29 results about "Torque steering" patented technology

The invention discloses a vehicle control method and a vehicle, and belongs to the technical field of vehicle control. According to the technical scheme provided by the embodiment of the invention, the vehicle can realize finer and more active escape operation by simultaneously adjusting the height of the suspension, applying the braking force and finely adjusting the steering angle. Active lifting of the suspension system can change the ground pressure of the slipping wheels, which is a function that cannot be achieved by a traditional brake or differential lock. The brake system limits idle to transmit torque. The steering system can guide the target vehicle to find the optimal escape path. Through cooperation of the multiple systems, the target vehicle can more flexibly adapt to complex road surface conditions and dynamically-changed vehicle body postures, and therefore the escape efficiency and stability of the target vehicle under extreme conditions are improved. Therefore, the problems of response delay, limited control precision and low escape efficiency caused by insufficient consideration of the dynamic change of the vehicle body attitude in related technologies are solved.

A method for providing over learn protection for torque steer mitigation includes receiving a compensation torque value corresponding to a torque offset associated with a transmission torque and receiving a handwheel torque value associated with a handwheel of a steering system. The method also includes detecting a mathematical sign of the compensation torque value, detecting a mathematical sign of the handwheel torque value, and determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value. The method also includes, in response to a determination that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value, adjusting one or more learned gains, and generating an inverted compensation torque value by inverting the mathematical sign of the compensation torque value.

The invention provides a following driving method, system and equipment for a heavy commercial child-mother vehicle based on inter-vehicle communication, and belongs to the technical field of commercial child-mother vehicles, the mother vehicle starts a predictive self-adaptive cruise function, and the child vehicle starts a following mode. The mother vehicle obtains speed limit and curvature information through a map and carries out dynamic planning in combination with the state of the mother vehicle. The child car receives the operation information of the mother car in real time through the DSRC technology and corrects the air resistance coefficient of the child car according to the distance between the cars. The child car determines a safe car-following distance according to the car speed, the load difference and the ramp, and the torque demand of the child car is calculated through an inverse dynamics model based on the mother car state. The sensor is kept coincident with the longitudinal center line of the mother vehicle, and the steering angle is calculated when transverse deviation occurs. And the child vehicle also performs smooth processing on the deceleration of the mother vehicle, and sends torque, steering and deceleration requests to the execution unit. According to the invention, the driving safety is improved, the fatigue strength of a driver is reduced, and safe exit during communication interruption is ensured.

A method for tuning a calibration table for an electric power steering system involves connecting the electric power steering system to an actuator machine and communicating a control input from a vehicle simulator to the actuator machine. Input forces and steering angles are applied to the electric power steering system by the actuator machine, based on the control input. The electric power steering system is controlled by a steering controller to input a steering input, i.e., an assist torque. The steering controller uses the calibration table to define the steering input, based on the applied input forces and steering angles. A steering torque generated in the electric power steering system in response to the input steering input is detected and communicated to the vehicle control system, thereby establishing a closed control loop and feedback.The calibration table can then be redefined to set a steering target value based on the detected steering response for the applied input forces.

A steer by wire (SBW) steering system of a vehicle includes: a steering feel motor configured to apply torque to a steering column and a steering wheel; a steering actuator motor configured to turn wheels of the vehicle; a steering assessment module configured to output instructions for a strength assessment of a driver; an infotainment module configured to, based on the instructions, output an instruction to the driver to hold the steering wheel at a first predetermined angle that is one of counterclockwise and counterclockwise relative to a second predetermined angle; and a steering actuator module configured to, based on the instructions, control the steering feel motor and output a predetermined torque to the steering column and the steering wheel in the other one of counterclockwise and counterclockwise direction for a predetermined period overlapping the instruction to the driver to hold the steering wheel at the first predetermined angle.

This invention provides an oil replenishment device for finishing mill work rolls, including an oil reservoir containing lubricating oil, an oil replenishment nozzle at the bottom of the reservoir, an oil volume regulating component above the nozzle for adjusting the oil output, an internal regulating component inside the reservoir for adjusting the oil output, and a torque steering component connecting the internal regulating component and the oil volume regulating component for redirecting the torque of the oil volume regulating component. By incorporating the oil volume regulating component, torque steering component, and internal regulating component, this invention allows the operator to accurately control the increase in oil replenishment for the work rolls on the downstream stand, effectively shortening the oil replenishment time and improving the efficiency of the work rolls.

To provide a control device capable of controlling steering in consideration of the steering by a driver and steering by drive assistance.SOLUTION: A control device 30 controls a vehicle 1, allowing steering of a steering device 46 by a driver and steering of the steering device 46 by the control device 30. The control device includes an acquisition unit 31 that acquires the steering torque of the steering device 46, a steering angle speed, and a steering angle deviation that is the difference between the steering angle instructed by the control device 30 and the actual steering angle of the steering device 46, and a determination unit 32 that, when the steering device 46 is being steered by the control device 30, determines whether the steering state is as intended by the driver or as intended by the control device 30, based on the steering torque, steering angle speed, and steering angle deviation.SELECTED DRAWING: Figure 1

An electronically controlled steering method and a steering system for a vehicle. The method includes: receiving steering parameters, including steering input torque, a steering input angle, vehicle speed, lateral acceleration of the vehicle and actual piston positions of pistons of respective hydraulic wheel cylinders; determining a target steering radius for the vehicle and target piston positions of the pistons of the respective hydraulic wheel cylinders based on the steering parameters; and controlling, based on the determined target piston positions, the hydraulic control system to change hydraulic pressures in the respective hydraulic wheel cylinders to change positions of the pistons thereof, so as to drive, through the piston rods, the steering knuckles connected therewith to deflect the corresponding steering vehicle wheels for steering.

A target steering torque setting unit sets a target steering torque for a steering mechanism. On the basis of a deviation between the target steering torque and a steering torque acting on the steering mechanism, an auxiliary steering torque calculation unit calculates an auxiliary steering torque for causing the steering torque to track the target steering torque. A current drive unit controls a motor current, which is a current flowing through a motor that applies the auxiliary steering torque to the steering mechanism. The target steering torque setting unit: derives a base torque, which is a basic component of the target steering torque; estimates an estimated road surface reaction force, which is an estimated value of a road surface reaction force from the steering torque and the motor current; reduces the base torque on the basis of the estimated road surface reaction force and a reference road surface reaction force, which is a reference value of the road surface reaction force with respect to steering angle; and determines a corrected base torque by correcting the base torque so as to be reduced in such a manner that the base torque does not fall below a start-of-reduction base torque, which is the base torque at the start of the reduction of the base torque.

The invention discloses a traversing machine with an adjustable sensing assembly. Relates to the technical field of unmanned aerial vehicles and comprises a vehicle body, a power assembly and an antenna are arranged on the vehicle body, a mounting curved frame and a sensing assembly are arranged below the vehicle body, an arc-shaped mounting frame matched with the mounting curved frame is arranged behind the sensing assembly, an arc-shaped groove is formed in the mounting curved frame, and a bolt is arranged in the arc-shaped mounting frame in a penetrating mode; one end of the bolt penetrates through the arc-shaped groove and is provided with a nut; a micro torque steering engine for driving the sensing assembly to slide is arranged at the joint of the mounting curved frame and the arc-shaped mounting frame; by arranging the mounting curved frame, the arc-shaped mounting frame and the micro torque steering engine, the sliding adjustment of the sensing assembly is realized, so that the visual angle is dynamically changed, the dynamic adjustment of the visual angle of the sensing assembly is realized, the problem that the visual angles are not matched during high-speed flight and hovering is solved, and the environmental adaptability and task execution capability of the crossing machine are improved.

A control device is configured to control a vehicle that allows for steering a steering device by a driver and steering the steering device by the control device. The control device comprises circuitry configured to: acquire a steering torque, a steering angle velocity, and a steering angle deviation which is a difference between an instructed steering angle by the control device and an actual steering angle of the steering device; and determine, when the steering device is steered by the control device, whether a steering state is a steering state intended by the driver or a steering state intended by the control device, based on the steering torque, the steering angle velocity, and the steering angle deviation.

