CN111267952B - Steering control system of automatic driving automobile - Google Patents
Steering control system of automatic driving automobile Download PDFInfo
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- CN111267952B CN111267952B CN202010134731.0A CN202010134731A CN111267952B CN 111267952 B CN111267952 B CN 111267952B CN 202010134731 A CN202010134731 A CN 202010134731A CN 111267952 B CN111267952 B CN 111267952B
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- 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
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- 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
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
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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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
- B62D5/32—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means for telemotor systems
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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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an automatic driving automobile steering control system, which comprises a rotating speed sensor, a main angle sensor, an auxiliary angle sensor, a steering driving mechanism, a transmission shaft and a controller, wherein at least two rotating speed sensors and at least two auxiliary angle sensors are respectively arranged on the wheel shafts of automobile steering wheels, the main angle sensor is connected with a vehicle steering wheel shaft and the steering driving mechanism, the steering driving mechanism is arranged on an automobile frame and is connected with the vehicle steering driving mechanism and the vehicle steering wheel shaft through the transmission shaft, and the controller is arranged on the automobile frame. The method has the advantages of simple structure, flexible and convenient use, convenient installation and replacement, high detection precision and high operation automation degree, and greatly improves the reliability, convenience and operation precision of the vehicle steering operation.
Description
This patent is the divisional application, and the information of former application is as follows, the name: an automatic steering control system for a vehicle, having application number: 2017111450960, filing date: 2017/11/17.
Technical Field
The invention relates to an automatic driving automobile steering system, belonging to the technical field of automatic driving automobiles.
Background
At present, in the vehicle operation, a steering system is one of important systems for ensuring the vehicle operation reliability, and at present, in order to improve the flexibility and convenience of the vehicle steering operation, a steering wheel is often used for operating a special steering driving auxiliary mechanism, and then the steering driving auxiliary mechanism is used for driving wheels to steer, although the structure can meet the use requirement, during the steering operation, because the transmission process of mechanical equipment is longer, a certain deviation exists between the driving angle of the steering wheel and the actual deflection angle of the wheels, and meanwhile, the deviation between the wheel steering and the direction steering operation is further increased due to the factors of different rotating speeds, different road surface resistances and the like in the actual operation of the wheels, so that the safety and the reliability of the vehicle operation and the operation are seriously threatened, besides, any one of a motor driving system or a hydraulic driving system adopted by the current steering driving auxiliary mechanism is often used, therefore, the current vehicle steering system has poor fault resistance during operation, the vehicle steering is out of control easily when the steering driving auxiliary mechanism breaks down, the vehicle operation safety is seriously threatened, and the current steering driving auxiliary mechanism also lacks effective steering data detection and feedback capacity, so that the current driving auxiliary mechanism cannot effectively perform data communication capacity with a driving computer system, and therefore, aiming at the problem, a vehicle steering deviation correcting device needs to be developed to meet the requirement of actual use.
Disclosure of Invention
The invention aims to overcome the defects and provide a method and a mechanism for managing the process authority of embedded software.
In order to realize the purpose, the invention is realized by the following technical scheme:
an automatic steering control system for automobile comprises a rotation speed sensor, a main angle sensor, an auxiliary angle sensor, a steering driving mechanism, a transmission shaft and a controller, wherein at least two rotation speed sensors and at least two auxiliary angle sensors are respectively arranged on the wheel shaft of the automobile steering wheel, the main angle sensor is connected with the steering wheel shaft and the steering driving mechanism, the steering driving mechanism is arranged on the automobile frame and is connected with the steering driving mechanism and the steering wheel shaft through the transmission shaft, the controller is arranged on the automobile frame and is respectively electrically connected with the rotation speed sensor, the main angle sensor, the auxiliary angle sensor, the steering driving mechanism, an automobile power circuit and an automobile driving computer circuit, the steering driving mechanism comprises a bearing base, a servo driving motor, a swing hydraulic cylinder, a transmission mechanism and a driving control sub-circuit, the bearing base is a closed cavity structure with a rectangular cross section, the servo driving motor, the swing hydraulic cylinder, drive mechanism all inlays in bearing the weight of the base, wherein drive mechanism passes through the transmission shaft respectively with the steering wheel axle, servo driving motor, swing hydraulic cylinder and turn to actuating mechanism interconnect, and servo driving motor, swing hydraulic cylinder establishes at least one main angle sensor respectively, the controller includes the protecting crust, a control circuit board, auxiliary power supply and wiring slot, the transversal bearing cavity of personally submitting the rectangle is established in the protecting crust, a control circuit board, auxiliary power supply and wiring slot inlay in bearing the weight of the intracavity, auxiliary power supply and wiring slot pass through slide rail and protecting crust sliding connection, control circuit board wiring section inlay in with wiring slot, and with wiring slot electrical connection, wiring slot respectively with auxiliary power supply, speed sensor, main angle sensor, auxiliary angle sensor, turn to actuating mechanism electrical connection.
Furthermore, the servo driving motor, the swing hydraulic cylinder and the transmission mechanism are all in sliding connection with the bearing base through sliding rails, and the axes of the servo driving motor, the swing hydraulic cylinder and the transmission mechanism are distributed in parallel with the upper surface of the bearing base.
Furthermore, the bearing base and the protective shell are connected with the automobile frame through the shock absorbing mechanism.
Furthermore, an electromagnetic shielding layer is arranged on the inner surface of the bearing cavity of the protective shell.
Furthermore, the electromagnetic shielding layer include flexible insulating layer, electromagnetic screen metal mesh, flexible insulating layer and bear the weight of intracavity surface and be connected, electromagnetic screen metal mesh at least one deck, and each electromagnetic screen metal mesh inlays in flexible insulating layer.
Furthermore, at least one partition board is arranged in the bearing cavity, and the auxiliary power supply and the wiring slot are mutually isolated by the partition board.
Furthermore, the outer surface of the protective shell corresponding to the wiring slot is provided with a wiring terminal, and the wiring terminal is electrically connected with the wiring slot.
Furthermore, the auxiliary power supply comprises a storage battery pack, a charging and discharging control circuit and a wireless charging device, wherein the charging and discharging control circuit is electrically connected with the storage battery pack, the wireless charging device and a power supply wiring terminal respectively.
A use method of an automatic driving automobile steering control system comprises the following steps:
firstly, acquiring a steering signal, wherein in the running process of a vehicle, a controller acquires the current running speed of the vehicle and a steering deflection angle parameter from an automobile driving computer circuit, wherein the steering deflection angle parameter is obtained by calculating the automobile driving computer circuit on one hand and the steering wheel shaft rotation angle on the other hand, the steering wheel shaft rotation angle parameter has higher priority than the angle parameter calculated by the automobile driving computer circuit, and when the steering wheel shaft rotation angle is smaller than the angle calculated by the automobile driving computer circuit, the angle calculated by the automobile driving computer circuit compensates the steering wheel shaft rotation angle, and the steering wheel shaft rotation angle is conveyed into the controller after the compensation is completed;
secondly, steering driving, namely after the first step is finished, driving a steering driving mechanism to operate by a controller according to the collected steering deflection angle parameters, driving wheels of a vehicle to perform steering operation by the steering driving mechanism, preferentially performing steering driving by a servo driving motor in the operation process of the steering driving mechanism, then maintaining the steering angle of the wheels in the steering process by a swing hydraulic cylinder, and driving the steering operation by the swing hydraulic cylinder when the servo driving motor fails;
and thirdly, correcting the steering, wherein in the process of performing the second steering operation, the rotating speed and the deflection angle of the steering wheel are detected by the rotating speed sensor and the auxiliary angle sensor and are fed back to the controller through the rotating speed and the deflection angle of the wheel, the controller compares the actual deflection angle of the wheel with the deflection angle parameter obtained in the first step, and the actual deflection angle of the wheel is kept consistent with the deflection angle parameter obtained in the first step.
The method has the advantages of simple structure, flexible and convenient use, convenient installation and replacement, high detection precision and high operation automation degree, can match the steering of the steering wheel with the actual steering angle of the wheels on one hand, and improve the running synchronism and pointing precision of the wheels and the steering wheel during the steering operation of the steering wheel, and can effectively improve the stability and reliability of the steering driving force output during the steering operation on the other hand, and effectively overcome the defects of complicated equipment, poor steering power output stability, insufficient fault resistance of the steering equipment and the like of the traditional vehicle steering mechanism while improving the operation flexibility and sensitivity of the steering wheel, thereby greatly improving the reliability, convenience and operation precision of the steering operation of the vehicle.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a diagram of a controller architecture;
FIG. 3 is a view showing the structure of an electromagnetic shield layer
FIG. 4 is a flow chart illustrating the method of the present invention.
