Steering control system for wheeled vehicle
First Claim
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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Accused Products
Abstract
A control system for steering a controlled vehicle has a steering wheel angle sensor, a vehicle speed sensor, an actuator for altering a rear wheel steer angle, and a processor such as a microcomputer. The processor has a reference supplying section for determining a desired value of a vehicle motion variable such as a yaw rate by solving a desired mathematical vehicle model representing a postulated vehicle, and an actual motion estimating section for determining an estimated value of the vehicle motion variable by solving an actual vehicle model representing the controlled vehicle. The control system alters the rear wheel steer angle so as to reduce the difference between the desired and estimated values of the motion variable.
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Citations
19 Claims
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1. A control system for steering a controlled vehicle having at least one first wheel and one second wheel, comprising
steering 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, and control 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.
Specification