JP3571289B2 - Electric vehicle steering system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a steering device for an electric vehicle, and more particularly, to a steering device provided with a steering wheel before and after a vehicle.
[0002]
As shown in FIG. 5, the electric vehicle is a vehicle that can run using only the driving force of the electric motor 101, and uses a secondary battery (battery) as a power source to supply the electric motor 101 in a narrow sense. The vehicle using the electric vehicle A and the engine generator is referred to as a series hybrid vehicle B, and the vehicle using the fuel cell is referred to as a fuel cell vehicle C. In FIG. 5, 102 is a wheel, 103 is a controller, 104 is a secondary battery, 201 is an engine, 202 is a generator, 301 is a hydrogen supply source, and 302 is a fuel cell.
[0003]
Thus, an electric vehicle is a vehicle that can travel using only the driving force of a rotary electric motor, and uses a secondary battery, a fuel cell, and an internal combustion engine as a power source to supply to the electric motor. It is defined as a vehicle using a generator, a solar cell, etc., and a combination thereof. However, in the following description, an electric vehicle using only a secondary battery is considered, but a vehicle using a fuel cell, an internal combustion engine generator, or a solar battery as a power source is naturally included.
[0004]
[Prior art]
In a cargo handling vehicle such as a forklift or the like which is not capable of making a U-turn, a steering wheel capable of operating in any of the front and rear directions by having a forward driving handle and a rearward driving handle. Mechanisms have been used in the past. This is disclosed, for example, in Japanese Utility Model Laid-Open No. 57-79081.
[0005]
FIG. 4 is a diagram showing a conventional control device for controlling a steering force generating hydraulic actuator in accordance with each rotation of such a forward driving first handle and a rearward driving second handle.
[0006]
The control device includes a first hydraulic control valve 102 connected to the first handle 100, a second hydraulic control valve 103 connected to the second handle 101, and a switch connected to both control valves 102 and 103. And a valve 104.
[0007]
A hydraulic pump 105 and a tank 106 are connected to both control valves 102 and 103 via the switching valve 104, and a hydraulic actuator 107 is connected. The steering force generated by the hydraulic actuator 107 is transmitted to wheels 108 via a steering device 109 such as a tie rod or knuckle arm.
[0008]
The switching valve 104 switches the oil flow to send pressure oil to the first hydraulic control valve 102 during forward operation and to send pressure oil to the second hydraulic control valve 103 during backward operation. The switching is performed, for example, by interlocking the switching valve 104 with the rotation of the driving seat according to the driving posture.
[0009]
The first hydraulic control valve 102 controls a hydraulic pressure acting on a hydraulic actuator 107 so as to generate a steering force and a steering angle according to the rotation of the first handle 100, and a second hydraulic control valve 103 controls the second handle 101 The hydraulic pressure acting on the hydraulic actuator 107 is controlled so that a steering force and a steering angle corresponding to the rotation of the hydraulic actuator 107 are generated.
[0010]
As described above, in the conventional control device, the first hydraulic control valve 102 that controls the hydraulic actuator 107 according to the rotation of the first handle 100 and the second hydraulic control valve that controls the actuator 107 according to the rotation of the second handle 101 The necessity of the valve 103 and the switching valve 104 complicates the configuration of the control device, causing an increase in weight and cost.
[0011]
Conventionally, there is Japanese Patent Laid-Open Publication No. Hei 8-91233 shown in FIG.
[0012]
This means that in a vehicle including a forward driving handle 71, a rearward driving handle 72, and a control device 74 for controlling a steering force generating actuator 77 according to the rotation of each handle, the two handles 71, 72 transmit rotation. The rotation transmission mechanism 73 is connected to each other through a mechanism 73 and transmits the rotation of one handle to the control device 74 while reversing the rotation of the other handle, and transmits the rotation of the other handle without reversing the rotation.
[0013]
The rotation transmission mechanism 73 includes a first gear 78 that rotates in the same direction as the one handle 71, and a second gear that meshes with the first gear 78 and is rotatable about an axis parallel to the rotation axis of the first gear 78. 79, a first rotating member 80 that rotates coaxially with the second gear 79, a second rotating member 81 that rotates in the same direction as the other handle 72, and both rotating members 80, 81 rotate in the same direction. And the second gear 79 and the first rotating member 80 rotate the first gear 78 so that the tension of the endless member 82 can be adjusted. The rotation of each handle is transmitted to the control device 74 via the second rotation member 81. In addition, 70 is a rear wheel, 74a is an input shaft, 75 is a pump, 76 is an oil pan, and 83 is a steering device.
