Abstract: A method is described and includes detecting by a vehicle an ambiguous situation involving the vehicle; classifying the detected ambiguous situation; and submitting in substantially real-time a request for remote assistance by a remote advisor to resolve the detected ambiguous situation, wherein contents of the request are based at least in part on the classifying.

Abstract: A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model and an optimizer, and a tuning neural network configured to receive the one or more planned trajectory components and one or more measured trajectory components and to produce weights for a cost function. The internal model is configured to receive a predicted control input from the optimizer and the one or more measured trajectory components and to produce a predicted output. The optimizer utilizes a cost function and is configured to receive the weights for the cost function and a predicted error and to produce the predicted control input, wherein the predicted error is a selected one of the planned trajectory components minus the predicted output.

Abstract: This application is directed to aerial view generation for vehicle control. A vehicle obtains a forward-facing view of a road captured by a front-facing camera of a vehicle and applies a machine learning model to process the forward-facing view to predict determine a trajectory of the vehicle and a road layout based on a Frenet-Serret coordinate system of the road for the vehicle. The trajectory of the vehicle is combined with the road layout to predict an aerial view of the road, and the aerial view of the road is used to at least partially autonomously drive the vehicle. In some embodiments, the machine learning model is applied to process the forward-facing view to determine a first location of each of an obstacle vehicle in the Frenet-Serret coordinate system. The first location of the obstacle vehicle is converted to a vehicle location on the aerial view of the road.

Abstract: An apparatus for controlling a vehicle may include a steering motor configured to generate a steering force based on steering-related information of a vehicle received from an autonomous driving module of the vehicle in an autonomous driving mode, a controller configured to learn a current value of the steering motor under one or more set learning conditions, and a storage configured to store the current value of the steering motor learned by the controller under the set learning conditions as learned data. The controller may generate a warning signal when a change in the current value of the steering motor measured upon steering is out of a predetermined range compared to, or set based on, the learned data stored in the storage.

Abstract: An autonomous driving control device according to various embodiments includes a sensor device including a biosensor, and a processor, wherein the processor is configured to control, as a first parameter value, a parameter related to a driving device for controlling a movement of an autonomous vehicle when the autonomous vehicle is driving with at least one autonomous driving function. The processor is also configured to monitor, via the biometric sensor, mental and physical states of an occupant on the basis of biometric information of the occupant located in the autonomous vehicle while the autonomous vehicle is driving with the autonomous driving function and adjust the first parameter value to a second parameter value in response to a change in the mental and physical states of the occupant from a stable state to an unstable state as a result of monitoring the mental and physical states of the occupant.

Abstract: Embodiments of the invention are provided to automatically generate corner simulation scenarios. In an embodiment, an exemplary method includes performing the following operations for a predetermined number of iterations for each set of predefined parameters. The operations include generating a set of parameter values for the set of predefined parameters; determining whether the set of parameter values is valid or invalid based on a set of predefined metrics; and if the set of parameter values is valid, performing a simulation task to simulate a trajectory planner of the ADV in a simulation scenario configured by the set of parameter values. The method further includes calculating a performance score for the simulation task; and if the performance score of the simulation task is below a predetermined threshold, saving the set of parameter values in a storage, wherein the set of parameter values is used for re-tuning the trajectory planner.

Abstract: This application is directed to aerial view generation for vehicle control. A vehicle obtains a forward-facing view of a road captured by a front-facing camera of a vehicle and applies a machine learning model to process the forward-facing view to predict determine a trajectory of the vehicle and a road layout based on a Frenet-Serret coordinate system of the road for the vehicle. The trajectory of the vehicle is combined with the road layout to predict an aerial view of the road, and the aerial view of the road is used to at least partially autonomously drive the vehicle. In some embodiments, the machine learning model is applied to process the forward-facing view to determine a first location of an obstacle vehicle in the Frenet-Serret coordinate system. The obstacle vehicle is placed on the aerial map based on the first location of the obstacle vehicle.

Abstract: The invention is concerned with a method for controlling a vehicle (10) when an obstacle (18) is detected in surroundings (39) of the vehicle (10), wherein an autonomous driving function of the vehicle (10) plans a trajectory (15).

Abstract: Techniques for determining that a reference trajectory is free of intersections or potential collisions with objects are discussed herein. Trajectories being generated by a primary computing device of a vehicle can be utilized to select or determine a reference trajectory to be followed by the vehicle. A secondary computing device of the vehicle can identify a current offset from the reference trajectory and utilize the offset with a kinematics model to determine a trajectory that is predicted for the vehicle to drive to return to the reference trajectory. Validation of the reference trajectory may be based on predicted collision data determined using the tracker trajectory. The predicted collision data can be utilized to control the vehicle to follow the reference trajectory or a stop trajectory.

