CN110723204A - A control method and device for a vehicle steering system - Google Patents
A control method and device for a vehicle steering system Download PDFInfo
- Publication number
- CN110723204A CN110723204A CN201810785164.8A CN201810785164A CN110723204A CN 110723204 A CN110723204 A CN 110723204A CN 201810785164 A CN201810785164 A CN 201810785164A CN 110723204 A CN110723204 A CN 110723204A
- Authority
- CN
- China
- Prior art keywords
- steering
- steering angle
- steering system
- output
- collected
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000003921 oil Substances 0.000 description 20
- 230000007423 decrease Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
本发明涉及一种车辆转向系统的控制方法及装置，该方法包括：采集方向盘或转向管的转向角，并判断采集到的转向角是否满足设定的条件，所述设定的条件至少包括采集到的转向角不小于设定转向角上限阈值；若满足设定的条件，则控制降低助力转向系统的输出。本发明通过对方向盘或转向管的转向角进行检测，当检测到转向角不小于设定转向角上限阈值时，则控制降低助力转向系统的输出，使转向手力显著增加，以避免助力转向系统出现高压，有效防止了转向系统烧坏的现象，提高了转向系统各零部件的使用寿命。
The invention relates to a control method and device for a vehicle steering system. The method includes: collecting the steering angle of a steering wheel or a steering tube, and judging whether the collected steering angle satisfies a set condition, wherein the set condition at least includes collecting The reached steering angle is not less than the set steering angle upper limit threshold; if the set conditions are met, the control reduces the output of the power steering system. The present invention detects the steering angle of the steering wheel or the steering tube, and when it is detected that the steering angle is not less than the upper threshold of the set steering angle, the output of the power steering system is controlled to reduce, so that the steering hand force is significantly increased, so as to avoid the power steering system The occurrence of high pressure can effectively prevent the burning of the steering system and improve the service life of each component of the steering system.
Description
技术领域technical field
本发明涉及一种车辆转向系统的控制方法及装置，属于车辆转向控制技术领域。The invention relates to a control method and device for a vehicle steering system, belonging to the technical field of vehicle steering control.
背景技术Background technique
目前市场上主流的电动商用车，电动公交车等，为防止因达到最大转向角度引起的转向系统高压，转向器中装有行程卸荷阀(部分装有安全阀)，同时转向油泵装有安全阀。该转向系统的弊端：1、在达到最大转向角度行程卸荷阀卸荷时，通常伴有较尖锐的卸荷噪音、能量消耗和系统发热；2、运输或装配过程中易导致行程卸荷阀失效，引起转向器报废；3、在无安全阀的转向器中，若行程卸荷阀失效，会导致达到最大转向角度时，电动转向油泵的安全阀开启，油液在电动转向油泵中内循环，产生大量热量，系统温度快速升高，液压油粘度降低，影响液压系统传动效率，增大转向手力，且高温易降低系统各零部件使用寿命，影响了整车品质。At present, the mainstream electric commercial vehicles, electric buses, etc. on the market, in order to prevent the high pressure of the steering system caused by reaching the maximum steering angle, the steering gear is equipped with a stroke unloading valve (part of it is equipped with a safety valve), and the steering oil pump is equipped with a safety valve. valve. Disadvantages of this steering system: 1. When the unloading valve reaches the maximum steering angle, it is usually accompanied by sharp unloading noise, energy consumption and system heating; 2. It is easy to cause the stroke unloading valve during transportation or assembly. Failure, causing the steering gear to be scrapped; 3. In the steering gear without safety valve, if the stroke unloading valve fails, it will cause the safety valve of the electric steering oil pump to open when the maximum steering angle is reached, and the oil circulates in the electric steering oil pump. , a large amount of heat is generated, the system temperature rises rapidly, the viscosity of the hydraulic oil decreases, which affects the transmission efficiency of the hydraulic system and increases the steering hand force.
发明内容SUMMARY OF THE INVENTION
本发明的目的是提供一种车辆转向系统的控制方法及装置，用于解决转向盘达到最大转向角会引起转向系统高压进而导致转向系统烧坏的问题。The purpose of the present invention is to provide a control method and device for a vehicle steering system, which are used to solve the problem that the steering wheel reaching the maximum steering angle will cause high pressure in the steering system, thereby causing the steering system to burn out.
为解决上述技术问题，本发明提供了一种车辆转向系统的控制方法，步骤如下：In order to solve the above technical problems, the present invention provides a control method of a vehicle steering system, the steps are as follows:
采集方向盘或转向管的转向角，并判断采集到的转向角是否满足设定的条件，所述设定的条件至少包括采集到的转向角不小于设定转向角上限阈值；Collect the steering angle of the steering wheel or steering tube, and determine whether the collected steering angle satisfies the set conditions, where the set conditions at least include that the collected steering angle is not less than the set upper limit threshold of the steering angle;
若满足设定的条件，则控制降低助力转向系统的输出。If the set conditions are met, the control reduces the output of the power steering system.
本发明的有益效果是：通过对方向盘或转向管的转向角进行检测，当检测到转向角不小于设定转向角上限阈值时，则控制降低助力转向系统的输出，使转向手力显著增加，以避免助力转向系统出现高压，有效防止了转向系统烧坏的现象，提高了转向系统各零部件的使用寿命。The beneficial effects of the present invention are: by detecting the steering angle of the steering wheel or the steering tube, when it is detected that the steering angle is not less than the upper threshold of the set steering angle, the output of the power steering system is controlled to decrease, so that the steering hand force is significantly increased, In order to avoid high pressure in the power steering system, the phenomenon of burning out of the steering system is effectively prevented, and the service life of each component of the steering system is improved.
进一步的，为了增强控制的可靠性，还需要对转向角不小于设定转向角上限阈值的持续时间进行判断，所述设定的条件还包括采集到的转向角不小于设定转向角上限阈值的持续时间不小于第一设定时间阈值。Further, in order to enhance the reliability of the control, it is also necessary to judge the duration that the steering angle is not less than the set steering angle upper threshold, and the set conditions also include that the collected steering angle is not less than the set steering angle upper threshold. The duration is not less than the first set time threshold.
进一步的，为了保证助力转向系统的转向助力作用，在助力转向系统的输出降低后，当采集到的转向角小于设定转向角上限阈值，且持续时间不小于第二设定时间阈值时，控制助力转向系统的输出为正常工况。Further, in order to ensure the steering assist effect of the power steering system, after the output of the power steering system is reduced, when the collected steering angle is less than the set steering angle upper threshold, and the duration is not less than the second set time threshold, control. The output of the power steering system is normal.
进一步的，所述设定转向角上限阈值为最大转向角的95％。Further, the set steering angle upper limit threshold is 95% of the maximum steering angle.
进一步的，控制降低助力转向系统的输出为正常工况的0.2。Further, the control reduces the output of the power steering system to 0.2 of the normal operating condition.
本发明还提供了一种车辆转向系统的控制装置，包括处理器和存储器，所述处理器用于处理存储在所述存储器中的指令以实现如下方法：The present invention also provides a control device for a vehicle steering system, comprising a processor and a memory, wherein the processor is used to process the instructions stored in the memory to implement the following method:
采集方向盘或转向管的转向角，并判断采集到的转向角是否满足设定的条件，所述设定的条件至少包括采集到的转向角不小于设定转向角上限阈值；Collect the steering angle of the steering wheel or steering tube, and determine whether the collected steering angle satisfies the set conditions, where the set conditions at least include that the collected steering angle is not less than the set upper limit threshold of the steering angle;
若满足设定的条件，则控制降低助力转向系统的输出。If the set conditions are met, the control reduces the output of the power steering system.
进一步的，所述设定的条件还包括采集到的转向角不小于设定转向角上限阈值的持续时间不小于第一设定时间阈值。Further, the set condition further includes that the duration of the collected steering angle not less than the set steering angle upper limit threshold is not less than the first set time threshold.
进一步的，在助力转向系统的输出降低后，当采集到的转向角小于设定转向角上限阈值，且持续时间不小于第二设定时间阈值时，控制助力转向系统的输出为正常工况。Further, after the output of the power steering system is reduced, when the collected steering angle is less than the set steering angle upper threshold and the duration is not less than the second set time threshold, the output of the power steering system is controlled to be a normal operating condition.
进一步的，所述设定转向角上限阈值为最大转向角的95％。Further, the set steering angle upper limit threshold is 95% of the maximum steering angle.
进一步的，控制降低助力转向系统的输出为正常工况的0.2。Further, the control reduces the output of the power steering system to 0.2 of the normal operating condition.
附图说明Description of drawings
图1是电动液压转向系统的结构示意图；Fig. 1 is the structural schematic diagram of electro-hydraulic steering system;
图2是本发明车辆转向系统的控制方法的流程图。FIG. 2 is a flow chart of the control method of the vehicle steering system of the present invention.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例对本发明进行进一步详细说明。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
图1给出了一种电动液压转向系统的结构示意图，该电动液压转向系统包括电机控制器1、电动转向油泵2以及方向盘3，其中电动转向油泵的电机4和转向油泵5同轴且刚性连接相连，传动比为1:1，该电机为永磁同步高压电机。该电机控制器控制连接电动转向油泵，用于控制电动转向油泵的输出，高压动力电源6给电机控制器1供电，转向油泵5将储液罐7中的低压油转化为高压油传输到转向器中，高压油经能量转化后回到储液罐7中。Figure 1 shows a schematic diagram of the structure of an electro-hydraulic steering system, the electro-hydraulic steering system includes a motor controller 1, an electric steering oil pump 2 and a steering wheel 3, wherein the electric motor 4 of the electric steering oil pump and the
本发明通过在方向盘或者转向管柱处设置一个转角传感器8，该转角传感器8为霍尔非接触式传感器，当然也可以是其他类型的转角传感器。该霍尔非接触式传感器用于采集方向盘的转向角信息，并将采集到的转向角信息通过CAN网络发送给电机控制器。In the present invention, a
基于上述的电动液压转向系统，本发明提供了一种车辆转向系统的控制装置，该控制装置包括处理器和存储器，该处理器用于处理存储在存储器中的指令，以实现一种车辆转向系统的控制方法，该控制方法的步骤流程图如图2所示，包括以下步骤：Based on the above electro-hydraulic steering system, the present invention provides a control device for a vehicle steering system. The control device includes a processor and a memory. The processor is used to process the instructions stored in the memory, so as to realize a control device of the vehicle steering system. A control method, the flow chart of the steps of the control method is shown in Figure 2, including the following steps:
(1)采集方向盘或转向管的转向角，并判断采集到的转向角是否满足设定的条件，其中设定的条件至少包括采集到的转向角不小于设定转向角上限阈值。(1) Collect the steering angle of the steering wheel or steering tube, and determine whether the collected steering angle satisfies the set conditions, where the set conditions at least include that the collected steering angle is not less than the set steering angle upper threshold.
设定转向系统左转和右转的最大转向角度均为α，电机负载状态下的频率为f1。其中，在本实施例中，将设定转向角上限阈值设置为最大转向角α的95％。当然，作为其他的实施方式，可以根据转向助力系统的保护需要来选择设置设定转向角上限阈值的大小，例如，也可以设置设定转向角上限阈值为方向盘的最大转向角。The maximum steering angle of the steering system for left and right turns is set to be α, and the frequency under the motor load state is f 1 . Wherein, in this embodiment, the upper threshold of the set steering angle is set to 95% of the maximum steering angle α. Of course, as other implementations, the size of the upper threshold of the steering angle can be selected and set according to the protection needs of the power steering system. For example, the upper threshold of the steering angle can also be set as the maximum steering angle of the steering wheel.
