Steering control system for wheeled vehicle
First Claim
1. A steering control system for a controlled vehicle having a pair of front wheels and a pair of rear wheels, comprising:
- steering input sensing means for sensing a steering input quantity representing a driver'"'"'s steering command of said controlled vehicle and determining a sensed value of said steering input quantity,vehicle speed sensing means for sensing a vehicle speed of said controlled vehicle and determining a sensed value of said vehicle speed,target determining means connected with said steering input and vehicle speed sensing means for determining a desired value of at least one dynamic variable corresponding to a response of a desired vehicle to said sensed values of said steering input quantity and said vehicle speed by solving a group of equations of vehicle motion characteristics of said desired vehicle for said desired value of said at least one dynamic variable using a set of vehicle parameters representative of said desired vehicle,steering angle determining means connected with said target determining means for determining desired values of front and rear steering angles of said front wheels and said rear wheels required to achieve said desired value of said dynamic variable by solving equations of motion characteristic of said controlled vehicle using said desired value of said dynamic variable and a set of vehicle parameters representative of said controlled vehicle,front wheel steering actuating means for steering said front wheels of said controlled vehicle so that the actual front steering angle of said front wheels remains equal to said desired value of said front steering angle,rear wheel steering actuating means for steering said rear wheels of said controlled vehicle so that the actual rear steering angle of said rear wheels remains equal to said desired value of said rear steering angle.
1 Assignment
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Accused Products
Abstract
A control system for steering front wheels and rear wheels of a controlled vehicle has a processing unit such as a microcomputer which determines a desired value of at least one of dynamical variables such as yaw rate, yaw acceleration, and lateral acceleration from sensed steering input and sensed vehicle speed by solving equations of motion of a vehicle in which parameters inherent to the vehicle are set equal to desired values so determined as to provide desired cornering characteristics. From the desired value of the dynamical variable, the processing unit determines desired values of front and rear steering angles of the front and rear wheels required to achieve the desired value of the dynamical variable in the controlled vehicle. The control system further has a front wheel steering actuator for steering the front wheels in accordance with the desired value of the front steering angle, and a rear wheel steering actuator for steering the rear wheels in accordance with the desired value of the rear steering angle.
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Citations
17 Claims
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1. A steering control system for a controlled vehicle having a pair of front wheels and a pair of rear wheels, comprising:
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steering input sensing means for sensing a steering input quantity representing a driver'"'"'s steering command of said controlled vehicle and determining a sensed value of said steering input quantity, vehicle speed sensing means for sensing a vehicle speed of said controlled vehicle and determining a sensed value of said vehicle speed, target determining means connected with said steering input and vehicle speed sensing means for determining a desired value of at least one dynamic variable corresponding to a response of a desired vehicle to said sensed values of said steering input quantity and said vehicle speed by solving a group of equations of vehicle motion characteristics of said desired vehicle for said desired value of said at least one dynamic variable using a set of vehicle parameters representative of said desired vehicle, steering angle determining means connected with said target determining means for determining desired values of front and rear steering angles of said front wheels and said rear wheels required to achieve said desired value of said dynamic variable by solving equations of motion characteristic of said controlled vehicle using said desired value of said dynamic variable and a set of vehicle parameters representative of said controlled vehicle, front wheel steering actuating means for steering said front wheels of said controlled vehicle so that the actual front steering angle of said front wheels remains equal to said desired value of said front steering angle, rear wheel steering actuating means for steering said rear wheels of said controlled vehicle so that the actual rear steering angle of said rear wheels remains equal to said desired value of said rear steering angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification