Steering apparatus for steerable vehicle
First Claim
1. A steering apparatus for a steerable vehicle, comprising:
- a steering actuator configured to generate a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command;
a steering input unit configured to set a steering input;
a disturbance determination section configured to determine a disturbance indicator indicative of a disturbance input to the vehicle; and
a steering controller connected for signal communication to the steering actuator, the steering input unit, and the disturbance determination section, and configured to perform the following;
setting a desired steering output in accordance with is the steering input;
setting the steering effort command in accordance with the desired steering output;
adjusting the steering effort command in accordance with the disturbance indicator; and
outputting the adjusted steering effort command to the steering actuator.
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Accused Products
Abstract
A steering apparatus for a steerable vehicle includes a steering actuator, a steering input unit, a disturbance determination section, and a steering controller. The steering actuator is configured to generate a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command. The steering input unit is configured to set a steering input. The disturbance determination section is configured to determine a disturbance indicator indicative of a disturbance input to the vehicle. The steering controller is configured to perform the following: setting a desired steering output in accordance with the steering input; setting the steering effort command in accordance with the desired steering output; adjusting the steering effort command in accordance with the disturbance indicator; and outputting the adjusted steering effort command to the steering actuator.
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Citations
22 Claims
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1. A steering apparatus for a steerable vehicle, comprising:
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a steering actuator configured to generate a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command;
a steering input unit configured to set a steering input;
a disturbance determination section configured to determine a disturbance indicator indicative of a disturbance input to the vehicle; and
a steering controller connected for signal communication to the steering actuator, the steering input unit, and the disturbance determination section, and configured to perform the following;
setting a desired steering output in accordance with is the steering input;
setting the steering effort command in accordance with the desired steering output;
adjusting the steering effort command in accordance with the disturbance indicator; and
outputting the adjusted steering effort command to the steering actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A steering apparatus for a steerable vehicle, comprising:
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steering actuation means for generating a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command;
steering input means for setting a steering input;
disturbance determination means for determining a disturbance indicator indicative of a disturbance input to the vehicle; and
steering control means for performing the following;
setting a desired steering output in accordance with the steering input;
setting the steering effort command in accordance with the desired steering output;
adjusting the steering effort command in accordance with the disturbance indicator; and
outputting the adjusted steering effort command to the steering actuation means.
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22. A method of controlling a steerable vehicle including a steering actuator configured to generate a steering effort to regulate a steering output of the vehicle, in accordance with a steering effort command;
- a steering input unit configured to set a steering input; and
a disturbance determination section configured to determine a disturbance indicator indicative of a disturbance input to the vehicle, the method comprising;
setting a desired steering output in accordance with the steering input;
setting the steering effort command in accordance with the desired steering output;
adjusting the steering effort command in accordance with the disturbance indicator; and
outputting the adjusted steering effort command to the steering actuator.
- a steering input unit configured to set a steering input; and
Specification