CN101758855A - Steering gear of unmanned vehicle and control method thereof - Google Patents
Steering gear of unmanned vehicle and control method thereof Download PDFInfo
- Publication number
- CN101758855A CN101758855A CN201010104800A CN201010104800A CN101758855A CN 101758855 A CN101758855 A CN 101758855A CN 201010104800 A CN201010104800 A CN 201010104800A CN 201010104800 A CN201010104800 A CN 201010104800A CN 101758855 A CN101758855 A CN 101758855A
- Authority
- CN
- China
- Prior art keywords
- motor
- steering
- vehicle
- wheel steering
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering gear of an unmanned vehicle and a control method thereof, wherein the steering gear is characterized by comprising a motor, a worm gear and a worm, an electromagnetic clutch and an encoder, wherein the motor is a steering drive mechanism; the worm gear and the worm are meshed with each other, and the worm is directly coupled with the output shaft of the motor; the electromagnetic clutch is fixedly coupled with the drive end of the electromagnetic clutch; and the encoder is fixedly coupled with a steering column of a steering wheel by the driven end of the electromagnetic clutch and is connected onto the output shaft of the rear end of the motor. The invention can realize the automatic steering control of the unmanned vehicle, can be freely switched between two modes of unmanned driving and manual driving the switching of which are not interfered with each other, and has compact structure, low cost, higher transmission efficiency, higher intelligent degree of vehicle automatic steering; and both the structure and the appearance of the original vehicle are not damaged, and the steering gear is easy to be assembled and dismantled and is applicable to other occasions with high automatic rotation requirements.
Description
Technical field
The present invention relates to vehicle steering device.More specifically say so a kind of steering hardware and control method of automatic driving vehicle.
Background technology
Automatic driving vehicle is one of optimal platform of verifier perception and cognitive theory, method and technology, especially in destructuring dynamic change environment.Automatic driving vehicle not only has broad application prospects under danger, harsies environment such as military, exploration and rescue, and the involved gordian techniquies such as various automobile sensors, environment sensing system, driving safety early warning and driver assistance intelligent decision of while automatic driving vehicle are significant for intelligent degree and driving safety that raising has the people to drive a car.Therefore, the main developed country in the world as showing the artificial intelligence technology level, leading the automotive industry important platform in future, carries out the research of automatic driving vehicle with automatic driving vehicle one after another.
The automatic steering performance of automatic driving vehicle is one of most important index of weighing vehicle performance, and the steering controlling device of automatic driving vehicle then is the key that guarantees automatic driving vehicle automatic steering performance.Yet the steering controlling device for automatic driving vehicle does not still have perfect scheme at present.
Retrieve existing technical literature, Chinese patent application number is 012682254.3, open day: on September 11st, 2002, title: self-propelled vehicle automatic steering direction control servomechanism, its servomechanism uses stepping motor as propulsion source, step motor shaft is connected with input shaft of speed reducer, and the output shaft of retarder is connected with steering wheel shaft through magnetic clutch, tooth form synchronous belt transmission device, thereby can successfully realize automatic steering.But, on steering wheel shaft, increase synchronous belt drive mechanism and taken cab space, destroyed original contour of the vehicle mechanism, and, the transmission of this scheme moment will be through steering wheel shaft, pinion and rack and the tie rod linkage of former steering hardware, the final steered wheel that arrives can produce bigger driving error.
Chinese patent application number is 200510111220.2, open day: on July 19th, 2006, title: the direction control mechanism of automatic driving vehicle, adopt the motor reducer combination to be connected with the input shaft of drop-gear box through magnetic clutch, miniature gears is connected on the output shaft of drop-gear box, big gear wheel directly is connected with the central pitman arm of vehicle through butt flange, the other end of Ackerman steering mechanism pull bar and central pitman arm are hinged, the other end and the steered wheel of Ackerman steering mechanism pull bar are hinged, realize the automatic steering of automatic driving vehicle.But twin-stage gear transmission structure complexity, it is bigger to take interior space, increased the driving error of motion, increased mounting hardness, motor shaft, gear wheel shaft and parallel being difficult to of three of central pitman arms are guaranteed, moreover, this technical scheme need be on the central pitman arm of vehicle welded flange, both destroy the original structure of vehicle, be not easy to the mounting or dismounting of device again.
Summary of the invention
The present invention is in order to overcome the weak point of existing steering gear of unmanned vehicle scheme, a kind of simple and compact for structure, cost is low, driving efficiency is high, intelligent degree is high steering gear of unmanned vehicle and control method thereof are provided, make that the structure of former car and outward appearance are neither to be damaged, to be easy to mounting or dismounting, and have certain commonality.
Technical solution problem of the present invention adopts following technical scheme:
The characteristics of steering gear of unmanned vehicle of the present invention are to have:
One motor is for turning to driver train;
One intermeshing worm gear and worm screw, described worm screw directly connects with the output shaft of motor;
One magnetic clutch connects firmly with the drive end of described worm gear and magnetic clutch; Partner and wheel steering post with described magnetic clutch connect firmly;
One anchor clamps connect firmly with steering-column support, and as the fixed support of motor, it is coaxial making motor and worm screw, and the axis that makes worm and wheel is for vertical;
One non-contact zero position detecting mechanism, be made of the null pick-up contact that is fixedly installed on the anchor clamps, is positioned at the null pick-up of magnetic clutch sidepiece and is fixedly installed on the magnetic clutch periphery, described null pick-up contact can be by the induction groove on the null pick-up when the wheel steering post rotates;
One stop gear is made of the limit sensors plectrum that is fixedly installed on the limit sensors on the vehicle frame and connect firmly on the wheel steering joint, and the limit sensors plectrum under the spacing state can touch limit sensors;
One coder is connected on the output shaft of described motor rear end.
So the characteristics of steering gear of unmanned vehicle of the present invention also are clamped on the steering-column support with " V " disposed thereon shape mouth at described anchor clamps, to connect firmly side plate on anchor clamps as the fixed support of motor.
The characteristics of the calibration method that turns to absolute zero position of steering gear of unmanned vehicle of the present invention are:
When vehicle kept absolute straight-line travelling, the pairing position of wheel steering post was an absolute zero position, and the working direction of the vehicle of direction initialization dish Steering gear under absolute zero position is a Y-axis;
Setting the null pick-up position is with reference to zero-bit, and the line at the center of null pick-up and described wheel steering post is a Y ' axle; Angle between Y-axis and the Y ' axle is definite value α;
The calibration process of wheel steering post absolute zero position is:
At first manually make the wheel steering post be in vehicle straight-line travelling state, make magnetic clutch energising adhesive then, and motor begins just to change, the moving null pick-up contact of wheel steering cornice rotates counterclockwise, arrive with reference to zero-bit until the null pick-up contact, this moment, null pick-up output was with reference to the zero-bit detection signal, motor begins counter-rotating and drives the wheel steering post to clockwise rotate from the reference zero-bit, when driven by motor wheel steering post oppositely turned over the α angle, demarcating the residing position of wheel steering post this moment was absolute zero position.
The characteristics of the automatic steering control method of steering gear of unmanned vehicle of the present invention are:
At first make magnetic clutch energising adhesive, vehicle is in automatic driving mode, carry out the demarcation of absolute zero position then and make vehicle be in the absolute zero position position, when vehicle need turn to, provide steering order, the motor operation, driving the wheel steering post begins to rotate, the wheel steering post forwards to after the needed position, and motor stops, and finishes the automatic steering of automatic driving vehicle; In the steering procedure, if limit sensors is triggered, then motor is out of service.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention is driver train with the motor, and a Worm and worm-wheel gearing is only arranged between drive motor and wheel steering post, has guaranteed the compactedness of device and the validity of transmission.
2, the zero-bit testing agency among the present invention adopts noncontacting proximity sensor, on the one hand because of not friction in the transmission, has improved the driving efficiency of device; Can accurately detect the corner of current bearing circle on the other hand,, improve the efficient and the repetitive positioning accuracy of automatic driving vehicle automatic steering for automatic driving vehicle provides angle reference when the automatic steering and during the bearing circle self-aligning.
3, the present invention is provided with stop gear, effectively guarantees the traffic safety of vehicle and the safe in operation of steering controlling device.
4, anchor clamps are clamped on the steering-column support with its " V " shape mouth among the present invention, have effectively guaranteed motor, worm screw and worm gear location status separately, and make that the dismounting onboard of whole steering controlling device is very convenient.
Description of drawings
Fig. 1 is a steering hardware structural representation of the present invention.
Fig. 2 is a steering hardware sectional structure scheme drawing of the present invention.
Fig. 3 is a clamp structure scheme drawing of the present invention.
Fig. 4 demarcates scheme drawing for the present invention turns to absolute zero position.
Fig. 5 demarcates diagram of circuit for the present invention turns to absolute zero position.
Fig. 6 is a limiting steering structural representation of the present invention.
Fig. 7 is a left steering end position scheme drawing of the present invention.
Fig. 8 is an automatic steering diagram of circuit of the present invention.
