METHOD AND SYSTEM FOR THE DETERMINATION OF A STEERING ANGLE
First Claim
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1. A method for determination of the angle of a steering of a vehicle, the method comprising the steps of:
- determining vehicle yaw rate;
determining vehicle speed;
determining hydraulic flow in a hydraulic steering assembly connected in parallel with a manual hydraulic steering circuit of the vehicle; and
processing the yaw rate, speed, and hydraulic flow data to determine the angle of steering of the vehicle.
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Abstract
A method and system are provided for determining the angle of steering of a vehicle, particularly an agricultural vehicle, by determining vehicle yaw rate, determining vehicle speed, determining hydraulic flow in a hydraulic steering assembly connected in parallel with a manual hydraulic steering circuit of the vehicle, and processing the yaw rate, speed, and hydraulic flow data to determine the angle of steering of the vehicle.
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Citations
22 Claims
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1. A method for determination of the angle of a steering of a vehicle, the method comprising the steps of:
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determining vehicle yaw rate; determining vehicle speed; determining hydraulic flow in a hydraulic steering assembly connected in parallel with a manual hydraulic steering circuit of the vehicle; and processing the yaw rate, speed, and hydraulic flow data to determine the angle of steering of the vehicle. - View Dependent Claims (2, 3, 4, 9, 10, 11)
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5. A method of determining the angle of steering of a vehicle for use in an automated steering system, the method comprising the steps of:
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engaging the automated steering system; performing an initial steering angle estimate comprising; determining vehicle yaw rate; determining vehicle speed; and processing the yaw rate and speed of the vehicle to generate an initial absolute estimate of the angle of steering; thereafter, iteratively; determining vehicle yaw rate; determining vehicle speed; determining hydraulic flow in a hydraulic steering assembly connected in parallel with a manual hydraulic steering circuit of the vehicle; processing the yaw rate and speed data to refine the absolute estimate of the angle of steering; processing hydraulic flow rate data to generate a relative estimate of the angle of steering since the automated steering system was engaged; and determining the angle of steering of the vehicle using the absolute and relative estimates. - View Dependent Claims (6, 7, 8)
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12. A steering system that determines the angle of steering of a vehicle, the steering system comprising:
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a yaw rate determination unit; a speed determination unit; a steering control system; and a hydraulic steering assembly connected in parallel with a manual hydraulic steering circuit of the vehicle, wherein the hydraulic steering assembly comprises; a hydraulic valve block in communication with the steering control system to actuate hydraulic flow in hydraulic lines connected to the hydraulic steering circuit; and a flow sensor in at least one of the hydraulic lines between the valve block and the hydraulic steering circuit; wherein the steering control system processes data from the yaw rate determination unit, speed determination unit, and the flow sensor of the hydraulic steering assembly to determine the angle of steering. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 22)
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21. An automated steering kit for fitting to a vehicle, the kit comprising:
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a yaw rate determination unit; a speed determination unit; a steering control system; a hydraulic valve block in communication with the steering control system to actuate hydraulic flow in hydraulic lines connectable to a manual hydraulic steering circuit of the vehicle; and a flow sensor in a hydraulic line between the valve block and the hydraulic steering circuit to measure hydraulic flow in the hydraulic line; wherein the steering control system; receives and processes data from the yaw rate determination unit, speed determination unit, and the flow sensor to determine the angle of steering; and processes the determined angle of steering to determine a steering control output to be actuated by the hydraulic valve block.
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Specification