Vehicle steering control system using desired vehicle model
First Claim
1. A steering control system for a controlled vehicle, comprising:
- means for sensing a steering wheel angle of said controlled vehicle,means for sensing a vehicle speed of said controlled vehicle,control means connected with said steering wheel angle sensing means and said vehicle speed sensing means for determining desired values of first and second vehicle motion variables corresponding to the sensed steering wheel angle and the sensed vehicle speed by solving at least one desired mathematical vehicle model representing a desired vehicle, determining first and second desired values of a steer angle, respectively, from said desired values of said first and second motion variables by solving an actual mathematical vehicle model representing said controlled vehicle, and determining a weighted average of said desired values of said steer angle, andactuating means for steering at least one wheel of said controlled vehicle so that an actual steer angle of said wheel is maintained equal to said weighted average.
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Accused Products
Abstract
A vehicle steering control system has a steering wheel angle sensor, a vehicle speed sensor, a control unit and an actuator for steering either (or both) of front and rear wheel pairs of a controlled vehicle. The control unit determines desired values of yaw rate and lateral acceleration corresponding to the sensed steering wheel angle and vehicle speed by using at least one desired mathematical vehicle model having desired vehicle response characteristics. Then, the control unit determines a desired value of a front or rear wheel steer angle (or both of the front and rear wheel angles) theoretically required to achieve the desired value of the yaw rate, and another desired value of the steer angle theoretically required to achieve the desired value of the lateral acceleration. Finally, the control unit determines a weighted average of two desired values of the steer angle by using weights which are functions of vehicle speed and/or steering wheel angular speed. The actuator steers the front or rear wheel pair so that an actual steer angle is maintained equal to the weighted average.
72 Citations
20 Claims
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1. A steering control system for a controlled vehicle, comprising:
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means for sensing a steering wheel angle of said controlled vehicle, means for sensing a vehicle speed of said controlled vehicle, control means connected with said steering wheel angle sensing means and said vehicle speed sensing means for determining desired values of first and second vehicle motion variables corresponding to the sensed steering wheel angle and the sensed vehicle speed by solving at least one desired mathematical vehicle model representing a desired vehicle, determining first and second desired values of a steer angle, respectively, from said desired values of said first and second motion variables by solving an actual mathematical vehicle model representing said controlled vehicle, and determining a weighted average of said desired values of said steer angle, and actuating means for steering at least one wheel of said controlled vehicle so that an actual steer angle of said wheel is maintained equal to said weighted average. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A steering control system for a controlled vehicle, comprising:
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means for sensing a steering wheel angle of said controlled vehicle, means for sensing a vehicle speed of said controlled vehicle, control means connected with said steering wheel angle sensing means and said vehicle speed sensing means for determining a desired value of a vehicle side motion variable relating to vehicle side slipping motion, corrsponding to the sensed steering wheel angle and the sensed vehicle speed by using a desired mathematical vehicle model, and determining a desired value of a steer angle required to achieve said desired value of said side motion variable in said controlled vehicle, from said desired value of said side motion variable by solving an actual mathematical vehicle model representing said controlled vehicle, and actuating means for steering at least one wheel of said controlled vehicle so that an actual steer angle of said wheel is maintained equal to said desired value of said steer angle. - View Dependent Claims (18, 19, 20)
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Specification