Number in the figure: 1 anchor clamps, 2 side plates, 3 motors, 4 coders, 5 worm screws, 6 worm gears, 7 magnetic clutchs, 7A magnetic clutch drive end, 7B magnetic clutch Partner, 8 null pick-ups, 9 steering-column supports, 10 wheel steering posts, 11 null pick-up contacts, 12 bolts.
Below in conjunction with accompanying drawing enforcement of the present invention is described further.
The specific embodiment
Referring to Fig. 1, Fig. 2, present embodiment is for turning to driver train with motor 3; With intermeshing worm gear 6 and worm screw 5 is transmission device, and worm screw 5 directly connects with the output shaft of motor 3; Drive end 7A with magnetic clutch connects firmly with worm gear 6; Partner 7B and wheel steering post 10 with magnetic clutch connect firmly;
In order to improve the control accuracy that turns to of automatic driving vehicle, on the output shaft of the rear end of motor 3, connect a coder 4, utilize coder that steering hardware is carried out closed loop control.
Referring to Fig. 1, Fig. 2 and Fig. 3, anchor clamps 1 are clamped on the steering-column support 9 with " V " shape mouth on it, to connect firmly side plate 2 on anchor clamps 1 as the fixed support of motor 3, it is coaxial making motor 3 and worm screw 5, and make worm screw 5 keep vertical with the axis of worm gear 6, " V " shape mouth on the anchor clamps 1 can be sleeved on the steering-column support 9 it easily, tight a bolt 12 can obtain fastening.
As depicted in figs. 1 and 2, adopt the non-contact zero position detecting mechanism, wherein, null pick-up 8 is fixedly installed on the anchor clamps 1, be positioned at the sidepiece of magnetic clutch, null pick-up contact 11 is fixedly installed on the periphery of magnetic clutch, and null pick-up contact 11 can be smoothly by the induction groove on the null pick-up 8 when wheel steering post 10 rotates.
Referring to Fig. 6 and Fig. 7, stop gear is made of the limit sensors plectrum 14 that is fixedly installed on the limit sensors 13 on the vehicle frame 17 and connect firmly on wheel steering joint 15, and the limit sensors plectrum 14 under the spacing state can touch limit sensors 13.
When the vehicle automatic steering, magnetic clutch 7 energising adhesives, motor 3 is through worm screw 5, worm gear 6, magnetic clutch 7 driving direction dish Steering gears 10, thus the automatic steering of realization automatic driving vehicle.
When the vehicle pilot steering, magnetic clutch 7 outage separates, and chaufeur direction of passage dish driving direction dish Steering gear 10 is realized turning to, the vehicle automatic steering and manually turn between be parallel way, be independent of each other.
Referring to Fig. 4 and Fig. 5, when vehicle kept absolute straight-line travelling, the pairing position of wheel steering post was an absolute zero position, and the working direction of the vehicle of direction initialization dish Steering gear under absolute zero position is a Y-axis;
Setting the null pick-up position is with reference to zero-bit, and the line at null pick-up and wheel steering post center is a Y ' axle; Angle between Y-axis and the Y ' axle is definite value α;
The calibration process of wheel steering post absolute zero position is:
At first manually make wheel steering post 10 be in vehicle straight-line travelling state (step 100), make magnetic clutch 7 energising adhesives (step 110) then, and (step 120) just changeed in motor 3 beginnings, wheel steering post 10 drives null pick-up contact 11 and rotates counterclockwise (step 130), arrive with reference to zero-bit (step 140) until null pick-up contact 11, this moment, null pick-up 8 outputs were with reference to the zero-bit detection signal, motor 3 begins counter-rotating and drives wheel steering post 10 to clockwise rotate (step 150) from the reference zero-bit, when motor 3 drive wheel steering posts oppositely turn over the α angle (step 160), demarcating the residing position of wheel steering post (10) this moment is absolute zero position (step 170).
Referring to Fig. 6, Fig. 7 and Fig. 8, the process that automatic steering is realized is: at first make magnetic clutch 7 energising adhesives (step 100), vehicle is in automatic driving mode, carries out the demarcation of absolute zero position then and makes vehicle be in absolute zero position position (step 110); When vehicle need turn to; provide steering order (step 120); motor 3 operations (step 130) drive wheel steering post 10 and begin to rotate (step 140), in the process that turns to; if limit sensors 13 triggers (step 150); motor 3 (step 170) out of service then, thereby actv. protection vehicle and steering hardware, wheel steering post 10 forward (step 160) after the needed position to; motor 3 stops (step 170), finishes the automatic steering of automatic driving vehicle.