Detailed Description
As shown in fig. 1-3, an automatic steering control system for a vehicle comprises a rotation speed sensor 1, a main angle sensor 2, an auxiliary angle sensor 3, a steering driving mechanism 4, a transmission shaft 5 and a controller 6, wherein at least two rotation speed sensors 1 and at least two auxiliary angle sensors 3 are respectively mounted on a wheel shaft of a steering wheel of the vehicle, the main angle sensor 2 is connected with a steering wheel shaft 8 and the steering driving mechanism 4, the steering driving mechanism 4 is mounted on a vehicle frame 9 and is connected with the steering driving mechanism 10 and the steering wheel shaft 8 through the transmission shaft 5, and the controller 6 is mounted on the vehicle frame 9 and is respectively electrically connected with the rotation speed sensor 1, the main angle sensor 2, the auxiliary angle sensor 3, the steering driving mechanism 4, a vehicle power circuit and a vehicle driving computer circuit.
In this embodiment, the steering driving mechanism 4 includes a bearing base 41, a servo driving motor, a swing hydraulic cylinder 43, a transmission mechanism 44 and a driving control sub-circuit 45, the bearing base 41 is a closed cavity structure with a rectangular cross section, the servo driving motor, the swing hydraulic cylinder 43 and the transmission mechanism 44 are all embedded in the bearing base 41, wherein the transmission mechanism 44 is respectively connected with the steering wheel shaft 8, the servo driving motor, the swing hydraulic cylinder 43 and the steering driving mechanism 10 through a transmission shaft 5, and the servo driving motor and the swing hydraulic cylinder 43 are respectively provided with at least one main angle sensor 2.
In this embodiment, the controller 6 includes a protective shell 61, a control circuit board 62, an auxiliary power supply 63 and a wiring slot 64, a bearing cavity 65 with a rectangular cross section is formed in the protective shell 61, the control circuit board 62, the auxiliary power supply 63 and the wiring slot 64 are embedded in the bearing cavity 65, the auxiliary power supply 63 and the wiring slot 64 are slidably connected with the protective shell 61 through a sliding rail 11, a wiring section of the control circuit board 62 is embedded in the wiring slot 64 and is electrically connected with the wiring slot 64, and the wiring slot 64 is electrically connected with the auxiliary power supply 63, the rotation speed sensor 1, the main angle sensor 2, the auxiliary angle sensor 3 and the steering driving mechanism 4 respectively.
In this embodiment, the servo driving motor, the swing hydraulic cylinder 43 and the transmission mechanism 44 are all slidably connected to the bearing base 41 through the slide rail 11, and the axes of the servo driving motor, the swing hydraulic cylinder 43 and the transmission mechanism 44 are parallel to the upper surface of the bearing base 41.
In this embodiment, the supporting base 41 and the protecting shell 61 are connected to the frame 9 of the vehicle through the shock absorbing mechanism 12.
In this embodiment, the inner surface of the carrying cavity 65 of the protecting shell 61 is provided with the electromagnetic shielding layer 13.
In this embodiment, the electromagnetic shielding layer 13 includes a flexible insulating layer 131 and an electromagnetic screen metal mesh 132, the flexible insulating layer 131 is connected to the inner surface of the bearing cavity 65, the electromagnetic screen metal mesh 132 is at least one layer, and each electromagnetic screen metal mesh 132 is embedded in the flexible insulating layer.
In this embodiment, at least one partition 14 is disposed in the bearing cavity 65, and the auxiliary power supply 63 and the connection slot 64 are isolated from each other by the partition 14.
In this embodiment, the connection terminal 15 is disposed on the outer surface of the protection shell 61 corresponding to the connection slot 64, and the connection terminal 15 is electrically connected to the connection slot 64.
In this embodiment, the auxiliary power supply 63 includes a battery pack, a charging and discharging control circuit and a wireless charging device, and the charging and discharging control circuit is electrically connected to the battery pack, the wireless charging device and the power connection terminal 15, respectively.
As shown in fig. 4, a method for using a steering control system of an autonomous vehicle includes the following steps:
firstly, acquiring a steering signal, wherein in the running process of a vehicle, a controller acquires the current running speed of the vehicle and a steering deflection angle parameter from an automobile driving computer circuit, wherein the steering deflection angle parameter is obtained by calculating the automobile driving computer circuit on one hand and the steering wheel shaft rotation angle on the other hand, the steering wheel shaft rotation angle parameter has higher priority than the angle parameter calculated by the automobile driving computer circuit, and when the vehicle steering wheel shaft rotation angle is smaller than the angle calculated by the automobile driving computer circuit, the angle calculated by the automobile driving computer circuit compensates the steering wheel shaft rotation angle, and the steering wheel shaft rotation angle is conveyed into the controller after the compensation is completed;
secondly, steering driving, namely after the first step is finished, driving a steering driving mechanism to operate by a controller according to the collected steering deflection angle parameters, driving wheels of a vehicle to perform steering operation by the steering driving mechanism, preferentially performing steering driving by a servo driving motor in the operation process of the steering driving mechanism, then maintaining the steering angle of the wheels in the steering process by a swing hydraulic cylinder, and driving the steering operation by the swing hydraulic cylinder when the servo driving motor fails;
and thirdly, correcting the steering, wherein in the process of performing the second steering operation, the rotating speed and the deflection angle of the steering wheel are detected by the rotating speed sensor and the auxiliary angle sensor and are fed back to the controller through the rotating speed and the deflection angle of the wheel, the controller compares the actual deflection angle of the wheel with the deflection angle parameter obtained in the first step, and the actual deflection angle of the wheel is kept consistent with the deflection angle parameter obtained in the first step.
The method has the advantages of simple structure, flexible and convenient use, convenient installation and replacement, high detection precision and high operation automation degree, can match the steering of the steering wheel with the actual steering angle of the wheels on one hand, and improve the running synchronism and pointing precision of the wheels and the steering wheel during the steering operation of the steering wheel, and can effectively improve the stability and reliability of the steering driving force output during the steering operation on the other hand, and effectively overcome the defects of complicated equipment, poor steering power output stability, insufficient fault resistance of the steering equipment and the like of the traditional vehicle steering mechanism while improving the operation flexibility and sensitivity of the steering wheel, thereby greatly improving the reliability, convenience and operation precision of the steering operation of the vehicle.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. An automatic driving car steering control system which characterized in that: the automatic driving automobile steering control system comprises a rotating speed sensor, a main angle sensor, an auxiliary angle sensor, a steering driving mechanism, a transmission shaft and a controller, wherein at least two rotating speed sensors and at least two auxiliary angle sensors are respectively arranged on the wheel shafts of the automobile steering wheels, the main angle sensor is connected with a steering wheel shaft and the steering driving mechanism, the steering driving mechanism is arranged on the automobile frame and is connected with the steering driving mechanism and the steering wheel shaft through the transmission shaft, the controller is arranged on the automobile frame and is respectively electrically connected with the rotating speed sensor, the main angle sensor, the auxiliary angle sensor, the steering driving mechanism, an automobile power circuit and an automobile traveling computer circuit, the steering driving mechanism comprises a bearing base, a servo driving motor, a swing hydraulic cylinder, a transmission mechanism and a driving control sub-circuit, the bearing base is a closed cavity structure with a rectangular cross section, the servo driving motor, the swing hydraulic cylinder and the transmission mechanism are all embedded in the bearing base, the transmission mechanism is respectively connected with the steering wheel shaft, the servo driving motor, the swing hydraulic cylinder and the steering driving mechanism through transmission shafts, the servo driving motor and the swing hydraulic cylinder are respectively provided with at least one main angle sensor, the controller comprises a protective shell, a control circuit board, an auxiliary power supply and a wiring slot, a bearing cavity with a rectangular cross section is arranged in the protective shell, the control circuit board, the auxiliary power supply and the wiring slot are embedded in the bearing cavity, the auxiliary power supply and the wiring slot are slidably connected with the protective shell through slide rails, a wiring section of the control circuit board is embedded in the wiring slot and electrically connected with the wiring slot, and a wiring terminal is arranged on the outer surface of the protective shell corresponding to the wiring slot, the wiring terminal is electrically connected with the wiring slot, and the wiring slot is electrically connected with the auxiliary power supply, the rotating speed sensor, the main angle sensor, the auxiliary angle sensor and the steering driving mechanism respectively;
the servo driving motor, the swing hydraulic cylinder and the transmission mechanism are all connected with the bearing base in a sliding mode through sliding rails, and the axes of the servo driving motor, the swing hydraulic cylinder and the transmission mechanism are distributed in parallel with the upper surface of the bearing base;
the bearing base and the protective shell are connected with the automobile frame through the shock absorption mechanism;
the bearing cavity of protecting crust on the surface establish the electromagnetic shield layer, the electromagnetic shield layer include flexible insulating layer, electromagnetic screen metal mesh, the electromagnetic screen metal mesh at least one deck, and each electromagnetic screen metal mesh inlays in flexible insulating layer, flexible insulating layer and bearing cavity internal surface be connected, bear the intracavity and establish at least one baffle, auxiliary power source and wiring slot between by baffle mutual isolation.
2. The steering control system of an autonomous vehicle as claimed in claim 1, wherein said auxiliary power source comprises a battery pack, a charging and discharging control circuit and a wireless charging device, said charging and discharging control circuit being electrically connected to the battery pack, the wireless charging device and the power connection terminal, respectively.
3. The use method of the automatic driving automobile steering control system is characterized by comprising the following steps:
firstly, acquiring a steering signal, wherein in the running process of a vehicle, a controller acquires the current running speed of the vehicle and a steering deflection angle parameter from an automobile driving computer circuit, wherein the steering deflection angle parameter is obtained by calculating the automobile driving computer circuit on one hand and the steering wheel shaft rotation angle on the other hand, the steering wheel shaft rotation angle parameter has higher priority than the angle parameter calculated by the automobile driving computer circuit, and when the steering wheel shaft rotation angle is smaller than the angle calculated by the automobile driving computer circuit, the angle calculated by the automobile driving computer circuit compensates the steering wheel shaft rotation angle, and the steering wheel shaft rotation angle is conveyed into the controller after the compensation is completed;
secondly, steering driving, namely after the first step is finished, driving a steering driving mechanism to operate by a controller according to the collected steering deflection angle parameters, driving wheels of a vehicle to perform steering operation by the steering driving mechanism, preferentially performing steering driving by a servo driving motor in the operation process of the steering driving mechanism, then maintaining the steering angle of the wheels in the steering process by a swing hydraulic cylinder, and driving the steering operation by the swing hydraulic cylinder when the servo driving motor fails;
and thirdly, correcting the steering, wherein in the process of performing the second steering operation, the rotating speed and the deflection angle of the steering wheel are detected by the rotating speed sensor and the auxiliary angle sensor and are fed back to the controller through the rotating speed and the deflection angle of the wheel, the controller compares the actual deflection angle of the wheel with the deflection angle parameter obtained in the first step, and the actual deflection angle of the wheel is kept consistent with the deflection angle parameter obtained in the first step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010134731.0A CN111267952B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010134731.0A CN111267952B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
| CN201711145096.0A CN108032903B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711145096.0A Division CN108032903B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
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| Publication Number | Publication Date |
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| CN111267952A CN111267952A (en) | 2020-06-12 |
| CN111267952B true CN111267952B (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010134731.0A Active CN111267952B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
| CN201711145096.0A Active CN108032903B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201711145096.0A Active CN108032903B (en) | 2017-11-17 | 2017-11-17 | Steering control system of automatic driving automobile |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108801647B (en) * | 2018-05-29 | 2023-06-30 | 西华大学 | Multi-shaft commercial vehicle steering control frame device with yaw rate measurement function |
| CN110217290B (en) * | 2019-05-23 | 2020-07-14 | 北京理工大学 | Unmanned vehicle steering system and method based on secondary planet steering machine |
| CN110497962B (en) * | 2019-07-18 | 2023-11-24 | 上海振华重工(集团)股份有限公司 | Volume servo integrated electro-hydraulic steering system of straddle carrier and control method thereof |
| CN111452871B (en) * | 2020-04-23 | 2022-02-25 | 瑞安市乾川汽车附件有限公司 | Automatic zero-offset calibration method and system for automobile steering wheel |
| CN112590918A (en) * | 2020-12-21 | 2021-04-02 | 南京信息职业技术学院 | Steering control device for unmanned automobile |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102054138B1 (en) * | 2013-06-28 | 2019-12-10 | 현대모비스 주식회사 | Steering return control apparatus of motor driven power steering and method thereof |
| JP6365673B2 (en) * | 2014-08-29 | 2018-08-01 | 株式会社島津製作所 | Steer-by-wire steering system |
| JP6384296B2 (en) * | 2014-12-02 | 2018-09-05 | 日産自動車株式会社 | Vehicle steering control device and vehicle steering control method |
| CN204871167U (en) * | 2015-07-28 | 2015-12-16 | 西安航空学院 | Electronic power assisted steering device based on four wheel steering |
| CN206406981U (en) * | 2016-12-29 | 2017-08-15 | 上海万捷汽车控制***有限公司 | A kind of moment control device of Electric Power Steering Control System |
| CN107140012B (en) * | 2017-05-10 | 2023-04-04 | 南京航空航天大学 | Steer-by-wire system based on Kalman filter capable of restraining divergence and control method |
-
2017
- 2017-11-17 CN CN202010134731.0A patent/CN111267952B/en active Active
- 2017-11-17 CN CN201711145096.0A patent/CN108032903B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111267952A (en) | 2020-06-12 |
| CN108032903A (en) | 2018-05-15 |
| CN108032903B (en) | 2020-02-21 |
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