CN104670308B - Unmanned steering system for vehicle and the vehicle with the unmanned steering system - Google Patents
Unmanned steering system for vehicle and the vehicle with the unmanned steering system Download PDFInfo
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- CN104670308B CN104670308B CN201310627710.2A CN201310627710A CN104670308B CN 104670308 B CN104670308 B CN 104670308B CN 201310627710 A CN201310627710 A CN 201310627710A CN 104670308 B CN104670308 B CN 104670308B
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- hydraulic fluid
- control valve
- fluid port
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- steering system
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
-
- 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
- B62D5/09—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 means for actuating valves
- B62D5/093—Telemotor driven by steering wheel movement
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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
The invention discloses a kind of vehicle and its unmanned steering system, the unmanned steering system includes：Power cylinder, is provided with for by power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber in power cylinder；Rotary valve, rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and left part hydraulic fluid port is connected by the first control valve with left part chamber, and right part hydraulic fluid port is connected by the second control valve with right part chamber；Oil pump, oil pump is connected with oil inlet；Two-way oil pump, two-way oil pump has the first hydraulic fluid port and the second hydraulic fluid port, and the first hydraulic fluid port is connected with left part chamber, and the second hydraulic fluid port is connected with right part chamber, and one of first and second hydraulic fluid ports constitute import and another constitutes outlet；3rd control valve, the 3rd control valve is located between the first hydraulic fluid port and left part chamber；4th control valve, the 4th control valve is located between the second hydraulic fluid port and right part chamber.Unmanned steering system of the invention has manual mode and remote control mode, simple structure, easy to control and low cost.
Description
Technical field
The present invention relates to automobile construction field, more particularly, to a kind of unmanned steering system for vehicle and distant with this
Control the vehicle of steering.
Background technology
The function of automobile steering system is to ensure that automobile can carry out Turning travel according to the will of driver.Motor turning
System can be divided into mechanical steering system and power steering system.Mechanical steering system using driver muscle power as steering energy
Source, wherein all force transmission elements are all mechanical structure, mainly by operating mechanism, steering gear and steering gear three parts group
Into.Power steering system is a set of dual-purpose driver muscle power and the steering that engine power is steerable energy, electronic-controlled power steering
System is mainly additionally arranged steering augmentor, and the steering augmentor is mainly hydraulic steering unit, in driver turn
During steering wheel, turning to augmentor can aid in completing go to action, reduce the torque of driver turn steering wheel.
In correlation technique known for inventor, unmanned steering system is occurred in that again on the basis of power steering system
System, with manually and automatically both of which, it is possible to achieve such as automatic parking function, but related remote control known for inventor
The structure of steering is more complicated, control cumbersome and high cost, and practicality is poor, and these remote driving technologies are all based on
Electric power-assisted steering apparatus（EPS）Exploitation, but many electric power-assisted steering apparatus（EPS）Also be not it is especially ripe, especially
The automobile heavier for front axle load is, it is necessary to develop powerful brushless electric machine, during remote driving, electric power steering
Device（EPS）Pivot stud can be often carried out, now the load of transfer is maximum, electric power-assisted steering apparatus（EPS）Electricity
Chance produces very big heat and causes motor to enter self-protection pattern, greatly reduces electric power-assisted steering apparatus（EPS）Electricity
The life-span of machine.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem of the prior art to a certain extent.
Therefore, it is an object of the present invention to propose a kind of unmanned steering system for vehicle, the unmanned steering system
System has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and low cost.
It is another object of the present invention to propose a kind of vehicle, the vehicle includes above-mentioned unmanned steering system.
Unmanned steering system for vehicle according to embodiments of the present invention, the unmanned steering system includes：Steering power
Cylinder, is provided with for by the power cylinder internal insulation into left part chamber and the power of right part chamber in the power cylinder
Cylinder piston；Rotary valve, the left part hydraulic fluid port that the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, the rotary valve leads to
Cross the first control valve to be connected with the left part chamber, the right part hydraulic fluid port of the rotary valve is by the second control valve and right part chamber
It is connected；Oil pump, the oil pump is connected with the oil inlet；Two-way oil pump, the two-way oil pump has the first hydraulic fluid port and the second oil
Mouthful, first hydraulic fluid port is connected with the left part chamber, and second hydraulic fluid port is connected with the right part chamber, and described first
Hydraulic fluid port and second hydraulic fluid port are respectively adapted to be connected with fuel tank, wherein the first hydraulic fluid port and institute described in when the two-way oil pump runs
State one of second hydraulic fluid port and constitute import and another composition outlet；3rd control valve, the 3rd control valve is located at described first
The fluid being used to prevent between hydraulic fluid port and the left part chamber in the left part chamber is inversely flowed back to by the described 3rd control valve
The fuel tank；4th control valve, the 4th control valve is located between second hydraulic fluid port and the right part chamber and is used to prevent
Fluid in the right part chamber inversely flows back to the fuel tank by the described 4th control valve；Wherein, the unmanned steering system
With manual steering operating mode and unmanned steering operating mode：It is described when the unmanned steering system is in the manual steering operating mode
Oil pump passes sequentially through the rotary valve, the first control valve to fuel feeding in the left part chamber, or by the rotary valve, described
Second control valve is to fuel feeding in the right part chamber；It is described when the unmanned steering system is in the unmanned steering operating mode
Two-way oil pump controls valve to fuel feeding in the left part chamber by first hydraulic fluid port and the described 3rd, or by described second
Hydraulic fluid port and the 4th control valve are to fuel feeding in the right part chamber.
Unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode, in vehicle just
Often during traveling, driver is manually operable steering wheel so as to control vehicle to turn to the left, turns to the right or keep straight on, and is needing to drive
When member's Remote Control Vehicle is turned to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can rotate to the left or to the right, now
Driver can in the car, certainly also can be in the outer remote control of car, and easy to operate, control is simple.
In addition, the unmanned steering system for vehicle according to embodiments of the present invention, can also have following supplementary technology
Feature：
Some embodiments of the invention, the first control valve is identical with the structure of the described second control valve.
Thus, the versatility of control valve is improve, the cost of unmanned steering system is reduced.
Some embodiments of the invention, the first control valve and the second control valve are electromagnetic switch valve.
Some embodiments of the invention, each in the first control valve and the second control valve is respectively provided with
First interface and second interface, wherein
It is described first control valve first interface be connected with the left part hydraulic fluid port, it is described first control valve second interface and
The left part chamber is connected；
It is described second control valve first interface be connected with the right part hydraulic fluid port, it is described second control valve second interface and
The right part chamber is connected；
Wherein when the unmanned steering system is in the manual steering operating mode, the first interface of the first control valve
With the of the first interface and the second control valve of the second interface conducting of the described first control valve and the second control valve
Two interfaces are turned on, when the unmanned steering system is in the unmanned steering operating mode, the first interface of the first control valve
Disconnected with the second interface of the described first control valve or the first interface and described second of the second control valve controls valve
Second interface disconnects.
Some embodiments of the invention, the unmanned steering system also includes：First check valve and the second check valve,
First check valve is located between first hydraulic fluid port and the fuel tank and the port of export of first check valve and described
One hydraulic fluid port be connected, second check valve be located between second hydraulic fluid port and the fuel tank and second check valve outlet
End is connected with second hydraulic fluid port.
The entrance point of some embodiments of the invention, the entrance point of first check valve and second check valve
It is connected and is connected with the fuel tank with by common pall.
Thus, it is possible to simplify oil circuit.
Some embodiments of the invention, the unmanned steering system also includes：Pressure sensor, the pressure sensing
Device is used to detect the oil pressure at the oil inlet, in the unmanned steering system in the unmanned steering operating mode and the pressure
When force snesor detects the oil pressure more than predetermined value, the unmanned steering system is switched to from the unmanned steering operating mode
The manual steering operating mode.
Thus, it is possible to improve travel safety.
Some embodiments of the invention, the 3rd control valve and the 4th control valve are check valve.
Vehicle according to embodiments of the present invention, including unmanned steering system, the unmanned steering system is according to the present invention
The unmanned steering system for vehicle of embodiment.
Brief description of the drawings
Fig. 1 is schematic diagram when unmanned steering system according to embodiments of the present invention is kept straight on；
Fig. 2 be unmanned steering system according to embodiments of the present invention be in manual left-hand rotation operating mode when schematic diagram；
Fig. 3 be unmanned steering system according to embodiments of the present invention be in manual right-hand rotation operating mode when schematic diagram；
Fig. 4 be unmanned steering system according to embodiments of the present invention be in remote control left-hand rotation operating mode when schematic diagram；
Fig. 5 be unmanned steering system according to embodiments of the present invention be in remote control right-hand rotation operating mode when schematic diagram；
Fig. 6 is the schematic diagram of unmanned steering system according to embodiments of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention is described with simplified, must have specific orientation, Yi Te rather than the device or element for indicating or imply meaning
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " is meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integrally；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or two interaction relationships of element.For the ordinary skill in the art, can be according to specific feelings
Condition understands above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
The first and second feature directly contacts can be included, it is also possible to including the first and second features be not directly contact but by it
Between other characterisation contact.And, fisrt feature second feature " on ", " top " and " above " include that first is special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The unmanned steering system for vehicle according to embodiments of the present invention is described in detail below with reference to Fig. 1-Fig. 6.Wherein,
Fig. 1 is the schematic diagram when vehicle is kept straight on according to the unmanned steering system of the embodiment of the present invention, and Fig. 2 is according to the embodiment of the present invention
Unmanned steering system vehicle be in manual left-hand rotation operating mode when schematic diagram, Fig. 3 be according to the remote control of the embodiment of the present invention turn
To schematic diagram of the system when vehicle is in manual right-hand rotation operating mode, Fig. 4 is to be existed according to the unmanned steering system of the embodiment of the present invention
Vehicle is in schematic diagram during remote control left-hand rotation operating mode, and Fig. 5 is to be in vehicle according to the unmanned steering system of the embodiment of the present invention
Schematic diagram during remote control right-hand rotation operating mode.And it should be noted that in the example of Fig. 1-Fig. 5, between two different parts
Solid line can represent pipeline, and the arrow on solid line schematically shows the flow direction of fluid, the void between two different parts
Line can represent electrical connection, and the arrow on dotted line schematically shows the transmission of signal.
As Figure 1-Figure 5, unmanned steering system according to embodiments of the present invention can include power cylinder 11, rotary valve
2nd, the first control control control control of valve 33 and the 4th of valve the 32, the 3rd of valve 31, second valve 34, oil pump 41 and two-way oil pump 42.
It is provided with shown in reference picture 1- Fig. 5, in power cylinder 11 for by the internal insulation of power cylinder 11 into left part chamber
Room 14 and the power cylinder piston 12 of right part chamber 15.Specifically, power cylinder 11 can be the hydraulic oil of elongated shape column
Cylinder, is provided with power cylinder piston 12 in power cylinder 11, power cylinder piston 12 be sealingly fitted in power cylinder 11 with
The inner space of power cylinder 11 is isolated into left part chamber 14 and right part chamber 15, left part chamber 14 and right part chamber 15 are each other
Independent, non-interference, i.e., the hydraulic oil in hydraulic oil and right part chamber 15 in left part chamber 14 cannot be by power cylinder piston
Mutually circulated at 12.
Power cylinder piston 12 can axially be moved back and forth along power cylinder 11 in power cylinder 11, thus left part chamber
The volume of room 14 and right part chamber 15 can also be change, and for example power cylinder piston 12 is to left movement（Reference picture 3 and Fig. 5 institutes
Show）, then the volume of left part chamber 14 diminish, the volume of right part chamber 15 becomes big, and and for example power cylinder piston 12 is moved right（Reference
Shown in Fig. 2 and Fig. 4）, then the volume of right part chamber 15 diminish, the volume of left part chamber 14 is mutually strained greatly.
According to one embodiment of present invention, piston rod 13 is respectively arranged with the two sides of power cylinder piston 12, changes speech
It, piston rod 13 is provided with the left surface and right flank of power cylinder piston 12.Piston rod 13 per side is respectively from corresponding
Chamber extend the knuckle for being suitable for driving the vehicle side from inside to outside, that is to say, that the piston rod 13 in left side is from left part chamber
Power cylinder 11 is extended beyond to the left in room 14, and the left end of the piston rod 13 on the left of this is suitable to the knuckle with vehicle left side
Coordinate, to drive the knuckle on the left of this to act.Equally, the piston rod 13 on right side is extended beyond to the right from right part chamber 15
Power cylinder 11, the right-hand member of the piston rod 13 on the right side of this is suitable to coordinate with the knuckle of vehicle right side, to drive on the right side of this
Knuckle is acted.What piston rod 13 and power cylinder piston 12 can be integrally formed, certain power cylinder piston 12 and piston rod 13
Can also be that then Split type structure is assembled together.
Shown in reference picture 1- Fig. 5, rotary valve 2 has oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24, turns
The left part hydraulic fluid port 23 of valve 2 is connected by the first control valve 31 with left part chamber 14, and the right part hydraulic fluid port 24 of rotary valve 2 is by the second control
Valve 32 is connected with right part chamber 15.In other words, rotary valve 2 is not joined directly together with left part chamber 14 and right part chamber 15, but logical
Corresponding control valve is crossed to be indirectly connected to.
It should be appreciated that the specific configuration and operation principle of rotary valve 2 have been prior art, and it is the common skill of this area
Known to art personnel.Specifically, rotary valve 2（That is rotary valve type）Valve core rotatable around its axis can control fluid
Flow, rotary valve 2 has the oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and the right part hydraulic fluid port 24 that interconnect, left part hydraulic fluid port 23
It is suitable to be connected with left part chamber 14, right part hydraulic fluid port 24 is suitable to be connected with right part chamber 15, when valve core turns over a very little clockwise
Angle when, can be supplied to right part hydraulic fluid port 24 through oil inlet 21 from the pressure oil of oil pump 41（It is schematically illustrate）, now left part hydraulic fluid port
23 are separated.When valve core turns over the angle of very little counterclockwise, be can be supplied to through oil inlet 21 from the pressure oil of oil pump 41
Left part hydraulic fluid port 23（It is schematically illustrate）, now right part hydraulic fluid port 24 separated.In other words, when rotary valve 2 is in neutral position, oil inlet
21st, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 are interconnected, and very little is turned over along a direction in the valve core of rotary valve 2
After angle, oil inlet 21 connects left part hydraulic fluid port 23 simultaneously with right part hydraulic fluid port 24 and is connected with oil return opening 22 or oil inlet 21 and a left side
Right part hydraulic fluid port 24 is connected the connection of portion's hydraulic fluid port 23 with oil return opening 22 simultaneously.
Some embodiments of the invention, the assembling mode of rotary valve 2 can use assembling mode same as the prior art,
For example so that steering gear is pinion and-rack manual steering gear as an example（Not limited to this）, the pinion and-rack manual steering gear, steering
Power cylinder 11 and rotary valve 2 can make into a single integrated structure, constitute in-line power steering, but the present invention is not limited thereto.It is dynamic
Power cylinder piston 12 can be formed integrally with steering rack, and the front end pin of torsion bar is connected with tooth sector, and rear end is connected with valve core, valve
The heart is fixed together with steering the tip of the axis again, thus steering spindle can drive tooth sector to be driven by torsion bar.
When rotary valve 2 is in neutral position, 15 liang of chambers of left part chamber 14 and right part chamber communicate（Rotary valve 2 is in neutral position
When putting, each hydraulic fluid port intercommunication of rotary valve 2, therefore left part chamber 14 and right part chamber 15 are the intercommunications by rotary valve 2）, fluid
Fuel tank is flowed back to by oil return opening 22, therefore power cylinder 11 does not work completely, now vehicle is in straight trip operating mode, reference picture
Shown in 1.When clockwise together with valve core upon starting rotation steering wheel, steering spindle（It is schematically illustrate）During rotation, because being subject to turn
The road surface steering drag transmitted to joint arm, power cylinder piston 12 and steering rack can not temporarily be moved, therefore tooth sector is temporary transient
Can not be with steering axes.
So, the torque for passing to tooth sector by steering spindle can only make torsion bar produce a little torsional deflection, make steering spindle（I.e.
Valve core）It is able to relative tooth sector（That is valve pocket）Little angle is turned over, so that rotary valve 2 makes the right part chamber of power cylinder 11
15 oil suction chambers for turning into high pressure, left part chamber 14 turns into the oil back chamber of low pressure.Act on hydraulic pressure to the left on power cylinder piston 12
Active force, helps tooth sector to force steering rack to start action, so as to drive knuckle band motor car wheel to deflect to the right.
Meanwhile, tooth sector also begins to be rotate in same direction with steering spindle in itself, if steering wheel is rotated further, turns round torsion of bar and becomes
Shape just exists always, and the right turn position residing for rotary valve 2 is also constant, once steering wheel stops operating, power cylinder 11 is temporary transient
Work is also continued to, causes tooth sector to be rotated further, reduce the torsional deflection of torsion bar, until torsion bar affranchises state, turned
Valve 2 returns to neutral position, and power cylinder 11 is stopped, and now, steering wheel is to be parked in motionless on a certain position, then wheel
Corner is also maintained for necessarily.
When being rotated counterclockwise for steering wheel, the movement of torsion bar, the rotation direction of the valve core of rotary valve 2 and power cylinder piston 12
Direction is contrary to the above, and deflecting roller is deflected to the left, is not detailed herein.
It should be appreciated that described above is only illustrative, it is impossible to be not understood as to hint of the invention or limitation.It is right
For those skilled in the art, reading on the basis of specification above disclosure, prior art can combined
Above-mentioned technical proposal or technical characteristic are replaced and/or changed.
Oil pump 41 is connected with oil inlet 21, and oil pump 41 is used to for the fluid in fuel tank to supply rotary valve 2.Two-way oil pump 42 has
First hydraulic fluid port 421 and the second hydraulic fluid port 422, the first hydraulic fluid port 421 are connected with left part chamber 14, the second hydraulic fluid port 422 and right part chamber 15
It is connected, and the first hydraulic fluid port 421 and the second hydraulic fluid port 422 be respectively adapted to be connected with fuel tank, in the operation work of two-way oil pump 42 the
One of one hydraulic fluid port 421 and the second hydraulic fluid port 422 constitute import and another constitutes outlet.In other words, two-way oil pump 42 has two kinds
Mode of operation, one kind is outlet for the first hydraulic fluid port 421, and two-way oil pump 42 is another by the second pump oil from fuel tank of hydraulic fluid port 422
For the second hydraulic fluid port 422 is outlet, two-way oil pump 42 passes through the first pump oil from fuel tank of hydraulic fluid port 421.
Shown in reference picture 1- Fig. 5, the 3rd control valve 33 is located between the first hydraulic fluid port 421 and left part chamber 14 and is used to prevent a left side
Fluid in portion's chamber 14 by the 3rd control reverse flow oil return box of valve 33, in other words, the hydraulic fluid port 421 of left part chamber 14 and first it
Between fluid in pipeline according to the direction one-way flow from the first hydraulic fluid port 421 towards left part chamber 14, and reverse flow can only be unable to
It is dynamic.
Similarly, the 4th control valve 34 is located between the second hydraulic fluid port 422 and right part chamber 15 and is used to prevent right part chamber 15
Interior fluid controls the reverse flow oil return box of valve 34 by the 4th, in other words, between the hydraulic fluid port 422 of right part chamber 15 and second in pipeline
Fluid according to the direction one-way flow from the second hydraulic fluid port 422 towards right part chamber 15, and reverse flow can only be unable to.By setting
The 3rd control control valve 34 of valve 33 and the 4th is put, when vehicle is in unmanned steering operating mode, it is possible to achieve to left part chamber 14
With the purpose of the lock pressure of right part chamber 15, behind can be to the specific effect of the 3rd control control valve 34 of valve 33 and the 4th with reference to specific real
Example detailed description is applied, is no longer described in detail here.
It is it should be appreciated that the specific configuration and operation principle of two-way oil pump 42 have been prior art and common for this area
Known to technical staff, therefore no longer describe in detail here.
Wherein, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode.
Specifically, when unmanned steering system is in manual steering operating mode, as shown in Figures 2 and 3, oil pump 41 is passed sequentially through
Rotary valve 2, first controls valve 31 to control valve 32 to right part chamber by rotary valve 2, second to fuel feeding in left part chamber 14, or oil pump 41
Fuel feeding in room 15.As shown in Figure 4 and Figure 5, when unmanned steering system is in unmanned steering operating mode, two-way oil pump 42 passes through first
Hydraulic fluid port 421 and the 3rd controls valve 33 to fuel feeding in left part chamber 14, or two-way oil pump 42 is by the second hydraulic fluid port 422 and the 4th oil
Pump 34 is to fuel feeding in right part chamber 15.
More specifically, shown in reference picture 2, when unmanned steering system is in manual operating mode, if driver turns left turning
To disk, fluid is pumped to rotary valve 2 by oil pump 41, and rotary valve 2 is exported fluid to the first control valve 31, fluid by left part hydraulic fluid port 23
By being entered into left part chamber 14 after the first control valve 31, oil pressure increase in left part chamber 14, so that propulsion power cylinder is lived
Plug 12 moves right, and power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, due to
Right part chamber 15 is compressed by power cylinder piston 12, the fluid in right part chamber 15 by the second control valve 32, after rotary valve 2 from rotary valve
2 oil return opening 22 is back to fuel tank.Under this operating mode, two-way oil pump 42 does not work.
Equally, shown in reference picture 3, when unmanned steering system is in manual operating mode, the steering wheel if driver turns right,
Fluid is pumped to rotary valve 2 by oil pump 41, and rotary valve 2 is exported fluid to the second control valve 32 by right part hydraulic fluid port 24, and fluid passes through
Entered into right part chamber 15 after second control valve 32, oil pressure increase in right part chamber 15, so that propulsion power cylinder piston 12
It is moved to the left, power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned right.Now, due to left part
Chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 by the first control valve 31, after rotary valve 2 from rotary valve 2
The backflow fuel tank of oil return opening 22.Under this operating mode, two-way oil pump 42 does not work.
Shown in reference picture 4, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system of driver
Work, if driver's control pivoted wheels on vehicle turns left, rotary valve 2 is in neutral position, and oil pump 41 exports oil to rotary valve
2, the part fluid is directly back to fuel tank by oil return opening 22.Now, controller（That is, ECU）Control two-way oil pump 42 works,
First hydraulic fluid port 421 is outlet, and the second hydraulic fluid port 422 is import, and two-way oil pump 42 passes through the second pump oil from fuel tank of hydraulic fluid port 422, and
By being exported to left part chamber 14 after the first hydraulic fluid port 421 and the 3rd control valve 33, oil pressure increase in left part chamber 14, so as to push away
Dynamic power cylinder piston 12 moves right, and power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.
Now, because right part chamber 15 is compressed by power cylinder piston 12, the fluid in right part chamber 15 is by the second control valve 32, rotary valve
From the backflow fuel tank of oil return opening 22 of rotary valve 2 after 2.
Shown in reference picture 5, unmanned steering system is in unmanned steering operating mode, if driver's Remote Control Vehicle deflecting roller is turned right
When dynamic, rotary valve 2 is in neutral position, and oil pump 41 exports oil to rotary valve 2, and the part fluid is directly back to by oil return opening 22
Fuel tank.Now, controller control two-way oil pump 42 works, and the first hydraulic fluid port 421 is import, and the second hydraulic fluid port 422 is outlet, two-way oil
Pump 42 is exported and gives right part chamber by the first pump oil from fuel tank of hydraulic fluid port 421 by the second hydraulic fluid port 422 and the 4th control valve 34
15, oil pressure increase in right part chamber 15, so that propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 passes through piston rod
13 drive knuckle action, wheel is turned right.Now, because left part chamber 14 is compressed by power cylinder piston 12, left part chamber
Fluid in room 14 is by the backflow fuel tank of oil return opening 22 after the first control valve 31, rotary valve 2 from rotary valve 2.
Thus, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode,
During normal vehicle operation, driver is manually operable steering wheel so as to control vehicle to turn to the left, turns to the right or keep straight on, and is needing
When wanting driver's Remote Control Vehicle to turn to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can turn to the left or to the right
Dynamic, now driver can in the car, certainly also can be in the outer remote control of car, and easy to operate, control is simple.
It should be appreciated that when driver's Remote Control Vehicle is turned to, RPB can be arranged on the control of vehicle centre console
On panel, may alternatively be integrated within car key certainly, facilitate user in the outer remote control of car, certain RPB can also be provided separately within one
On individual portable steering remote control.
Some embodiments of the invention, the first control valve 31 is identical with the structure of the second control valve 32.So can be with
The versatility of control valve is improved, the cost of unmanned steering system is reduced.For example, the first control control valve 32 of valve 31 and second
It is electromagnetic switch valve.
It should be noted that in the above-described embodiment, due to the first control control valve 32 of valve 31, second be it is automatically controlled
Valve, with controlling corresponding oil circuit on-off function, therefore controls two energizations of valve can be real with power-down state by controller
The switching of existing different operating modes.Because the vehicle plenty of time is in manual operation state, it is preferred that should in controller control
When two valves are in power-down state, unmanned steering system can be at manual steering operating mode, and in controller controls two valves
When being partially in power-up state, unmanned steering system can be at unmanned steering operating mode, so not only saving energy consumption, while control
It is convenient.
Some embodiments of the invention, the first control valve 31 has first interface 311 and second interface 312, first
The first interface 311 of valve 31 is controlled to be connected with left part hydraulic fluid port 23, the second interface 312 and the phase of left part chamber 14 of the first control valve 31
Even.Second control valve 32 has first interface 321 and second interface 322, first interface 321 and the right part oil of the second control valve 32
Mouth 24 is connected, and the second interface 322 of the second control valve 32 is connected with right part chamber 15.
When unmanned steering system is in manual steering operating mode, controller control first controls the control valve 32 of valve 31 and second
It is preferred that power down, and the first interface 311 and first of the first control valve 31 controls the second interface 312 of valve 31 to turn on and the second control
The second interface 322 of the control valve 32 of first interface 321 and second of valve processed 32 is turned on.Unmanned steering is in unmanned steering system
During operating mode, controller control first controls electricity and the second control power down of valve 32 on valve 31, and now, the first of the first control valve 31 connects
The second interface 312 of the control valve 31 of mouth 311 and first disconnects and the first interface 321 and second of the second control valve 32 controls valve 32
Second interface 322 turn on, or controller control first control the power down of valve 31 and second control valve 32 on electricity, now first control
The second interface 312 of the control valve 31 of first interface 311 and first of valve processed 31 is turned on and second controls the first interface 321 of valve 32
Second interface 322 with the second control valve 32 disconnects.
Thus, the first upper electricity and power-down state for controlling valve 31 and second to control valve 32, Ke Yi are controlled by controller
Switch unmanned steering system between manual operating mode and remote control operating mode, it is easy to operate.
It is to be understood that the present invention is not limited thereto, and in other embodiments of the invention, the first control
The control valve 32 of valve 31 and second can also be solenoid directional control valve.
