CN212125282U - Unmanned vehicle steering device with multiple steering modes - Google Patents
Unmanned vehicle steering device with multiple steering modes Download PDFInfo
- Publication number
- CN212125282U CN212125282U CN202020892468.7U CN202020892468U CN212125282U CN 212125282 U CN212125282 U CN 212125282U CN 202020892468 U CN202020892468 U CN 202020892468U CN 212125282 U CN212125282 U CN 212125282U
- Authority
- CN
- China
- Prior art keywords
- steering
- motor
- shaft
- worm
- electromagnetic clutch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model discloses an unmanned vehicle turns to device with multiple mode that turns to, include: a steering shaft having one end connected to a steering wheel; one end of the steering gear is connected with the other end of the steering shaft, and the other end of the steering gear is connected with the wheels; the first electromagnetic clutch is arranged on the steering shaft and used for switching on and off the steering shaft; the first worm gear is arranged between the first electromagnetic clutch and the steering wheel; a second worm gear provided between the first electromagnetic clutch and the steering gear device; the two motors are connected with the first worm gear and the second worm gear; the second electromagnetic clutch is arranged between the motor and the first worm and gear; the third electromagnetic clutch is arranged between the motor and the second worm gear, so that the driving pleasure of a driver can be met, and the conversion of the conversion mode can be realized quickly and accurately.
Description
Technical Field
The utility model relates to an unmanned automobile technical field, more specifically, the utility model relates to an unmanned automobile turns to device with multiple mode of turning to.
Background
In recent years, with the rapid development of science and technology and the continuous enhancement of environmental awareness of people, the sales of traditional internal combustion engine automobiles are continuously reduced, and environment-friendly, efficient and energy-saving intelligent automobiles become a research hotspot in the automobile industry. Along with the rapid development of technologies such as artificial intelligence, big data and 5G, the unmanned automobile becomes the research enthusiasm in the field of intelligent automobiles. The unmanned automobile is also called a wheeled mobile robot, and mainly depends on an intelligent driving instrument which is mainly based on a computer system in the automobile to achieve the purpose of unmanned driving. Since the 70 s of the 20 th century, research into unmanned vehicles began in western countries such as the united states, germany and uk, the first computer-driven vehicle was released by NavLabl in 1986, semi-autonomous driving system Autopilot was introduced by tesla in 2015, and the Uber unmanned vehicle was officially tested on the road in 2016. From the 80 th generation of the 20 th century, the unmanned automobile is researched in China, the national defense science and technology university successfully develops the first unmanned automobile in China in the true sense in 1992, the Shanghai transportation university successfully develops the first urban unmanned automobile in China in 2005, the Internet Jupiter hundred company starts the unmanned automobile development plan in 2014, and the unmanned automobile developed by the Alibara team in 2018 has the capability of being tested in an open road section.
Under the prior art conditions, the unmanned technology at the level of L4 is not mature, and the formulation of the unmanned laws and regulations is still in a starting stage, the large-scale application of fully-automatic driving automobile products is remote and unprecedented, and in addition, based on humanized and personalized design requirements, the unmanned automobile with a manual driving mode still has a wider application prospect in order to meet the driving pleasure of a part of drivers even in the future. Unmanned vehicles proposed at the present stage generally have two sets of operating systems: the first is a machine operating system corresponding to a full-automatic driving mode; the second is a driver operating system corresponding to a manual driving mode. Correspondingly, the unmanned vehicle should also have two sets of steering systems: fully automatic steering systems and manual steering systems.
The steering system of an automobile is an important component of a driving system of the automobile, and functions to control the driving direction of the automobile according to the intention of a driver. The automobile steering system goes through the development stages of a pure mechanical steering system, a hydraulic power steering system, an electric power steering system, a steer-by-wire system, a full-automatic steering system and the like. The pure mechanical steering system connects the steering wheel and the steering wheel through a pure mechanical structure, and has the advantages of high driving sense of reality and easy fatigue of a driver. The power-assisted steering system can effectively save the physical power of a driver, and can obtain the feedback of steering resistance during steering, so that the driver obtains good road feel. The steer-by-wire eliminates the mechanical connection between a steering wheel and a steering wheel, is completely powered by electric energy, has flexible design and arrangement, but is not as realistic as a pure mechanical steering system in driving and has high failure rate. The full-automatic steering system controls the automobile steering system according to real-time signals obtained by the radar, the camera and other various sensors of the unmanned automobile, so that drivers are completely liberated, and automobile enthusiasts lose driving pleasure. Based on the above, it is necessary to design a steering device of an unmanned vehicle with multiple steering modes, so as to realize switching of multiple driving styles, provide multiple driving experiences, and meet the driving pleasure of a driver; meanwhile, the steering working process of the system is designed, when any one steering mode fails, the steering system can be quickly switched to another safe steering mode, and the safety and the reliability of steering driving are guaranteed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at designing and developing an unmanned vehicle steering device working process with multiple mode of turning to, having solved present technical weak point, through two sets of motors and worm gear and a plurality of electromagnetic clutch's cooperation, realized multiple auto steering system's switching, when satisfying driver's driving enjoyment, can realize quick, accurate conversion mode's conversion.
The utility model provides a technical scheme does:
an unmanned vehicle steering apparatus having a plurality of steering modes, comprising:
a steering wheel; and
one end of the upper part of the steering shaft is connected with the steering wheel;
the lower part of the steering shaft;
a first electromagnetic clutch provided between the other end of the upper portion of the steering shaft and the one end of the lower portion of the steering shaft, for selectively separating or combining the other end of the upper portion of the steering shaft and the one end of the lower portion of the steering shaft;
a steering gear connected to the other end of the lower portion of the steering shaft and simultaneously connected to wheels;
the first worm wheel is fixedly sleeved on the upper part of the steering shaft;
a first worm, one end of which is meshed with the first worm wheel;
a first motor;
the second electromagnetic clutch is arranged between the other end of the first worm and the power output shaft of the first motor and is used for selectively separating or combining the other end of the first worm and the power output shaft of the first motor;
the second worm wheel is fixedly sleeved on the lower part of the steering shaft;
a second worm, one end of which is meshed with the second worm wheel;
a second motor;
and the third electromagnetic clutch is arranged between the other end of the second worm and the power output shaft of the second motor and is used for selectively separating or combining the other end of the second worm and the power output shaft of the second motor.
Preferably, the steering gear includes:
and one end of the steering gear shaft is connected with the other end of the lower part of the steering shaft, and the other end of the steering gear shaft is of a gear structure.
Preferably, the steering gear further includes:
a steering rack engaged with the gear structure.
Preferably, the method further comprises the following steps:
and a universal joint provided between the steering gear shaft and a lower portion of the steering shaft.
Preferably, the method further comprises the following steps:
and one ends of the two tie rods are respectively arranged at the two ends of the steering rack.
Preferably, the method further comprises the following steps:
and one end of each of the two trapezoidal arms is connected with the other end of each of the two tie rods.
Preferably, the method further comprises the following steps:
and one end of each steering knuckle is connected with the other end of each trapezoidal arm, and the other end of each steering knuckle is connected with a wheel.
Beneficial effect:
the utility model relates to a development's an unmanned vehicle turns to device with multiple mode of turning to, through two sets of motors and worm gear and a plurality of electromagnetic clutch's cooperation, the driver can select four kinds of mode such as full-automatic turning, pure mechanical steering, electric power steering and steer-by-wire through the mode selection button wantonly, has realized multiple automobile steering system's switching, when satisfying driver driving enjoyment, can realize quick, accurate conversion mode's conversion.
Drawings
Fig. 1 is the structure diagram of the steering device of the unmanned vehicle with multiple steering modes of the present invention.
Fig. 2 is a schematic structural diagram of the mode selection and information display of the present invention.
Fig. 3 is a schematic view of the operation process of the steering device of the unmanned vehicle with multiple steering modes according to the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.
As shown in fig. 1, the utility model provides a have unmanned car of multiple mode of turning to turn to device includes: a steering wheel 110, a steering shaft upper part 121, a steering shaft lower part 122, a first electromagnetic clutch 130, a mode selection and information display 140, a steering gear input shaft 151, a steering gear 152, a steering rack 153, two tie rods 154, two trapezoidal arms 155, two steering knuckles 156, a universal joint 157, a first turbine and first worm 161, a second electromagnetic clutch 162, a first motor 163, a first motor drive circuit 164, a second turbine and second worm 171, a third electromagnetic clutch 172, a second motor 173, a second motor drive circuit 174, a VCU181, a steering wheel sensor 182, and a wheel angle sensor 183; among them, a steering wheel 110 for a driver to input a steering torque; one end of the upper portion 121 of the steering shaft is connected with the steering wheel 110, the other end of the upper portion is connected with the first electromagnetic clutch 130, the first electromagnetic clutch 130 is simultaneously connected with one end of the lower portion 122 of the steering shaft, the first electromagnetic clutch 130 is used for realizing the on-off of the upper portion 121 of the steering shaft and the lower portion 122 of the steering shaft, the other end of the lower portion 122 of the steering shaft is connected with the input shaft 151 of the steering gear through the universal joint 157, the input shaft 151 of the steering gear is connected with the steering gear 152 to form a steering gear shaft, the steering gear 152 is in a gear structure, and the steering rack 153 is meshed with the steering gear 152 and used for converting the rotation of the steering gear 152; two tie rods 154, one ends of which are respectively provided at both ends of the steering rack 153; two trapezoidal arms 155, one end of which is connected to the other ends of the two tie rods 154, respectively; two knuckle 156, one end of which is connected to the other end of the two trapezoidal arms 155, and the other end of which is connected to the wheel 190; a first worm wheel and first worm structure 161 provided on the steering shaft upper part 121; a power output shaft of the first motor 163 is connected with one end of the second electromagnetic clutch 162, the other end of the second electromagnetic clutch 162 is connected with the first worm wheel and first worm structure 161, the first motor 163 is used for providing power for a steering system, the first worm wheel and first worm structure 161 is used for transmitting torque sent by the first motor 163 to the upper part 121 of the steering shaft, and the second electromagnetic clutch 162 is used for switching between the first motor 163 and the first worm; a second worm wheel and second worm structure 171 provided on the steering shaft lower portion 122; a second motor 173, the power output end of which is connected to one end of a third electromagnetic clutch 172, the other end of the third electromagnetic clutch 172 being connected to a second worm wheel and second worm structure 171, the second worm wheel and second worm structure 171 being used for transmitting the torque sent by the second motor 173 to the steering shaft lower portion 122; a steering wheel sensor 182 provided on the steering shaft upper portion 121 for monitoring the rotation angle and torque of the steering wheel 110; a wheel rotation angle sensor 183 provided on the frame on the rear side of the wheel kingpin for monitoring the rotation angle of the wheel 190; the mode selection and information display 140 comprises a mode selection interface on one side and an information display interface on the other side, wherein the mode selection interface is used for collecting steering mode information selected by a driver, and the information display interface is used for presenting motion state information of the vehicle; the VCU181 is configured to receive and process signals sent by the steering wheel sensor 182, the mode selection and information display 140, and the wheel rotation angle sensor 183, and manage the operating states of the first electromagnetic clutch 130, the second electromagnetic clutch 162, the third electromagnetic clutch 172, the first motor 163, and the second motor 173; the first motor 163 is connected with the VCU181 through the first motor driving circuit 164, the second motor 173 is connected with the VCU181 through the second motor driving circuit 174, the first motor driving circuit 164 and the second motor driving circuit 174 transmit signals among the first motor 163, the second motor 173 and the VCU181, and information measured by the steering wheel sensor 182 and the wheel rotation angle sensor 183 is transmitted to the mode selection and information display 140 after being processed by the VCU 181; the VCU181 is connected to the first electromagnetic clutch 130 through a wire and manages the operating state of the first electromagnetic clutch 130, so as to connect and disconnect the upper portion 121 and the lower portion 122 of the steering shaft; the VCU181 is connected to the second electromagnetic clutch 162 through a wire and manages the operating state of the second electromagnetic clutch 162, so as to realize the connection and disconnection between the first motor 163 and the first worm wheel and the first worm structure 161; the VCU181 is connected to the third electromagnetic clutch 172 through a wire and manages the operating state of the third electromagnetic clutch 172, so as to realize the connection and disconnection between the second motor 173 and the second worm wheel and the second worm structure 171; when the first motor 163 is operated and the second electromagnetic clutch 162 is closed, the first worm wheel and the first worm structure 161 are driven to move by the power generated by the first motor 163; when the second electric motor 173 is operated and the third electromagnetic clutch 172 is closed, the second electric motor 173 generates power to drive the second worm wheel and the second worm structure 171 to move; the first worm wheel and the first worm structure 161 can convert the driving torque transmitted from the first motor 163 into the torque for driving the steering shaft 120 to rotate by connecting the second electromagnetic clutch 162 with the first motor 163; the second worm wheel and second worm structure 171 may convert the driving torque transmitted from the second motor 173 into a torque for driving the steering shaft 120 to rotate by connecting the third electromagnetic clutch 172 to the second motor 173.
As shown in fig. 2, the mode selection and information display 140 includes two portions: one side is an information display interface which specifically comprises four information columns: current driving mode, steering wheel motion information, and steering system fault information; the other side is a mode selection interface, which specifically comprises: the system comprises a full-automatic driving mode, a pure mechanical driving mode, a first electric power steering mode, a second electric power steering mode and a steer-by-wire driving mode; the steering mode selected by the mode selection interface key is displayed in a current driving mode information column in an information display interface, the steering wheel angle and torque information measured by the steering wheel sensor 182 is displayed in a steering wheel movement information column in the information display interface, the steering wheel angle information measured by the wheel angle sensor 183 is displayed in a steering wheel movement information column in the information display interface, and the steering system fault and processing information measured by the VCU181 is displayed in a steering system fault information column in the information display interface.
The utility model relates to a development have a multiple unmanned car of mode that turns to turn to device, the utility model discloses a development have a multiple unmanned car of mode that turns to device, through two sets of motors and worm gear and a plurality of electromagnetic clutch's cooperation, the driver can be through four kinds of modes of turning to such as mode selection button discretionary selection full-automatic, pure mechanical steering, electric power steering and steer-by-wire, multiple automobile steering system's switching has been realized, when satisfying driver's enjoyment of driving, can realize quick, accurate conversion mode's conversion.
As shown in fig. 3, the working process of the steering device of the unmanned vehicle with multiple steering modes of the present invention specifically includes the following steps:
the method comprises the following steps: the VCU181 receives and processes signals transmitted from the steering wheel sensor 182, the mode selection and information display 140, and the wheel angle sensor 183, and determines the steering mode selected by the driver;
step two: according to the steering mode selected by the driver, the working states (on or off) of the first electromagnetic clutch 130, the second electromagnetic clutch 162 and the third electromagnetic clutch 172 and the working states (on or off) of the first motor 163 and the second motor 173 are managed, and the execution of the selected steering mode is realized;
step three: the steering system does not contain a pure mechanical steering mode, fault diagnosis and processing are carried out according to the sequence of a full-automatic steering mode, a first electric power steering mode, a second electric power steering mode and wire control steering, and when any one steering mode fails, the fault diagnosis and processing can ensure that the steering system can be quickly switched to another safe steering mode, so that the safety and the reliability of steering driving are ensured.
The steering mode selected by the driver in the step one comprises four types and five conditions, wherein the four types comprise pure mechanical steering, electric power steering, steer-by-wire and full-automatic steering, and the five conditions comprise pure mechanical steering, a first electric power steering mode, a second electric power steering mode, steer-by-wire and full-automatic steering.
The five different execution conditions in step two are as follows:
the working process of the first case and the pure mechanical steering mode is as follows: the first electromagnetic clutch 130 is closed, the upper portion 121 of the steering shaft and the lower portion 122 of the steering shaft are communicated up and down, the second electromagnetic clutch 162 and the third electromagnetic clutch 172 are disconnected, the first motor 163 is disconnected from the first worm wheel and the first worm structure 161, the second motor 173 is disconnected from the second worm wheel and the second worm structure 171, the first motor 163 and the second motor 173 do not work at the moment, and the driver drives the steering system;
in case two, the working process of the first electric power steering mode is as follows: the first electromagnetic clutch 130 is closed, the steering shaft 120 is communicated up and down, the second electromagnetic clutch 162 is closed, the first motor 163 is communicated with the first worm gear 161, the third electromagnetic clutch 172 is disconnected, the second motor 173 and the second worm gear 171 are disconnected, at the moment, the first motor 163 works, the second motor 173 does not work, and the driver and the first motor 163 drive the steering system;
and the working process of the third electric power steering mode is as follows: the first electromagnetic clutch 130 is closed, the steering shaft 120 is communicated up and down, the second electromagnetic clutch 162 is opened, the first motor 163 is disconnected with the first worm gear 161, the third electromagnetic clutch 172 is closed, the second motor 173 is communicated with the second worm gear 171, at the moment, the first motor 163 does not work, the second motor 173 works, and the driver and the second motor 173 drive the steering system;
and the fourth situation, the working process of the steer-by-wire mode is as follows: the first electromagnetic clutch 130 is disconnected, the steering shaft 120 is disconnected up and down, the second electromagnetic clutch 162 is closed, the first motor 163 is communicated with the first worm gear 161, the third electromagnetic clutch 172 is closed, the second motor 173 is communicated with the second worm gear 171, at the moment, the first motor 163 works, the second motor 173 also works, the second motor 173 drives the steering system, the first motor 163 generates corresponding steering resistance torque according to real-time road conditions to provide good road feel for a driver, the driver provides driving torque for the steering wheel 110, the resistance torque provided by the first motor 163 is opposite to the driving torque to provide resistance for the driver, the road condition is fed back to the driver, and the driving reality is improved;
and in case five, the working process of the full-automatic steering mode is as follows: the first electromagnetic clutch 132 is turned off, the steering shaft 120 is turned off up and down, the second electromagnetic clutch 162 is turned off, the first motor 163 is turned off from the first worm gear 161, the third electromagnetic clutch 172 is turned on, and the second motor 173 and the second worm gear 171 are communicated, so that the first motor 163 is not operated, the second motor 173 is operated, and the second motor 173 drives the steering system, and in this mode, the driver is completely released.
The fault diagnosis and processing in the third step specifically comprises the following steps:
step 1, judging whether the current steering mode is a full-automatic steering mode:
if yes, it is determined whether the second motor 173 is faulty:
if the second electric motor 173 fails, the third electromagnetic clutch 172 of the steering system is disconnected, and the first electromagnetic clutch 132 is closed, i.e., the mode is switched to the pure mechanical steering mode;
if the second motor 173 does not fail, the fully automatic steering mode continues to be maintained;
if the current steering mode is not the full-automatic steering mode, turning to the step 2;
step 2, judging whether the current mode is a first electric power steering mode:
if yes, then determine again whether the first motor 163 is malfunctioning:
if the first motor 163 fails, the second electromagnetic clutch 162 is turned off, i.e., switched to a purely mechanical steering mode;
if the first motor 163 does not fail, then the first electric power steering mode continues to be maintained;
if the current mode is not the first electric power steering mode, turning to the step 3;
step 3, judging whether the current mode is the second electric power steering mode:
if yes, it is determined whether the second motor 173 is faulty:
if the second electric motor 173 fails, the third electromagnetic clutch 172 is disconnected, i.e., switched to a purely mechanical steering mode;
if the second motor 173 does not have a fault, the second electric power steering mode is continuously maintained;
if the current mode is not the second electric power steering mode, turning to the step 4;
step 4, judging whether the current steering-by-wire mode is the steering-by-wire mode:
if yes, then determine again whether the first motor 163 is malfunctioning:
if the first motor 163 fails, it is determined whether the second motor 173 fails, and if the second motor 173 also fails, the second electromagnetic clutch 162 is turned off, the third electromagnetic clutch 172 is turned off, and the first electromagnetic clutch 132 is turned on, that is, the mode is switched to the pure mechanical steering mode;
if the second electric motor 173 is not faulty, the second electromagnetic clutch 162 is turned off, and the first electromagnetic clutch 132 is turned on, i.e., switched to the second electric power steering mode;
if the first motor 163 does not have a fault, it is determined whether the second motor 173 has a fault, and if the second motor 173 has a fault, the third electromagnetic clutch 172 is turned off and the first electromagnetic clutch 132 is turned on, that is, the electric power steering mode is switched to the first electric power steering mode;
if the second motor 173 is not faulty, the steer-by-wire mode continues to be maintained.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields suitable for the invention, and further modifications may be readily made by those skilled in the art, and the invention is therefore not limited to the specific details and embodiments shown and described herein, without departing from the general concept defined by the claims and their equivalents.
Claims (7)
1. An unmanned vehicle steering apparatus having a plurality of steering modes, comprising:
a steering wheel; and
one end of the upper part of the steering shaft is connected with the steering wheel;
the lower part of the steering shaft;
a first electromagnetic clutch provided between the other end of the upper portion of the steering shaft and the one end of the lower portion of the steering shaft, for selectively separating or combining the other end of the upper portion of the steering shaft and the one end of the lower portion of the steering shaft;
a steering gear connected to the other end of the lower portion of the steering shaft and simultaneously connected to wheels;
the first worm wheel is fixedly sleeved on the upper part of the steering shaft;
a first worm, one end of which is meshed with the first worm wheel;
a first motor;
the second electromagnetic clutch is arranged between the other end of the first worm and the power output shaft of the first motor and is used for selectively separating or combining the other end of the first worm and the power output shaft of the first motor;
the second worm wheel is fixedly sleeved on the lower part of the steering shaft;
a second worm, one end of which is meshed with the second worm wheel;
a second motor;
and the third electromagnetic clutch is arranged between the other end of the second worm and the power output shaft of the second motor and is used for selectively separating or combining the other end of the second worm and the power output shaft of the second motor.
2. The steering apparatus of an unmanned aerial vehicle having a plurality of steering modes according to claim 1, wherein the steering gear comprises:
and one end of the steering gear shaft is connected with the other end of the lower part of the steering shaft, and the other end of the steering gear shaft is of a gear structure.
3. The steering apparatus for an unmanned aerial vehicle having a plurality of steering modes according to claim 2, wherein the steering gear further comprises:
a steering rack engaged with the gear structure.
4. The steering apparatus for an unmanned aerial vehicle having a plurality of steering modes according to claim 3, further comprising:
and a universal joint provided between the steering gear shaft and a lower portion of the steering shaft.
5. The steering apparatus for an unmanned aerial vehicle having a plurality of steering modes according to claim 4, further comprising:
and one ends of the two tie rods are respectively arranged at the two ends of the steering rack.
6. The steering apparatus for an unmanned aerial vehicle having a plurality of steering modes according to claim 5, further comprising:
and one end of each of the two trapezoidal arms is connected with the other end of each of the two tie rods.
7. The steering apparatus for an unmanned aerial vehicle having a plurality of steering modes according to claim 6, further comprising:
and one end of each steering knuckle is connected with the other end of each trapezoidal arm, and the other end of each steering knuckle is connected with a wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020892468.7U CN212125282U (en) | 2020-05-25 | 2020-05-25 | Unmanned vehicle steering device with multiple steering modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020892468.7U CN212125282U (en) | 2020-05-25 | 2020-05-25 | Unmanned vehicle steering device with multiple steering modes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212125282U true CN212125282U (en) | 2020-12-11 |
Family
ID=73669559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020892468.7U Active CN212125282U (en) | 2020-05-25 | 2020-05-25 | Unmanned vehicle steering device with multiple steering modes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212125282U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422251A (en) * | 2020-05-25 | 2020-07-17 | 吉林大学 | Unmanned automobile steering system with multiple steering modes and control method thereof |
| US11180183B2 (en) * | 2018-07-20 | 2021-11-23 | Hyundai Mobis Co., Ltd. | Steer-by-wire apparatus |
| CN114043995A (en) * | 2021-11-22 | 2022-02-15 | 江苏大学 | Fault-tolerant device and fault-tolerant control method for autonomous steering system of unmanned vehicle |
-
2020
- 2020-05-25 CN CN202020892468.7U patent/CN212125282U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11180183B2 (en) * | 2018-07-20 | 2021-11-23 | Hyundai Mobis Co., Ltd. | Steer-by-wire apparatus |
| CN111422251A (en) * | 2020-05-25 | 2020-07-17 | 吉林大学 | Unmanned automobile steering system with multiple steering modes and control method thereof |
| CN111422251B (en) * | 2020-05-25 | 2024-01-26 | 吉林大学 | Unmanned automobile steering system with multiple steering modes and control method thereof |
| CN114043995A (en) * | 2021-11-22 | 2022-02-15 | 江苏大学 | Fault-tolerant device and fault-tolerant control method for autonomous steering system of unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212125282U (en) | Unmanned vehicle steering device with multiple steering modes | |
| CN110001765B (en) | Vehicular steer-by-wire device with redundant mechanism and control method | |
| CN107792168B (en) | Sleeve motor steer-by-wire device and control method | |
| CN101229819B (en) | Wire-controlled steering system for automobiles | |
| CN108749916B (en) | Multi-mode steer-by-wire device and control method thereof | |
| CN103303361B (en) | For the electric power-assisted steering apparatus of vehicle | |
| CN109774786B (en) | Multi-mode power-assisted steering system based on steer-by-wire and control method thereof | |
| CN109291991A (en) | A kind of bi-motor line traffic control composite turning system and its control method | |
| CN209852413U (en) | Wire-controlled steering device with redundancy function | |
| CN113212542B (en) | Electro-hydraulic coupling intelligent circulating ball type steer-by-wire system and control method thereof | |
| CN209870490U (en) | Vehicle wire-controlled steering device with redundant mechanism | |
| CN111422251B (en) | Unmanned automobile steering system with multiple steering modes and control method thereof | |
| CN114524019A (en) | Double-winding double-motor steer-by-wire system of commercial vehicle and control method thereof | |
| CN113335371B (en) | Multifunctional electric circulating ball steering system of commercial vehicle and control method thereof | |
| CN110588767A (en) | Multi-motor redundancy device and control method of wire-controlled steering system | |
| CN102229347A (en) | Electric power-assisted steering system of electric vehicle and power-assisted steering method thereof | |
| CN110696912A (en) | Multi-mode motor drive steer-by-wire system of passenger vehicle and steering control method thereof | |
| CN110884564B (en) | Electric servo angle steering gear | |
| CN202508145U (en) | Automobile electric power-assisted steering system | |
| CN114834524A (en) | Multi-mode dual-redundancy active steering system assembly and control method | |
| CN216185449U (en) | A drive-by-wire a steering system for heavy commercial car | |
| CN208682909U (en) | A kind of multi-mode steer by wire apparatus | |
| CN110588771A (en) | Electric control steering device and control method thereof | |
| CN113815721A (en) | A drive-by-wire a steering system for heavy commercial car | |
| CN108583678B (en) | Large-angle full-wire control steering system and method of hub motor driven electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |