Method and a system for steering a wheeled vehicle
First Claim
1. A method of steering a wheeled vehicle having a pair of rear steerable road wheels, a pair of front steerable road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering road wheels, comprising the steps of:
- (a) sensing the vehicle speed;
(b) sensing the angle δ
fD through which said steering wheel is turned;
(c) controlling the angle δ
f through which the pair of front steering road wheels is turned to e·
δ
fD /(1+k) where e is a constant and k is a function of a detected vehicle speed; and
(d) controlling the angle δ
r through which the pair of rear steering road wheels is turned to k·
δ
f.
1 Assignment
0 Petitions
Accused Products
Abstract
A method and system for steering a wheeled vehicle having a pair of rear steering road wheels, a pair of front steering road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering wheels, wherein the pair of rear steering wheels is steered through an angle δr proportioned at a ratio k to the angle δf through which the pair of front steerable road wheels is steered and wherein the ratio k is given by
(A-B·V.sup.2)/(C-D·V.sup.2)
wherein V is a detected vehicle speed and A, B, C and D are predetermined parameters, and δf is given by
e·δf.sub.D /(1+k)
when δfD is the angle through which the steering wheel is turned and e is a constant.
65 Citations
7 Claims
-
1. A method of steering a wheeled vehicle having a pair of rear steerable road wheels, a pair of front steerable road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering road wheels, comprising the steps of:
-
(a) sensing the vehicle speed; (b) sensing the angle δ
fD through which said steering wheel is turned;(c) controlling the angle δ
f through which the pair of front steering road wheels is turned to e·
δ
fD /(1+k) where e is a constant and k is a function of a detected vehicle speed; and(d) controlling the angle δ
r through which the pair of rear steering road wheels is turned to k·
δ
f. - View Dependent Claims (2, 3)
-
-
4. A system for steering a wheeled vehicle having a pair of rear steerable road wheels, a pair of front steerable road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering road wheels, said system comprising:
-
(a) a front servomechanism for controlling the pair of front steerable road wheels; (b) a rear servomechanism for controlling the pair of rear steerable road wheels; (c) a vehicle-speed sensor for sensing the vehicle speed to output a speed signal representing the vehicle speed; (d) a steering wheel angle sensor for sensing the angle δ
fD through which the steering wheel is steered to output a signal representing the steered angle; and(e) a control unit responsive to the signals from said vehicle-speed sensor and said steering wheel angle sensor for producing to said rear servomechanism a rear control signal representing the angle δ
r through which the pair of rear steerable wheels are to be steered, and to said front servomechanism a front control signal representing the angle δ
f through which the pair of front steerable wheels are to be steered, the rear control signal δ
r being given by
space="preserve" listing-type="equation">k·
δ
fwhere k is a function of a sensed vehicle speed, and the front control signal being given by
space="preserve" listing-type="equation">e·
δ
f.sub.D /(1+K)where e is a constant and δ
fD is the angle through which the steering wheel is turned. - View Dependent Claims (5, 6, 7)
-
Specification