Some preferred embodiments of the invention, unmanned steering system also includes the first check valve 51 and the second check valve
52, the first check valve 51 is located between the first hydraulic fluid port 421 and fuel tank, the port of export and the phase of the first hydraulic fluid port 421 of the first check valve 51
Even, the entrance point of the first check valve 51 is connected with fuel tank, and the first check valve 51 is used for the direction along fuel tank towards the first hydraulic fluid port 421
Pipeline between one-way conduction fuel tank and the first hydraulic fluid port 421.Second check valve 52 is located between the second hydraulic fluid port 422 and fuel tank, the
The port of export of two check valves 52 is connected with the second hydraulic fluid port 422, and the entrance point of the second check valve 52 is connected with fuel tank, the second check valve
52 are used for along fuel tank towards the pipeline between the direction one-way conduction fuel tank and the second hydraulic fluid port 422 of the second hydraulic fluid port 422.By setting
First check valve 51 and the second check valve 52, can prevent fluid adverse current to fuel tank.
Further, as Figure 1-Figure 5, the entrance point of the first check valve 51 and the second check valve 52 entrance point be connected with
It is connected with fuel tank by common pall 53.Further, the entrance point of the entrance point of the first check valve 51 and the second check valve 52
It is connected by connecting line 54, connecting line 54 is connected with common pall 53.So, fluid can first pass through common pall in fuel tank
53 flow into connecting line 54, then selectively supply the first hydraulic fluid port 421 or the second hydraulic fluid port 422 by connecting line 54.Thus, it is possible to
Simplify oil circuit, reduce unmanned steering system cost.It is to be understood that the connected mode not limited to this of above-mentioned oil circuit, example
Entrance point such as the first check valve 51 and the second check valve 52 directly can also be connected with fuel tank.
Some embodiments of the invention, the 3rd control control valve 34 of valve 33 and the 4th is check valve.Thus, structure
Simply, low cost, without control, and can well realize the lock pressure function to left part chamber 14 or right part chamber 15.
It is to be understood that the 3rd control control valve 34 of valve 33 and the 4th is not limited to check valve.For example, the 3rd
The control check valve 34 of valve 33 and the 4th can also be electromagnetic switch valve.
For a person skilled in the art, reading on the basis of specification above disclosure, it is clear that can
To understand that the 3rd control control valve 34 of valve 33 and the 4th can be controlled not necessarily by controller, the such as the 3rd control He of valve 33
4th control valve 34 can be mechanical valve such as check valve, but the 3rd control control valve 34 of valve 33 and the 4th can also be by controller
To control, such as magnetic valve, concretely switch valve, but not limited to this.
Below with the unmanned steering with the first check valve 51, the second check valve 52, common pall 53 and connecting line 54
System, while so that the first control control valve 32 of valve 31 and second is electromagnetic switch valve as an example, being briefly described according to of the invention real
Apply the operation principle of the unmanned steering system of example.
When vehicle is in straight trip, as shown in figure 1, controller control first controls the control valve 32 of valve 31, second all obstructed
Electricity, two valves are exported from oil pump 41 and flow back to fuel tank to after rotary valve 2 all in initial position, fluid.The now not work of two-way oil pump 42
Make.
When unmanned steering system is in manual steering operating mode：As shown in figure 3, controller control first controls valve 31, the
Two control valves 32 all no powers, two valves are exported to rotary valve 2 from oil pump 41 all in initial position, fluid by oil inlet 21,
Steering wheel is rotated clockwise manually, the oil inlet 21 of rotary valve 2 is connected with right part hydraulic fluid port 24 and left part hydraulic fluid port 23 and oil return opening 22 connect
Logical, fluid flows out from the right part hydraulic fluid port 24 of rotary valve 2, and the first interface 321 and second interface 322 by the second control valve 32 are laggard
Enter in the right part chamber 15 of power cylinder 11, power cylinder piston 12 drives pivoted wheels on vehicle to left movement with by knuckle
Turn right.Meanwhile, the fluid in left part chamber 14 pass sequentially through the second interface 312 of the first control valve 31, first interface 311 and
Enter rotary valve 2 after left part hydraulic fluid port 23, then fuel tank is back to from the oil return opening 22 of rotary valve 2.
As shown in Fig. 2 when rotating counterclockwise steering disk manually, pivoted wheels on vehicle will turn left, its principle is big with above-mentioned
Cause is identical, refer to above description, no longer describes in detail here.
When unmanned steering system is in unmanned steering operating mode：If as shown in figure 5, driver's Remote Control Vehicle is turned to the right
When, controller control the first control valve 31 no power is in initial position, and the control valve 32 of control second is powered and turns off so that the
The first interface 321 and second interface 322 of two control valves 32 disconnect.Oil pump 41 exports oil to rotary valve 2 by oil inlet 21, turns
Valve 2 is in neutral position, and the part fluid is directly back to fuel tank from oil return opening 22.
At the same time, controller control two-way oil pump 42 operation work so that the second hydraulic fluid port 422 constitutes outlet, the first oil
Mouth 421 constitutes imports, and two-way oil pump 42 passes through common pall 53, the pump oil from fuel tank of check valve 51 of connecting line 54 and first,
And fluid is exported to right part chamber 15 by the second hydraulic fluid port 422 and the 4th control valve 34, propulsion power cylinder piston 12 is to the left
It is mobile, so that deflecting roller is turned to the right.Due to being provided with the reason of the 4th control valve 34, therefore two-way oil pump 42 can stop work
Make, the fluid in right part chamber 15 inversely can not flow back to fuel tank by the 4th control valve 34, realize to lock right part chamber 15 and press
Purpose, overcome vehicle self-aligning power in the process of moving so that the steering angle before vehicle can keep is constant.This
When to removal right part chamber 15 oil pressure, by control second control the power down of valve 32.