[0014]
[Problems to be solved by the invention]
However, according to the conventional examples described above, since only one set of actuators rotates the wheel pair, even if there are two handles, the change in the steering angle of the handle is finally transmitted to the actuator. And the mechanism for that must be complicated. That is, in the type using the hydraulic circuit shown in FIG. 4, since the hydraulic pipe must be routed from the hydraulic control valve provided to each handle to the actuator, the weight of the device is increased, and the configuration is complicated and huge. There were drawbacks.
[0015]
Further, in the case of the mechanical type shown in FIG. 3, the length of the endless member such as the timing belt cannot be so long. Therefore, it can be applied to a forklift having a short length between the two handles, but cannot be applied to a forklift having a long front and rear length of the vehicle.
[0016]
Further, in order for the vehicle to make a smooth turning operation, it is necessary to transmit the steering force of the steering mechanism to many wheels. If an interlocking mechanism is provided for the second axis,... In addition to the first axis, or if a plurality of axes can be steered, a smooth turning operation can be obtained. Therefore, we focused on this point.
[0017]
SUMMARY OF THE INVENTION An object of the present invention is to provide a steering apparatus for an electric vehicle configured to provide a handle in front and rear of a vehicle having a relatively long front and rear length and to perform a smooth turning operation.
[0018]
[Means for Solving the Problems]
The present invention, in order to achieve the above object,
[1] An eight-wheel vehicle in which two left and right wheels are arranged in front and rear, and each pair of left and right wheels has an electric driving means, wherein a steering wheel is provided on the front and rear electric steering means, and all electric steering means are provided. And a motor control controller for controlling the motor drive current of each steering means according to the control output of the general control controller .
[0019]
[2] In the steering apparatus for an electric vehicle according to the above [1], one of the handles is set as an effective handle in a general control controller, and all electric steering means are controlled based on the steering angle of the handle. It is characterized by the following.
[0020]
[3] The steering apparatus for an electric vehicle according to the above [ 2 ], wherein the control by the general control controller has a power steering function for the effective steering wheel.
[0021]
[4] [1], [2] or [3] In an electric vehicle steering apparatus according, a sensor the general controller inputs a detection value to control the steering means, the wheel speed of each wheel A combination according to a control target is selected from a sensor, a steering angle sensor of a wheel set, a yaw rate sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor.
[0022]
[5] [1], [2], [3] or [4] In an electric vehicle steering system according, to correspond to each handle of the front and rear, an accelerator pedal, a brake pedal, switches for lighting In addition, parts necessary for driving operation including a speedometer are provided on the left and right driver's seats and the passenger seat, respectively.
[0023]
[1], [2], [3], configured to suppress routing of [4] or [5] According to the electric vehicle steering system according, steering mechanism is provided an electric steering means, each handle And the operability can be improved, so that a smooth turning operation can be performed, and as a result, the riding comfort can be improved.
[0024]
Hereinafter, the operability, the turning operation, and the like will be described, and its effectiveness will be shown by the embodiment.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of an eight-wheel vehicle according to the present invention will be described with reference to the drawings.
[0026]
The present invention comprises a Tandem wheel suspension, left and right wheels set is explained below 8 wheeled vehicles that example Bei steering means including a steering wheel. Here, all the left and right wheels are provided with a dandem wheel type suspension, and are provided with a total of two handles, one each at the front and rear of the vehicle, electric steering means interlocked with the handles, and the remaining two electric steering means. Will be described.
[0027]
Each wheel is provided with a motor in each wheel, and two front and rear wheels are supported by a tandem wheel suspension in pairs. Of each wheel, the left and right front wheels RFF and LFF, the left and right rear wheels RFR and LFR, the right and left rear wheels RRF and LRF, and the right and left rear wheels RRR and LRR are each controlled as a wheel pair when the steering angle is controlled. Is done.
[0028]
FIG. 1 is a diagram of an embodiment of a steering system corresponding to a tandem wheel suspension controlled by a general controller and a motor controller according to the present invention. FIG. 2 is a diagram showing an embodiment of the present invention. It is a block diagram of a steering system corresponding to a tandem wheel type suspension controlled by a control controller.
[0029]
In these figures, wheel speed sensors 10, 11, 12, 13, 14, 15, 16, 17 are provided on the axles of the respective wheels, and the outputs of the wheel speed sensors 10 to 17 are sent to the general controller 50. Is entered.
[0030]
The front front wheel steering means includes a handle 46, a handle angle sensor 44, a small diameter gear 42, a large diameter gear 38, an electric motor 34, and a rotation-movement conversion means 30. The angle is detected by the steering wheel angle sensor 44 and input to the general controller 50.
[0031]
The general controller 50 calculates a motor control command corresponding to the rotation angle and controls the motor control controller 60 to supply a driving power corresponding to the rotation angle of the handle 46 to the electric motor 34. The large-diameter gear 38 fixed to the motor shaft is connected to the left and right moving shafts via the rotation-movement converting means 30, and both ends of the moving shaft are connected to the front front wheels RFF and LFF via levers, knuckle arms and the like. The front front wheels RFF and LFF are directly steered automatically by motor driving.
[0032]
According to this control mode, the front front wheel steering means constitutes a power steering mechanism as a whole, and the power steering device is operated by operating the handle 46 to steer the front front wheels RFF and LFF.
[0033]
The front rear wheel steering means has an electric motor 35, and the electric motor 35 is connected to the left and right moving shafts via a large-diameter gear 39 fixed to the motor shaft and the rotation-movement conversion means 31, and moves. Both ends of the shaft are connected to the front rear wheels RFR and LFR via levers, knuckle arms, etc., and are configured to directly and automatically steer the front rear wheels LFR and RFR by driving a motor.
[0034]
The rear front wheel steering means has an electric motor 36, and the electric motor 36 is connected to the left and right moving shafts via a large-diameter gear 40 fixed to the motor shaft and the rotation-movement converting means 32, Both ends are connected to the rear front wheels RRF and LRF via levers, knuckle arms and the like, and are configured to directly and automatically steer the rear front wheels RRF and LRF by driving a motor.
[0035]
The rear rear wheel steering means comprises a handle 47, a handle angle sensor 45, a small diameter gear 43, a large diameter gear 41, an electric motor 37, and a rotation-movement conversion means 33. The angle is detected by the steering wheel angle sensor 45 and input to the general controller 50.
[0036]
The general controller 50 calculates an electric motor control command corresponding to the rotation angle, controls the motor control controller 60, and supplies the electric motor 37 with driving power corresponding to the rotation angle of the handle 47 . The electric motor 37 is connected to left and right moving shafts via a large-diameter gear 41 fixed to the motor shaft and rotation-movement converting means 33, and both ends of the moving shaft are connected to a rear rear wheel via levers, knuckle arms and the like. RRR and LRR are connected to each other, and the rear rear wheel steering means constitutes a power steering mechanism as a whole by this control mode, and the power steering device is operated by operating the handle 47 to steer the rear rear wheels RRR and LRR. Is done.
[0037]
One of the front front wheel steering means and the rear rear wheel steering means is set as a normal steering means in the integrated controller 50 by a setting switch. The setting switch may be a pressure-sensitive switch provided on the handle grip or a switch provided on the front panel. The general control controller 50 receives the setting, sets the steering means that has been set as a steering wheel, and uses the steering means that has not been set as electric steering means in the same manner as the front rear wheel steering means and the rear front wheel steering means. Steering control according to the steering angle of the vehicle.
[0038]
Pressing amount detecting sensor 20 provided on the accelerator on the front handle 46 side, pressing amount detecting sensor 21 provided on the brake, pressing amount detecting sensor 22 provided on the accelerator side on the rear handle 47 side, pressing on the brake Each of the amount detection sensors 23 can register the setting of validity or invalidity in the general controller 50. The setting and the change of the setting are performed by a switch for the setting. In principle, both brakes are always active for safety.
[0039]
When the motor power is turned off in the event of an abnormality, the wheels RFR, LFR, RRF, LRF, RRR, LRR are controlled to a predetermined steering force against the external force on the road due to the irreversibility of the large-diameter gears 38, 39, 40, 41. Hold in angular state.
[0040]
As a control system, wheel speed sensors 10, 11, 12, 13, 14, 15, 16, 17 for detecting wheel speeds N of eight wheels separately, handle angle sensors 44 and 45 for detecting handle angle θ, front front wheels Front front wheel steering angle sensor 6 for detecting steering angle EFF, front rear wheel steering angle sensor 7 for detecting front rear wheel steering angle EFR, rear front wheel steering angle sensor 8 for detecting rear front wheel steering angle ERF, rear rear A rear rear wheel steering angle sensor 9 for detecting a wheel steering angle ERR, a longitudinal acceleration sensor 3 for detecting a longitudinal acceleration Gx of the vehicle, a lateral acceleration sensor 4 for detecting a lateral acceleration Gy of the vehicle, and a rotation according to a rotational state of the vehicle. The yaw rate sensor 5 detects the yaw rate γ of the angular velocity. These sensor signals are input to the general controller 50 and are subjected to comprehensive electrical processing.
[0041]
In addition, each of the motors has a motor controller 60 for controlling the driving of a large motor current of the electric motor. Then, each motor drive control signal, brake signal, and differential limiting signal are output from the integrated controller 50, and a steering control signal is output to the motor control controller 60.
[0042]
The general control controller 50 will be described with reference to FIG.
[0043]
First, when the front steering wheel 46 is set as the normal steering wheel by the general controller 50, the wheel speed N, the steering wheel angle θ, the front front wheel steering angle EFF, the front rear wheel steering angle EFR, the rear front wheel It has a vehicle behavior target value setting unit 51 to which the steering angle ERF, the rear rear wheel steering angle ERR, and the longitudinal acceleration Gx are input, calculates the vehicle speed, and the running state of acceleration or deceleration, the front front wheels RFF and LFF and the rear front wheel RRF. And the steering state of the rear rear wheels RRR and LRR and the LRF, and the like.
[0044]
Then, these parameters are used to quantitatively set a target value a of vehicle behavior that is excellent in vehicle stability during acceleration and deceleration, turning performance at low speed, and the like. It also has a vehicle behavior actual value calculation unit 52 to which the lateral acceleration Gy and the yaw rate γ are input, and similarly calculates the actual value b of the change state when the behavior of the vehicle actually changes due to disturbance such as turning or cross wind. Is calculated.
[0045]
The target value a and the actual value b of the vehicle behavior, the wheel speed N, and the longitudinal acceleration Gx are input to the total drive torque limit setting unit 53, and the target value a and the actual value b are compared at the time of acceleration at each vehicle speed. Quantitatively determine whether the behavior is stable or unstable. When the actual value b is not stable and deviates from the target value a, the total drive torque limit c corresponding to the difference between the two is obtained, and a motor control signal corresponding to the limit c is output to the motor control means 18. . The motor control means 18 receives a target value a of the vehicle behavior and outputs a drive current value e for the in-wheel motors of the left and right wheels based on the drive force distribution of the left and right front rear wheels according to the target value a.
[0046]
The target value a and the actual value b of both behaviors are input to the motor control means 18, and the state of instability is quantitatively determined by the deviation between the target value a and the actual value b, as described above, and the rear front wheel and the rear rear wheel are determined. The driving current value e of the in-wheel motor is obtained based on the distribution of the driving force, and the driving current value is output.
[0047]
The wheel speed N, the longitudinal acceleration Gx, and the total drive torque limit c are input to the brake force setting unit 56, and the total drive torque limit c is referred to based on the vehicle speed and the acceleration state. The braking force f is determined, and this braking signal is output to the automatic braking means 19. Further, since the front rear wheel, rear front wheel, and rear rear wheel steering greatly affect the stability and turning performance of the vehicle behavior, the target value a and the actual value b are set to the front rear wheel, rear front wheel, and rear rear wheel steering. The target angle is input to the target angle setting unit 57 and the target front rear wheel steering angle EFR, rear front wheel steering angle ERF, and rear rear wheel steering angle ERR are set in accordance with the deviation between the target value a and the actual value b in the same manner as described above. Then, a steering control signal of the target front rear wheel steering angle EFR, rear front wheel steering angle ERF, and rear rear wheel steering angle ERR is output to the motor controller 60.
[0048]
The motor control controller 60 has a motor current setting unit 61 to which a steering control signal is input, and sets a target motor current It according to the front rear wheel steering angle EFR, the rear front wheel steering angle ERF, and the rear rear wheel steering angle ERR. Is determined. This current signal is input to the drive unit 62 so that a motor current I of a predetermined magnitude flows through the electric motors 34, 35, 36, 37.
[0049]
When the rear handle 47 is set as a regular handle, the control is performed in the same manner as described above.
[0050]
At the time of straight-ahead and turning eight-wheel drive traveling with acceleration / deceleration of the vehicle by the driver's operation, signals from various sensors are always input to the general controller 50, the target value a of the vehicle behavior is set, and the actual value b is calculated. You. A left and right in-wheel motor drive current value e and a target wheel steering angle E are set based on the target value a and the actual value b of the vehicle behavior. Therefore, when the actual value b deviates from the target value a and the vehicle behavior becomes unstable during traveling straight ahead or turning, a drive current value e corresponding to the difference between the two is output to the left and right in-wheel motors. For this reason, the differential between the left and right wheels is limited, and drive control is performed so as to achieve vehicle stability.
[0051]
On the other hand, if the actual value b deviates from the target value a and the vehicle behavior becomes unstable due to a cross wind or the like during the straight running as described above, the target wheel steering angle E is set according to the deviation between the two, and the steering control signal is output by the motor. It is output to the controller 60. Therefore, the motor control controller 60 sets a target motor current It according to the target rear wheel steering angle E, and a large motor current flows to the electric motors 36 and 37 of the rear wheel steering means by the drive unit 62. Therefore, the front rear wheel, the rear front wheel, and the rear rear wheel are directly steered in a predetermined relationship by the rotational force of the drive current value e of the left and right in-wheel motors, and the steering control is performed so as to achieve vehicle stability. Is done. Also, when turning at an extremely low speed, the rear front wheel and the rear rear wheel are turned in opposite phases by the in-wheel motor, so that a small turn is possible.
[0052]
In the above embodiment, each wheel pair is controlled by the large-diameter geared electric motor based on the output of the steering wheel angle sensor. ing. For example, in place of the steering means including the large-diameter geared motor and the rotation-movement conversion means shown in FIG. 1, steering means including steering wheels are provided, that is, steering means including a plurality of handles are replaced with steering means including the remaining motors. They are provided so as to be interlocked with each other. At this time, the steering angle is performed by an input from a steering wheel connected to the steering wheel. The input is transmitted to one steering axis and then further transmitted to each steering axis, or the input is transmitted from the steering wheel to each steering axis. May be communicated directly.
[0053]
The steering booster is of an electric type, and is mounted on only one steering shaft, and the power is distributed to each steering shaft, or the booster is mounted on each steering shaft. There are two ways to transmit force from the steering wheel to each steering axis: using a flexible wire, and using a flexible wire to transmit force from each steering axis to another steering axis. is there.
[0054]
With respect to the steering axis in the front row, the steering axis in the last row can be switched to the opposite phase at a low speed and the same phase at a high speed. In order to transmit a steering command from the steering wheel to each steering, mechanical transmission means, electric transmission means, and sound waves are used. In some cases, a steering booster is directly attached to the kingpin without the intervention of a steering rod. In order to ensure safety, some kingpin shafts are connected by a rigid body or a wire.
[0055]
In this embodiment, drive Dogen has been described in the in-wheel motors, gasoline engine, or a hybrid.
[0056]
It should be noted that the present invention is not limited to the above embodiment, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.
[0057]
【The invention's effect】
As described above in detail, according to the present invention, in a vehicle that comprehensively performs drive control and steering control, signals of various sensors are comprehensively processed and signals of drive control and steering control are based on vehicle behavior. The control system of the integrated control controller is small and compact because it is equipped with an integrated control controller that outputs and a motor control controller that controls the motor current of the electric motor of the electric wheel steering means according to the steering control signal. Become. By separately providing the motor control controllers, a large motor current of the electric wheel steering means can be optimally controlled. Further, it is possible to easily cope with a change in the capacity of a small vehicle with a small steering load and a change in the capacity of a large vehicle with a large load, etc. Further, in the tandem wheel suspension, turning and steering can be made smooth.
[0058]
Each steering wheel is provided with electric steering means to suppress the turning of the steering mechanism and simplify the configuration, and it is possible to improve the operability, so that a smooth turning operation can be performed, and as a result, the riding comfort can be improved. Can be improved. Further, the configuration can be simplified.
[Brief description of the drawings]
FIG. 1 is a diagram of an embodiment of a steering system corresponding to a tandem wheel suspension controlled by a general controller and a motor controller according to the present invention.
FIG. 2 is a block diagram of a steering system corresponding to a tandem wheel type suspension controlled by a general control controller and a motor control controller according to the embodiment of the present invention.
FIG. 3 is a view showing a conventional mechanical linkage of a steering wheel.
FIG. 4 is a view showing a conventional hydraulic interlock of a steering wheel.
FIG. 5 is a diagram showing a basic configuration of an electric powered vehicle.
[Explanation of symbols]
3 a longitudinal acceleration sensor 4 for detecting a longitudinal acceleration Gx of the vehicle 4 a lateral acceleration sensor 5 for detecting a lateral acceleration Gy of the vehicle 5 a yaw rate sensor 6 for detecting a yaw rate γ of a rotational angular velocity according to a rotational state of the vehicle 6 a front front wheel steering angle EFF. Front front wheel steering angle sensor 7 to detect Front rear wheel steering angle sensor 8 to detect front rear wheel steering angle EFR Rear front wheel steering angle sensor 9 to detect rear front wheel steering angle ERF 9 Rear rear wheel steering angle ERR Rear rear wheel steering angle sensor 10 Wheel speed sensor (RFF)
11 Wheel speed sensor (RFR)
12 Wheel speed sensor (LFF)
13 Wheel speed sensor (LFR)
14 Wheel speed sensor (RRF)
15 Wheel speed sensor (RRR)
16 Wheel speed sensor (LRF)
17 Wheel speed sensor (LRR)
18 Motor control means 19 Automatic brake means 20 Depressed amount detection sensor 21 provided on front accelerator pedal Depressed amount detection sensor 22 provided on front brake Depressed amount detection sensor provided on rear accelerator 23 Push provided on rear brake Stepping amount detection sensor 30 Rotation-movement conversion means (TFF)
31 Rotation-movement conversion means (TFR)
32 Rotation-movement conversion means (TRF)
33 rotation-movement conversion means (TRR)
34 Electric motor (MFF)
35 Electric motor (MFR)
36 Electric motor (MRF)
37 Electric motor (MRR)
38, 39, 40, 41 Large-diameter gears 42, 43 Small-diameter gears 44, 45 Handle angle sensors 46, 47 Handle 50 General controller 51 Vehicle behavior target value setting unit 52 Vehicle behavior actual value calculation unit 53 Full drive torque limit setting Unit 56 brake force setting unit 57 front rear wheel, rear front wheel and rear rear wheel steering angle target value setting unit 60 motor controller 61 motor current setting unit 62 driving unit

Claims (5)

An eight-wheel vehicle in which two left and right wheels are arranged in front and rear, respectively, and each pair of left and right wheels has an electric drive means, and a steering wheel is provided on the front and rear electric steering means, and all electric steering means are comprehensively controlled. A steering device for an electric vehicle, comprising: a motor control controller that is controlled by a controller and controls a motor drive current of each steering device in accordance with a control output of the general controller . 2. The steering apparatus for an electric vehicle according to claim 1, wherein one of the steering wheels is set as an effective steering wheel in an integrated controller, and all electric steering means are controlled based on the steering angle of the steering wheel. Steering system for electric vehicles. 3. The steering apparatus for an electric vehicle according to claim 2 , wherein the control by the general control controller is such that the effective steering wheel has a power steering function. In claim 1, 2 or steering apparatus for an electric vehicle of the third aspect, a sensor the general controller inputs a detection value to control the steering means, the wheel speed sensors of each wheel, wheel sets of the steering angle sensor A steering apparatus for an electric vehicle, which is a combination according to a control target among a yaw rate sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor. According to claim 1, in 3 or steering apparatus for an electric vehicle of the fourth aspect, corresponding to each handle of the front and rear, an accelerator pedal, a brake pedal, switches for lighting, a the driving operation need to include a speedometer A steering device for an electric vehicle, wherein parts are provided on a left and right driver's seat and a passenger seat, respectively.

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