Device for adjusting the steering angle of vehicle wheels

• US 5,189,613 A
• Filed: 01/11/1991
• Issued: 02/23/1993
• Est. Priority Date: 06/24/1989
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Karnopp, Dean
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/646,780
• Time in Patent Office: 774 Days
• Field of Search: 369/424.01, 369/424.05, 180/79.1, 180/141-142
• US Class Current: 701/41
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

An apparatus for adjusting the steering angle of at least one steerable wheel of the vehicle includes sensor means for sensing the steering angle of the vehicle steering wheel, the speed of the vehicle, and a vehicle state variable of the vehicle. The steering angle is selected by a driver of the vehicle. The sensor means generates an output signal. A controller is connected to the sensor means and receives the sensor means output signal. The controller determines a reference value for said vehicle state variable which is independent of the vehicle speed and the steering angle. The steering angle is generated independently of the reference value. The controller corrects the steering angle of the steerable wheel such that the vehicle has an understeering or neutral steering performance.

Claims

1. In a vehicle having a plurality of steerable wheels and a steering wheel, an apparatus for adjusting the steering angle of at least one steerable wheel of the vehicle, said apparatus comprising:

sensor means for sensing the steering angle of the vehicle steering wheel, the speed of the vehicle, and a vehicle state variable of the vehicle, said steering angle selected by a driver of the vehicle, said sensor means generating an output signal; and

a controller connected to said sensor means and receiving said sensor means output signal, said controller determining a reference value for said vehicle state variable which is dependent on the vehicle speed and the steering angle;

said controller correcting the steering angle of said steerable wheel such that the vehicle has an understeering steering performance.

2. The apparatus of claim 1, wherein said control device produces a reference value causing the curve radius of the vehicle at a steering angle selected by the driver to become greater at increasing vehicle speeds.

3. The apparatus of claim 1, wherein the reference value for the vehicle state variable is determined in a reference value adaptation circuit by means of a vehicle model.

4. The apparatus of claim 3, wherein said reference value adaptation circuit includes an evaluation circuit for valuation of the reference value.

5. The apparatus of claim 4, wherein said reference value adaptation circuit includes a dynamic timing function circuit for valuing said reference value with a time dependent variable.

6. The apparatus of claim 5, wherein said dynamic timing function circuit is a delay element.

7. The apparatus of claim 6, wherein said delay element is a PT₁ -element.

8. The apparatus of claim 5, wherein said dynamic timing function circuit output has an amplitude which is dependent on at least one driving condition variable.

9. The apparatus of claim 5, wherein said dynamic timing function circuit outputs an electrical signal having a maximum value of "1".

10. The apparatus of claim 5, wherein said evaluation circuit outputs an electrical signal causing the output of the dynamic timing function circuit to have a maximum value of "1".

11. The apparatus of claim 4, wherein said evaluation circuit outputs an electrical signal having a value smaller than or at maximum equal to "1".

12. The apparatus of claim 11, wherein said evaluation circuit output is dependent on one or more driving condition variables.

13. The apparatus of claim 4, wherein said evaluation circuit output has an amplitude which is dependent on at least one driving condition variable.

14. The apparatus of claim 3, wherein said reference value adaptation circuit further comprises a multiplier and dimensioning circuit, locking angle of the steering wheel is supplied as first input variable to a multiplier, to which, as second input variable, the driving speed is fed, and in that the output variable constituting the product of the first and second input variable is connected to a dimensioning circuit which takes account of the geometric dimensions of the chassis of the vehicle, said sensor output corresponding to the locking angle and driving speed of the vehicle.

15. The apparatus of claim 14, wherein the vehicle has a front and rear axle defining a wheel base, said dimensioning circuit having an output dependent upon the reciprocal value of said wheel base.

16. The apparatus of claim 14, further comprising a squaring circuit having an input and output, said squaring circuit input electrically connected to said sensor output, said squaring circuit output electrically connected to said multiplier input, said sensor output corresponding to a driving speed of the vehicle.

17. The apparatus of claim 1, wherein the vehicle state variable is the actual yaw velocity of the vehicle sensed by said sensing means, said yaw velocity used to determine said reference value of the vehicle.

18. The apparatus of claim 1, wherein said vehicle state variable is the actual transverse acceleration of the vehicle which is sensed by said sensing means, said control device determining a reference value for said transverse acceleration of said vehicle.

19. In a vehicle having a plurality of steerable wheels and a steering wheel, an apparatus for adjusting the steering angle of at least one steerable wheel of the vehicle, said apparatus comprising:

sensor means for sensing the steering angle of the vehicle steering wheel, the speed of the vehicle, and a vehicle state variable of the vehicle said steering angle selected by a driver of the vehicle, said sensor means generating an output signal; and

a controller connected to said sensor means and receiving said sensor means output signal, said controller determining a reference value for said vehicle state variable which is dependent on the vehicle speed and the steering angle;

said controller correcting the steering angle of said steerable wheel such that the vehicle has a neutral steering performance.

20. The apparatus of claim 19, wherein said controller provides a reference value causing the curve radius of the vehicle at a steering angle selected by the driver to remain the same at increasing vehicle speeds.

21. The apparatus of claim 19, wherein said reference value for the vehicle state variable is determined in a reference value adaptation circuit by means of a vehicle model.

22. The apparatus of claim 21, wherein said reference value adaptation circuit features an evaluation circuit for valuation of the reference value.

23. The apparatus of claim 22, wherein said reference value adaptation circuit includes a dynamic timing function circuit for valuing said reference value with a time dependent variable.

24. The apparatus of claim 19, wherein said vehicle state variable is the actual transverse acceleration of the vehicle sensed by said sensing means, said controller determining said reference value for the transverse acceleration of the vehicle.

25. The apparatus of claim 19, wherein said locking angle is outputted to a summing point to which the output of the controller is connected as a further input variable, and in that the output of the summing point serves as actuating variable for the steerable wheel.

26. The apparatus of claim 19, wherein said reference value adaption circuit output corresponds to a desired yaw velocity of the vehicle.

27. The apparatus of claim 19, wherein said sensor output corresponds to an actual yaw velocity of the vehicle.

28. The apparatus of claim 19, wherein said sensor output corresponds to an actual lateral acceleration of the vehicle.