Vehicle handling control for wheel slip control systems
First Claim
Patent Images
1. A wheel slip control system for controlling the slip of a left wheel and a right wheel of an axle of a vehicle having a steering wheel positionable by a vehicle operator, the system comprising:
- means for measuring a steering angle of the steering wheel and supplying a steering angle signal as an indication of the steering angle;
means for measuring right and left wheel speeds and supplying wheel speed signals ω
r and ω
l as indications of said right and left wheel speeds, respectively;
means for determining a desired turning radius Rd in response to the steering angle signal;
means for determining a desired ratio D of the left and right wheel speeds to establish the desired turning radius Rd ;
means for comparing the desired ratio of the left and right wheel speeds and an actual ratio of the left and right wheel speeds indicated by the wheel speed signals ω
r and ω
l ; and
means for controlling wheel slip, the means for controlling wheel slip including;
means for determining an open loop wheel slip limit value andmeans for limiting the wheel slip of the left and right wheels by (A) limiting the slip of one of the right and left wheels at the open loop wheel slip limit and (B) limiting the slip of the other one of the left and right wheels at a slip limit at which the actual ratio of the left and right wheel speeds is equal to the desired ratio.
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Accused Products
Abstract
A wheel slip control system for the left and right wheels common to an axle of a vehicle establishes a desired turning radius by controlling the wheel slip limit so as to establish the outer to inner wheel speed ratio ωo /ωi to a desired value (Rd +d)/(Rd -d) where Rd is the desired turning radius and 2d is the distance between the wheels. The desired steering radius is based upon the operator steering input and a desired understeer value.
44 Citations
5 Claims
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1. A wheel slip control system for controlling the slip of a left wheel and a right wheel of an axle of a vehicle having a steering wheel positionable by a vehicle operator, the system comprising:
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means for measuring a steering angle of the steering wheel and supplying a steering angle signal as an indication of the steering angle; means for measuring right and left wheel speeds and supplying wheel speed signals ω
r and ω
l as indications of said right and left wheel speeds, respectively;means for determining a desired turning radius Rd in response to the steering angle signal; means for determining a desired ratio D of the left and right wheel speeds to establish the desired turning radius Rd ; means for comparing the desired ratio of the left and right wheel speeds and an actual ratio of the left and right wheel speeds indicated by the wheel speed signals ω
r and ω
l ; andmeans for controlling wheel slip, the means for controlling wheel slip including; means for determining an open loop wheel slip limit value and means for limiting the wheel slip of the left and right wheels by (A) limiting the slip of one of the right and left wheels at the open loop wheel slip limit and (B) limiting the slip of the other one of the left and right wheels at a slip limit at which the actual ratio of the left and right wheel speeds is equal to the desired ratio.
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2. A wheel slip control system for controlling the slip of a left wheel and a right wheel of an axle of a vehicle having a steering wheel positionable by a vehicle operator, the system comprising:
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means for measuring a steering angle of the steering wheel and supplying a steering angle signal as an indication of the steering angle δ
;means for measuring right and left wheel speeds and supplying wheel speed signals ω
r and ω
l as indications of said right and left wheel speeds, respectively;means for determining vehicle speed V; means for determining a desired turning radius Rd as a predetermined function of the steering angle δ
, the vehicle speed V and a desired understeer coefficient Kud ;means for determining a desired ratio D of the left and right wheel speeds to establish the desired turning radius Rd ; means for comparing the desired ratio D and a ratio ω
l /ω
r ; andmeans for controlling wheel slip, the means for controlling wheel slip including means for limiting the wheel slip of the left and right wheels by (A) limiting the slip of one of the right and left wheels at an open loop wheel slip limit value λ
* and (B) limiting the slip of the other one of the left and right wheels at a lower slip limit value at which the ratio ω
l /ω
r is equal to the ratio D. - View Dependent Claims (3, 4, 5)
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Specification