METHOD AND SYSTEM FOR ADAPTIVELY COMPENSATING CLOSED-LOOP FRONT-WHEEL STEERING CONTROL
First Claim
1. A method for active front wheel steering control for a vehicle having steerable front wheels and fixed rear wheels, comprising:
- generating a steering wheel angle signal corresponding to a steering wheel angle;
controlling the steerable front wheels based upon a steering control signal comprising a combination of an open-loop steering control signal and a closed-loop steering control signal;
estimating vehicle dynamics parameters based upon signal inputs from vehicle sensors;
providing the open-loop steering control signal corresponding to the steering wheel angle signal;
providing the closed-loop steering control signal based upon the estimated vehicle dynamics parameters;
providing an original yaw rate feedback angle signal; and
providing a corrected yaw rate feedback angle signal based on the estimated vehicle dynamics parameters;
wherein the corrected yaw rate feedback angle signal is provided in accordance with the relationship;
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Accused Products
Abstract
An active front-wheel vehicle steering control system that employs closed-loop control includes an adaptive compensation sub-system that compensates for changes in vehicle dynamic parameters. The control system includes a dynamic parameter estimation sub-system that provides an estimated front cornering compliance and rear cornering compliance based on a steering wheel angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal. The closed-loop control includes active gain for each of vehicle yaw rate, yaw acceleration, side-slip and side-slip rate, all based on the vehicle speed and vehicle dynamic parameter changes for use in generating a steering angle control signal to the front wheels of the vehicle.
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Citations
8 Claims
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1. A method for active front wheel steering control for a vehicle having steerable front wheels and fixed rear wheels, comprising:
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generating a steering wheel angle signal corresponding to a steering wheel angle; controlling the steerable front wheels based upon a steering control signal comprising a combination of an open-loop steering control signal and a closed-loop steering control signal; estimating vehicle dynamics parameters based upon signal inputs from vehicle sensors; providing the open-loop steering control signal corresponding to the steering wheel angle signal; providing the closed-loop steering control signal based upon the estimated vehicle dynamics parameters; providing an original yaw rate feedback angle signal; and providing a corrected yaw rate feedback angle signal based on the estimated vehicle dynamics parameters; wherein the corrected yaw rate feedback angle signal is provided in accordance with the relationship; - View Dependent Claims (2)
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3. A method for active front wheel steering control for a vehicle having steerable front wheels and fixed rear wheels, comprising:
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generating a steering wheel angle signal corresponding to a steering wheel angle; controlling the steerable front wheels based upon a steering control signal comprising a combination of an open-loop steering control signal and a closed-loop steering control signal; estimating vehicle dynamics parameters based upon signal inputs from vehicle sensors; providing the open-loop steering control signal corresponding to the steering wheel angle signal; providing the closed-loop steering control signal based upon the estimated vehicle dynamics parameters; providing an original yaw acceleration feedback angle signal; providing a corrected yaw acceleration feedback angle signal based on the estimated vehicle dynamics parameters; wherein the corrected yaw acceleration feedback angle is provided in accordance with the relationship; - View Dependent Claims (4)
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5. A method for active front wheel steering control for a vehicle having steerable front wheels and fixed rear wheels, comprising:
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generating a steering wheel angle signal corresponding to a steering wheel angle; controlling the steerable front wheels based upon a steering control signal comprising a combination of an open-loop steering control signal and a closed-loop steering control signal; estimating vehicle dynamics parameters based upon signal inputs from vehicle sensors; providing the open-loop steering control signal corresponding to the steering wheel angle signal; providing the closed-loop steering control signal based upon the estimated vehicle dynamics parameters; providing an original side-slip feedback angle signal; providing a corrected side-slip feedback angle signal based on the estimated vehicle dynamics parameters; wherein the corrected side-slip feedback angle signal is provided in accordance with the relationship; - View Dependent Claims (6)
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7. A method for active front wheel steering control for a vehicle having steerable front wheels and fixed rear wheels, comprising:
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generating a steering wheel angle signal corresponding to a steering wheel angle; controlling the steerable front wheels based upon a steering control signal comprising a combination of an open-loop steering control signal and a closed-loop steering control signal; estimating vehicle dynamics parameters based upon signal inputs from vehicle sensors; providing the open-loop steering control signal corresponding to the steering wheel angle signal; providing the closed-loop steering control signal based upon the estimated vehicle dynamics parameters; providing an original side-slip rate feedback angle signal; providing a corrected side-slip rate feedback angle signal based on the estimated vehicle dynamics parameters; wherein the corrected side-slip rate feedback angle is provided in accordance with the relationship; - View Dependent Claims (8)
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Specification