59 results about "Torque steering" patented technology

A steering assistance control apparatus to be applied to a vehicle includes a detection unit and a correction unit. The detection unit is configured to detect a road surface cant of a road on which the vehicle is traveling. The correction unit is configured to correct steering target torque in a steering control system, on the basis of a steering characteristic value for each of left steering and right steering and the road surface cant detected by the detection unit. The steering characteristic value indicates a steering characteristic for each combination of a traveling speed and the road surface cant.

One aspect of the invention relates to a steering assistance system for a vehicle, comprising a steering wheel configured to provide steering wheel data describing the current hand position of the vehicle's driver. The steering assistance system further comprises a computing unit configured to receive the steering wheel data from the steering wheel, to receive trajectory data describing the vehicle's trajectory, to determine engine torque as a function of the steering wheel data and the trajectory data, and finally to provide a control signal describing the engine torque. The steering assistance system also includes an electric motor for the vehicle's steering gear, configured to receive the control signal and generate torque equal to the engine torque.

The invention relates to an electronic control steering method and system for a vehicle. The vehicle comprises an electric control steering system, the electric control steering system comprises a hydraulic control system, steering knuckle arms arranged at all steering wheels and hydraulic wheel cylinders connected with all the steering knuckle arms through piston rods, and the method comprises the steps that steering parameters are received, the steering parameters comprise a steering input torque, a steering input angle, a vehicle speed, a transverse acceleration of the vehicle and actual piston positions of pistons of all hydraulic wheel cylinders; based on the steering parameters, determining a target steering radius of the vehicle and a target piston position of a piston of each hydraulic wheel cylinder; and based on the determined target piston position, the hydraulic control system is controlled to change the hydraulic pressure in each hydraulic wheel cylinder so as to change the position of the piston, so that the steering knuckle arms connected with the piston rods are driven by the piston rods to enable the corresponding steering wheels to deflect for steering.

The invention relates to the technical field of vehicle control, in particular to an estimation method and device for rack force in a steer-by-wire system, a vehicle and a medium, and the method comprises the steps that the current working condition of the vehicle and the steering motor output torque and the steering column rotation angle of the steer-by-wire system are obtained; the friction torque of the steer-by-wire system is estimated according to the current working condition, and the reference rack force of the steer-by-wire system is estimated according to the steering motor output torque, the steering column rotation angle and the friction torque; according to the reference rack force, the steering motor output torque, the steering column rotation angle and the friction torque, the actual rack force of the steer-by-wire system is estimated. The problems that the error of the rack force obtained on the basis of a model of a steering-by-wire system in the related technology is large, and the accuracy of the rack force obtained on the basis of an estimation method is low due to lack of reference input signals are solved.

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 quick-release low-torque steering column assembly for a forklift, disclosed by the present invention, comprises a steering column body and a locking mechanism for connecting the steering column body and a vehicle body truss. The locking mechanism has a clamping portion that clamps the steering column body in a releasable manner. The clamping portion has a first abutting surface and a second abutting surface that are symmetrically arranged. The first abutting surface and the second abutting surface can abut against the circumferential surface of the steering column body in the radial direction. In the working state, the first abutting surface and the second abutting surface move relative to each other to clamp the steering column body. By means of the locking mechanism, the present invention fixes the steering column body and the vehicle body truss in a releasable manner, and the force on the steering column body is evenly distributed, so that the steering column body will not be deformed due to unilateral force and the action of vehicle body vibration, solving the problem that the existing method of fixing the steering column body by bolts is inconvenient for disassembly.

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.

The present invention relates to a torque steering angle sensor (100) for a steering system of a vehicle, wherein the torque-steering angle sensor (100) comprises an input encoder (110), a torsion spring (108), an output encoder (112), at least one input decoder (114), at least one output decoder (118) and an electronics system (122), wherein the input encoder (110) is coupled to a steering-system input shaft (104) mounted rotatably in a steering housing (102) of the steering system, and the output encoder (112) is coupled to a steering-system output shaft (106) mounted rotatably in the steering housing (102) axially with respect to the input shaft (104), wherein the input shaft (104) and the output shaft (106) are coupled to one another via the torsion spring (108) such that they can be twisted, wherein the input decoder (114), the output decoder (118) and the electronics system (122) are inserted exchangeably in the steering housing (102) radially with respect to the input encoder (110) and the output encoder (112) such that they cannot rotate.

A method for mitigating undesired steering torque includes determining whether a vehicle is subject to a braking pull in response to determining that the vehicle is braking; determining whether the vehicle is moving according to driver intent in response to determining that the vehicle is subject to a braking pull; learning functional coefficients of rack force impacts due to braking pulls in response to determining that the vehicle is moving according to driver intent; predicting a rack load effect due to a braking pull in response to determining that the learned maturity is achieved; and generating a handwheel actuator command configured to cause the handwheel actuator to counteract the rack load effect when the command is applied to the handwheel actuator.