Abstract: A vehicle control apparatus performs a front collision avoidance control when the frontward object satisfies a predetermined front collision condition, and performs a side collision avoidance control when the sideward object satisfies a predetermined side collision condition. The vehicle control apparatus suppresses performing the side collision avoidance control in a case where the sideward object is located in an overlapping area between a sideward detection area and a frontward detection area, as compared to a case where the sideward object is located in a non-overlapping area that is a rest of the sideward detection area other than the overlapping area.

Abstract: The invention relates to a system for assisting with driving a vehicle, including at least one sensor configured to detect the presence of an object in an environment outside the vehicle, at least one camera configured to acquire images of the environment outside the vehicle and to detect the presence of the object in the environment outside the vehicle. The at least one sensor detects at least one free space in the environment outside the vehicle, the at least one camera, on the basis of the acquired images, detects at least one free space. An electronic control unit configured to select a free space found by the at least one sensor and/or the at least one camera, the electronic control unit activates the display of images in the selected free space so as to indicate a new path to be followed by the vehicle.

Abstract: A driving assistance system for a vehicle includes a first control unit and a second control unit, the second control unit configured to receive instructions from the first control unit to carry out an action, and at least one first sensor unit assigned to the first control unit. The second control unit is configured to carry out the action and to transmit information relating to the carrying out of the action to the first control unit. The first control unit is configured to check the plausibility of the information received from the second control unit on the basis of sensor data of the at least one first sensor unit.

Abstract: An autonomous vehicle's control systems include an A-kit module that operates autonomy logic to generate a desired trajectory from sensor data. A B-kit module receives the desired trajectory and generates inputs for actuators such as steering, brake and throttle actuators based on the desired trajectory. Safing logic (which may be located in the A-kit, B-kit, both the A-kit and the B-kit or elsewhere within or outside of the vehicle) receives a sensor fault indication and executes a contingency trajectory such as a safing maneuver to bring the vehicle to a safe state.

Abstract: A method for operating a self-driving vehicle in the region of a crossing involves recording a further vehicle with right of way at the crossing and determining its intended path. If it is determined, based on the intended route, that the further vehicle will have to drive past the vehicle on one side after passing the crossing, it is determined whether the path of the further vehicle is blocked by an obstacle. If it is determined that the path of the further vehicle is blocked by an obstacle, a communication connection to the further vehicle is produced, via which the vehicle informs the further vehicle of the blocked path.

Abstract: Information processing is disclosed. In one example, an information processing device includes automated driving control notifies a vehicle driver of a condition enabling automated driving of the vehicle based on an operation design domain that is set for the vehicle. In another example, an information processing method notifies a vehicle driver of a condition enabling automated driving of the vehicle based on the set operation design domain for the vehicle. In another example, an information processing program is configured to cause a computer to execute an automated driving control step of making a notification to a driver of a vehicle regarding a condition enabling automated driving of the vehicle based on an operation design domain that is set for the vehicle.

Abstract: By an automated driving control device or a computer-readable storage medium storing an automated driving control program configured to enable traveling of a subject vehicle by an automated driving function, a front vehicle and a rear vehicle that travel in a lane same as a subject vehicle lane where the subject vehicle travels are recognized, and a start of an autonomous traveling control without a periphery monitoring obligation by a driver of the subject vehicle is permitted or determined.

Abstract: A system includes an acquisition unit that acquires an operation amount or a duration count, and a switching unit that switches a driving state. The switching unit switches the driving state to the cooperative driving state when the operation amount is equal to or greater than an intervention threshold and less than a start threshold or the duration count is equal to or greater than a first threshold and less than a second threshold during the autonomous driving state, switches the driving state to the autonomous driving state when the operation amount is less than the intervention threshold or the duration count is less than the first threshold during the cooperative driving state, and switches the driving state to the manual driving state when the operation amount is equal to or greater than the start threshold or the duration count is equal to or greater than the second threshold.

Abstract: A processing method, implemented by at least one processor, includes: detecting a manual deviation between a driver's manual operation and a driver's standard operation when the host moving body is under manual-driving; and storing an acceptable response time for the host moving body. The acceptable response time is a response time during which the host moving body is allowed to respond while the manual deviation is generating. The acceptable response time is acquired based on a safety model that is a model in compliance with a driving policy and is formed by modeling a safety of intended functionality.