(2)若满足设定的条件，则控制降低助力转向系统的输出。(2) If the set condition is satisfied, the control reduces the output of the power steering system.
上述的步骤(1)和(2)，通过采集方向盘或转向管的转向角，提前对转向角度进行识别，当方向盘达到设定转向角上限阈值时，电动转向油泵采取较低的转速运行降低流量输出，即电机采取降功率输出控制转向油泵流量，使转向助力明显降低，转向手力显著增加，用于提示驾驶员转向角度已达到设定转向角上限阈值，起到保护转向系统，降低能耗、噪音和系统发热的作用。In the above steps (1) and (2), the steering angle is identified in advance by collecting the steering angle of the steering wheel or steering tube. When the steering wheel reaches the upper threshold of the set steering angle, the electric steering oil pump operates at a lower speed to reduce the flow. Output, that is, the motor adopts reduced power output to control the flow of the steering oil pump, so that the steering assist is significantly reduced and the steering hand force is significantly increased, which is used to remind the driver that the steering angle has reached the upper threshold of the set steering angle, which protects the steering system and reduces energy consumption. , noise and system heating.
为了增强控制的可靠性，设定的条件还包括采集到的转向角不小于设定转向角上限阈值的持续时间不小于第一设定时间阈值。也就是，在采集到的转向角不小于设定转向角上限阈值的情况下，还需要判定采集到的转向角不小于设定转向角上限阈值的持续时间，只有当持续时间不小于第一设定时间阈值t1时，才控制降低助力转向系统的输出。In order to enhance the reliability of the control, the set condition further includes that the time duration of the collected steering angle not less than the set steering angle upper limit threshold value is not less than the first set time threshold value. That is, in the case where the collected steering angle is not less than the set steering angle upper limit threshold, it is also necessary to determine that the collected steering angle is not less than the duration of the set steering angle upper threshold, only when the duration is not less than the first set steering angle upper threshold. Only when the time threshold t1 is set, the output of the power steering system is controlled to be reduced.
在本实施例中，设定降低后的助力转向系统的输出为正常工况的0.2，其中助力转向系统的正常工况输出为现有技术中每个方向盘转向角所对应的助力转向系统输出，当然，在保证当转向角不小于设定转向角上限阈值时，助力转向系统安全的情况下，也可以设置降低后的助力转向系统的输出为其他数值，此时有：In this embodiment, the output of the power-assisted steering system after the reduction is set to be 0.2 of the normal operating condition, wherein the output of the power-assisted steering system under the normal operating condition is the output of the power-assisted steering system corresponding to each steering wheel steering angle in the prior art, Of course, under the condition that the power steering system is safe when the steering angle is not less than the set steering angle upper limit threshold, the output of the reduced power steering system can also be set to other values. At this time, there are:
若转向系统转向角度≥95％α，且持续时间≥第一设定时间阈值t1，电机以20％f1运转，电动转向油泵输出流量约为正常工况的0.2倍，转向助力明显降低，转向手力显著增加，驾驶员能明显感觉到无法转动方向盘，达到转向系统极限位置。If the steering angle of the steering system is greater than or equal to 95%α and the duration is greater than or equal to the first set time threshold t 1 , the motor runs at 20% f 1 , the output flow of the electric steering oil pump is about 0.2 times that of the normal operating condition, and the steering assist is significantly reduced. The steering hand force is significantly increased, and the driver can clearly feel that the steering wheel cannot be turned, reaching the limit position of the steering system.
在助力转向系统的输出降低后，若转向系统转向角度降低至小于95％α，且持续时间≥第二设定时间阈值t2，电机恢复至正常频率f1，此时电动转向油泵输出流量为100％，即电动转向油泵按照正常工况输出，转向助力和转向手力恢复正常水平。After the output of the power steering system decreases, if the steering angle of the steering system decreases to less than 95%α, and the duration ≥ the second set time threshold t 2 , the motor returns to the normal frequency f 1 , and the output flow of the electric steering oil pump is 100%, that is, the electric steering oil pump outputs according to the normal working conditions, and the steering assist and steering hand force return to normal levels.
通过采用上述的车辆转向系统的控制方法及装置，可取消传统转向器上的行程卸荷阀，完全消除行程卸荷阀作用引起的能量消耗、卸荷噪音及系统发热；可消除达到最大转向角度引起的转向油泵或转向器卸荷时的能耗、噪音及系统发热；能够有效提高了系统各个零部件的使用寿命。By using the above-mentioned control method and device for the vehicle steering system, the stroke unloading valve on the traditional steering gear can be eliminated, and the energy consumption, unloading noise and system heating caused by the action of the stroke unloading valve can be completely eliminated; the maximum steering angle can be eliminated. The energy consumption, noise and system heat generated when the steering oil pump or steering gear is unloaded; it can effectively improve the service life of each component of the system.
但需要说明的是，上述的车辆转向系统的控制方法及装置主要应用于采用电动转向油泵的轻/中/重型电动商用车，包括轻/中/重型电动客车、电动公交车、电动物流车、电动卡车以及电动洒水车等，但并不局限于电动液压转向系统，还可以适用于机械助力转向系统等其他类型的助力转向系统中。通过在方向盘或者转向管柱处设置转角传感器，并将转角传感器采集到的转角信息发送给助力转向系统的控制器，由控制器来相应控制助力转向系统的输出，以避免助力转向系统出现高压，有效防止了转向系统烧坏的现象，提高了转向系统各零部件的使用寿命。However, it should be noted that the above-mentioned control method and device for a vehicle steering system are mainly applied to light/medium/heavy electric commercial vehicles using electric steering oil pumps, including light/medium/heavy electric passenger cars, electric buses, electric logistics vehicles, Electric trucks and electric sprinklers, etc., but are not limited to electro-hydraulic steering systems, and can also be applied to other types of power steering systems such as mechanical power steering systems. By arranging a rotation angle sensor at the steering wheel or steering column, and sending the rotation angle information collected by the rotation angle sensor to the controller of the power steering system, the controller will control the output of the power steering system accordingly to avoid high pressure in the power steering system. The phenomenon of burning out of the steering system is effectively prevented, and the service life of each component of the steering system is improved.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785164.8A CN110723204A (en) | 2018-07-17 | 2018-07-17 | A control method and device for a vehicle steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810785164.8A CN110723204A (en) | 2018-07-17 | 2018-07-17 | A control method and device for a vehicle steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110723204A true CN110723204A (en) | 2020-01-24 |
Family
ID=69217496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810785164.8A Pending CN110723204A (en) | 2018-07-17 | 2018-07-17 | A control method and device for a vehicle steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110723204A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001054960A1 (en) * | 2000-01-27 | 2001-08-02 | Dana Corporation | Precision electro-hydraulic actuator positioning system |
| CN1400944A (en) * | 2000-12-12 | 2003-03-05 | 日产自动车株式会社 | Lane-keeping control with steering torque as a control input to a vehicle steering system |
| CN105015363A (en) * | 2015-07-23 | 2015-11-04 | 江苏大学 | Distributed driving automobile control system based on hierarchical coordination and distributed driving automobile control method based on hierarchical coordination |
| CN106828501A (en) * | 2017-01-06 | 2017-06-13 | 汽-大众汽车有限公司 | A kind of vehicle assistant drive method, device and vehicle |
| CN107074275A (en) * | 2014-10-01 | 2017-08-18 | 日本精工株式会社 | Electric power-assisted steering apparatus |
| CN108001525A (en) * | 2017-11-27 | 2018-05-08 | 中联重机股份有限公司 | Vehicular turn method for limiting and system |
| DE102016122743A1 (en) * | 2016-11-25 | 2018-05-30 | Robert Bosch Gmbh | A steering system for a motor vehicle and method for venting a steering system for a motor vehicle |
-
2018
- 2018-07-17 CN CN201810785164.8A patent/CN110723204A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001054960A1 (en) * | 2000-01-27 | 2001-08-02 | Dana Corporation | Precision electro-hydraulic actuator positioning system |