The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle steering control method, a vehicle and a computer readable storage medium, and the method comprises the steps that a steering controller responds to a steering demand, if steering component information is detected, a target steering component indicated by the steering component information is determined, and the target steering component is started; determining a steering torque parameter of the target steering component; if the target steering component is a steering gear, the steering torque parameter indicates that the precision of the target torque is first precision, if the target steering component is a steering motor, the steering torque parameter indicates that the precision of the target torque is second precision, and the first precision is different from the second precision; the steering controller generates a steering request based on a preset request generation rule and sends the steering request to the steering actuator; the steering actuator receives the steering request and determines a target torque according to the steering torque parameter; the steering actuator controls the target steering component to steer according to the target torque, and the effect of accurately controlling different steering components can be achieved.

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.

The invention discloses a steering device, a steering control method thereof, a steering system and a vehicle. The steering device comprises a hand feeling module and a steering execution module. The hand feeling module comprises a steering shaft, a position detection assembly and a hand feeling control assembly, the position detection assembly and the hand feeling control assembly are both mechanically connected with the steering shaft, the position detection assembly monitors rotation of the steering shaft and outputs a signal representing a target rotation angle, and the hand feeling control assembly monitors rotation of the steering shaft and provides steering torque for the steering shaft. The steering execution module comprises a driving assembly, the driving assembly is in communication connection with the position detection assembly, and the driving assembly outputs driving force according to the target rotation angle after receiving the signal representing the target rotation angle from the position detection assembly. In the application, when the driving assembly obtains the signal representing the target rotation angle, the signal does not need to be processed and forwarded by the hand feeling control assembly, so that the time difference between steering of the steering shaft and steering of the wheels can be shortened, and synchronous rotation of the wheels and the steering shaft can be realized.

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.

The present disclosure relates to an electronically controlled steering method and a steering system for a vehicle. The method includes: receiving (S210) 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 (S220) 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 (S230), 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.

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.

A method for mitigating undesirable steering torque includes: in response to a determination that a vehicle is braking, determining whether the vehicle is experiencing brake pull: in response to a determination that the vehicle is experiencing brake pull, determining whether the vehicle is moving in according to a driver intention; in response to a determination that the vehicle is moving according to the driver intention, learning function coefficients for a rack-force impact due to the brake pull; in response to a determination that a learning is matured, predicting a rack load effect due to the brake pull; and generating a handwheel actuator command, the handwheel actuator command being configured to, when applied to the handwheel actuator, cause the handwheel actuator to oppose the rack load effect.

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.

The invention discloses an electric power steering system real vehicle torque threshold verification method, which relates to the field of automobile part tests and comprises a micro-control unit, a torque sensor, a temperature sensor, a CAN transceiver, a power management module, a motor driving module, a whole vehicle network system, a whole vehicle power supply system and a motor. When the method is used, on the basis of internal calculation logic of the power-assisted torque, the jump state machine is added, the torque maximum value can be obtained through abnormal torque calculation, after the maximum torque value is output, the influence of the maximum torque value on a real vehicle can be verified, and the torque steering wheel is connected with the steering wheel; through a specific coordinate system formed by a real vehicle steering wheel and moment steering wheels, angles of two ends of a rotating shaft can be calculated through two-phase sine output of an encoder of each moment steering wheel, then torque is calculated through intersection of the two angles, the torque is a real torque value of a real vehicle, and the maximum output of the EPS can be determined through the real vehicle torque value. The influence on a real vehicle is reduced.

The present invention discloses a torque steering compensation method and device for a vehicle, a vehicle controller, and a storage medium, wherein the torque steering compensation method for a vehicle comprises: obtaining driving information of the vehicle; when determining that the vehicle meets the torque steering compensation learning condition according to the driving information of the vehicle, performing torque compensation learning according to the driving information of the vehicle, obtaining the torque compensation value of the steering power motor of the vehicle; and performing torque steering compensation control on the vehicle according to the torque compensation value. Thus, the torque steering compensation method for a vehicle of this embodiment can accurately determine whether the vehicle has torque steering, and eliminate the torque steering of the vehicle in a timely manner, thereby improving the adaptability of vehicle driving and ensuring driving safety.

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 present invention provides a vehicle steering control method, system, related device and vehicle, wherein the steering control method includes the following steps: monitoring the steering ability status of the vehicle's front wheels; if the vehicle's front wheel steering ability fails, selecting a preset vehicle speed threshold based on the degree of failure of the vehicle's front wheel steering ability; determining additional steering for compensating for the front wheel steering based on a comparison between the current vehicle speed and the vehicle speed threshold, the additional steering including one or more of rear wheel additional steering, roll additional steering achieved by adjusting the vehicle's roll angle, and vector torque steering achieved by adjusting the longitudinal force of the wheels.

A method for reducing an undesired steering torque, comprising: in response to the detection that a vehicle is braking, determining whether the vehicle is experiencing a braking effect; in response to the detection that the vehicle is experiencing a braking effect, determining whether the vehicle is moving in accordance with a driver intention; in response to the detection that the vehicle is moving in accordance with the driver intention, learning function coefficients for a rack force effect due to the braking effect; in response to the detection that a learning is mature, predicting a rack load effect due to the braking effect; and generating a handwheel actuator command, wherein the handwheel actuator command is configured such that, when applied to the handwheel actuator, it causes the handwheel actuator to counteract the rack load effect.