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Apparatus for controlling steering of wheels of a vehicle

  • US 4,834,205 A
  • Filed: 02/03/1988
  • Issued: 05/30/1989
  • Est. Priority Date: 02/03/1987
  • Status: Expired due to Fees
First Claim
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1. An apparatus for controlling steering of wheels of a vehicle, comprising:

  • a steering sensor for detecting a steering angle of a steering wheel;

    a vehicle behavior sensor for detecting variables representing vehicle behavior;

    control means comprisingfeed forward signal operating means includinga steering angle signal circuit for transmitting, without modification, a steering angle signal output from said steering sensor,a steering angle signal operating circuit including a first coefficient circuit for multiplying the steering angle signal with a coefficient to correct the magnitude of the detected steering angle.a steering angular velocity signal operating circuit including a differentiator for calculating a steering angular velocity signal from the steering angle signal and a second coefficient circuit for multiplying the steering angular velocity signal with a coefficient, andan adder for adding signals output from said steering angle signal circuit, said steering angle signal operating circuit, and said steering angular velocity signal operating circuit to output a sum signal,the sum signal being output as a feed forward signal,feedback signal operating means comprising a vehicle behavior state variable signal operating circuit including a third coefficient circuit for multiplying with a coefficient the signals for variables representing vehicle behavior output from said vehicles behavior sensor, said vehicle behavior state variable signal operating circuit outputting a signal as a feedback signal, andcontrol signal operating means including an adder/subtractor for calculating a difference or a sum of signals output from said feed forward signal operating means and said feedback signal operating means and for outputting a steering control signal;

    driving means for amplifying the steering control signal output from said control means;

    driving means for amplifying the steering control signal output from said control means; and

    actuator means for applying an optimal steering angle of either front or rear wheels or both on the basis of an output from said driving means.

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