Vehicle steer angle control system based on mathematical model
First Claim
1. A steer angle control system for a controlled vehicle having at least one steerable first wheel, comprising:
- sensor means for sensing conditions of said controlled vehicle, said sensor means comprising means for sensing a steering wheel angle of said controlled vehicle and providing a sensed steering wheel angle, and means for sensing a vehicle speed of said controlled vehicle and providing a sensed vehicle speed,reference behavior determining means, connected with said steering wheel angle sensing means and said vehicle speed sensing means, for determining a value of a reference output motion variable of a predetermined reference mathematical model, corresponding to said sensed steering wheel angle and said sensed vehicle speed by solving said reference model,vehicle behavior monitoring means for determining a value of a plant output motion variable which is a linear combination of a yawing motion variable of said controlled vehicle and a side motion variable of said controlled vehicle,controller means, connected with said reference behavior determining means and said vehicle behavior monitoring means, for producing a control signal representing a target first wheel steer angle so as to reduce a deviation of said plant output motion variable from said reference output motion variable, andactuator means for varying an actual first wheel steer angle of said controlled vehicle in accordance with said control signal.
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Accused Products
Abstract
A steer angle control system for a controlled vehicle comprises sensors for sensing the steering wheel angle and the vehicle speed of the controlled vehicle, a processor such as a microcomputer, and an actuator for steering the front and/or rear wheels of the controlled vehicle in response to a control signal produced by the processor. The processor includes a reference behavior determining section for determining the value of a reference output motion variable corresponding to the sensed steering wheel angle and vehicle speed by solving a reference mathematical model representing desired vehicle motion characteristics, a vehicle behavior monitoring section for determining a value of the plant output motion variable which is a linear combination of a yawing motion variable, such as a yaw rate of the controlled vehicle, and a side translational motion variable, such as a lateral acceleration of the controlled vehicle, and a controller section for producing the control signal representing a target steer angle so as to reduce an error between the reference variable and the plant variable.
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Citations
16 Claims
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1. A steer angle control system for a controlled vehicle having at least one steerable first wheel, comprising:
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sensor means for sensing conditions of said controlled vehicle, said sensor means comprising means for sensing a steering wheel angle of said controlled vehicle and providing a sensed steering wheel angle, and means for sensing a vehicle speed of said controlled vehicle and providing a sensed vehicle speed, reference behavior determining means, connected with said steering wheel angle sensing means and said vehicle speed sensing means, for determining a value of a reference output motion variable of a predetermined reference mathematical model, corresponding to said sensed steering wheel angle and said sensed vehicle speed by solving said reference model, vehicle behavior monitoring means for determining a value of a plant output motion variable which is a linear combination of a yawing motion variable of said controlled vehicle and a side motion variable of said controlled vehicle, controller means, connected with said reference behavior determining means and said vehicle behavior monitoring means, for producing a control signal representing a target first wheel steer angle so as to reduce a deviation of said plant output motion variable from said reference output motion variable, and actuator means for varying an actual first wheel steer angle of said controlled vehicle in accordance with said control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification