System for controlling cornering characteristics of wheeled vehicle
First Claim
1. A steering control system for a controlled vehicle having a pair of first wheels and a pair of second 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 behavior 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 said sensed values of said steering input quantity and said vehicle speed by solving for said dynamic variable a group of equations of vehicle motion characteristic of a desired vehicle by setting vehicle parameters appearing in said equations of vehicle motion equal to desired values representing said desired vehicle,steering angle determining means connected with said target determining means for determining a desired value of a first wheel steering angle of said first wheels required to achieve said desired value of said dynamic variable, by solving for said steering angle a group of equations of vehicle motion characteristic of said controlled vehicle using said desired value of said dynamic variable and actual values of vehicle parameters representative of said controlled vehicle,actuating means for steering said first wheels so that an actual first wheel steering angle is maintained equal to said desired value of said first wheel steering angle,actual vehicle behavior sensing means for sensing an actual value of said dynamic variable of said controlled vehicle, andparameter adjusting means connected with said steering angle determining means for adjusting said actual value of at least one of said vehicle parameters used by said steering angle determining means in accordance with said actual value of said dynamic variable sensed by said actual behavior sensing means.
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Accused Products
Abstract
A control system for steering either or both of front wheel pair and a rear wheel pair of a controlled vehicle has a processing unit such as a microcomputer for determining a desired vehicle behavior, and an actuator unit for steering either or both of the front and rear wheel pairs under command of the processing unit. The processing unit first determines a desired value of a dynamical variable such as a yaw acceleration corresponding to sensed steering input and sensed vehicle speed by solving equations of motion of a desired vehicle obtained by setting vehicle parameters appearing in the equations to desired values determined by the desired vehicle. The processing unit further determines a desired value of a steering angle of at least one of the front and rear wheel pairs which is required to achieve the desired value of the dynamical variable by solving equations of motion obtained by setting the vehicle parameters equal to actual values determined by the controlled vehicle. The control system further has an actual behavior sensor for sensing an actual value of the yaw acceleration or other dynamical variable of the controlled vehicle, and an adjuster for adjusting the actual values of one or more vehicle parameters used in determining the desired steering angle, in accordance with the actual value of the dynamical variable.
46 Citations
18 Claims
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1. A steering control system for a controlled vehicle having a pair of first wheels and a pair of second 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 behavior 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 said sensed values of said steering input quantity and said vehicle speed by solving for said dynamic variable a group of equations of vehicle motion characteristic of a desired vehicle by setting vehicle parameters appearing in said equations of vehicle motion equal to desired values representing said desired vehicle, steering angle determining means connected with said target determining means for determining a desired value of a first wheel steering angle of said first wheels required to achieve said desired value of said dynamic variable, by solving for said steering angle a group of equations of vehicle motion characteristic of said controlled vehicle using said desired value of said dynamic variable and actual values of vehicle parameters representative of said controlled vehicle, actuating means for steering said first wheels so that an actual first wheel steering angle is maintained equal to said desired value of said first wheel steering angle, actual vehicle behavior sensing means for sensing an actual value of said dynamic variable of said controlled vehicle, and parameter adjusting means connected with said steering angle determining means for adjusting said actual value of at least one of said vehicle parameters used by said steering angle determining means in accordance with said actual value of said dynamic variable sensed by said actual behavior sensing means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification