A sensor assembly for a vehicle including a sensor module having a main printed circuit board (PCB). A plurality of auxiliary printed circuit boards (PCBs) are coupled to the main PCB and electrically connected to the main PCB. Each of the plurality of auxiliary PCBs has at least one sensor that is configured to generate a signal. Each of the plurality of auxiliary PCBs are coupled to each other in a defined position relative to each other. A plurality of attachment elements couple the plurality of auxiliary PCBs and the main PCB to at least partially maintain the defined positions of the auxiliary PCBs relative to each other and to electrically connect the plurality of auxiliary PCBs to the main PCB. A retainer abuts the plurality of auxiliary PCBs.

A method of estimating hydraulic flow in a steering system of an articulated vehicle, a controller configured for the method and an articulated vehicle are provided. The method comprises: a) sensing a yaw rate of the articulated vehicle; b) sensing a velocity of the articulated vehicle; c) determining an estimate of a steering angle rate of the front part of the articulated vehicle using the sensed yaw rate and the sensed velocity; d) determining an estimate of the hydraulic flow in the steering system of the articulated vehicle using the estimate of the steering angle rate and one or more geometrical parameters of the steering system.

A corresponding vehicle includes two steerable axles VA1 and HA1 each with an angle sensor, wherein a rear axle HA1 in an all-wheel mode is synchronously steered with the front axle VA1 in the opposite direction, this being designated as a 4×4 steering system. The vehicle further includes a control device for setting the steering angle of the axles based on the data provided by angle sensors.

A steering control device that can more appropriately transmit a road-surface reaction force to a steering wheel is provided. The steering control device feedback controls a steering angle to a target steering angle that is a target value of the steering angle. The steering control device includes an estimated axial force computation circuit that computes an estimated axial force so as to reflect a road-surface reaction force in a reaction force generated by a reaction force actuator. The estimated axial force computation circuit computes the estimated axial force by causing a friction compensation amount computation circuit and an efficiency compensation gain computation circuit to compensate an initial estimated axial force computed by an initial estimated axial force computation circuit.

The embodiments relate to a steering control device and method. Specifically, a steering control device according to an embodiment may include a first steering control module configured to receive steering information, determine a target rack position based on the steering information, and generate a first command current to control a steering motor so that a rack moves to the target rack position, and a second steering control module configured to receive a control right for the steering motor if the first steering control module fails, and generate a second command current for controlling the steering motor.

Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.

The present disclosure relates to a method and system for measuring and calibrating steering parameters of a vehicle, a medium and an autonomous vehicle. The method includes: calculating a steering angle of a front wheel of the vehicle corresponding to each sampling moment at a plurality of consecutive sampling moments respectively. The calculation process at each sampling moment includes: calculating a first calculated value based on a yaw velocity of the vehicle, a vehicle velocity and a wheelbase; calculating a second calculated value based on a vehicle velocity, a lateral acceleration of the vehicle and the wheelbase; calculating a third calculated value based on a rotating angle of the steering wheel and a steering gear ratio; and calculating a steering angle of the front wheel at a current sampling moment based on the first, second and third calculated value of the steering angle of the front wheel.

There is provided a method for activating warning lights in a vehicle, the method comprising: determining a yaw rate of the vehicle; determining a sideslip angle of the vehicle; comparing the yaw rate to a predetermined yaw rate threshold value; comparing the sideslip angle to a predetermined sideslip angle threshold value; and f the yaw rate exceeds the predetermined yaw rate value; if the sideslip angle exceeds the predetermined sideslip angle value; and if it is determined that the vehicle reaches a standstill within a predetermined time after the yaw rate and sideslip values have been exceeded, activating warning lights of the vehicle. There is also provided a system configured to perform the above described method.

[Problem]

An object of the present invention is to provide an electric power steering apparatus for calculating a front-wheel estimated steering angle based on right and left front wheel speeds, calculating a rear-wheel estimated steering angle based on right and left rear wheel speeds, calculating a 4-wheel estimated steering angle by using the front-wheel estimated steering angle and the rear-wheel estimated steering angle, and correcting a probability of the 4-wheel estimated steering angle or correcting an output of a control with the 4-wheel estimated steering angle by using the front-wheel estimated steering angle, the rear-wheel estimated steering angle and 4 wheel speeds, thereby preventing an irregular output.

[Means for Solving]

The present invention is an electric power steering apparatus which has a steering torque sensor to detect a steering torque, a current command value calculating section to calculate a current command value based on the steering torque, a motor to apply an assist torque, and a motor driving control section to drive and control the motor, comprises: a control function with an input steering angle; and a steering angle estimating/calculating section to calculate a front-wheel estimated steering angle and a rear-wheel estimated steering angle based on a 4 wheel speeds and calculate a 4-wheel estimated steering angle, wherein the 4-wheel estimated steering angle is used for a steering angle control.

A method for determining a neutral position of a MDPS (Motor Driven Power Steering) system may include: determining, by a controller, whether a vehicle is driving; determining, by the controller, whether a steering torque is smaller than a preset break point on a boost curve, when the vehicle is driving; and determining, by the controller, that the vehicle is in a neutral state, when the steering torque is smaller than the preset break point on the boost curve.