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Steering angle control system for wheeled vehicle

  • US 4,834,204 A
  • Filed: 03/13/1987
  • Issued: 05/30/1989
  • Est. Priority Date: 09/10/1984
  • Status: Expired due to Term
First Claim
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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:

  • 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 of a desired steering characteristic corresponding to said sensed values of said steering input quantity and said vehicle speed by solving a group of equations of motion of a vehicle having desired steering dynamics obtained by setting vehicle steering parameters equal to desired values representing said vehicle having desired steering dynamics by performing an integration process to determine an output quantity substantially equal to a time integral of an input quantity during turning movement of said controlled vehicle,steering angle determining means connected with said target behavior determining means for determining a desired value of a second wheel steering angle of said second wheels required to achieve said desired value of said dynamic variable by solving for said second wheel 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 by performing an integration process to determine an output quantity substantially equal to a time integral of an input quantity during turning movement of said controlled vehicle, andsecond wheel steering actuating means for steering said second wheels of said controlled vehicle so that the actual second wheel steering angle of said second wheels remains equal to said desired value of said second steering angle.

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