Steering control system for wheeled vehicle
First Claim
1. A vehicle comprising:
- road wheels,input means for determining a steering input representing a driver'"'"'s steering command,feedforward steering control means, connected with the input means, for determining a first steering amount from the steering input in accordance with a relationship so designed as to improve a characteristic between a turning behavior of the vehicle and a steering frequency,vehicle behavior sensing means for sensing the turning behavior of the vehicle,negative feedback steering control means, connected with the vehicle behavior sensing means, for determining a second steering amount in accordance with the behavior of the vehicle sensed by the behavior sensing means, andactuating means capable of steering the vehicle by altering the direction of at least one of the road wheels, the actuating means being connected with the feedforward means for steering the vehicle in accordance with the first amount in a direction indicated by the steering input, and with the feedback means for steering the vehicle in accordance with the second steering amount in such a direction as to reduce the turning behavior of the vehicle.
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Accused Products
Abstract
A wheeled vehicle is equipped with a feedforward steering control system which steers the vehicle through front or rear road wheels in accordance with a driver'"'"'s steering input such as an angular displacement of a steering wheel, and a negative feedback system which senses a turning behavior of the vehicle such as a yaw rate or a lateral acceleration, and steers the vehicle through the front or rear wheels in such a negative direction as to reduce the turning behavior. The feedforward system may control the angular direction of the front or rear wheels in accordance with a linear combination of the steering input and the time derivative of the steering input, or may control the angular directions of both of the front and rear wheels in accordance with different transfer functions between the steering input and the front and rear wheel angles. The negative feedback system is combined with the feedforward system in various ways to provide desired characteristics of the turning behavior. The negative feedback quantity determined by the negative feedback system may be proportional to the sensed turning behavior, or may be determined in accordance with the difference between the sensed turning behavior, and the reference turning behavior calculated from the vehicle speed and steering input.
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Citations
26 Claims
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1. A vehicle comprising:
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road wheels, input means for determining a steering input representing a driver'"'"'s steering command, feedforward steering control means, connected with the input means, for determining a first steering amount from the steering input in accordance with a relationship so designed as to improve a characteristic between a turning behavior of the vehicle and a steering frequency, vehicle behavior sensing means for sensing the turning behavior of the vehicle, negative feedback steering control means, connected with the vehicle behavior sensing means, for determining a second steering amount in accordance with the behavior of the vehicle sensed by the behavior sensing means, and actuating means capable of steering the vehicle by altering the direction of at least one of the road wheels, the actuating means being connected with the feedforward means for steering the vehicle in accordance with the first amount in a direction indicated by the steering input, and with the feedback means for steering the vehicle in accordance with the second steering amount in such a direction as to reduce the turning behavior of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification