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Steering control system for wheeled vehicle

  • US 4,706,979 A
  • Filed: 07/09/1986
  • Issued: 11/17/1987
  • Est. Priority Date: 07/12/1985
  • Status: Expired due to Term
First Claim
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1. A control system for steering a controlled vehicle having at least one first wheel and one second wheel, comprisingsteering input means for determining a steering input quantity of said controlled vehicle.actuating means for steering said controlled vehicle by varying a predetermined manipulated variable, andcontrol means for producing a control signal to command said actuating means based upon said steering input quantity, said control means comprising first reference supplying means for determining a desired value of a predetermined first vehicle motion variable in accordance with a first desired vehicle model representing a first desired vehicle, actual motion estimating means for determining an estimated value of said first motion variable corresponding to said steering input quantity in accordance with an actual vehicle model representing said controlled vehicle, first comparing means for comparing said desired and estimated values of said first motion variable, and target manipulated variable determining means for varying said manipulated variable by producing said control signal representing a target value of said manipulated variable so as to reduce a difference between said desired and estimated values of said first motion variable.

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