| CN1400944A (en) * | 2000-12-12 | 2003-03-05 | 日产自动车株式会社 | Lane-keeping control with steering torque as a control input to a vehicle steering system |
| CN107074275A (en) * | 2014-10-01 | 2017-08-18 | 日本精工株式会社 | Electric power-assisted steering apparatus |
| CN105015363A (en) * | 2015-07-23 | 2015-11-04 | 江苏大学 | Distributed driving automobile control system based on hierarchical coordination and distributed driving automobile control method based on hierarchical coordination |
| DE102016122743A1 (en) * | 2016-11-25 | 2018-05-30 | Robert Bosch Gmbh | A steering system for a motor vehicle and method for venting a steering system for a motor vehicle |
| CN106828501A (en) * | 2017-01-06 | 2017-06-13 | 汽-大众汽车有限公司 | A kind of vehicle assistant drive method, device and vehicle |
| CN108001525A (en) * | 2017-11-27 | 2018-05-08 | 中联重机股份有限公司 | Vehicular turn method for limiting and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103448792A (en) | Dual drive power-assisted steering system and control method for hybrid electric vehicle | |
| CN203427875U (en) | Steering system of heavy commercial automobile | |
| CN102602451A (en) | System and method for realizing electric power steering | |
| CN204383559U (en) | New forms of energy motorcoach electric hydraulic power-assisted steering system | |
| CN109017726B (en) | A universal braking system and control method for an unmanned vehicle | |
| CN108973980A (en) | A kind of parallel-type vehicle hybrid power control system and control method | |
| CN203864675U (en) | Hydraulic braking system for mining dump trucks | |
| CN103693033A (en) | Vacuum boosting system, electric vehicle and vacuum boosting control method | |
| CN105644620A (en) | Energy-saving constant pressure type hydraulic power steering system | |
| CN113928414B (en) | Method and device for controlling vehicle steering motor and vehicle | |
| CN110723204A (en) | A control method and device for a vehicle steering system | |
| CN114379643A (en) | An electro-hydraulic steering gear with emergency steering function and its matching method | |
| CN111038465B (en) | Integrated brake-by-wire system for vehicle and control method | |
| CN206719318U (en) | A kind of electric hydraulic power-assisted steering system that there is power-off to keep assist function in short-term | |
| CN102424068A (en) | Automobile hydraulic power-driven assisted steering system | |
| CN118529004A (en) | Control method, control device and vehicle of integrated brake control system | |
| KR101481302B1 (en) | Method for controlling electro hydraulic power steering | |
| CN102442345A (en) | Control method of electro-hydraulic type power-assisted steering system | |
| CN107143548A (en) | Assess the method that the oil level in hydraulic actuation system, particularly transmission for vehicles hydraulic actuation system may be reduced | |
| CN203450199U (en) | Dual-drive power-assisted steering system of hybrid electric vehicle | |
| EP4166399B1 (en) | Vehicle control method and device, storage medium, and vehicle | |
| CN111497810A (en) | Electric vehicle brake vacuum pump control system and control method thereof | |
| CN209242610U (en) | Hydraulic steering system and forklift | |
| CN116176691A (en) | Steering power assisting system of electric mining truck and electric mining truck | |
| CN205440521U (en) | Energy -saving constant -pressure type power -assisted steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: No. 6 Yutong Road, Guancheng Hui District, Zhengzhou City, Henan Province Applicant after: Yutong Bus Co.,Ltd. Address before: No.1 Yutong Road, Shibali River, Guancheng Hui District, Zhengzhou City, Henan Province Applicant before: ZHENGZHOU YUTONG BUS Co.,Ltd. Country or region before: China |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200124 |