Abstract: There is a damper wedge for a railroad car truck. It has a removable and replaceable friction element that reciprocates on the wear plate of the side frame column of the railroad car truck. It has a non-metallic wear surface; a spring seat that, in use, engages a spring of the railroad car truck; and an inclined damper wedge surface having a primary angle, alpha, and a secondary angle, beta. The inclined damper wedge surface has a curvature. The curvature has a working point. The working point is located in a central region of a contact patch, or working surface patch. The nonmetallic wear surface material is mounted to a carrier that mounts removably to the damper wedge body. The carrier has fingers that span the wedge and that transfer shear and resist torsion, the fingers preventing the non-metallic member from migrating out of position.

Abstract: A railway track and derailment prevention device has main bodies installed on left and right sides of a bogie main body of a vehicle, and thick plates are vertically slidable in wide grooves provided in the main bodies. During a right turn of the vehicle, a centrifugal force causes a left flange to ride on a left rail, the left main body moves obliquely upward toward the rail, a front surface of the thick plate collides with a side surface of a rail head, an L-shaped hook of the thick plate collides with an eave of the rail head, and the main body further floats, thereby cutting a positioning pin between the main body and the thick plate. The main body is guided by the thick plate, sprung up almost vertically, and then, dropped, and the wheel is returned onto the rail, and the derailment is prevented.

Abstract: A mounting interface for attaching supporting components to a buffer of a rail vehicle. The interface has a mounting body with a component fastening region and an attachment region that is different therefrom. The component fastening region is equipped with fastening elements and/or holes for attaching the components. The attachment region is formed in such a way that it can be fastened to at least two fastening points at the rear side of a buffer flange using buffer screws. There is also described a buffer system and a rail vehicle with such a mounting interface.

Abstract: A catching device for a shunting coupling has a catching body with an end stop, a right-hand side lateral stop, and a left-hand side lateral stop that together form a holding body with an inner region delimited on three sides and an open side. The open side can be closed by a lock and the open side is dimensioned such that a specified shunting coupling can be moved into the inner region through the open side. The catching device has at least one elastic and/or elastically mounted stop element on one of the stops. There is also described a rail vehicle with such a catching device and also a method for locking a shunting coupling.

Abstract: A crossing gate mechanism includes an electric brushless direct current (BLDC) motor with one or more sensing device(s), a crossing gate arm operated via the BLDC motor, and a controller configured to control the BLDC motor, wherein the controller is configured to control the BLDC motor to raise or lower the crossing gate arm in response to a gate control signal, and wherein the controller includes a Hall state encoder configured to determine a direction of an arm motion based on signals from the one or more sensing device(s).

Abstract: A recording unit records an installation position of a ground installation object and an installation identifier of the ground installation object for each of a plurality of the ground installation objects installed beside a track on which a vehicle of a track transport system mounted with an external sensor travels; an installation object recognition unit specifies the installation identifier from external sensor information including information detected by the external sensor and recognizes the ground installation object corresponding to the installation identifier by referring to the recording unit; and a detection distance calculation unit calculates a detection distance of the external sensor. The detection distance calculation unit calculates the detection distance of the external sensor from a self-position of the vehicle at which the ground installation object is recognized and the installation position of the ground installation object recognized by the installation object recognition unit.

Abstract: A method creates a training data set for optical railway detection with integrated obstacle detection. The method includes the following steps of: providing first images of railways for rail vehicles, each first image having a representation of a railway; providing second images of objects, each second image containing a representation of at least one object; combining the first and second images; and generating third images containing the combined first and second images. Each third image contains a representation of a railway with at least one object, and a number of the third images forming the training data set for the optical railway detection with integrated obstacle detection.

Abstract: A method and equipment for determining a sequence of railcars connected to a locomotive on a train, wherein a control device of the locomotive is connected to railcars including a control device via a brake pipe, wherein the control device of the locomotive and the control devices of the railcars may exchange messages via a fast wireless network, wherein the method and equipment transmit a unique identification code via a slow network constituted by the brake pipe, transmit over a fast network messages indicative of a current state of the transmission carried out via the slow network, determining a time delay between the received state of transmission and a measured state of transmission and generating and sending associated report data.

Abstract: The invention relates to a method and an arrangement for operating a rail vehicle (1), wherein, before travel of the rail vehicle (1) is started, an environment of the rail vehicle (1) is captured by at least one sensor (17) on board a flying unmanned aerial vehicle (3) and corresponding sensor signals are generated, and wherein the rail vehicle (1) is released or not released for travel depending on a result of an evaluation of the sensor signals.

Abstract: A method for configuring control software in a rail vehicle. The control software, which is designed for a multitude of rail vehicles, implements basic functions that are required for the basic operation of the rail vehicles. The control software additionally implements optional functions required to execute client-specific requests. The specifications, combinations and functional sequences of the basic functions and optional functions are tested, validated, and approved before the functions are implemented in the rail vehicles, whereupon the basic functions and optional functions are made available in the rail vehicles. In a selected rail vehicle, at least one optional function is activated or deactivated using a switching parameter that is individually allocated to the optional function. The switching parameter required therefor is established outside the rail vehicle and is then transmitted to the selected rail vehicle.

Abstract: A crossing gate mechanism includes an electric brushless direct current (BLDC) motor with a sensing device, a crossing gate arm operated via the BLDC motor, a motor brake coupled to the BLDC motor, wherein the motor brake is configured to hold the crossing gate arm in a position, and a controller configured to control the BLDC motor, wherein the controller is configured to control the BLDC motor to raise or lower the crossing gate arm in response to a gate control signal, and wherein, when the motor brake fails to hold the crossing gate arm in the position, the controller is configured to control the BLDC motor to hold the crossing gate arm in the position instead of the motor brake.

Abstract: An expandable hand truck configured to transport one or more containers or other type of load includes a frame having a base platform and a back fixedly attached to the base platform and at least two wheels fixedly mounted on the frame. The base platform extends in a substantially horizontal direction and the back extends in a substantially vertical direction when the expandable hand truck is in an upright position. The frame also includes one or more first attachment features on a first side that permit a first removable gullwing to be attached to and removed from the frame. The frame further includes one or more second attachment features on a second side that permit a second removable gullwing to be attached to and removed from the frame. An expanded hand truck is provided when the first gullwing and the second gullwing are coupled to the frame.

Abstract: A transportation device configured to detachably engage with units, such as modular units, is provided. The transportation device is configured to actuate between a closed position and an open position. One or more of the transportation device are is configured to couple to and help move one or more units, such as modular units in one or more of the open position and the closed position.

Abstract: Respective electric drive motors (13a, 13b) drive left and right drive wheels (10a, 10b) having friction brakes, including an electromechanical service brake (31a, 31b) and an auxiliary brake (32a, 32b) mechanically biasing them to a braked state. An elongate handlebar (16) for user control is mounted via a pair of force-sensing couplings (17a, 17b) including a resilient member (18) and a load sensor (19) sensing forces applied by a user to the handlebar and transmitting respective load signals. A controller (37) receives the load signals and controls a current applied to the electric drive motors (13a, 13b) so as to amplify the force sensed by the force-sensing couplings and to generate a torque proportional to a force applied by the user to the handlebar and to actuate an electric release actuator of the auxiliary brake (32a, 32b) when the force applied by the user to the handlebar exceeds a threshold.

Abstract: Aspects relate to systems and methods for guided autonomous locomotion of a carriage, including a compartment configured to ensconce a child, a frame configured to support the compartment, a drive motor, a drivetrain operatively coupled to the drive motor; a drive wheel rotatably affixed to the frame, configured to contact a support surface and operatively coupled to the drivetrain, wherein operating the at least a drive motor causes the at least a drive wheel to rotate, an environmental sensor configured to sense an environmental characteristic related to an environment substantially surrounding the carriage; a battery configured to power the at drive motor and a controller configured to control the drive motor in response to the environmental characteristic.

Abstract: An automated checkout system uses a shopping cart that is automatically charged when stacked into another shopping cart. Each shopping cart has a front charging connector and a rear charging connector. When a first shopping cart is stacked into a second shopping cart, the front charging connector of the first shopping cart connects with the rear charging connector of the second shopping cart. Electrical power can flow to the first shopping cart via the second shopping cart to charge a battery of the first shopping cart. The second shopping cart may be similarly stacked into a third shopping cart, wherein the second shopping cart receives electrical power from the third shopping cart. The second shopping cart may use this electrical power to charge its own battery or may provide some or all of the electrical power to the first shopping cart to charge the first shopping cart's battery.

Abstract: A stroller includes a frame, a sliding member and a seat fixing base. The sliding member is rotatably connected to the frame. The seat fixing base is rotatably connected to the frame and slidably connected to the sliding member. When the frame is folded, the frame drives the seat fixing base to slide with respect to the sliding member.

Abstract: In one example, a wheeled carriage has a frame with couplers that releasably couple to a child carrier so as to prevent upwards removal of the child carrier from the carriage. The couplers can include a pair of couplers that removably couple to opposing sides of the child carrier. The couplers can include at least one other coupler that removably couples to the child carrier. The carriage is devoid of any push handle that extends above the child carrier and is configured to be pushed by a push handle of the child carrier when the child carrier is coupled to the carriage. The at least one other coupler can limit torque applied to the pair of couplers when the carriage is pushed by the child carrier push handle, and/or couple to a coupler of an infant car seat that also couples the infant car seat to a car seat base.

Abstract: In one example, a child carriage has a frame with wheels. The frame has a coupler that removably couples the child carriage to a child carrier, such as a seat or bassinet. The frame has first and second leg assemblies, each having a front leg and a rear leg that are pivotably coupled about a first axis. The first crosspiece extends between the front legs of the first and second leg assemblies, and the second crosspiece extends between the rear legs of the first and second leg assemblies. The carriage is devoid of any push handle that extends above the child carrier. The frame folds about (i) the first axis from an expanded configuration to a first folded configuration so as to align hinges of the first and second crosspieces along a second axis, and (ii) the second axis from the first folded configuration to a second folded configuration.

Abstract: The disclosure provides a noise reduction structure comprising a stroller frame, a supporting frame connected to the stroller frame, and a wheel mounted on the supporting frame, the supporting frame receive a force so that the wheel contacts a supporting surface to slide; and an elastic resetting member is arranged between the supporting frame and the stroller frame, the resetting member always has a tendency to bring the supporting frame to reset. The noise reduction structure of the disclosure has a simple structure and is suitable for baby strollers or hand carts. By additionally arranging a resetting member between the supporting frame and the stroller frame, the supporting frame always has a resetting tendency, that is, when the supporting frame is unloaded, the resetting member may suspend the wheel, so as to avoid noise caused by friction between the wheel and the supporting surface.

Abstract: In one example, an organizer removably couples to a handle of a child carrier. The organizer has a tray, a storage container, and a flexible material. The tray has an opening that extends into the tray's upper end towards the tray's lower end and that can receive an item for storage. The storage container is disposed below the tray and has an open upper end and a closed bottom end. The flexible material is coupled to the tray and the storage container. The organizer transitions between an expanded configuration in which the flexible material defines sides of the organizer between the tray and the storage container, and a compact configuration in which the tray and storage container are positioned closer to one another. In another example, the child carrier has a handle that extends and retracts and that prevents installation of the organizer when the handle is extended.

Abstract: The present disclosure relates to an arrangement for a motor vehicle including a steering wheel, having an electrode, and evaluation electronics, which are to be protected against an electrical overvoltage and which are electrically conductively connected to the electrode for capacitive detection of a touch on the steering wheel, wherein the steering wheel has a steering wheel rim and an steering wheel core for fixing to a steering wheel shaft, wherein the steering wheel core is electrically conductively connected to a first ground connection via a first ohmic resistor, wherein the evaluation electronics are configured to apply an electrical measuring potential to the electrode to detect a touch on the steering wheel rim from; wherein the evaluation electronics are electrically conductively connected to a second ground connection; an electrically conductive connection provided between the electrode and the steering wheel core, which connection has an overvoltage discharge element.

Abstract: The invention relates to a vehicle steering wheel comprising a central portion, a rim which can pivot relative to the central portion between a driving position and at least one retracted position, an actuator pivoting the rim and a locking member that can move between a locking position of the rim in its driving position, and a disengaged position, characterized in that it comprises a mechanism for transmitting movement between the actuator and the rim and between the actuator and the locking member, and which successively drives the locking member towards its disengaged position, then pivots the rim.

Abstract: A quick-disassembly assembly for a steering wheel and a steering column, including a steering wheel shaft and a connecting block, the steering wheel shaft being disposed in an inner wall of the steering wheel, the connecting block being connected to the steering column, and a guide slot and a positioning block being provided in the connecting block. When the steering wheel shaft slides into the guide slot and is positioned with the positioning block, the steering wheel is connected to the steering column. When the steering wheel shaft slides out from the guide slot, the steering wheel is separated from the steering column. The connection between the steering wheel and the steering column is achieved by means of the connecting block. During connection, the steering wheel shaft of the steering wheel is slid into the guide slot of the connecting block and is positioned with the positioning block.

Abstract: The present disclosure relates to an electrically adjustable steering column for a motor vehicle, comprising a positioning unit on which a steering control element can be arranged, a support unit by which the positioning unit is held in an adjustable manner, an adjustment device which is configured to adjust the positioning unit relative to the support unit and which comprises, for the adjustment of the positioning unit, an electric motor. The steering column further has a control unit, wherein the control unit is configured to activate the electric motor. The control unit is further configured, for the activation of the electric motor, to generate a first signal and a second signal, wherein the activation of the electric motor requires the presence of the first signal and of the second signal, in particular at a first switch unit and a second switch unit of the control unit which are connected in series with the electric motor.

Abstract: A steer-by-wire system for a vehicle includes a ball screw. The steer-by-wire system also includes a ball nut threadedly coupled to the ball screw, wherein rotation of the ball nut actuates translation of the ball screw. The steer-by-wire system further includes a bearing assembly. The bearing assembly includes an inner race. The bearing assembly also includes an outer race having an outer surface disposed within an axial groove defined within the ball screw to prevent rotation of the ball screw.

Abstract: According to embodiments of the present invention, engine power consumption can be prevented, the number of components can be reduced, vehicle control functions such as automatic parking, lane keeping, driving assistance according to road surface conditions, steering vibration reduction, and autonomous driving control can be used and thus a driver's convenience can be increased, and stability can be enhanced by providing two motor-reducer structures.

Abstract: A ball nut assembly for a rack electric power steering system in a vehicle includes a ball screw at least partially disposed within a rack housing. The ball nut assembly also includes a first ball nut disposed about the ball screw. The ball nut assembly further includes a second ball nut disposed about the ball screw, wherein the first ball nut and the second ball nut are disposed within the rack housing.

Abstract: A turning control device for controlling, as a controlled object, a turning apparatus including a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first Cardan joint, a second Cardan joint, steered wheels, and an assist motor includes a control device. The control device configured to execute: a torque acquisition process of acquiring a detection value of a torque applied to a position closer to the steered wheels than the second Cardan joint; a steering angle variable acquisition process of acquiring a value of a steering angle variable indicative of a steering angle as an angle of the steering wheel; and an assist control process including a fluctuation torque control process of fluctuating the torque of the assist motor in accordance with the steering angle with the value of the steering angle variable being taken as an input.

Abstract: The present disclosure relates to a steering system for a vehicle, and a steering system according to an embodiment of the present disclosure includes a motor configured to assist a steering force by rotating a steering shaft, a first bevel gear coupled to a motor shaft of the motor, a first lock nut configured to fix the first bevel gear to the motor shaft, a second bevel gear configured to engage with the first bevel gear, a housing coupled to the motor and configured to accommodate the first bevel gear and the second bevel gear, the housing having a motor shaft support configured to support an end of the motor shaft, and a first bearing interposed between the motor shaft and the motor shaft support.

Abstract: A hydraulic steering arrangement (1) is disclosed. The hydraulic steering arrangement (1) includes a supply port arrangement (P, T) having a pressure port (P) and a tank port (T), a working port arrangement having two working ports (L, R), a main flow path (2) having a main orifice (A1) and at least one further orifice (A2, A3, A4) downstream the main orifice (A1), the main flow path (2) being arranged between the pressure port (P) and the working port arrangement (L, R), a return flow path (4) arranged between the working port arrangement (L, R) and the tank port (T), a measuring motor (3), an amplification flow path (6) having an amplification orifice (AU) and being arranged between the pressure port (P) and the working port arrangement (L, R), and an adjustable pressure source (9) connected to the pressure port (P) and having a load sensing port (18), wherein a main drain orifice (Adrain) is connected between the main flow path (2) down-stream the main orifice (A1) and the return flow path (4).

Abstract: A steering system (1) is described comprising including a supply port arrangement having a supply port (P) and a return port (T), a steering command arrangement having a steering sensor (5), a controller (9) connected to the steering sensor (5), an electro-hydraulic steering valve (8) con-trolled by the controller (9), and a working port arrangement having two working ports (L, R), wherein the working port arrangement is connected to the supply port arrangement by means of the steering valve (8). Such a steering system should have a good comfort. To this end the steering command arrangement includes a steering wheel (4) connected to a hydraulic pumping unit (7), wherein the pumping unit (7) is part of a hydraulic circuit (11) having means for creating a flow resistance.