The present disclosure provides a vehicle steering device and a vehicle steering method capable of ensuring safety of a passenger and a vehicle when a steering abnormality of the vehicle occurs. The vehicle steering device includes a steering input unit, a steering output unit connected to the steering input unit and a wheel, and a control unit configured to control the steering input unit and the steering output unit, in which, when a steering abnormality occurs in the steering input unit, the control unit directly controls the steering output unit regardless of the operation of the steering input unit.

A steering axle for a steerable vehicle includes an axle housing, a steering motor, a steering gear, a first steering knuckle with a first steering arm, a second steering knuckle with a second steering arm, a coupling rod, a first tie rod, and a second tie rod. The first and second steering arms are each rigidly arranged on a respective steering knuckle that is hinged in the axle housing. The first and second tie rods are each hinged at a first end to a respective steering arm and hinged at a second end to the coupling rod. The steering axle is configured so that the steering motor can set a steering angle of the steering axle via the steering gear. The steering axle has first and second intermediate steering levers, each hinged at its first end to the axle body and hinged at its second end to the coupling rod.

A rack assist type power steering apparatus according to the embodiments of the present disclosure comprises a rack bar provided with an outer screw groove on an outer circumferential surface, a ball nut having an inner screw groove corresponding to the outer screw groove on an inner circumferential surface, and a bearing coupled to an outer circumferential surface, and a nut pulley provided with a belt coupling portion on an outer peripheral surface, and one end of an inner circumferential surface is provided with a support end coupled to an outer circumferential surface of the ball nut to support the bearing, and an other end of an inner circumferential surface is provided with an enlarged diameter portion which is stepped from the support end and increases in inner diameter.

A rotor position detecting apparatus includes a rotor, a stator disposed in correspondence with the rotor and a sensing assembly disposed at one side of the rotor. The sensing assembly includes a substrate, a first magnetic element part and a second magnetic element part disposed on the substrate and a first ground pattern and a second ground pattern disposed on the substrate. The first ground pattern is electrically connected to the first magnetic element part. The second ground pattern is electrically connected to the second magnetic element part, and the first ground pattern is electrically disconnected from the second ground pattern.

A motor electric control unit (ECU) for an electromechanical power steering mechanism, which controls current through an electric assist motor in response to steering mechanism sensors' signals. The ECU may comprise at least two channels. Each channel has the steering mechanism sensors in a redundancy concept. At least one voter that is assigned to an actuator and is configured to vote on the correct steering mechanism sensors' outputs of the at least two channels. The steering mechanism sensors may include a steering column torque sensor and an RPS sensor for sensing a rotor angle of the electric assist motor. Each of the at least two channels may include processors that have different software to protect against systematic faults.

A method for estimating a value for friction exerted on a power steering system of a vehicle, during turning resulting in the crossing of a straight line angle, the turning being achieved at a substantially uniform speed included within a predefined range, and an angle of a steering wheel included within a predefined range, including: a step (1) of acquiring a plurality of vehicle-related data items, including at least one value of a force of a power steering motor on a rack and pinion, and a value of a force of the steering wheel on the rack and pinion; a step (4) of estimating the value for friction by averaging the sum of the forces of the steering wheel and the forces of the power steering motor on the rack and pinion.

A method in which a continuous estimation of the intermediate friction rate is carried out, allowing the integration of the method into a general friction compensation method so as to continuously improve the feel on the steering wheel, particularly for speeds below a determined threshold. Also, a method for friction compensation in an electrical power steering system, characterised in that the compensation method takes into account a continuous estimation of the intermediate friction rate obtained by the estimation method.

An electric actuator for a steering system is adapted to control an angle of steered wheels on a vehicle to adjust a direction of travel of the vehicle. The electric actuator includes a housing assembly, an electric motor, and an actuation unit. The housing assembly is arranged around the electric motor and the electric motor is coupled with the actuation unit and configured to cause an actuator rod of the actuation unit to move relative to the housing assembly.

A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.

A vehicle steering assembly comprising an input shaft to be connected to a steering device, a first electric motor connected to the input shaft and arranged to provide a steering device torque and/or a steering device angle, an output shaft connected via a steering linkage to a number of ground engaging members, a rod placed between the input shaft and the output shaft, a first arm rotatably connected to the input shaft and rotatably connected to the rod, and a second arm rotatably connected to the rod and rotatably connected to the output shaft, a second electric motor connected to the output shaft and arranged to provide a steering control torque and/or a steering control angle, wherein the rod comprises a flexible drag link, which in combination with the first and second arm provide for forces in longitudinal direction to be absorbed.