Now still in off-position, the fluid in left part chamber 14 passes sequentially through the first control valve 31 to the first control valve 31
Second interface 312, first interface 311 and left part hydraulic fluid port 23 after enter rotary valve 2, then be back to from the oil return opening 22 of rotary valve 2
Fuel tank, realizes the steering to the right under remote control mode.
Equally, shown in reference picture 4, when being turned to the left under remote control mode, it is disconnected that controller control first controls valve 31 to be powered
Open so that the first control first interface 311 of valve 31 and second interface 312 are separated.Second control valve 32 is in power down original state,
Its principle is roughly the same with above description conversely, repeating no more here.
According to one embodiment of present invention, the first control control valve 32 of valve 31 and second can be integrated in power cylinder
On 11, so that unmanned steering system architecture is compacter, while convenient arrangement.
But, the present invention is not limited thereto, and in another embodiment of the present invention, the first control valve 31 and second is controlled
Valve 32 can become one.Or, first control valve 31 and second control valve 32 may alternatively be integrated within steering gear, by pipeline with
Power cylinder 11 is connected, or the first control control of valve 31 and second valve 32 also can be independent mutually, is connected to each other by pipeline.
In short, those skilled in the art is being read on the basis of specification disclosure, with reference to hydraulic pressure
The ABC in field, can be improved to the arrangement form of the first control control valve 32 of valve 31, second, assembling mode, with
So that unmanned steering system according to embodiments of the present invention is adapted to different automobile types, turn remote control according to embodiments of the present invention
Compacter, simple to system architecture, cost is lower, and the scope of application is wider.
Some embodiments of the invention, oil pump 41 can be directly driven by the engine of vehicle, due to turning for engine
The fast moment is becoming, therefore the oil pump 41 can have flow control device and overflow mechanism, and the flow of the oil pump 41 output can be with
In a less mobility scale, maximum oil pressure is constant, that is to say, that those skilled in the art can be according to remote control for control
The output flow and maximum oil pressure of the requirement setting oil pump 41 of steering.
But, the present invention is not limited thereto, and in other embodiments of the invention, oil pump 41 also can directly by individually electricity
Machine is driven, i.e., oil pump 41 is not directly driven by engine.In such an embodiment, it is preferable the output speed of oil pump 41 is adjustable,
Speed adjusting gear can be for example set between oil pump 41 and motor, speed adjusting gear can be single-row single-stage planetary gear train and/or
Single double pinions mechanism and/or ravigneaux planetary gear mechanism, such oil pump 41 are driven by single motor, and
Speed adjusting gear is set up, so that the output speed of oil pump 41 is adjustable, vehicle can be controlled by the pump oil amount for adjusting oil pump 41
The response speed and turning velocity turned to during manual steering.And, by setting single motor and speed adjusting gear, can be with
Setting motor exports the maximum (top) speed of oil-feed pump by speed adjusting gear so that oil pump can be at declared working condition under the maximum (top) speed,
Overflow mechanism, reduces cost can so be cancelled.But, the present invention is not limited thereto.
Some embodiments of the invention, unmanned steering system also includes pressure sensor 6, pressure sensor 6 and control
Device processed is connected, and pressure sensor 6 is used to detect the oil pressure at oil inlet 21, and unmanned steering operating mode is in unmanned steering system
When and pressure sensor 6 detection oil inlet 21 at oil pressure exceed predetermined value when, controller control unmanned steering system from
Unmanned steering operating mode switches to manual steering operating mode, and such as controller control first controls the control power down of valve 32 of valve 31 or second,
Hence into manual steering operating mode.
Specifically, when unmanned steering system is in unmanned steering operating mode, if having intervening rotary valve 2, such as driver manually
Acted by rotating steering dish driving rotary valve 2, so that the conducting state of rotary valve 2 changes, the oil pressure of the oil inlet 21 of rotary valve 2
Power can increase, now ECU can according to pressure sensor 6 detect the pressure more than after predetermined value, force the first control valve 31 or
The second control power down of valve 32 and the motor power down of control two-way oil pump 42, force unmanned steering system to enter manual steering work
Condition so that manual steering operating mode prior to unmanned steering operating mode, so as to greatly improve vehicle safety, it is ensured that traffic safety.
It should be appreciated that above-mentioned " predetermined value " can according to the unmanned steering system being applied in different vehicle and/or its
Its factor and adaptive settings, this all will be appreciated that for the ordinary skill in the art.
Vehicle according to embodiments of the present invention is briefly described below.
Vehicle according to embodiments of the present invention, including the unmanned steering system according to described in the above embodiment of the present invention.
Vehicle according to some embodiments of the invention can be car, car, truck, lorry, SUV etc..
It should be noted that the other structures of vehicle according to embodiments of the present invention such as speed changer, differential mechanism, decelerator
Deng being prior art, and it is well known for ordinary skill in the art, therefore no longer describes in detail one by one here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
What combined in an appropriate manner in one or more embodiments or example.Additionally, those skilled in the art can say this
Different embodiments or example described in bright book are engaged and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of unmanned steering system for vehicle, it is characterised in that including：
Power cylinder, is provided with for by the power cylinder internal insulation into left part chamber and the right side in the power cylinder
The power cylinder piston of portion's chamber；
Rotary valve, the left part hydraulic fluid port that the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, the rotary valve passes through
First control valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve is by the second control valve and right part chamber phase
Even；
Oil pump, the oil pump is connected with the oil inlet；
Two-way oil pump, the two-way oil pump has the first hydraulic fluid port and the second hydraulic fluid port, first hydraulic fluid port and the left part chamber phase
Even, second hydraulic fluid port is connected with the right part chamber, and first hydraulic fluid port and second hydraulic fluid port are respectively adapted to and oil
Case connect, wherein described in when the two-way oil pump run one of the first hydraulic fluid port and second hydraulic fluid port composition import and another
Constitute outlet；
3rd control valve, the 3rd control valve is located between first hydraulic fluid port and the left part chamber and is used to prevent the left side
Fluid in portion's chamber inversely flows back to the fuel tank by the described 3rd control valve；
4th control valve, the 4th control valve is located between second hydraulic fluid port and the right part chamber and is used to prevent the right side
Fluid in portion's chamber inversely flows back to the fuel tank by the described 4th control valve；
Wherein, the unmanned steering system has manual steering operating mode and unmanned steering operating mode：
When the unmanned steering system is in the manual steering operating mode, the oil pump passes sequentially through the rotary valve, described the
One control valve controls valve in the right part chamber to fuel feeding in the left part chamber, or by the rotary valve, described second
Fuel feeding；
When the unmanned steering system is in the unmanned steering operating mode, the two-way oil pump passes through first hydraulic fluid port and institute
The 3rd control valve is stated to fuel feeding in the left part chamber, or by second hydraulic fluid port and the 4th control valve to the right side
Fuel feeding in portion's chamber.
2. the unmanned steering system for vehicle according to claim 1, it is characterised in that the first control valve and the institute
The structure for stating the second control valve is identical.
3. the unmanned steering system for vehicle according to claim 1, it is characterised in that the first control valve and the institute
State the second control valve and be electromagnetic switch valve.
4. the unmanned steering system for vehicle according to claim 3, it is characterised in that the first control valve and the institute
Each stated in the second control valve is respectively provided with first interface and second interface, wherein
It is described first control valve first interface be connected with the left part hydraulic fluid port, it is described first control valve second interface with it is described
Left part chamber is connected；
It is described second control valve first interface be connected with the right part hydraulic fluid port, it is described second control valve second interface with it is described
Right part chamber is connected；
Wherein when the unmanned steering system is in the manual steering operating mode, described first controls first interface and the institute of valve
State the second interface conducting of the first control valve and the first interface of the second control valve and described second controls the second of valve to connect
Mouth conducting, when the unmanned steering system is in the unmanned steering operating mode, described first controls first interface and the institute of valve
State the second of the second interface disconnection of the first control valve or the first interface of the second control valve and the described second control valve
Interface disconnects.
5. the unmanned steering system for vehicle according to claim 1, it is characterised in that also include：First check valve
With the second check valve, first check valve is located between first hydraulic fluid port and the fuel tank and first check valve goes out
Mouthful end is connected with first hydraulic fluid port, and second check valve is located between second hydraulic fluid port and the fuel tank and described second
The port of export of check valve is connected with second hydraulic fluid port.
6. the unmanned steering system for vehicle according to claim 5, it is characterised in that first check valve enters
The entrance point of mouth end and second check valve is connected and is connected with the fuel tank with by common pall.
7. the unmanned steering system for vehicle according to any one of claim 1-6, it is characterised in that also include：
Pressure sensor, the pressure sensor is used to detect the oil pressure at the oil inlet, is in the unmanned steering system
When the unmanned steering operating mode and the pressure sensor detect the oil pressure more than predetermined value, the unmanned steering system
The manual steering operating mode is switched to from the unmanned steering operating mode.
8. the unmanned steering system for vehicle according to claim 1, it is characterised in that the oil pump is driven by motor
It is dynamic, it is provided with speed adjusting gear between the oil pump and the motor.
9. the unmanned steering system for vehicle according to claim 1, it is characterised in that the 3rd control valve and the institute
State the 4th control valve and be check valve.
10. a kind of vehicle, it is characterised in that including unmanned steering system, the unmanned steering system is according to claim 1-9
Any one of unmanned steering system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310627710.2A CN104670308B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310627710.2A CN104670308B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104670308A CN104670308A (en) | 2015-06-03 |
| CN104670308B true CN104670308B (en) | 2017-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310627710.2A Active CN104670308B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
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| Country | Link |
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| CN (1) | CN104670308B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4219093A (en) * | 1978-08-04 | 1980-08-26 | Zahnradfabrik Friedrichshafen Ag | Vehicle steering assist |
| CN1666917A (en) * | 2004-03-08 | 2005-09-14 | 株式会社日立制作所 | Power steering system |
| CN1847070A (en) * | 2005-04-11 | 2006-10-18 | 株式会社日立制作所 | Power steering apparatus |
| CN1907784A (en) * | 2005-08-04 | 2007-02-07 | 株式会社日立制作所 | Power steering device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09254800A (en) * | 1996-03-22 | 1997-09-30 | Kayaba Ind Co Ltd | Steering force controller for power steering |
-
2013
- 2013-11-29 CN CN201310627710.2A patent/CN104670308B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4219093A (en) * | 1978-08-04 | 1980-08-26 | Zahnradfabrik Friedrichshafen Ag | Vehicle steering assist |
| CN1666917A (en) * | 2004-03-08 | 2005-09-14 | 株式会社日立制作所 | Power steering system |
| CN1847070A (en) * | 2005-04-11 | 2006-10-18 | 株式会社日立制作所 | Power steering apparatus |
| CN1907784A (en) * | 2005-08-04 | 2007-02-07 | 株式会社日立制作所 | Power steering device |
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|---|---|
| CN104670308A (en) | 2015-06-03 |
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