WO2018233849A1 - Steer-by-wire steering system with absolute rack position sensor - Google Patents
Steer-by-wire steering system with absolute rack position sensor Download PDFInfo
- Publication number
- WO2018233849A1 WO2018233849A1 PCT/EP2017/065575 EP2017065575W WO2018233849A1 WO 2018233849 A1 WO2018233849 A1 WO 2018233849A1 EP 2017065575 W EP2017065575 W EP 2017065575W WO 2018233849 A1 WO2018233849 A1 WO 2018233849A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rack
- steer
- sensor
- absolute
- steering system
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
- B62D5/0424—Electric motor acting on or near steering gear the axes of motor and final driven element of steering gear, e.g. rack, being parallel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0225—Determination of steering angle by measuring on a steering gear element, e.g. on a rack bar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
Definitions
- the present invention relates to a steer-by-wire steering system of a motor vehicle according to the preamble of claim 1.
- a steering shaft is connected to a steering wheel for operation by the driver.
- the steering shaft is coupled to a steering rack via a gear pinion.
- Steering rack rods are connected to the steering rack and to steered wheels of the motor vehicle.
- a rotation of the steering shaft causes an axial displacement of the steering rack by means of the gear pinion which is connected to the steering shaft in a torque-proof manner.
- Assist force is applied to a steering mechanism by driving an electric motor.
- the absolute rack position can be measured via a multi-turn steering wheel angle sensor or with a sleep-mode rotor angle sensor which is turned on periodically to detect and count the rotation of the electric motor's rotor.
- a disadvantage of sleep mode rotor angle sensors is that the absolute rack position information is lost if the battery is disconnected from the system's electronic control unit (ECU).
- the reinitialization of the rack position can be done either based on the road wheel speed read from the communication network in the ECU or via an additional index sensor placed on the pinion.
- a steering actuator operates in response to detected values of various steering parameters, such as steering wheel angle and vehicle speed etc.
- the detected values are communicated electronically to the steering actuator from sensors, whereby the steering actuator drives the rack and orients the steerable wheels in the desired direction.
- loosing the absolute rack position is very dangerous, because the rack could be at any position.
- a complete lock-to-lock rotation of the steering wheel is required, which could take longer than allowed and may not be allowed at all, because it can lead to undesired movement of the vehicle.
- One solution to provide absolute rack position information at all time is usage of a linear position sensor at the rack, but this solution is expensive and therefore not desired .
- a steer-by-wire steering system of a motor vehicle comprising a steering rack, a steering actuator which drives the rack in longitudinal direction, wherein the steering actuator comprises an electric motor and an electronic control unit (ECU), and an absolute rack position sensor
- the absolute rack position sensor comprises a sensor with fixed orientation to the rack housing which reads rack position markers arranged longitudinally on the rack, wherein each rack position marker encodes a number of bits, wherein all possible sequential subarrays with a predefined length are unique, so that each sequential subarray clearly defines an absolute rack position.
- the numbers are picked pseudo-random. Each sequential subarray occurs only once within the array. This sensor presents a low-cost and easy possibility to measure the absolute rack position. It is preferred, that the rack position markers encode a single binary digit, which is easy to realize.
- the zero digits of the array or the one digits of the array are preferably formed by holes in the rack.
- the diameter of the holes lies in a range between 0.5 mm and 10 mm, which allows for sufficient position resolution.
- a second sensor is arranged with a fixed distance in longitudinal direction to the sensor to read the rack positions markers, as well. This way the necessary rack travel to recover the absolute rack position can be reduced.
- the predefined length is in a range between 4 bits and 10 bits for sufficient position resolution.
- the senor is a low cost magnetic or inductive sensor.
- FIG. 1 shows a schematic illustration of a rack 1 with an absolute rack position sensor 2 according to the present invention.
- the rack 1 is driven by an electric motor 3 which is connected to a ball screw 4 arranged on the rack
- the 2 is composed of a sensor 8 and rack position markers 9 on the rack 1.
- the sensor 8 preferably transmits the information digitally to the ECU 6.
- the rack position markers 9 are encoded in an array of bits 10, which can be formed directly on the rack 1, for example with holes representing zero, or a suitable track can be glued on or mounted onto the rack.
- the sensor 8 is preferably a low cost magnetic or inductive sensor. When the rack 1 is moving longitudinally, the sensor 8 scans the marked surface of the rack 1 in order to continuously read the absolute rack position off the rack position markers 9.
- the rack position markers 9 are encoded longitudinally onto the rack 1 in a pseudo-random fashion.
- the rack position markers 9 can be encoded either binary or multi valued (for more dense information encoding).
- Figure 1 shows an example of binary encoding with the following binary array: 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0. The encoding is done in such a way, that any 4 bit long sequential subarray scanned by the position sensor is unique and fully identifies the current position.
- the 4-bit-long sequential subarrays are (in parentheses the decimal value of the 4-bit-string is given) :
- the 4-bit-subarrays are all unique. After reading four complete bits it is possible to determine the position inside the array. DThe combination 0000 is missing in the table above. It can be added to the array, if necessary.
- Figure 1 shows one encoding example.
- the table below shows further examples for an assumed rack travel of 150 mm. It shows the minimal required rack travel to read the absolute position and the required rack travel to read the necessary number of bits plus one to take into account, that the starting position may not be at the start of a bit.
- Array length Minimal number Hole size [mm] Necessary rack travel [bits] of bits read for (rounded to the for absolute position absolute position next 50 prn) determination (ideal determination case and + 1 bit
- the absolute rack position sensor 2 allows instant position recovery. After reinitialization only a small movement of the rack is necessary to recover the position value. If this is possible the rotor angle sensor does not need to be equipped with a sleep-mode functionality.
- the linear position of the rack can be calculated via a rotor turn count provided by the rotor angle sensor. Din case the rotor turn counter value is lost (for example due to a disconnected battery) the rack position can be reinitialized by reading a few bits from the encoding on the surface of the rack by the absolute rack position sensor 2. This way it is not necessary to have a complete lock-to-lock steering to recover the rack position information.
- the absolute rack position sensor allows crosschecking the actual rotor turn counter value. In another embodiment multiple sensors on the same track are used to reduce the necessary rack travel for absolute position determination and/or to increase the automotive safety level of the absolute rack position sensor.
- the array should be as long as the rack movement plus the (largest) distance between the sensors, so that none of the sensors gets out of the usable rack position marker range.
- the marker (hole) size is 2.4 mm (6 bits to be read to recover the position information)
- worst case both sensors have to read 3.5 bits, so after 8.4 mm rack movement the absolute rack position information can be determined .
- the distance between the sensors equals 4.5 bits.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention relates to a steer-by-wire steering system of a motor vehicle comprising a steering rack (1), a steering actuator, which drives the rack (1) in longitudinal direction, wherein the steering actuator comprises an electric motor (3) and an electronic control unit (ECU) (6), and an absolute rack position sensor (2), where in the absolute rack position sensor (2) comprises a sensor (8) with fixed orientation to the housing of the rack (not shown on fig. 1) which reads rack position markers (9) arranged longitudinally on the rack (1), wherein each rack position marker (9) encodes a number of bits, wherein all possible sequential subarrays with a predefined length are unique, so that each sequential subarray clearly defines an absolute rack position.
Description
Steer-by-wire steering system with absolute rack position sensor
The present invention relates to a steer-by-wire steering system of a motor vehicle according to the preamble of claim 1.
In an electromechanical power steering mechanism a steering shaft is connected to a steering wheel for operation by the driver. The steering shaft is coupled to a steering rack via a gear pinion. Steering rack rods are connected to the steering rack and to steered wheels of the motor vehicle. A rotation of the steering shaft causes an axial displacement of the steering rack by means of the gear pinion which is connected to the steering shaft in a torque-proof manner. Assist force is applied to a steering mechanism by driving an electric motor. In electromechanical power steering mechanism the absolute rack position can be measured via a multi-turn steering wheel angle sensor or with a sleep-mode rotor angle sensor which is turned on periodically to detect and count the rotation of the electric motor's rotor. A disadvantage of sleep mode rotor angle sensors is that the absolute rack position information is lost if the battery is disconnected from the system's electronic control unit (ECU). The reinitialization of the rack position can be done either based on the road wheel speed read from the communication network in the ECU or via an additional index sensor placed on the pinion.
In steer-by-wire systems there is no mechanical connection between the steering wheel and the steering rack and the steerable wheels and steering
movement is achieved by an electrically controlled motor. A steering actuator operates in response to detected values of various steering parameters, such as steering wheel angle and vehicle speed etc. The detected values are communicated electronically to the steering actuator from sensors, whereby the steering actuator drives the rack and orients the steerable wheels in the desired direction. As a result, loosing the absolute rack position is very dangerous, because the rack could be at any position. In order to determine the absolute rack position a complete lock-to-lock rotation of the steering wheel is required, which could take longer than allowed and may not be allowed at all, because it can lead to undesired movement of the vehicle. One solution to provide absolute rack position information at all time is usage of a linear position sensor at the rack, but this solution is expensive and therefore not desired .
It is an object of the present invention to provide a steer-by-wire steering system of a motor vehicle with a cost-effective absolute rack position sensor.
This object is achieved by a steer-by-wire steering system of a motor vehicle having the features of claim 1.
Accordingly, a steer-by-wire steering system of a motor vehicle comprising a steering rack, a steering actuator which drives the rack in longitudinal direction, wherein the steering actuator comprises an electric motor and an electronic control unit (ECU), and an absolute rack position sensor is provided, wherein the absolute rack position sensor comprises a sensor with fixed orientation to the rack housing which reads rack position markers arranged longitudinally on the rack, wherein each rack position marker encodes a number of bits, wherein all possible sequential subarrays with a predefined length are unique, so that each sequential subarray clearly defines an absolute rack position.
The numbers are picked pseudo-random. Each sequential subarray occurs only once within the array. This sensor presents a low-cost and easy possibility to measure the absolute rack position.
It is preferred, that the rack position markers encode a single binary digit, which is easy to realize.
The zero digits of the array or the one digits of the array are preferably formed by holes in the rack. Preferably, the diameter of the holes lies in a range between 0.5 mm and 10 mm, which allows for sufficient position resolution.
In a preferred embodiment, a second sensor is arranged with a fixed distance in longitudinal direction to the sensor to read the rack positions markers, as well. This way the necessary rack travel to recover the absolute rack position can be reduced.
It is favorable, that the predefined length is in a range between 4 bits and 10 bits for sufficient position resolution.
Preferably, the sensor is a low cost magnetic or inductive sensor.
A preferred embodiment of the present invention will be described with reference to the drawing .
Figure 1 shows a schematic illustration of a rack 1 with an absolute rack position sensor 2 according to the present invention. The rack 1 is driven by an electric motor 3 which is connected to a ball screw 4 arranged on the rack
1 via a belt drive 5. Rotation of the ball screw 4 leads to axial displacement of the rack 1. An electronic control unit (ECU) 6 controlling the electric motor 3 is mounted on the electric motor 3. Further, a rotor angle sensor 7 is arranged between the electric motor 3 and the ECU 6. The absolute rack position sensor
2 is composed of a sensor 8 and rack position markers 9 on the rack 1. The sensor 8 preferably transmits the information digitally to the ECU 6. The rack position markers 9 are encoded in an array of bits 10, which can be formed directly on the rack 1, for example with holes representing zero, or a suitable track can be glued on or mounted onto the rack.
The sensor 8 is preferably a low cost magnetic or inductive sensor. When the rack 1 is moving longitudinally, the sensor 8 scans the marked surface of the
rack 1 in order to continuously read the absolute rack position off the rack position markers 9.
The rack position markers 9 are encoded longitudinally onto the rack 1 in a pseudo-random fashion. The rack position markers 9 can be encoded either binary or multi valued (for more dense information encoding). Figure 1 shows an example of binary encoding with the following binary array: 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0. The encoding is done in such a way, that any 4 bit long sequential subarray scanned by the position sensor is unique and fully identifies the current position.
The 4-bit-long sequential subarrays are (in parentheses the decimal value of the 4-bit-string is given) :
The 4-bit-subarrays are all unique. After reading four complete bits it is possible to determine the position inside the array. DThe combination 0000 is missing in the table above. It can be added to the array, if necessary.
Monitoring the edges of the bits and estimation of their middle can increase the resolution of the absolute rack position sensor 2.
Figure 1 shows one encoding example. The table below shows further examples for an assumed rack travel of 150 mm. It shows the minimal required rack travel to read the absolute position and the required rack travel to read the necessary number of bits plus one to take into account, that the starting position may not be at the start of a bit.
Array length Minimal number Hole size [mm] Necessary rack travel [bits] of bits read for (rounded to the for absolute position absolute position next 50 prn) determination (ideal determination case and + 1 bit
[bits] case) [mm]
18 4 8.35 4bits*8.35 mm/bit=
33.4 mm (22,3%) 5bits*8.35 mm/bit= 41.75 mm (27.8%)
35 5 4.3 5bits* 4.3 mm/bit=
21.5 mm (14.3%) 6bits*4.3 mm/bit= 25.8 mm (17.2%)
68 6 2.2 6bits*2.2 mm/bit=
13.2 mm (8.8%) 7bits* 2.2 mm/bit= 15.4 mm (10.3%)
133 7 1.15 7bits* 1.15 mm/bit=
8.05 mm (5.4%) 8bits*1.15
mm/bit=9.2mm (6.1%)
262 8 0.6 8bits*0.6mm/bit=4.8 mm (3.2%)
9bits*0.6mm/bit=5.4 mm (3.6%)
With increasing array length the necessary movement of the rack for absolute position determination decreases, however hole diameters around or less than 1 mm may not be feasible. For these bit sizes the array has to be
manufactured differently, for example as a magnetic strip, which can then be glued to the rack.
The absolute rack position sensor 2 allows instant position recovery. After
reinitialization only a small movement of the rack is necessary to recover the position value. If this is possible the rotor angle sensor does not need to be equipped with a sleep-mode functionality.
If the rotor angle sensor is, however, equipped with a sleep-mode, the linear position of the rack can be calculated via a rotor turn count provided by the rotor angle sensor. Din case the rotor turn counter value is lost (for example due to a disconnected battery) the rack position can be reinitialized by reading a few bits from the encoding on the surface of the rack by the absolute rack position sensor 2. This way it is not necessary to have a complete lock-to-lock steering to recover the rack position information. Additionally, the absolute rack position sensor allows crosschecking the actual rotor turn counter value. In another embodiment multiple sensors on the same track are used to reduce the necessary rack travel for absolute position determination and/or to increase the automotive safety level of the absolute rack position sensor. For example by using two sensors reading the same array of rack position markers, it is possible to approximately halve the required movement of the rack for absolute position determination. In this case, however, the array should be as long as the rack movement plus the (largest) distance between the sensors, so that none of the sensors gets out of the usable rack position marker range. For example, if the rack travel is 150 mm and the sensors are 10.8 mm apart, the marker (hole) size is 2.4 mm (6 bits to be read to recover the position information), then worst case both sensors have to read 3.5 bits, so after 8.4 mm rack movement the absolute rack position information can be determined . The distance between the sensors equals 4.5 bits. Thus, it is not needed for each sensor to read 4 bits (8 bits in total) because the starting position is not at a bit edge. With a movement of 3.5 bits at least 6 complete bits will be read, making it possible to recover the absolute position
information.
Claims
Claims
A steer-by-wire steering system of a motor vehicle comprising
- a steering rack (1),
- a steering actuator, which drives the rack ( 1 ) in longitudinal direction, wherein the steering actuator comprises an electric motor (3) and an electronic control unit ( ECU) (6),
- and an absolute rack position sensor (2), characterized in that the absolute rack position sensor (2) comprises a sensor (8) with fixed orientation to the housing of the rack which reads rack position markers (9) arranged longitudinally on the rack (1), wherein each rack position marker (9) encodes a number of bits, wherein all possible sequential subarrays with a predefined length are unique, so that each sequential subarray clearly defines an absolute rack position.
Steer-by-wire steering system according to claim 1, characterized in that each the rack position markers (9) encodes a single binary digit.
Steer-by-wire steering system according to claim 2, characterized in that the zero digits of the array are formed by holes in the rack (1).
Steer-by-wire steering system according to claim 2, characterized in that the one digits of the array are formed by holes in the rack (1).
Steer-by-wire steering system according to any of the preceding claims, characterized in that the diameter of the holes lies in a range between 0.5 mm and 10 mm.
Steer-by-wire steering system according to one of the preceding claims, characterized in that at least an additional sensor is arranged with a fixed distance in longitudinal direction to the sensor (2) to read the rack positions markers (9).
Steer-by-wire steering system according to one of the preceding claims, characterized in that the predefined length is in a range between 4 bits and 10 bits.
Steer-by-wire steering system according to one of the preceding claims, characterized in that the sensor (8) is a low cost magnetic or inductive sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2017/065575 WO2018233849A1 (en) | 2017-06-23 | 2017-06-23 | Steer-by-wire steering system with absolute rack position sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2017/065575 WO2018233849A1 (en) | 2017-06-23 | 2017-06-23 | Steer-by-wire steering system with absolute rack position sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018233849A1 true WO2018233849A1 (en) | 2018-12-27 |
Family
ID=59215777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2017/065575 WO2018233849A1 (en) | 2017-06-23 | 2017-06-23 | Steer-by-wire steering system with absolute rack position sensor |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2018233849A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111942459A (en) * | 2019-05-15 | 2020-11-17 | 株式会社捷太格特 | Steering system |
| GB2592861A (en) * | 2019-10-21 | 2021-09-15 | Trw Ltd | Electric power steering system |
| EP4095017A2 (en) | 2021-05-26 | 2022-11-30 | thyssenkrupp Presta AG | Steering actuator for a steering system and steering system for a motor vehicle |
| SE2230176A1 (en) * | 2022-04-06 | 2023-10-07 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| WO2023195901A1 (en) * | 2022-04-06 | 2023-10-12 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| WO2023195902A1 (en) * | 2022-04-06 | 2023-10-12 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5235181A (en) * | 1990-12-10 | 1993-08-10 | Tesa, S.A. | Absolute position detector for an apparatus for measuring linear angular values |
| WO1993025865A1 (en) * | 1992-06-15 | 1993-12-23 | Bootsman Holding B.V. | Position detection system |
| US20100179727A1 (en) * | 1999-04-01 | 2010-07-15 | Holger Luthje | Steering device for vehicles |
-
2017
- 2017-06-23 WO PCT/EP2017/065575 patent/WO2018233849A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5235181A (en) * | 1990-12-10 | 1993-08-10 | Tesa, S.A. | Absolute position detector for an apparatus for measuring linear angular values |
| WO1993025865A1 (en) * | 1992-06-15 | 1993-12-23 | Bootsman Holding B.V. | Position detection system |
| US20100179727A1 (en) * | 1999-04-01 | 2010-07-15 | Holger Luthje | Steering device for vehicles |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111942459A (en) * | 2019-05-15 | 2020-11-17 | 株式会社捷太格特 | Steering system |
| GB2592861A (en) * | 2019-10-21 | 2021-09-15 | Trw Ltd | Electric power steering system |
| EP4095017A2 (en) | 2021-05-26 | 2022-11-30 | thyssenkrupp Presta AG | Steering actuator for a steering system and steering system for a motor vehicle |
| DE102021205316A1 (en) | 2021-05-26 | 2022-12-01 | Thyssenkrupp Ag | Steering actuator for a steering system and steering system for a motor vehicle |
| SE2230176A1 (en) * | 2022-04-06 | 2023-10-07 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| SE2230181A1 (en) * | 2022-04-06 | 2023-10-07 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| SE2230177A1 (en) * | 2022-04-06 | 2023-10-07 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| WO2023195901A1 (en) * | 2022-04-06 | 2023-10-12 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| WO2023195902A1 (en) * | 2022-04-06 | 2023-10-12 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| SE545691C2 (en) * | 2022-04-06 | 2023-12-05 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| SE545693C2 (en) * | 2022-04-06 | 2023-12-05 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
| SE545784C2 (en) * | 2022-04-06 | 2024-01-09 | Chassis Autonomy Sba Ab | A steer-by-wire steering assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018233849A1 (en) | Steer-by-wire steering system with absolute rack position sensor | |
| CN110785337B (en) | Steer-by-wire steering system with multi-turn steering wheel angle determination | |
| US9623900B2 (en) | Vehicle steering device, failure determination method for vehicle steering device, and control method for steering motor | |
| EP1907261B1 (en) | Recovery of calibrated center steering position after loss of battery power | |
| KR101205685B1 (en) | Steering Angle Sensor And Vehicle System Having The Steering Angle Sensor | |
| US8798861B2 (en) | Electric power steering apparatus | |
| JP2003200840A5 (en) | ||
| KR20070078303A (en) | Electric power steering apparatus equipped with steering angle sensor | |
| US8914195B2 (en) | Power on demand steering wheel angle sensor | |
| CN111163995B (en) | Steering system including steer-by-wire with feedback actuator having redundant sleep mode rotor position sensor | |
| US20090178877A1 (en) | Steering system with integrated strain gauge | |
| US20070228715A1 (en) | Steering apparatus | |
| EP4025476A2 (en) | Steer by wire system with redundant angular position sensing and an end-of-travel stop | |
| US11897549B2 (en) | Steer-by-wire type steering apparatus | |
| US20060042411A1 (en) | Steering system | |
| CN202243633U (en) | Electric steering device with automatic aligning function for automobile | |
| US9517793B2 (en) | Method of preventing over stroke in rear-wheel steering system and linear sensor applied thereto | |
| US8392063B2 (en) | Systems and methods for determining an absolute rotational position of a vehicle handwheel | |
| JP2008285043A (en) | Vehicle controller | |
| EP2562063B1 (en) | Steering unit for a steer-by-wire steering system | |
| US20020195294A1 (en) | Rear wheel steering apparatus | |
| EP1291263A3 (en) | Electric power steering mechanism control method and electric power steering mechanism | |
| JPH037797Y2 (en) | ||
| EP2565105A2 (en) | Electric power steering system | |
| CN111422246B (en) | Steering axle for industrial vehicle and industrial vehicle with steering axle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17732891 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 17732891 Country of ref document: EP Kind code of ref document: A1 |