Vehicle control system for controlling side slip angle and yaw rate gain
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 the controlled vehicle,means for determining a desired value of a steady state steering response gain corresponding to a sensed value of the vehicle speed in accordance with a desired steering characteristic,means for determining a target value of an overall steering ratio between the steering wheel angle and a front wheel steer angle corresponding to the desired value of the steady state steering response gain, a predetermined desired value of a steady state side slip angle and the sensed value of the vehicle speed in accordance with a first relation determined by values of parameters characterizing the controlled vehicle,means for determining a target value of a rear wheel steer angle corresponding to the sensed value of the vehicle speed and a sensed value of the steering wheel angle in accordance with a second relation determined by the values of the parameters characterizing said controlled vehicle and said target value of the overall steering ratio,steering ratio varying means for varying an actual overall steering ratio of the controlled vehicle so that the actual overall steering ratio remains equal to the target value of the overall steering ratio, andrear wheel steering means for varying an actual rear wheel steering angle of the controlled vehicle so that the actual rear wheel steer angle remains equal to the target value of the rear wheel steer angle.
1 Assignment
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Accused Products
Abstract
A control system for a controlled vehicle having front and rear wheels has a steering wheel angle sensor, a vehicle speed sensor, a controller such as a microcomputer, and an actuating system for varying actual steering gear ratio and actual rear wheel steer angle to approach desired values under command of the controller. From input quantities, the controller determines a desired steering gear ratio by using equations of motion so that a desired steady state side slip angle, and a desired steady state yaw rate gain can be obtained, and further determines a desired rear wheel steer angle by using the equations of motion so that desired response characteristics can be obtained in a steady state or in both steady and transient states.
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Citations
17 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 the controlled vehicle, means for determining a desired value of a steady state steering response gain corresponding to a sensed value of the vehicle speed in accordance with a desired steering characteristic, means for determining a target value of an overall steering ratio between the steering wheel angle and a front wheel steer angle corresponding to the desired value of the steady state steering response gain, a predetermined desired value of a steady state side slip angle and the sensed value of the vehicle speed in accordance with a first relation determined by values of parameters characterizing the controlled vehicle, means for determining a target value of a rear wheel steer angle corresponding to the sensed value of the vehicle speed and a sensed value of the steering wheel angle in accordance with a second relation determined by the values of the parameters characterizing said controlled vehicle and said target value of the overall steering ratio, steering ratio varying means for varying an actual overall steering ratio of the controlled vehicle so that the actual overall steering ratio remains equal to the target value of the overall steering ratio, and rear wheel steering means for varying an actual rear wheel steering angle of the controlled vehicle so that the actual rear wheel steer angle remains equal to the target value of the rear wheel steer 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