This invention relates to a vehicle for disengaging autonomous driving and a method for controlling the vehicle, and more specifically, to a vehicle capable of disengaging autonomous driving by recognizing whether user intervention occurs during autonomous driving. The vehicle includes a steering wheel, a first sensor device, and a second sensor device. The first sensor device is configured to detect steering torque, steering angle, and steering angular velocity of the steering wheel, and the second sensor device is configured to detect user touch on the steering wheel. During autonomous driving, when the vehicle is in an emergency control state (i.e., the vehicle's deceleration / acceleration is greater than or equal to a predetermined first value), if the second sensor device detects user touch on the steering wheel, the emergency control state is disengaged under certain conditions; if the steering torque is greater than or equal to a predetermined torque value, autonomous driving is disengaged.

The utility model discloses a gear rack steering assembly gap measuring device comprising a U-shaped connecting support, one end of the inner side of the connecting support is provided with a cushion block, and the other end of the inner side of the connecting support is provided with a clamping jaw; the clamping jaw is disc-shaped and is provided with a first through hole, and a measuring rod of the dial indicator passes through the first through hole and is connected with the clamping jaw. During gap detection, steering torque is applied to the steering input shaft, the steering shaft drives the steering gear to rotate, radial component force generated at the meshing position of the steering gear and the rack enables the rack to move in the radial direction, the rack pushes the pressing block to move, and the numerical value of the gap of the pressing block can be detected through axial movement of the probe of the dial indicator.

An electromechanical steering system (SBW steering system) of a vehicle comprises: a steering feel motor configured to apply torque to a steering column and steering wheel; a steering actuator motor configured to turn the vehicle's wheels; a steering assessment module configured to issue commands for a strength assessment of a driver; an infotainment module configured, based on the commands, to issue a command to the driver to hold the steering wheel at a first predetermined angle, which is an angle either counterclockwise or counterclockwise with respect to a second predetermined angle;and a steering actuator module configured, based on commands, to control the steering feel motor and to output a predetermined torque to the steering column and steering wheel in one direction from counterclockwise to counterclockwise for a predetermined period of time, overlapping with the command for the driver to hold the steering wheel at the first predetermined angle.

The invention provides a torque steering sensor. The torque steering sensor comprises a shell, a first rotor, a circuit board and a second rotor, the shell is provided with a shaft hole, the first rotor is rotatably embedded in the shaft hole, the first rotor extends in the radial direction to form first blades, the first rotor is fixedly connected to an input shaft of an automobile steering device, the second rotor extends in the radial direction to form second blades, and the second rotor is fixedly connected to an output shaft of the automobile steering device. The circuit board is installed in the shell and located between the first blade and the second blade, and an eddy current detection chip used for detecting the first blade and the second blade is arranged on the circuit board so as to calculate the rotation angle difference value of the first rotor and the second rotor. And the rotation angle difference value is transmitted to an electronic control unit of the automobile steering device for torque calculation. An eddy current detection chip is adopted to collect the angle difference of the double rotors to calculate the torque, the detection precision and the anti-interference performance are improved, and stable and reliable torque signals can be provided for an EPS system.

A hands-free state determination device including: a torque imparting device configured to apply control torque to a steering transmission system between a steering wheel and a steered wheel; a steering torque sensor provided in the steering transmission system between the steering wheel and the torque imparting device; and a control unit configured to determine that the driver is in a hands-free state in which the steering wheel is not held when the steering torque detected by the steering torque sensor is within a first predetermined range, wherein the control unit performs variable setting of the first predetermined range based on the steering torque detected by the steering torque sensor in a situation where it is determined that the torque is not input to the steering torque sensor.

A steering system for a vehicle includes an inertial measurement unit (IMU) configured to measure a first lateral acceleration of the vehicle. A torque sensor is configured to measure a steering wheel torque. A steering control module is configured to receive the steering wheel torque and to generate a steering wheel torque feedback. A torque steer mitigation module is configured to determine a torque steer component of the steering wheel torque feedback. A road angle detection module is configured to estimate a second lateral acceleration of the vehicle independently of a road angle on a road travelled by the vehicle and to selectively detect the road angle based on the first measured lateral acceleration from the IMU and the second lateral acceleration.

The invention relates to a vehicle steering system with torque steering mitigation and road angle detection. A steering system for a vehicle includes an inertial measurement unit (IMU) configured to measure a first lateral acceleration of the vehicle. The torque sensor is configured to measure steering wheel torque. The steering control module is configured to receive a steering wheel torque and generate a steering wheel torque feedback. The torque steering mitigation module is configured to determine a torque steering component of a steering wheel torque feedback. The road angle detection module is configured to estimate a second lateral acceleration of the vehicle independent of a road angle on a road on which the vehicle travels, and selectively detect the road angle based on the first measured lateral acceleration from the IMU and the second lateral acceleration.

The invention relates to an operating unit (4) for a steer-by-wire steering system (1) of a motor vehicle (2), with a force-feedback actuator (41) comprising: an energizable electric motor (102), an energizable magnetorheological brake (108), and an HWA control unit (179) for energizing the motor (102) and the magnetorheological brake (108), wherein the motor (102) and the magnetorheological brake (108) transmit a torque to a steering shaft (43) at least when each is energized, to which a steering device (45) can be coupled for effecting a change in the direction of travel of the motor vehicle (2), wherein the electric motor (102) has at least one winding system comprising three energizable motor windings (182) and the magnetorheological brake (108) has at least two, preferably exactly two independently energizable excitation coils (120),and the magnetorheological brake (108) has a large number of permanent magnets for generating a braking torque.

The invention relates to the technical field of ship and ocean engineering, and provides a large-torque self-locking rotary steering engine for underwater unmanned equipment, the large-torque self-locking rotary steering engine comprises a power assembly and a reduction gearbox, the power assembly is fixedly connected with the reduction gearbox, the reduction gearbox comprises a shell assembly, a speed reduction assembly and a self-locking assembly, and the shell assembly forms a containing cavity; the speed reduction assembly is used for receiving input of the power assembly, conducting multi-stage speed reduction and torque increasing and transmitting power to the self-locking assembly, and the self-locking assembly is used for achieving final low-speed large-torque output and achieving reverse mechanical self-locking through geometric interference of a planetary gear train in the self-locking assembly. According to the invention, the large-torque steering effect under a high-speed working condition can be met, and zero-power-consumption reverse self-locking can be realized during power failure.

In the present invention: a target steering torque setting unit sets a target steering torque for a steering mechanism; a steering auxiliary torque calculation unit calculates, on the basis of the deviation between the target steering torque and a steering torque which acts on the steering mechanism, a steering auxiliary torque for causing the steering torque to follow the target steering torque; and a current drive unit controls a motor current which is a current flowing through a motor that imparts the steering auxiliary torque to the steering mechanism. The target steering torque setting unit obtains a base torque that is a basic component of the target steering torque, estimates an instantaneous value of a road surface reaction force on the basis of the steering torque and the current, calculates the absolute value of the road surface reaction force by setting, as a starting point, the instantaneous value at a predetermined steering angle in an increased state of the steering mechanism, and reduces the base torque on the basis of the absolute value of the road surface reaction force.

A steering control method, device, and system, and a vehicle, which relate to the technical field of vehicle control and are used for achieving small-radius steering of a vehicle. The method comprises: on the basis of a vehicle speed and a steering wheel angle of a vehicle, determining that the vehicle has entered a low-speed steering scenario; and, on the basis of the steering wheel angle and a steering wheel hand force of the vehicle, controlling at least one axle of the vehicle to output a first differential torque, an outer wheel of the at least one axle outputting a positive torque, an inner wheel of the at least one axle outputting a negative torque, and the difference between the negative torque and the positive torque being equal to the first differential torque. By automatically controlling at least one axle of the vehicle to output a differential torque when the vehicle enters a low-speed steering scenario, small-radius steering or even an in-place U-turn of the vehicle can be achieved, and the turning angle of the vehicle is effectively reduced. In addition, the steering wheel angle and the steering wheel hand force are parameters related to the steering intent of the driver; and on the basis of these parameters, the vehicle is controlled to achieve differential torque steering, such that the actual steering of the vehicle meets the subjective demands of the driver, thereby improving the steering experience of the driver.

Steering control systems and methods are provided. A steer-by-wire (SBW) steering system of a vehicle includes: a steering sense motor configured to apply torque to a steering column and a steering wheel; a steering actuator motor configured to rotate wheels of the vehicle; a steering evaluation module configured to output an instruction for force evaluation of the driver; an infotainment module configured to output an instruction to a driver based on the instruction to maintain a steering wheel at a first predetermined angle, the first predetermined angle being one of clockwise and anticlockwise with respect to a second predetermined angle; and a steering actuator module configured to control the steering sense motor based on the command and output a predetermined torque to the steering column and the steering wheel in the other of the clockwise and counterclockwise directions within a predetermined period overlapping with the command to the driver to maintain the steering wheel at a first predetermined angle.

Examples provide a system for a mitigating torque steer in a vehicle. The system includes an electronic processor communicatively connected to a plurality of vehicle sensors and configured to detect an occurrence of torque steering by: generating a left wheel torque model and a right wheel torque model for the vehicle, determining a first moment about the z-axis with respect to the left wheel, determining a second moment about the z-axis with respect to the right wheel, determining a steering torque as a sum of the first moment and the second moment, and detecting the occurrence of torque steering based on a difference between the first moment and the second moment. In response to detecting the occurrence of torque steering, the electronic processor determines a compensation torque as a function of the steering torque and a gear ratio of the motor, and controls the motor based on the compensation torque.

The application relates to the technical field of vehicle control, in particular to a rack force estimation method and device in a steer-by-wire system, a vehicle and a medium, wherein the method comprises the following steps: acquiring a current working condition of the vehicle and a steering motor output torque and a steering column rotation angle of the steer-by-wire system; estimating a friction torque of the steer-by-wire system according to the current working condition, estimating a reference rack force of the steer-by-wire system according to the steering motor output torque, the steering column rotation angle and the friction torque; and estimating an actual rack force of the steer-by-wire system according to the reference rack force, the steering motor output torque, the steering column rotation angle and the friction torque, thereby solving the problems that the rack force error obtained by a related technology steer-by-wire system based on a model is relatively large and the rack force obtained by an estimation method is relatively low in accuracy due to the lack of reference input signals.

A steering system for a vehicle includes an inertial measurement unit (IMU) configured to measure a first lateral acceleration of the vehicle. A torque sensor is configured to measure steering wheel torque. A steering control module is configured to receive the steering wheel torque and generate steering wheel torque feedback. A torque steering attenuation module is configured to determine a torque steering component of the steering wheel torque feedback. A road angle detection module is configured to estimate a second lateral acceleration of the vehicle, independent of the road angle of the road being traveled by the vehicle, and to selectively detect the road angle based on the first lateral acceleration measured by the IMU and the second lateral acceleration.

The present application relates to a kind of double-layer vibrating screen transmission mechanism of silk-making line, including eccentric transmission main shaft, bearing with seat, lower layer screen eccentric connecting rod shell, lower layer screen torque transmission piece, lower layer screen torque steering assembly, upper layer screen torque steering assembly, upper layer screen torque transmission piece, upper layer screen eccentric connecting rod shell.The technical solution is improved by the movement direction of upper and lower layer screen torque transmission piece, the appearance structure of torque steering assembly and the shaft diameter of eccentric transmission assembly main shaft, ensure that double-layer vibrating screen does not appear eccentric shaft wear, transmission pull piece fracture during operation, while the running noise of complete machine is reduced to minimum, and the equipment failure shutdown caused by transmission pull piece damage fracture and eccentric main shaft wear is greatly reduced, improve the stability of equipment operation, reduce the maintenance cost of equipment to minimum.

Examples provide a system for a mitigating torque steer in a vehicle (100). The system includes an electronic processor communicatively connected to a plurality of vehicle sensors (116) and configured to detect an occurrence of torque steering by: generating a left wheel torque model and a right wheel torque model for the vehicle, determining a first moment about the z-axis with respect to the left wheel, determining a second moment about the z-axis with respect to the right wheel, determining a steering torque as a sum of the first moment and the second moment, and detecting the occurrence of torque steering based on a difference between the first moment and the second moment. In response to detecting the occurrence of torque steering, the electronic processor determines a compensation torque as a function of the steering torque and a gear ratio of the motor, and controls the motor based on the compensation torque.