This can be an angle would be from 0 to 360° in combination with an indication of the full revolutions that have already been completed, or an angle indication that does not start again at 0° over 360°, but continues to count upwards.
- Such angle sensors usually include several sensors that are able to output the desired multi-turn capable steering angle. In order to make additional sensors superfluous, the motor sensor of the electric motor can be used to determine the required information.
- the multiturn-capable steering angle is preferably detected using the nonius principle.
- the vernier principle is known from vernier calipers and other measuring devices, for example.
- the principle can be used by comparing the angle of the motor sensor, which runs from 0 to 360°, in combination with the gear ratio with the angle of the input shaft, which also runs from 0 to 360°.
- the gear ratio for example, for a motor angle of 73° and an input shaft angle of 169°, the steering wheel must be in the first rotation, while with a motor angle of 17° and an input shaft angle of 169° this is the case steering wheel must be in the second turn.
- the method is characterized in that the sensor arrangement uses a computer module to calculate the driver's torque.
- the data is managed by a separate computer module and determines the driver's torque.
- a combination of controlling the electric drive and processing the sensor data can also be useful.
- the computer module is preferably set up to control the electric drive. Other combinations of control devices or data processing modules can be useful.
- the method is characterized in that the sensor arrangement forwards the measured values recorded by the sensors to a module present in the motor vehicle for calculating the driver's torque.
- the processing of the sensor data can be taken over by a module already located in the motor vehicle.
- this can be a module that controls autonomous ferry operations or that already has steering functions is entrusted.
- any other module with available capacities can also be used.
- the low-floor vehicle according to the invention is characterized in that it includes a power steering assembly for carrying out the proposed method.
- the power steering assembly according to the invention is for electrohydraulic power steering of motor vehicles and includes an input shaft for introducing a driver's torque, an output shaft for driving a steering linkage and a torsion bar between the input shaft and output shaft for actuating a rotary slide valve, an electric drive for electric power steering and a sensor arrangement which is set up for this purpose is to determine an actual torque using the torsion bar to actuate the rotary valve.
- the power steering assembly according to the invention is characterized in that the control unit is set up to determine a driver's torque based on the actual torque.
- the low-floor vehicle according to the invention and the power steering assembly according to the invention result from the subclaims, which relate to advantageous configurations of the present invention and as such are not to be understood as limiting.
- the invention also includes combinations of the features of different subclaims, insofar as these are technically possible, even if the subclaims do not relate to one another or if they belong to different claim categories. This also applies to the individual features of the exemplary embodiments discussed below, insofar as these are not recognizable to the person skilled in the art as necessarily belonging to one another.
- FIG. 1 shows a first embodiment variant of the power steering assembly according to the invention for transmitting a steering movement from a steering wheel (not shown) to a steering linkage (also not shown).
- This embodiment variant of FIG. 1 can also carry out the method according to the invention.
- the transmission 7 of the electric drive 10 is connected to the input shaft 2, the transmission 7 being a worm gear in this case.
- the electric drive 10 further includes the electric motor 3 with motor shaft 4 and motor sensor 8.
- the torsion bar 5 connects the input shaft 2 to the output shaft 1 in such a way that it allows a certain rotational movement between the two. This is necessary because input shaft 2 and output shaft 1 form a rotary slide valve, which is used to control the hydraulic power steering (not shown here). Rotating the input shaft 2 relative to the output shaft 1 actuates valves which actuate the hydraulic power steering.
- the steering linkage is in the position desired by the driver and the hydraulic power steering does not introduce any further force into the power steering assembly.
- the sensor arrangement 6 At the interface of input shaft 2 and output shaft 1 is the sensor arrangement 6, which here, for example, detects the differential angle between input shaft 2 and output shaft 1, which in turn is used to determine the driver's torque.
- FIG. 2 shows essentially the same power steering assembly as FIG. 1, with the difference that the sensor arrangement only includes an angle sensor which—in contrast to the sensor arrangement 6 of FIG. 1 detecting the differential angle - the absolute angle of the output shaft 1 is detected.
- the driver of the vehicle operates the steering in manual driving mode. To do this, he turns the steering wheel to specify the desired direction of travel for the vehicle. This rotation of the steering wheel is transmitted to the input shaft 2. As a result, the electric drive 10 rotates at the same time. By moving the electric drive 10, the angle of the motor shaft 4 and thus also the angle of the input shaft 2 can be determined by the motor sensor 8, taking into account the transmission ratio of the transmission 7. It is thus known in which position the steering wheel is located and it is known in which direction the driver wants to steer the vehicle.
- the electric drive 10 can apply a motor torque in addition to the applied driver torque. This can be directed in such a way that the driver is supported in his turning movement, or it can be directed in the opposite direction, so that an increased torque has to be applied by the driver. In this way, the driver's steering feel can be influenced.
- a differential angle is initially established between the input shaft 2 and the output shaft 1, since the torsion bar 5 elastically connects the input shaft 2 to the output shaft 1 and the output shaft 1 usually counteracts the rotation, for example through frictional forces of the wheels.
- the differential angle is set depending on the steering resistance of the wheels or the steering mechanism, which is directly connected to the output shaft 1.
- the differential angle is recorded directly by the sensor arrangement 6 .
- the difference angle is determined in that, in addition to the absolute angle of the output shaft 1 from the sensor arrangement 6 , the angle of the input shaft 2 is also known from the motor sensor 8 . Since the input shaft 2 and the output shaft 1 are connected by means of the torsion bar 5 in both exemplary embodiments, the actual torque can be determined in both cases of the torsion bar 5 . The greater the driver's torque in connection with the torque of the electric drive - i.e. the engine torque - the greater this differential angle.
- Twisting the input shaft in relation to the output shaft causes the hydraulic valves to open, so that hydraulic power steering introduces additional torque into the power steering assembly and supports the driver in turning the steering wheel.
- the hydraulic power steering engages at a point downstream from the torsion bar 5 , such as the output shaft 1 .
- the level of the hydraulically introduced torque depends largely on the size of the differential angle. As soon as the hydraulic power steering has turned the output shaft 1 far enough for the differential angle to decrease, the hydraulic valves close again and the hydraulic torque decreases. If the differential angle approaches zero, the valves are also essentially closed and the hydraulic power steering is no longer available.
- the level of the electrically introduced engine torque can initially be regulated freely by the controller of the electric drive 10 . However, in manual operation it is advisable to use a control that takes into account the differential angle and the measured variables of the motor sensor 8 .
- the level of the motor torque can be determined via the motor sensor 8 in that the motor voltages or motor currents for operating the electric motor 3 are detected. This engine torque can be calculated together with the detected actual torque of the sensor arrangement 6, so that the driver's torque can be determined. With the torques now known, conclusions can then be drawn as to how strongly the electric power steering should intervene.
- the hydraulic steering assistance acts and supports the same as in manual operation.
- the differential angle required to control the hydraulics is again achieved by rotating the input shaft 2 relative to the output shaft 1, but only the electrically introduced torque - i.e. the engine torque - acts on the input shaft 2 and leads to a differential angle.
- the driver's torque is not available and the electric drive 10 can operate the steering without the driver having to do anything and its movements are supported by the hydraulic steering assistance.
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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
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280028671.1A CN117222569A (zh) | 2021-04-16 | 2022-03-11 | 扭矩叠加转向(tos)中的驾驶员力矩测量和转向角度测量 |
US18/286,950 US20240190502A1 (en) | 2021-04-16 | 2022-03-11 | Measurement of Driver Torque and Steering Angle in a Torque Overlay Steering System |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021109647.2 | 2021-04-16 | ||
DE102021109647.2A DE102021109647A1 (de) | 2021-04-16 | 2021-04-16 | Fahrermoment- und Lenkwinkelmessung in einem Torque-Overlay-Steering (TOS) |
Publications (1)
Publication Number | Publication Date |
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WO2022218623A1 true WO2022218623A1 (de) | 2022-10-20 |
Family
ID=80978815
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2022/056326 WO2022218623A1 (de) | 2021-04-16 | 2022-03-11 | Fahrermoment- und lenkwinkelmessung in einem torque-overlay-steering (tos) |
Country Status (4)
Country | Link |
---|---|
US (1) | US20240190502A1 (de) |
CN (1) | CN117222569A (de) |
DE (1) | DE102021109647A1 (de) |
WO (1) | WO2022218623A1 (de) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140074355A1 (en) * | 2012-09-10 | 2014-03-13 | Hyundai Motor Company | Hybrid steering system and method for controlling the same |
DE102014106493A1 (de) | 2014-05-08 | 2015-11-12 | Tedrive Steering Systems Gmbh | Kugelumlauflenkung mit Hydraulikpolster |
DE102014106488A1 (de) | 2014-05-08 | 2015-11-12 | Tedrive Steering Systems Gmbh | Kugelumlauflenkung mit Gleitelement |
US20180111643A1 (en) * | 2016-10-25 | 2018-04-26 | Mando Corporation | Steering apparatus for vehicle |
US20190322315A1 (en) * | 2016-02-24 | 2019-10-24 | Steering Solutions Ip Holding Corporation | Steering system having a pressure sensor |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8483910B2 (en) | 2008-09-18 | 2013-07-09 | Trw Automotive U.S. Llc | Method of controlling a vehicle steering apparatus |
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2021
- 2021-04-16 DE DE102021109647.2A patent/DE102021109647A1/de active Pending
-
2022
- 2022-03-11 WO PCT/EP2022/056326 patent/WO2022218623A1/de active Application Filing
- 2022-03-11 US US18/286,950 patent/US20240190502A1/en active Pending
- 2022-03-11 CN CN202280028671.1A patent/CN117222569A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140074355A1 (en) * | 2012-09-10 | 2014-03-13 | Hyundai Motor Company | Hybrid steering system and method for controlling the same |
DE102014106493A1 (de) | 2014-05-08 | 2015-11-12 | Tedrive Steering Systems Gmbh | Kugelumlauflenkung mit Hydraulikpolster |
DE102014106488A1 (de) | 2014-05-08 | 2015-11-12 | Tedrive Steering Systems Gmbh | Kugelumlauflenkung mit Gleitelement |
US20190322315A1 (en) * | 2016-02-24 | 2019-10-24 | Steering Solutions Ip Holding Corporation | Steering system having a pressure sensor |
US20180111643A1 (en) * | 2016-10-25 | 2018-04-26 | Mando Corporation | Steering apparatus for vehicle |
Also Published As
Publication number | Publication date |
---|---|
US20240190502A1 (en) | 2024-06-13 |
CN117222569A (zh) | 2023-12-12 |
DE102021109647A1 (de) | 2022-10-20 |
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