METHOD AND A SYSTEM FOR CHANGING A VEHICLE'S TRAJECTORY
First Claim
1. A method for changing a vehicle'"'"'s trajectory, wherein the vehicle comprises a steering arrangement comprising a manual steering device, at least one pair of ground engaging members and a mechanical interconnection between the manual steering device and the ground engaging members, wherein the method includes the step of applying a braking force to at least one of the ground engaging members so that the vehicles trajectory is changed, comprisingusing a reference generator for steering system control,simultaneously suppressing steering device disturbances resulting from the mechanical interconnection,wherein the reference generator is arranged to continuously receive an input signal indicative of a steering intent of a driver and based on that signal output a signal indicative of a desired steering torque, which desired steering torque is compared to the actual steering torque of the vehicle, and wherein the output signal is continuously adapted so that the desired steering torque is transmitted to the driver.
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Abstract
A method for changing a vehicle'"'"'s trajectory, wherein the vehicle includes a steering arrangement including a manual steering device, at least one pair of ground engaging members and a mechanical interconnection therebetween, includes the steps of applying a braking force to at least one of the ground engaging members so that the vehicle'"'"'s trajectory is changed, and simultaneously suppressing steering device disturbances resulting from the mechanical interconnection.
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Citations
26 Claims
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1. A method for changing a vehicle'"'"'s trajectory, wherein the vehicle comprises a steering arrangement comprising a manual steering device, at least one pair of ground engaging members and a mechanical interconnection between the manual steering device and the ground engaging members, wherein the method includes the step of applying a braking force to at least one of the ground engaging members so that the vehicles trajectory is changed, comprising
using a reference generator for steering system control, simultaneously suppressing steering device disturbances resulting from the mechanical interconnection, wherein the reference generator is arranged to continuously receive an input signal indicative of a steering intent of a driver and based on that signal output a signal indicative of a desired steering torque, which desired steering torque is compared to the actual steering torque of the vehicle, and wherein the output signal is continuously adapted so that the desired steering torque is transmitted to the driver.
- 17. A system for changing a vehicle'"'"'s trajectory, wherein the vehicle comprises a steering arrangement comprising a manual steering device, at least one pair of ground engaging members and a mechanical interconnection between the manual steering device and the ground engaging members wherein the system comprises an arrangement for applying a braking force to at least one of the ground engaging members so that the vehicle'"'"'s trajectory is changed, and an arrangement for suppressing steering device disturbances resulting from the mechanical interconnection, wherein a reference generator is operatively connected to the arrangement and arranged to continuously receive an input signal indicative of a steering intent of a driver and based on that signal output a signal indicative of a desired steering torque, which desired steering torque is compared to the actual steering torque of the vehicle, and wherein the output signal is continuously adapted so that the desired steering torque is transmitted to the driver.
- 22. A system for changing a vehicle'"'"'s trajectory, wherein the vehicle comprises a steering arrangement comprising a manual steering device, at least one pair of ground engaging members and a mechanical interconnection between the manual steering device and the ground engaging members, wherein the system comprises an arrangement for applying a braking force to at least one of the ground engaging members so that the vehicle'"'"'s trajectory is changed, and an arrangement for suppressing steering device disturbances resulting from the mechanical interconnection, wherein a reference generator is operatively connected to the arrangement and arranged to continuously receive an input signal indicative of a steering intent of a driver and based on that signal output a signal indicative of a desired steering torque, which desired steering torque is compared to the actual steering torque of the vehicle, and wherein the output signal is continuously adapted so that the desired steering torque is transmitted to the driver.
Specification