STEERING SYSTEM FOR AN AUTONOMOUSLY DRIVEN VEHICLE AND METHODS OF STEERING THE SAME

• US 20140277893A1
• Filed: 03/14/2013
• Published: 09/18/2014
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Kloess, Scott R., Zuzelski, John T., Raphael, Eric L., Tang, Yat-Chung, Pastor, Stephen, Rosol, Kenneth L., Sidlosky, David M., Leschuk, Robert W.
• Granted Patent: US 8,886,412 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 5/003 Backup systems, e.g. for manual steering B62D5/30 takes precedence
• CPC Class Codes: B62D 5/30 Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 7/148 provided with safety devices
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A steering system for an autonomously driven vehicle and methods of steering the vehicle are disclosed. A main controller signals a secondary steering assembly to operate in a first phase when a power steering controller is in a first mode and a second phase to steer the vehicle when the power steering controller is in a second mode. The main controller signals a friction device to actuate to a disengaged position when the power steering controller is in the first mode and the secondary steering assembly is in the first phase, and to signal the friction device to actuate to an engaged position to secure a steering wheel in an initial position when the power steering controller is in the second mode and the secondary steering assembly is in the second phase to allow the secondary steering assembly to steer the vehicle.

Claims

1. A steering system for an autonomously driven vehicle, the system comprising:

a primary steering assembly including a rotatable steering wheel;

a power steering controller in communication with the primary steering assembly and having a first mode and a second mode;

a main controller in communication with the power steering controller;

a secondary steering assembly in communication with the main controller such that the main controller signals the secondary steering assembly to operate in a first phase when the power steering controller is in the first mode and a second phase to steer the vehicle when the power steering controller is in the second mode; and

a friction device coupled to the primary steering assembly and movable between a disengaged position releasing the primary steering assembly to allow rotation of the steering wheel and an engaged position engaging the primary steering assembly to secure the steering wheel in an initial position, wherein the main controller is in communication with the friction device to signal the friction device to actuate to the disengaged position when the power steering controller is in the first mode and the secondary steering assembly is in the first phase, and to signal the friction device to actuate to the engaged position to secure the steering wheel in the initial position when the power steering controller is in the second mode and the secondary steering assembly is in the second phase to allow the secondary steering assembly to steer the vehicle.

2. A system as set forth in claim 1 wherein the primary steering assembly includes a rotatable steering column, with the steering wheel attached to the steering column such that the steering wheel and the steering column commonly rotate.

3. A system as set forth in claim 2 wherein the friction device is coupled to the steering column such that the friction device engages the steering column when in the engaged position to secure the steering wheel in the initial position.

4. A system as set forth in claim 2 wherein the primary steering assembly includes an intermediate shaft operatively coupled to the steering column such that the intermediate shaft and the steering column commonly rotate.

5. A system as set forth in claim 4 wherein the friction device is coupled to the intermediate shaft such that the friction device engages the intermediate shaft when in the engaged position to secure the steering wheel in the initial position.

6. A system as set forth in claim 4 wherein the primary steering assembly includes a steering gear mechanism operatively coupled to the intermediate shaft, with the intermediate shaft disposed between the steering gear mechanism and the steering column.

7. A system as set forth in claim 6 wherein the friction device is coupled to the steering gear mechanism such that the friction device engages the steering gear mechanism when in the engaged position to secure the steering wheel in the initial position.

8. A system as set forth in claim 6 wherein the primary steering assembly includes a primary rack and pinion apparatus operatively coupled to the steering gear mechanism and extending outwardly to distal ends opposing each other, with a first wheel and a second wheel operatively coupled to respective distal ends of the primary rack and pinion apparatus, and wherein the steering gear mechanism includes an electric motor to assist in moving the primary rack and pinion apparatus in response to rotation of the steering wheel to pivot the first and second wheels and steer the vehicle when the power steering controller is in the first mode, with the power steering controller in communication with the electric motor.

9. A system as set forth in claim 1 wherein the secondary steering assembly is in communication with the main controller through a rear steering controller, and wherein the secondary steering assembly includes an actuator in communication with the rear steering controller such that r the rear steering controller signals the actuator to operate in the first phase when the power steering controller is in the first mode and operate in the second phase when the power steering controller is in the second mode.

10. A system as set forth in claim 9 wherein the secondary steering assembly includes a secondary rack and pinion apparatus extending outwardly to distal ends opposing each other, with a third wheel and a fourth wheel operatively coupled to respective distal ends of the secondary rack and pinion apparatus, and with the actuator operatively coupled to the secondary rack and pinion apparatus such that actuation of the actuator moves the secondary rack and pinion apparatus to pivot the third and fourth wheels to steer the vehicle when the secondary steering assembly is in the second phase and the power steering controller is in the second mode.

11. A system as set forth in claim 10 wherein the primary steering assembly includes a rotatable steering column, with the steering wheel attached to the steering column such that the steering wheel and the steering column commonly rotate, and wherein the primary steering assembly includes an intermediate shaft operatively coupled to the steering column such that the intermediate shaft and the steering column commonly rotate, and wherein the primary steering assembly includes a steering gear mechanism operatively coupled to the intermediate shaft, with the intermediate shaft disposed between the steering gear mechanism and the steering column.

12. A system as set forth in claim 11 wherein the primary steering assembly includes a primary rack and pinion apparatus operatively coupled to the steering gear mechanism and extending outwardly to distal ends opposing each other, with a first wheel and a second wheel operatively coupled to respective distal ends of the primary rack and pinion apparatus, and wherein the first and second wheels are disposed adjacent to a front of the vehicle and the third and fourth wheels are disposed adjacent to a rear of the vehicle.

13. A system as set forth in claim 1 further including a contact sensor coupled to the steering wheel to detect contact on the steering wheel, with the contact sensor in communication with the main controller such that contact on the steering wheel signals the main controller to communicate to the secondary steering assembly to switch from the second phase back to the first phase and communicate to the friction device to switch from the engaged position back to the disengaged position.

14. A method of steering an autonomously driven vehicle, the method comprising:

determining that a power steering controller is in one of a first mode and a second mode different from the first mode;

signaling a main controller that the power steering controller is in the first mode;

signaling a secondary steering assembly, via the main controller, to operate in a first phase in response to the power steering controller being in the first mode such that a primary steering assembly steers the vehicle;

signaling a friction device, via the main controller, to operate in a disengaged position in response to the power steering controller being in the first mode such that a steering wheel of the primary steering assembly is rotatable;

signaling the main controller that the power steering controller is in the second mode; and

signaling the secondary steering assembly, via the main controller, to switch from the first phase to operate in a second phase in response to the power steering controller being in the second mode such that the secondary steering assembly steers the vehicle;

actuating the friction device from the disengaged position to the engaged position in response to the power steering controller being in the second mode;

engaging the primary steering assembly with the friction device when the friction device is in the engaged position to secure the steering wheel in an initial position such that the secondary steering assembly steers the vehicle when in the second phase.

15. A method as set forth in claim 14 wherein:

signaling the secondary steering assembly, via the main controller, to operate in the first phase in response to the power steering controller being in the first mode includes signaling the secondary steering assembly, via a rear steering controller in communication with the main controller, to operate in the first phase in response to the power steering controller being in the first mode such that the primary steering assembly steers the vehicle;

signaling the secondary steering assembly, via the main controller, to switch from the first phase to operate in the second phase in response to the power steering controller being in the second mode includes signaling the secondary steering assembly, via the rear steering controller in communication with the main controller, to switch from the first phase to operate in the second phase in response to the power steering controller being in the second mode such that the secondary steering assembly steers the vehicle;

signaling the secondary steering assembly, via the rear steering controller, to switch from the first phase to operate in the second phase in response to the power steering controller being in the second mode includes signaling an actuator, via the rear steering controller, to move a secondary rack and pinion apparatus in response to the secondary steering assembly being in the second phase and the power steering controller being in the second mode; and

actuating the friction device from the disengaged position to the engaged position in response to the power steering controller being in the second mode includes signaling the friction device, via the main controller, to actuate from the disengaged position to the engaged position in response to the power steering controller being in the second mode.

16. A method as set forth in claim 15 wherein signaling the actuator, via the rear steering controller, to move the secondary rack and pinion apparatus in response to the secondary steering assembly being in the second phase and the power steering controller being in the second mode and signaling the friction device, via the main controller, to actuate from the disengaged position to the engaged position in response to the power steering controller being in the second mode occurs simultaneously through communication with the main controller.

17. A method as set forth in claim 14 further comprising:

coupling a contact sensor to the steering wheel, with the contact sensor in communication with the main controller;

detecting contact on the steering wheel, via the contact sensor, when the power steering controller is in the second mode; and

signaling the main controller, via the contact sensor, that contact is detected on the steering wheel when the power steering controller is in the second mode.

18. A method as set forth in claim 17 further comprising:

signaling the secondary steering assembly, via the main controller, to switch from the second phase back to operation in the first phase in response to contact on the steering wheel when the power steering controller is in the second mode; and

actuating the friction device from the engaged position back to the disengaged position in response to contact on the steering wheel when the power steering controller is in the second mode.

19. A method as set forth in claim 18 wherein:

signaling the secondary steering assembly, via the main controller, to switch from the second phase back to operation in the first phase in response to contact on the steering wheel includes signaling the secondary steering assembly, via a rear steering controller in communication with the main controller, to switch from the second phase back to operation in the first phase in response to contact on the steering wheel when the power steering controller is in the second mode;

actuating the friction device from the engaged position back to the disengaged position in response to contact on the steering wheel includes signaling the friction device, via the main controller, to actuate from the engaged position back to the disengaged position in response to contact on the steering wheel when the power steering controller is in the second mode; and

signaling the secondary steering assembly, via the rear steering controller, to switch from the second phase back to operation in the first phase in response to contact on the steering wheel and signaling the friction device, via the main controller, to actuate from the engaged position back to the disengaged position in response to contact on the steering wheel occurs simultaneously through communication with the main controller.

20. A method of steering an autonomously driven vehicle, the method comprising:

operating a secondary steering assembly in a second phase to steer the vehicle when an interruption occurs in a primary steering assembly of the vehicle; and

engaging the primary steering assembly with a friction device to secure a steering wheel in an initial position when the secondary steering assembly is in the second phase to steer the vehicle.