Apparatus for controlling steering of wheels of a vehicle
First Claim
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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Accused Products
Abstract
An apparatus for controlling steering of wheels of a vehicle comprises a control means, a driving means, and an actuator means. The control means comprises a feed forward signal operating means, a feed back signal operating means for generating signals for variables representing vehicle behaviors and output from a vehicle behavior sensor, and a control signal operating means for calculating a difference or sum of the signals output from the feed forwad and feedback signal operating means. The feed forward signal operating means comprises a steering angle signal circuit, a steering angular velocity signal operating circuit, a steering angle signal operating circuit having a first coefficient circuit for multiplying a steering angle signal with a coefficient, and an adder for adding the outputs from the steering angle signal circuit, the steering angle signal operating circuit, and the steering angular velocity operating circuit. A behavior correction capacity against a side wind or disturbance is very high, and a steering system can be controlled to shorten the response time for changes in vehicle behaviors with respect to a steering input, thereby providing optimal steering. The control means further comprises a gain changing means to supply optimal coefficients to the feed forward and feedback signal operating means.
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Citations
18 Claims
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1. An apparatus for controlling steering of wheels of a vehicle, comprising:
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a steering sensor for detecting a steering angle of a steering wheel; a vehicle behavior sensor for detecting variables representing vehicle behavior; control means comprising feed forward signal operating means including a 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, and an 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, and control 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification