자동차를 보조적으로 또는 자동으로 안내하기 위한 장치

1. a kind of be used for the auxiliarily or automatically device (1) of steer motor, it includes having the steering controller (3) attached troops to a unit First turns to actuator (2), rack (14), steering column (20) and steering wheel (19), wherein steering column (20) and steering actuator (2) act on common rack (14), wherein, there is at least one has the second of the steering controller (5) attached troops to a unit in addition Actuator (4) is turned to, wherein the second steering actuator (4) is acted on the common rack (14), it is characterised in that described Steering controller (3,5) from for aid in or automatically guiding automobile higher controller obtain for it is described turn to actuator (2, 4) theoretical value, and the actual value for turning to actuator (2,4) is transmitted to the higher controller, wherein, it is described in higher level'ss control Data cube computation between device and steering controller (3,5) processed is carried out by separated bus system (6,7) respectively, described to turn to control Also it is directly connected to each other between device (3,5) processed by other bus system.