190 results about "Active steering" patented technology

The invention belongs to the field of active steering of electric vehicles, and relates to an active four-wheel steering path tracking control method based on Nash game, which comprises the following steps: S1, establishing a two-degree-of-freedom transverse dynamic model of a vehicle; s2, designing a tire cornering stiffness correction coefficient by adopting a magic formula to correct the cornering stiffness in the prediction model in real time; s3, the Nash game is introduced into four-wheel steering control, the control target of front wheel steering is tracking precision, and the control target of rear wheel steering is transverse stability; and solving the optimal control quantity of each gamer through a distributed model prediction architecture.

The invention provides an anti-rollover control method and system for an electric automobile, and relates to the field of automobile body posture control. The control method comprises the following steps: collecting vehicle driving data; calculating a transverse load transfer rate based on the vehicle driving data, and calculating a comprehensive risk index in combination with the transverse load transfer rate and a sprung mass roll angle; the method comprises the following steps: presetting a comprehensive risk index early warning threshold value and a comprehensive risk index danger threshold value, judging the rollover working condition and the comprehensive risk index of the automobile, and executing a corresponding rollover prevention control strategy: when the rigidity of the suspension is changed, the comprehensive risk index still increases and exceeds the comprehensive risk index danger threshold value; the anti-rollover moment is changed by changing the control force of the suspensions on the two sides. After the suspension control force suppresses roll for a certain period of time, the comprehensive risk index is still not reduced to be below the early warning threshold value, the active steering system intervenes in combined control, the active steering system has two steering modes including front wheel steering and four-wheel steering, and different steering modes are used under different working conditions.

The invention discloses a stability control method for a vehicle transfer robot. The method comprises the following steps: obtaining an ideal yaw velocity according to a longitudinal vehicle speed and a rear wheel rotation angle; according to the difference value between the ideal yaw velocity and the actual yaw velocity, an additional yaw moment and an additional rear wheel turning angle are respectively decided; according to the real-time stable state of the transfer robot, coordination control weights of the ARS control area and the DYC control area are distributed; a coordination control weight coefficient is decided, so that the required additional rear wheel turning angle and additional yawing moment output quantity are respectively calculated, and the additional yawing moment is distributed to each wheel; and the additional rear wheel steering angle and the additional yawing moment after coordination control weight coefficient distribution are distributed to a steering motor and hub motors of all wheels and are output. According to the invention, active steering and direct yawing moment coordination control and vehicle body posture adjustment under dangerous working conditions are realized through the coordination controller, so that the stability of the vehicle transfer robot under complex operation working conditions of ports and wharfs is improved.

The invention discloses an integrated front-end driving, active steering and visual digestive tract catheterization system, which belongs to the field of medical apparatus and instruments, and comprises a guide arm comprising a pull wire and an elastic arm, the guide arm is provided with a first end and a second end deviating from each other, and one end of the pull wire is fixedly connected to the first end; the lens is arranged at the first end; the driving part comprises a first annular balloon, a second annular balloon and a cylindrical balloon, and the first annular balloon and the second annular balloon are fixedly connected to the two sides of the cylindrical balloon in the axial direction respectively; when the annular balloon is full, the outer wall expands in the radial direction; when the cylindrical balloon is full, the outer wall extends in the axial direction; the fixing sleeve comprises a flexible sleeve and a connecting base which are fixedly connected, the connecting base is connected with the second end of the guide arm and the first annular balloon, and the end, deviating from the connecting base, of the flexible sleeve penetrates through the driving part and extends in the direction deviating from the guide arm. Through the arrangement, the front end of the nasointestinal tube can be guided and driven at the epiglottis of the nasal cavity and the upper and lower digestive tracts.

The invention discloses adjustable feeding equipment for stainless steel product machining, and relates to the technical field of stainless steel wafer machining, in particular to the adjustable feeding equipment for stainless steel product machining, which comprises a feeding area and a discharging area, the feeding area is positioned at one end of the discharging area, and the discharging area consists of a discharging base and a steering seat; and a driving steering gear and a driven steering gear are rotationally connected to the interior of the discharging base. According to the adjustable feeding equipment for stainless steel product machining, when a set of coiled plates are discharged to be close to the tail end, raw materials can be mounted on the mounting disc on the other side, then horizontal steering is conducted through the steering base, the production preparation time is further shortened, the bracket can easily jack the coiled materials to the proper height to be parallel to the mounting disc through the first hydraulic jacking cylinder, the mounting steps are simplified, and the production efficiency is improved. The height of the feeding area can be adjusted through a second hydraulic jacking cylinder, the feeding area is accurately in butt joint with external stamping equipment, the position of a limiting plate can be adjusted according to the specifications of the plates, and the plates are prevented from deviating in the conveying process.

The invention relates to the technical field of multi-axle vehicle chassis control, in particular to a multi-axle vehicle distributed steering system and a control method thereof. The multi-axle vehicle distributed steering system comprises a speed sensor, a proportional steering angle controller, a PID controller, a steering angle sensor, an actuator and a current controller. Determining rotation angle values of the other two shafts; a steering angle sensor collects a steering angle signal of each wheel in real time, the steering angle signal and a target steering angle signal are processed and calculated through a PID controller to obtain an active steering torque of a steering motor, and the active steering torque is applied to the wheels; the current controller controls the current required by the actuator in real time according to the control instruction of the proportional steering angle controller, and applies the required active torque to the steering mechanism in real time through the actuator, so that the wheel steering angle value continuously approaches the target value; according to the technical scheme, the control stability of the multi-axle vehicle during high-speed driving and the maneuverability of the multi-axle vehicle during low-speed driving can be improved.

The present invention discloses a four-wheel steering control method for a distributed drive electric vehicle, which relates to the technical field of vehicle control. The front wheel steering angle δ is output by a driver model f , the throttle pedal opening α p , and the throttle pedal opening change rate Δα p . The ideal center-of-mass side slip angle β d and the ideal yaw angular velocity γ d are obtained through the two-degree-of-freedom dynamics equation of the front-wheel-steering vehicle. Then, based on the characteristics of the distributed drive torque vector control method and the rear-wheel active steering control method, and in combination with the actual center-of-mass side slip angle β and the actual yaw angular velocity γ of the vehicle, the vehicle target motion state tracking under different working conditions is carried out, and the additional yaw moment ΔM z and / or the rear wheel steering angle δ r are obtained. Finally, the coordinated control of the vehicle is realized through the four-wheel steering distributed drive vehicle model. While considering the control effect, the present invention takes into account the driving habits and driving needs of the driver to the greatest extent, not only improving the overall performance of the vehicle control system, but also ensuring the sensitivity, maneuverability and stability of the vehicle.

The invention discloses an active steering and braking integrated control system based on roll angle feedback, and belongs to the technical field of vehicle dynamics control. In order to solve the problems of slow control response and multi-actuator action conflict of the vehicle under the limit working condition, the method quantifies the comprehensive instability risk of the whole vehicle by constructing a dynamic virtual potential field. The potential field is based on key state variables such as a roll angle and a side slip angle, and the topological structure (namely the weight of each variable) of the potential field is remodeled in real time by a dynamic risk factor reflecting the intention urgency degree of a driver and the environmental danger level. The system evaluates the instantaneous control efficiency by calculating the contribution degree of each actuator to the reduction of the potential field gradient in a distributed manner. According to the method, the complex control problem is converted into the process of finding the minimum potential energy point, prospective suppression of the instability trend and conflict-free efficient cooperation between the actuators are achieved, and the limit stability and safety of the vehicle are remarkably improved.

The invention discloses a layered vehicle stability brake control system and a brake control method. A layered vehicle stability braking control system is applied to a vehicle provided with a brake-by-wire system and a steering-by-wire system and comprises a chassis dynamics analysis module and a yawing moment instruction distribution module. The invention discloses a layered vehicle stability braking control method. The braking control step sequentially comprises the steps of determining the corrected yaw moment of a target vehicle, evaluating the availability and the permissibility of active steering control, determining a wheel steering control angle based on the availability and the permissibility of the active steering control, determining the steering corrected yaw moment based on the wheel steering control angle, and conducting braking control. Determining a residual corrected yaw moment based on the target vehicle corrected yaw moment and the steering corrected yaw moment, and determining a brake control instruction based on the residual corrected yaw moment; according to the method, the optimal distribution of the target correction yaw moment can be realized through the synergistic effect of active steering and brake-by-wire.

The invention discloses a vehicle chassis multi-agent coordination control method and system based on event driving, and relates to the technical field of vehicle chassis control. The method comprises the steps that an active steering agent model, an additional yawing moment agent model and a torque distribution agent model are constructed based on all actuators of a chassis, and a vehicle system kinetic equation is constructed according to the active steering agent model, the additional yawing moment agent model and the torque distribution agent model; according to a built vehicle system kinetic equation, the maximum linear point of yaw velocity increase changing along with the steering angle is mapped to a phase plane. The maneuverability, stability and energy efficiency optimization requirements of vehicle driving are comprehensively considered, the comprehensive performance of the vehicle under different road environments and driving tasks can be improved, meanwhile, an event-driven coordination control framework is established based on the real-time stability state of the vehicle, cooperative interaction between execution units of a chassis is achieved, and the driving performance of the vehicle is improved. Coupling conflicts can be effectively avoided, and the execution efficiency and safety of a chassis system are improved.

The embodiment of the invention provides a steering control method of a rail vehicle and a related device, and relates to the technical field of vehicle control. The rail vehicle is provided with a detection mechanism and walking wheels, the detection mechanism is located in front of the walking wheels in the walking direction, and the method comprises the steps that in the process that the rail vehicle travels along a rail, the detection mechanism detects the trend change information of the rail; and performing steering control on the walking wheels according to the trend change information. According to the method, the trend change information of the track is detected by the detection mechanism in advance of the walking wheel by a section of distance, and then active steering control can be performed on the walking wheel according to the trend change information, so that the passive guiding effect of the guiding device can be reduced; the effects of reducing serious abrasion of the guide device of the rail vehicle and reducing abrasion and deformation of the rail are achieved.

Example embodiments of systems, devices, and methods are provided for charging and discharging energy systems having multiple modules arranged in cascaded fashion for generating and storing power. Each module can include an energy source and switch circuitry that selectively couples the energy source to other modules in the system for generating power or for receiving and storing power from a charge source. The energy systems can be arranged in single phase or multiphase topologies with multiple serial or interconnected arrays. The embodiments are capable of being charged with multiphase AC charge signals, a single phase AC charge signal, and / or a DC charge signal. Embodiments implementing the modular energy system within a charge source for performing multiphase, single phase AC, or DC charging of electric vehicles are also disclosed. Also disclosed are multi-motor embodiments and embodiments with the capability to power active suspensions and active steering systems.

The present application relates to the technical field of multi-axle vehicle chassis control, in particular to a kind of multi-axle distributed drive vehicle steering system fault tolerant control method: based on fault identification and proportional controller real-time calculation each axle angle proportion relationship, and through wheel angle sensor real-time acquisition wheel angle signal, and according to target angle, the active steering torque of steering motor is calculated by PID controller, so that the angle of each wheel reaches target value. Ensure that multi-axle distributed steering vehicle still has the ability of autonomous movement when steering failure occurs, using the technical solution can improve the mobility of multi-axle steering vehicle when several different wheel steering failures occur, and provide additional protection for the vehicle to still have autonomous movement to repair under the condition of no external rescue.

The utility model relates to a multifunctional operation vehicle and a multifunctional garden vehicle. The multifunctional operation vehicle comprises a frame, a battery pack, a functional mechanism and an input unit, the battery pack is used for supplying power to the multifunctional garden operation vehicle; the functional mechanism is used for executing specific functions of the multifunctional garden vehicle; the input unit is configured on the active steering assembly and used for a user to input to-be-verified information, and the to-be-verified information comprises a password and / or collected user biological characteristic information; the active steering assembly may be at least one of a garden work vehicle steering wheel and / or a steering lever. Unlocking is achieved through the input unit arranged on the active steering assembly, the hand always holds the control handle or is kept near the control handle in the unlocking process, a vehicle can be controlled through the active steering assembly at any time, and the safety risk caused by the fact that the active steering assembly is disengaged from the hand is avoided.

The invention provides a vehicle control method and system and a vehicle, and the method comprises the steps that driving information of the vehicle is obtained, and the driving information comprises load information, braking information and speed information; according to the load and the braking state of each wheel, the total braking force is distributed to each wheel, and the target braking force of each wheel is obtained; determining a left-right side braking force difference of the vehicle according to the target braking force of each wheel, and determining a front wheel turning angle of the vehicle according to the left-right side braking force difference and the speed information; and according to the target braking force of each wheel and the front wheel rotation angle, braking and steering control of the vehicle is carried out. Under the braking failure working condition, the braking force requirement of the failed wheel can be transferred to other normal wheels, the braking efficiency and the braking effect are ensured, the phenomena of deviation and instability of vehicle braking are prevented by combining an active steering compensation mechanism, and the driving safety and stability of the vehicle are improved.

The utility model relates to a multifunctional operation vehicle and a multifunctional garden vehicle, which comprise a frame, a functional mechanism and an active steering assembly, the functional mechanism comprises a garden operation part and a walking assembly; the active steering assembly is operably coupled to a walking assembly of the multifunctional garden vehicle and used for enabling driving wheels on the two sides to generate a rotating speed difference so as to achieve steering of the garden vehicle. The active steering assembly is provided with a display screen capable of being disassembled without a tool. The display screen on the vehicle is configured to be of a structure capable of being disassembled without tools, at the moment, the display screen can be carried to any position after being disassembled by a user, function setting can be carried out on the display screen at any time, and when the vehicle needs to be operated, only the display screen needs to be assembled on the vehicle again, and operation is convenient. The garden vehicle reads the set functions and operates according to the preset functions, and the technical problem that in the prior art, setting can only be conducted at the position of a mower is solved.

The invention provides a unified electric control method and device for turning and shimmy damping of a front wheel of an airplane, and solves the technical problems of high complexity and poor adaptability. The device comprises a voltage sensor used for collecting a bus voltage value of a DC power supply loop of an inverter; the power switch device is used for controlling the switch-in and switch-out of the energy consumption resistor R1 in the power supply loop; the relay is used for controlling the on-off of a power supply loop between the direct-current power supply and the inverter; and the logic control module is used for responding to a control requirement, outputting a PWM signal according to a preset control strategy of the corresponding control mode and performing power supply loop control. A turning / shimmy damping unified electric control framework based on electric control is formed to be matched with a unified electric control strategy, a hydraulic shimmy damping device is simplified, and meanwhile the weight and cost of an undercarriage are reduced. Through control mode switching, a PWM technology is adopted to drive the front wheel to actively steer in a control state, and shimmy damping is provided in a non-control state.

The present application relates to the technical field of automobile steering control, in particular to a layered architecture multi-target performance control method and system based on a steer-by-wire system, comprising obtaining vehicle-related parameters and tire-related parameters; obtaining a current driving mode of the automobile, obtaining a current target performance coefficient based on the driving mode, obtaining a vehicle performance target and a weight coefficient based on the target performance coefficient; compensating multiple targets based on the vehicle-related parameters, the tire-related parameters, the vehicle performance target and the weight coefficient. The above method of the present application realizes the control output of the front and rear wheels based on a unified control method, meets the vehicle performance requirements of different scenes and functions, and the whole system can meet the control of SBW front-wheel steer-by-wire, RWS rear-wheel active steering and four-wheel steer-by-wire. Only the performance target coefficient, the weight coefficient, the calibration parameter and the constraint parameter need to be set and debugged for different systems, which can greatly shorten the development cycle.

An embodiment of the present disclosure provides a control method, device, storage medium, and electronic device for rear-wheel active steering. The control method includes determining a vehicle steady-state parameter based on an actual value of a front-wheel angle of the vehicle and an actual value of a vehicle speed of the vehicle. The vehicle steady-state parameter includes at least a given value of yaw rate and a given value of sideslip angle of the center of mass. Inputting the vehicle steady-state parameter, the actual value of the front-wheel angle, and the vehicle speed actual value into a specified model to determine a vehicle steering stability parameter. The vehicle steering stability parameter includes at least a target value of the rear-wheel angle, a target value of the compensating yaw moment, and a vehicle side force. Controlling the rear-wheel steering of the vehicle based on the vehicle steering stability parameter. In the process of controlling the rear wheels of the vehicle, the embodiment of the present disclosure adopts a model predictive control method, which not only controls the rear-wheel angle but also increases the control of the yaw moment and controls the braking pressure to ensure the stability of vehicle handling in the case of rear-wheel steering.

The invention discloses a pipeline tee joint scanning teleoperator for active obstacle avoidance and active steering, and relates to the technical field of pipeline internal detection, the pipeline tee joint scanning teleoperator comprises a main machine cabin body, a supporting wheel carrier module, an image acquisition module, a transmission cable and a remote control module, the supporting wheel carrier module comprises a front supporting part and a rear supporting part; the front supporting part and the rear supporting part are rotatably installed around the periphery of the main engine cabin body, the supporting end of the front supporting part extends to the front end of the main engine cabin body, the supporting end of the rear supporting part extends to the rear end of the main engine cabin body, the image acquisition module is installed at the front end of the main engine cabin body, and the image acquisition module is connected with the remote control module through a transmission cable. When passing through the pipeline tee joint, the pipeline tee joint can actively avoid obstacles, and mechanical structure damage and blocking accidents are avoided.

The invention relates to a multi-stage sinking construction method for an assembled open caisson, which comprises the following steps: on the basis of conventional open caisson construction, mounting a steel base with active stretching and retracting and active steering functions at the bottom of the open caisson, and mounting a supporting mechanism with an active stretching and retracting function between open caisson pipe joints; the construction method is characterized by comprising the following steps that S1, soil body excavation is conducted, specifically, the soil body at the bottom of the open caisson is excavated to the set depth; the open caisson has three different sinking control modes on the basis that the steel base with the active stretching and retracting function and the active steering function is installed at the bottom of the open caisson and the supporting mechanism with the active stretching and retracting function is installed between the open caisson pipe joints; different control modes can be selected to adapt to different sinking resistances to guarantee normal sinking construction of the open caisson, multi-stage sinking can be achieved through cooperation of the different control modes, and the sinking posture of the open caisson is guaranteed synchronously. The technical problems that according to a traditional assembly type open caisson construction method, sinking is difficult due to large sinking resistance, and the structural posture control capacity is poor are solved.

The invention discloses a direct yawing moment control and active steering integrated control strategy for a multi-axle vehicle, and aims to realize efficient vehicle stability control of the multi-axle vehicle under different road conditions and improve the driving safety, maneuverability and comfort of the multi-axle vehicle. The method specifically comprises the following steps: (1) establishing a two-degree-of-freedom multi-axle vehicle dynamics model considering transverse and yawing motions; (2) considering the influence of the road adhesion coefficient on the coordination effect, and designing a fuzzy controller for coordinating direct yawing moment control and active front wheel steering; and (3) taking a coordination result of the fuzzy controller as input, designing a yaw stability integrated controller based on adaptive model predictive control, and calculating an additional front wheel steering angle and a direct yaw moment for ensuring stable driving of the vehicle. According to the method, integrated control over the yaw stability of the multi-axle vehicle is achieved by coordinating the DYC and the AFS, the influence of road adhesion on the coordinating effect is considered, and finally stable and safe driving of the multi-axle vehicle under different road conditions is achieved.

The invention relates to the field of new energy, in particular to an active steering wind array power generation system which is composed of a windward net rack, a power generation unit, a circuit pipeline, a net rack foundation and a control device. Wherein the windward net rack is a space structure which is formed by connecting corrosion-resistant vertical chord members, horizontal chord members, inclined web members and node balls through bolts, takes a rectangular pyramid as a basic unit, and is vertically arranged and fixed on the net rack foundation; a corrosion-resistant flow guide cover, blades, a hub, a front cover, a machine body and a rear cover are coaxially and sequentially arranged in the horizontal direction of the power generation unit from front to back. The machine body is of a round tube orthogonal four-way structure, an upper cover is arranged on the upper portion of the machine body, a lower cover is arranged on the lower portion of the machine body, and the interior of the machine body is sequentially divided into an acceleration bin, a rotary bin, a driving bin and an electric bin from front to back through a front wall, a middle wall and a rear wall. The control device, the circuit board, the driving motor, the worm, the turbine and the round pipe form an active steering mechanism, and the driving power generation unit can horizontally rotate by 360 degrees with the axis of the vertical chord member as the circle center.

A modal antenna assembly is provided. The modal antenna includes an antenna element comprising a curved conical portion and a top portion, the top portion comprising an undulating annular ring disposed on the curved conical portion. The modal antenna further includes a parasitic element positioned at least partially within a gap defined in the curved conical portion of the antenna element.

The application relates to an indoor intelligent fire extinguishing robot and a chassis control method, which comprise a running system, a power supply system, a fire extinguishing system, a visual control system and a central controller; the running system is used for advancing, retreating and differential steering of the fire extinguishing robot; the power supply system is used for supplying power to the running system, the fire extinguishing system and the visual control system; the fire extinguishing system is used for extinguishing a fire source area; the visual control system is used for judging whether an obstacle can be normally passed when the robot runs, and if the obstacle cannot be normally passed, the local path needs to be re-planned to run to the fire disaster area, and the visual control system is used for identifying a fire source so that a fire extinguisher can be accurately sprayed to the fire source part; and the central controller is used for controlling the running system, the power supply system, the fire extinguishing system and the visual control system. The application has the advantages that rear wheel active steering and front wheel steering as an auxiliary are adopted, the differential steering has a small steering radius, and good steering stability is achieved.

An electric vehicle includes several features to improve ride sharing and / or parcel delivery services. The vehicle includes electric motor (s) and / or auxiliary system (s) disposed along or below the floor to increase the size of the cabin without increasing the overall size of the vehicle. The passenger seat is foldable and movable to provide a continuous cargo space. The side door includes an integrally formed B-pillar to provide a larger opening on the side of the vehicle when the side door is open for both a driver and a passenger to access. Each wheel includes an electroactive suspension system to tilt the vehicle in different directions to facilitate easier access and / or loading and unloading of cargo. A vehicle includes a user interface system to assist a driver in a parcel delivery service. The vehicle is also connected to a trailer that provides electric propulsion and active steering.

This invention provides a method, device, and vehicle for aligning a vehicle steering wheel, belonging to the field of vehicle technology. It aims to adjust the steering wheel position without disassembling it when the steering wheel is misaligned. Applied to a front-wheel active steering system, the system includes an electric variable transmission motor for adjusting the angular transmission ratio between the steering wheel and the wheel steering mechanism. The method includes: determining the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; determining the triggered adjustment mode when the deviation angle is less than or equal to the preset angle; triggering a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy; and controlling the wheel steering mechanism to lock so that the wheel remains in the center position during the steering wheel return-to-center process.

The invention relates to the technical field of multi-axle vehicle chassis control, in particular to a fault-tolerant control method for a steering system of a multi-axle distributed driving vehicle, which comprises the following steps of: calculating a steering angle proportional relation of each axle in real time based on fault identification and a proportional controller, and acquiring a steering angle signal of a wheel in real time through a wheel steering angle sensor; and the active steering torque of the steering motor is calculated through the PID controller according to the target turning angle, so that the turning angle of each wheel reaches the target value. By means of the technical scheme, the maneuverability of the multi-axle distributed steering vehicle can be improved when several kinds of different wheel steering faults occur, and extra guarantee is provided for the vehicle to automatically move to a maintenance position under the condition that no external rescue exists.

The invention discloses a multi-stage electro-hydraulic steering system with an energy recovery function and an anti-rollover control method of the multi-stage electro-hydraulic steering system. The multi-stage electro-hydraulic steering system comprises a mechanical transmission module, a variable-transmission-ratio multi-stage electro-hydraulic power assisting module, a vibration energy recovery module and an active steering controller module. Vibration of the power cylinder shell can be effectively restrained and relieved by combining piezoelectricity; whether vibration energy is converted into usable electric energy or not can be determined according to the specific working state. When the vibration condition of the shell of the power cylinder is slight, electric energy conversion can be selected not to be performed temporarily, and only the piezoelectric technology is used for relieving vibration, so that stable operation of the power cylinder is ensured as a primary target; when the shell of the power cylinder vibrates strongly and other parts of the equipment or the external environment has the requirement for electric energy, the vibration energy can be efficiently converted into usable electric energy through the vibration energy recovery module at the moment, reasonable utilization and recovery of energy are achieved, and the energy utilization efficiency of the whole system is improved.

Apparatus and method for damping a steering movement in an active steering system of a vehicle, wherein a variable is determined which characterizes a force acting from outside the vehicle on the steering movement of the active steering system or a moment acting from outside the vehicle on the steering movement of the active steering system that has an accelerating effect on the steering movement of the steering system. The speed of the steering movement is limited as a function of the variable. Vehicle comprising said apparatus.