Claims (4)
1. steering gear of unmanned vehicle is characterized in that having:
One motor (3) is for turning to driver train;
One intermeshing worm gear (6) and worm screw (5), described worm screw (5) directly connects with the output shaft of motor (3);
One magnetic clutch (7) connects firmly with the drive end (7A) of described worm gear (6) with magnetic clutch; Partner (7B) with described magnetic clutch connects firmly with wheel steering post (10);
One anchor clamps (1) connect firmly with steering-column support (9), as the fixed support of motor (3), make motor (3) and worm screw (5) for coaxial, and to make worm screw (5) be vertical with the axis of worm gear (6);
One non-contact zero position detecting mechanism, constitute by being fixedly installed on the null pick-up contact (11) that anchor clamps (1) go up, are positioned at the null pick-up (8) of magnetic clutch sidepiece and are fixedly installed on the magnetic clutch periphery, described null pick-up contact (11) can pass through the induction groove on the null pick-up (8) when wheel steering post (10) rotates;
One stop gear is made of the limit sensors plectrum (14) that is fixedly installed on the limit sensors (13) on the vehicle frame (17) and connect firmly on wheel steering joint (15), and the limit sensors plectrum (14) under the spacing state can touch limit sensors (13);
One coder (4) is connected on the output shaft of described motor (3) rear end.
2. steering gear of unmanned vehicle according to claim 1, it is characterized in that described anchor clamps (1) are clamped on the steering-column support (9) with " V " disposed thereon shape mouth, to connect firmly side plate (2) on anchor clamps (1) as the fixed support of motor (3).
3. the calibration method that turns to absolute zero position of the described steering gear of unmanned vehicle of claim 1 is characterized in that:
When vehicle kept absolute straight-line travelling, the pairing position of wheel steering post (10) was an absolute zero position, and the working direction of the vehicle of direction initialization dish Steering gear (10) under absolute zero position is a Y-axis;
Setting null pick-up (8) position is with reference to zero-bit, and null pick-up (8) is a Y ' axle with the line at the center of described wheel steering post (10); Angle between Y-axis and the Y ' axle is definite value α;
The calibration process of wheel steering post absolute zero position is:
At first manually make wheel steering post (10) be in vehicle straight-line travelling state, make magnetic clutch (7) energising adhesive then, and motor (3) beginning is just changeed, wheel steering post (10) drives null pick-up contact (11) and rotates counterclockwise, arrive with reference to zero-bit until null pick-up contact (11), null pick-up this moment (8) output is with reference to the zero-bit detection signal, motor (3) begins counter-rotating and drives wheel steering post (10) to clockwise rotate from the reference zero-bit, when motor (3) drive wheel steering post oppositely turned over the α angle, demarcating the residing position of wheel steering post (10) this moment was absolute zero position.
4. the automatic steering control method of the described steering gear of unmanned vehicle of claim 1 is characterized in that:
At first make magnetic clutch (7) energising adhesive, vehicle is in automatic driving mode, carry out the demarcation of absolute zero position then and make vehicle be in the absolute zero position position, when vehicle need turn to, provide steering order, motor (3) operation, driving wheel steering post (10) begins to rotate, wheel steering post (10) forwards to after the needed position, and motor (3) stops, and finishes the automatic steering of automatic driving vehicle; In the steering procedure, if limit sensors (13) is triggered, then motor (3) is out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010104800XA CN101758855B (en) | 2010-02-01 | 2010-02-01 | Steering gear of unmanned vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010104800XA CN101758855B (en) | 2010-02-01 | 2010-02-01 | Steering gear of unmanned vehicle and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101758855A true CN101758855A (en) | 2010-06-30 |
