Disclosed are a cooperative steering apparatus and a vehicle steering apparatus comprising the same. The disclosed cooperative steering apparatus comprises: an input shaft that rotates as a steering wheel of a vehicle rotates; a drive motor comprising a rotor that rotates independently of the input shaft; and a strain wave speed reducer comprising a wave generator that rotates as the rotor rotates, a flex spline that rotates as the input shaft rotates, a circular spline that rotates as at least one of the wave generator and the flex spline rotates, and an output shaft that rotates coaxially with the circular spline. When the vehicle travels in an autonomous driving mode, the input shaft does not rotate and only the rotor rotates such that the output shaft rotates. According to the present invention, an autonomous driving steering signal is input to a cooperative steering apparatus instead of a main steering apparatus so as to steer a vehicle in an autonomous driving mode of the vehicle. Accordingly, it is possible to easily and reliably add an autonomous driving function even to a vehicle, such as a bus or a truck, in which a hydraulic steering apparatus is adopted as the main steering apparatus.
협조 조향 장치 및 이를 구비한 차량용 조향 장치가 개시된다. 개시된 협조 조향 장치는, 차량의 조향휠이 회전함에 따라 회전하는 입력 샤프트; 입력 샤프트와 독립적으로 회전하는 회전자를 구비한 구동 모터; 및 회전자가 회전함에 따라 회전하는 웨이브 제너레이터, 입력 샤프트가 회전함에 따라 회전하는 플렉스 스플라인, 웨이브 제너레이터 및 플렉스 스플라인 중 적어도 하나가 회전함에 따라 회전하는 써큘라 스플라인, 및 써큘라 스플라인과 동축 회전하는 출력 샤프트를 구비한 스트레인 웨이브 감속기;를 구비한다. 차량이 자율주행 모드로 주행할 때 입력 샤프트는 회전하지 않고 회전자만 회전하여 출력 샤프트가 회전한다.
COOPERATIVE STEERING APPARATUS AND VEHICLE STEERING APPARATUS WITH THE SAME
협조 조향 장치 및 이를 구비한 차량용 조향 장치
2023-10-24
Patent
Electronic Resource
Korean
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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