Steering control apparatus for motor vehicles
First Claim
1. A steering apparatus for use in a motor vehicle, comprising:
- steering mechanism means for regulating a steering angle of a wheel of said motor vehicle in accordance with an input signal thereto;
first detection means for detecting a travelling state of said motor vehicle and generating a signal indicative of the detected vehicle travelling state;
second detection means for detecting an actual steering angle made by said steering mechanism means and for generating a signal indicative of the detected actual steering angle;
target steering angle setting means responsive to the vehicle travelling state signal for determining a target steering angle on the basis of the detected vehicle travelling state and for generating a signal indicative of the determined target steering angle;
error calculating means responsive to the actual steering angle signal and the target steering angle signal for obtaining the difference (X1) between the determined target steering angle and the detected actual steering angle and for generating a signal indicative of the obtained difference (X1);
angular velocity calculating means for calculating a steering angular velocity (X2) on the basis of the actual steering angle signal from said second detection means and for generating a signal indicative of the calculated steering angular velocity (X2);
control means responsive to said difference indicating signal from said error calculating means and said steering angular velocity indicating signal from said angular velocity calculating means for outputting a control signal representing a command value (If), said control means including;
first calculating means for calculating the relative relationship on a coordinate axis between the obtained difference (X1) and the calculated steering angular velocity (X2), the relative relationship being expressed by a line which passes through the origin of said coordinate axis to allow both the obtained difference (X1) and calculated steering angular velocity (X2) to assume zero; and
second calculating means for calculating said command value (If) so that both the obtained difference (XI) and calculated steering angular velocity (X2) are respectively converged to zero in accordance with said line representing the relative relationship therebetween; and
drive circuit means responsive to said control signal from said control means for outputting a drive current as said input signal to said steering mechanism means so as to regulate the steering angle of said motor vehicle wheel.
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Accused Products
Abstract
A steering apparatus for use in a motor vehicle whereby the actual steering angle of a vehicle wheel is controlled to be equal to a target steering angle. The steering apparatus includes a steering mechanism for regulating a steering angle of the vehicle wheel in accordance with an input signal thereto, a device for determining a target steering angle of the wheel in accordance with the vehicle travelling state, a device for obtaining the difference (X1) between the determined target steering angle and the actual steering angle of the wheel, and a device for calculating a steering angular velocity (X2) on the basis of the actual steering angle. A control device calculates at least two switching functions (L1), (L2) on the basis of the obtained difference (X1) and the calculated steering angular velocity (X2) for obtaining a switching line on the basis of the calculated switching functions (L1), (L2). A control signal is generated as the input signal to the steering mechanism so that the obtained difference (X1) and the calculated steering angular velocity (X2) are respectively converged to zero under restriction of the obtained switching line. Preferably, the two switching functions (L1), (L2) are corrected on the basis of the vehicle travelling state including the speed of the motor vehicle.
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Citations
14 Claims
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1. A steering apparatus for use in a motor vehicle, comprising:
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steering mechanism means for regulating a steering angle of a wheel of said motor vehicle in accordance with an input signal thereto; first detection means for detecting a travelling state of said motor vehicle and generating a signal indicative of the detected vehicle travelling state; second detection means for detecting an actual steering angle made by said steering mechanism means and for generating a signal indicative of the detected actual steering angle; target steering angle setting means responsive to the vehicle travelling state signal for determining a target steering angle on the basis of the detected vehicle travelling state and for generating a signal indicative of the determined target steering angle; error calculating means responsive to the actual steering angle signal and the target steering angle signal for obtaining the difference (X1) between the determined target steering angle and the detected actual steering angle and for generating a signal indicative of the obtained difference (X1); angular velocity calculating means for calculating a steering angular velocity (X2) on the basis of the actual steering angle signal from said second detection means and for generating a signal indicative of the calculated steering angular velocity (X2); control means responsive to said difference indicating signal from said error calculating means and said steering angular velocity indicating signal from said angular velocity calculating means for outputting a control signal representing a command value (If), said control means including; first calculating means for calculating the relative relationship on a coordinate axis between the obtained difference (X1) and the calculated steering angular velocity (X2), the relative relationship being expressed by a line which passes through the origin of said coordinate axis to allow both the obtained difference (X1) and calculated steering angular velocity (X2) to assume zero; and second calculating means for calculating said command value (If) so that both the obtained difference (XI) and calculated steering angular velocity (X2) are respectively converged to zero in accordance with said line representing the relative relationship therebetween; and drive circuit means responsive to said control signal from said control means for outputting a drive current as said input signal to said steering mechanism means so as to regulate the steering angle of said motor vehicle wheel. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A steering apparatus for use in a motor vehicle, comprising:
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steering mechanism means for regulating a steering angle of a wheel of said motor vehicle in accordance with an input signal thereto; first detection means for detecting a travelling state of said motor vehicle and generating a signal indicative of the detected vehicle travelling state; second detection means for detecting an actual steering angle made by said steering mechanism means and for generating a signal indicative of the detected actual steering angle; target steering angle setting means responsive to the vehicle travelling state signal for determining a target steering angle on the basis of the detected vehicle travelling state and for generating a signal indicative of the determined target steering angle; error calculating means responsive to the actual steering angle signal and the target steering angle signal for obtaining the difference (X1) between the determined target steering angle and the detected actual steering angle and for generating a signal indicative of the obtained difference (X1); angular velocity calculating means for calculating a steering angular velocity (X2) on the basis of the actual steering angle signal from said second detection means and for generating a signal indicative of the calculated steering angular velocity (X2); decision means for checking whether said steering mechanism means is in the state that the steering operation is terminated and for generating a signal indicative of the steering termination when the steering operation is terminated; control means responsive to said difference indicating signal from said error calculating means and said steering angular velocity indicating signal from said angular velocity calculating means for outputting a control signal representing a command value (If), said control means including; first calculating means for calculating the relative relationship on a coordinate axis between the obtained difference (X1) and the calculated steering angular velocity (X2), the relative relationship being expressed by a line which passes through the origin of said coordinate axis to allow both the obtained difference (X1) and calculated steering angular velocity (X2) to assume zero; and second calculating means for calculating said command value (If) so that both the obtained difference (X1) and calculated steering angular velocity (X2) are respectively converged to zero in accordance with said line representing the relative relationship therebetween, said second calculating means correcting said command value (If) in response to the generation of said steering termination signal from said decision means in a direction so as to decrease a steering control amount of said wheel; and drive circuit means responsive to said control signal from said control means for outputting a drive current as said input signal to said steering mechanism means so as to regulate the steering angle of said motor vehicle wheel. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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Specification