| CN101758855B CN101758855B (en) | 2011-07-27 |
Family
ID=42490276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010104800XA Active CN101758855B (en) | 2010-02-01 | 2010-02-01 | Steering gear of unmanned vehicle and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101758855B (en) |
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102225692A (en) * | 2011-04-26 | 2011-10-26 | 惠州Tcl移动通信有限公司 | Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof |
| CN102621346A (en) * | 2012-03-23 | 2012-08-01 | 江南大学 | Centering instrument for automobile steering wheels |
| CN102923183A (en) * | 2012-10-26 | 2013-02-13 | 湖南大学 | Intelligent vehicle steering mechanism and control method thereof |
| CN103085858A (en) * | 2011-10-28 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Steering-wheel-typed agricultural machinery automatic-driving steering control device |
| CN103241276A (en) * | 2013-05-14 | 2013-08-14 | 湖南湖大艾盛汽车技术开发有限公司 | Combined type electronic control steering pipe column |
| CN103661579A (en) * | 2013-12-11 | 2014-03-26 | 苏州先锋物流装备科技有限公司 | Electric steering mechanism |
| CN103802885A (en) * | 2014-02-17 | 2014-05-21 | 林德（中国）叉车有限公司 | Tractor angle identification system |
| CN103863381A (en) * | 2014-03-10 | 2014-06-18 | 同济大学 | Control device for steering wheel of unmanned vehicle |
| CN104002861A (en) * | 2014-05-26 | 2014-08-27 | 武汉理工大学 | Steering device of intelligent vehicle and control method thereof |
| CN104571112A (en) * | 2015-01-14 | 2015-04-29 | 中国科学院合肥物质科学研究院 | Pilotless automobile lateral control method based on turning curvature estimation |
| WO2015085798A1 (en) * | 2013-12-13 | 2015-06-18 | 华为技术有限公司 | Vehicle system control method and control system |
| CN105005298A (en) * | 2015-07-06 | 2015-10-28 | 上海大学 | Direction control device with manual and automatic switching mechanism |
| CN105022393A (en) * | 2014-04-29 | 2015-11-04 | 中国科学院沈阳自动化研究所 | Autopilot |
| CN105197105A (en) * | 2015-09-21 | 2015-12-30 | 长春格瑞特农业装备科技有限公司 | Automatic driving system of tractor for paddy field operation |
| CN105432173A (en) * | 2015-12-18 | 2016-03-30 | 浙江理工大学 | Man-machine separating type steering device |
| CN106314520A (en) * | 2016-08-29 | 2017-01-11 | 上海交通大学 | Device for automatic refit of steering wheel of agricultural machinery based on clamping synchronous pulley and method thereof |
| CN106483951A (en) * | 2015-08-28 | 2017-03-08 | Lg电子株式会社 | Automatic running vehicle |
| CN106541985A (en) * | 2016-10-13 | 2017-03-29 | 北京联合大学 | For the auto-pilot controller and its vehicle of unmanned electric vehicle |
| CN106627723A (en) * | 2016-09-30 | 2017-05-10 | 杨娇仔 | Special steering wheel for unmanned driving |
| CN106627735A (en) * | 2017-01-18 | 2017-05-10 | 陈建生 | Direction control device with auxiliary driving function and kart |
| CN106864459A (en) * | 2017-03-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of rotating direction control method of automatic driving vehicle autosteerer |
| CN107031699A (en) * | 2015-06-25 | 2017-08-11 | 操纵技术Ip控股公司 | Rotation control system and method for steering wheel |
| CN107654583A (en) * | 2017-09-28 | 2018-02-02 | 裕克施乐塑料制品（太仓）有限公司 | A kind of actuator and its method of work of auto-manual electromagnetic sucker type |
| CN108001523A (en) * | 2017-11-20 | 2018-05-08 | 上海交通大学 | A kind of steering wheel automaton and its installation method |
| CN108116486A (en) * | 2016-11-30 | 2018-06-05 | 操纵技术Ip控股公司 | Steering column assembly with sensor module |
| CN108382456A (en) * | 2018-04-04 | 2018-08-10 | 辽宁工业大学 | A kind of pilotless automobile electric wire-control transfer and rotating direction control method |
| CN108438046A (en) * | 2018-03-16 | 2018-08-24 | 北京汽车股份有限公司 | A kind of vehicle, magnetic float clutch system, electric boosting steering system and control method |
| CN108657269A (en) * | 2018-04-04 | 2018-10-16 | 南京天辰礼达电子科技有限公司 | A kind of agricultural machinery direction coil motor driving autopilot facility and method |
| US10160472B2 (en) | 2015-10-20 | 2018-12-25 | Steering Solutions Ip Holding Corporation | Steering column with stationary hub |
| US10160473B2 (en) | 2016-09-13 | 2018-12-25 | Steering Solutions Ip Holding Corporation | Steering column decoupling system |
| CN109131556A (en) * | 2018-09-05 | 2019-01-04 | 华南农业大学 | Tractor straight-line travelling control system and method |
| CN109398471A (en) * | 2017-08-17 | 2019-03-01 | 西北农林科技大学 | A kind of unmanned steering mechanism of golf cart |
| CN109436083A (en) * | 2018-10-22 | 2019-03-08 | 湖南汽车工程职业学院 | A kind of electromagnetic type for intelligent driving automobile is semi-automatic can clutch steering column |
| CN110001750A (en) * | 2019-04-22 | 2019-07-12 | 湖南汽车工程职业学院 | A kind of form locking for intelligent driving vehicle can clutch steering column |
| CN110254506A (en) * | 2019-06-25 | 2019-09-20 | 天津大学 | A kind of automatic zero-bit caliberating device of unmanned engineer operation equipment steering motor and method |
| CN110588771A (en) * | 2019-10-24 | 2019-12-20 | 山东时风（集团）有限责任公司 | Electric control steering device and control method thereof |
| US10589774B2 (en) | 2015-05-01 | 2020-03-17 | Steering Solutions Ip Holding Corporation | Counter rotation steering wheel |
| CN111845923A (en) * | 2020-07-31 | 2020-10-30 | 湖北汽车工业学院 | Steer-by-wire system applied to unmanned vehicle and control method |
| CN112026912A (en) * | 2020-09-09 | 2020-12-04 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN112220400A (en) * | 2020-09-28 | 2021-01-15 | 山东交通学院 | Automatic driving and sweeping robot |
| CN112590918A (en) * | 2020-12-21 | 2021-04-02 | 南京信息职业技术学院 | Steering control device for unmanned automobile |
| CN112824201A (en) * | 2019-11-20 | 2021-05-21 | 卡尔股役制公司 | Automatic traveling system and automatic steering device |
| CN114715256A (en) * | 2022-03-31 | 2022-07-08 | 同济大学 | Unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine |
| CN114987598A (en) * | 2022-06-23 | 2022-09-02 | 新乡北方车辆仪表有限公司 | Novel multi-functional intelligent control steering wheel |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054452B (en) * | 2017-03-16 | 2019-01-29 | 北京理工大学 | A kind of automatic driving vehicle autosteerer |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6320266A (en) * | 1986-07-11 | 1988-01-27 | Mitsubishi Electric Corp | Motor-driven type power steering controller |
| US5916285A (en) * | 1995-10-18 | 1999-06-29 | Jervis B. Webb Company | Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle |
| CN100345715C (en) * | 2001-12-12 | 2007-10-31 | 杰维斯·B·韦布国际公司 | Driverless vehicle guidance system and method |
| CN100480116C (en) * | 2005-12-08 | 2009-04-22 | 上海交通大学 | Steer control mechanism for nobody-driven car |
| CN2897767Y (en) * | 2006-03-03 | 2007-05-09 | 吉林大学 | Driving/steering mechanism for automatic guider |
-
2010
- 2010-02-01 CN CN201010104800XA patent/CN101758855B/en active Active
Cited By (57)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102225692B (en) * | 2011-04-26 | 2014-04-02 | 惠州Tcl移动通信有限公司 | Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof |
| CN102225692A (en) * | 2011-04-26 | 2011-10-26 | 惠州Tcl移动通信有限公司 | Automobile anti-collision method as well as corresponding mobile terminal and anti-collision system thereof |
| CN103085858A (en) * | 2011-10-28 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Steering-wheel-typed agricultural machinery automatic-driving steering control device |
| CN102621346A (en) * | 2012-03-23 | 2012-08-01 | 江南大学 | Centering instrument for automobile steering wheels |
| CN102923183A (en) * | 2012-10-26 | 2013-02-13 | 湖南大学 | Intelligent vehicle steering mechanism and control method thereof |
| CN102923183B (en) * | 2012-10-26 | 2015-07-29 | 湖南大学 | A kind of intelligent vehicle steering hardware and control method thereof |
| CN103241276A (en) * | 2013-05-14 | 2013-08-14 | 湖南湖大艾盛汽车技术开发有限公司 | Combined type electronic control steering pipe column |
| CN103241276B (en) * | 2013-05-14 | 2016-03-02 | 湖南湖大艾盛汽车技术开发有限公司 | The automatically controlled steering column of a kind of combined |
| CN103661579A (en) * | 2013-12-11 | 2014-03-26 | 苏州先锋物流装备科技有限公司 | Electric steering mechanism |
| WO2015085798A1 (en) * | 2013-12-13 | 2015-06-18 | 华为技术有限公司 | Vehicle system control method and control system |
| CN103802885A (en) * | 2014-02-17 | 2014-05-21 | 林德（中国）叉车有限公司 | Tractor angle identification system |
| CN103863381A (en) * | 2014-03-10 | 2014-06-18 | 同济大学 | Control device for steering wheel of unmanned vehicle |
| CN105022393A (en) * | 2014-04-29 | 2015-11-04 | 中国科学院沈阳自动化研究所 | Autopilot |
| CN104002861A (en) * | 2014-05-26 | 2014-08-27 | 武汉理工大学 | Steering device of intelligent vehicle and control method thereof |
| CN104571112A (en) * | 2015-01-14 | 2015-04-29 | 中国科学院合肥物质科学研究院 | Pilotless automobile lateral control method based on turning curvature estimation |
| US10589774B2 (en) | 2015-05-01 | 2020-03-17 | Steering Solutions Ip Holding Corporation | Counter rotation steering wheel |
| CN107031699A (en) * | 2015-06-25 | 2017-08-11 | 操纵技术Ip控股公司 | Rotation control system and method for steering wheel |
| US10766518B2 (en) | 2015-06-25 | 2020-09-08 | Steering Solutions Ip Holding Corporation | Rotation control system for a steering wheel and method |
| CN107031699B (en) * | 2015-06-25 | 2020-09-01 | 操纵技术Ip控股公司 | Rotation control system and method for steering wheel |
| CN105005298A (en) * | 2015-07-06 | 2015-10-28 | 上海大学 | Direction control device with manual and automatic switching mechanism |
| CN105005298B (en) * | 2015-07-06 | 2018-10-23 | 上海大学 | A kind of direction-control apparatus with hand mechanism for automatically switching |
| CN106483951A (en) * | 2015-08-28 | 2017-03-08 | Lg电子株式会社 | Automatic running vehicle |
| CN105197105A (en) * | 2015-09-21 | 2015-12-30 | 长春格瑞特农业装备科技有限公司 | Automatic driving system of tractor for paddy field operation |
| US10160472B2 (en) | 2015-10-20 | 2018-12-25 | Steering Solutions Ip Holding Corporation | Steering column with stationary hub |
| CN105432173A (en) * | 2015-12-18 | 2016-03-30 | 浙江理工大学 | Man-machine separating type steering device |
| CN106314520A (en) * | 2016-08-29 | 2017-01-11 | 上海交通大学 | Device for automatic refit of steering wheel of agricultural machinery based on clamping synchronous pulley and method thereof |
| US10160473B2 (en) | 2016-09-13 | 2018-12-25 | Steering Solutions Ip Holding Corporation | Steering column decoupling system |
| CN106627723A (en) * | 2016-09-30 | 2017-05-10 | 杨娇仔 | Special steering wheel for unmanned driving |
| CN106541985A (en) * | 2016-10-13 | 2017-03-29 | 北京联合大学 | For the auto-pilot controller and its vehicle of unmanned electric vehicle |
| CN108116486B (en) * | 2016-11-30 | 2020-07-28 | 操纵技术Ip控股公司 | Steering column assembly with sensor assembly |
| CN108116486A (en) * | 2016-11-30 | 2018-06-05 | 操纵技术Ip控股公司 | Steering column assembly with sensor module |
| CN106627735A (en) * | 2017-01-18 | 2017-05-10 | 陈建生 | Direction control device with auxiliary driving function and kart |
| CN106864459B (en) * | 2017-03-16 | 2018-12-14 | 北理慧动（常熟）车辆科技有限公司 | A kind of rotating direction control method of automatic driving vehicle autosteerer |
| CN106864459A (en) * | 2017-03-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of rotating direction control method of automatic driving vehicle autosteerer |
| CN109398471A (en) * | 2017-08-17 | 2019-03-01 | 西北农林科技大学 | A kind of unmanned steering mechanism of golf cart |
| CN107654583A (en) * | 2017-09-28 | 2018-02-02 | 裕克施乐塑料制品（太仓）有限公司 | A kind of actuator and its method of work of auto-manual electromagnetic sucker type |
| CN108001523A (en) * | 2017-11-20 | 2018-05-08 | 上海交通大学 | A kind of steering wheel automaton and its installation method |
| CN108438046A (en) * | 2018-03-16 | 2018-08-24 | 北京汽车股份有限公司 | A kind of vehicle, magnetic float clutch system, electric boosting steering system and control method |
| CN108657269A (en) * | 2018-04-04 | 2018-10-16 | 南京天辰礼达电子科技有限公司 | A kind of agricultural machinery direction coil motor driving autopilot facility and method |
| CN108657269B (en) * | 2018-04-04 | 2021-03-26 | 南京天辰礼达电子科技有限公司 | Agricultural machine steering wheel motor driving automatic driving equipment and method |
| CN108382456A (en) * | 2018-04-04 | 2018-08-10 | 辽宁工业大学 | A kind of pilotless automobile electric wire-control transfer and rotating direction control method |
| CN109131556A (en) * | 2018-09-05 | 2019-01-04 | 华南农业大学 | Tractor straight-line travelling control system and method |
| CN109436083A (en) * | 2018-10-22 | 2019-03-08 | 湖南汽车工程职业学院 | A kind of electromagnetic type for intelligent driving automobile is semi-automatic can clutch steering column |
| CN110001750A (en) * | 2019-04-22 | 2019-07-12 | 湖南汽车工程职业学院 | A kind of form locking for intelligent driving vehicle can clutch steering column |
| CN110001750B (en) * | 2019-04-22 | 2024-05-10 | 湖南汽车工程职业学院 | Shape-locking clutchable steering column for intelligent driving vehicle |
| CN110254506A (en) * | 2019-06-25 | 2019-09-20 | 天津大学 | A kind of automatic zero-bit caliberating device of unmanned engineer operation equipment steering motor and method |
| CN110588771A (en) * | 2019-10-24 | 2019-12-20 | 山东时风（集团）有限责任公司 | Electric control steering device and control method thereof |
| CN112824201B (en) * | 2019-11-20 | 2024-05-24 | 卡尔股役制公司 | Automatic traveling system and automatic steering device |
| CN112824201A (en) * | 2019-11-20 | 2021-05-21 | 卡尔股役制公司 | Automatic traveling system and automatic steering device |
| CN111845923A (en) * | 2020-07-31 | 2020-10-30 | 湖北汽车工业学院 | Steer-by-wire system applied to unmanned vehicle and control method |
| CN112026912B (en) * | 2020-09-09 | 2022-03-04 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN112026912A (en) * | 2020-09-09 | 2020-12-04 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN112220400A (en) * | 2020-09-28 | 2021-01-15 | 山东交通学院 | Automatic driving and sweeping robot |
| CN112220400B (en) * | 2020-09-28 | 2021-12-31 | 山东交通学院 | Automatic driving and sweeping robot |
| CN112590918A (en) * | 2020-12-21 | 2021-04-02 | 南京信息职业技术学院 | Steering control device for unmanned automobile |
| CN114715256A (en) * | 2022-03-31 | 2022-07-08 | 同济大学 | Unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine |
| CN114987598A (en) * | 2022-06-23 | 2022-09-02 | 新乡北方车辆仪表有限公司 | Novel multi-functional intelligent control steering wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101758855B (en) | 2011-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101758855B (en) | Steering gear of unmanned vehicle and control method thereof | |
| CN101797917B (en) | Braking device of unmanned vehicle | |
| CN109050244B (en) | High-precision AGV driving and steering integrated device and control method thereof | |
| CN102941876B (en) | Automatic driving vehicle steering swivel system and control method thereof | |
| CN105751892A (en) | Compact AGV (Automated Guided Vehicle) driving and steering integrated device | |
| CN109733468A (en) | A kind of steering system and method and vehicle | |
| CN103569197B (en) | four-wheel steering system and control method thereof | |
| CN100431896C (en) | Vehicle steering apparatus | |
| CN203078587U (en) | Hydraulic power steering device capable of being remotely controlled and steering system | |
| CN101318518A (en) | Steering system of instruction car | |
| CN203111302U (en) | Control device used for electric power assisted steering system of electric forklift | |
| CN106080745A (en) | The transfer switched the most at any time | |
| CN201633712U (en) | Unmanned vehicle brake | |
| CN203581090U (en) | Four-wheel steering system | |
| CN103434560A (en) | Car steering device | |
| CN205632110U (en) | AGV drive turns to integrated device | |
| ATE115480T1 (en) | STEERING AXLE FOR MOTOR VEHICLES. | |
| CN103786781A (en) | Electronic-control steering system | |
| CN110525506A (en) | It is a kind of for automatic driving vehicle can reduction line traffic control steering wheel | |
| CN206171556U (en) | Unmanned vehicle's a steering system | |
| CN211918355U (en) | Vertical steering wheel assembly | |
| CN211918357U (en) | Compact steering wheel assembly | |
| CN211207597U (en) | Supplementary device that turns to of learner-driven vehicle | |
| CN209305648U (en) | A kind of unmanned pure electric vehicle truck and its wheel steering system | |
| CN203517566U (en) | Lamp with optical axis direction adjustable in electric mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: HEFEI SINO-SCIENCE AUTOMATIC CONTROL SYSTEM CO., L Free format text: FORMER OWNER: HEFEI INST. OF MATTER SCIENCES, CHINESE ACADEMY OF SCIENCES Effective date: 20130604 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 230031 HEFEI, ANHUI PROVINCE TO: 230088 HEFEI, ANHUI PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20130604 Address after: 230088 A building, No. 2221 Changjiang West Road, Hefei hi tech Zone, Anhui, Anhui R & D building, Institute of circular economy and technology Patentee after: HEFEI SINO-SCIENCE AUTOMATION SYSTEM CO., LTD. Address before: 230031 Hefei Intelligence Center, mailbox 1130, West Science Island, Hefei, Anhui Patentee before: Hefei Inst. of Matter Sciences, Chinese Academy of Sciences |