Integrated torque and steering control system
First Claim
1. Apparatus for controlling wheel torque of a vehicle having at least one wheel and steering angle of the vehicle comprising:
- means for sensing desired vehicle speed;
means for sensing a desired steering angle;
means for sensing lateral acceleration of the vehicle;
means for providing a desired angular velocity for said at least one wheel of the vehicle and a desired vehicle angular velocity of the vehicle in response to said desired vehicle speed, said desired steering angle and said lateral acceleration; and
means for controlling the wheel torque and the steering angle of the vehicle in response to said desired angular wheel velocity for said at least one wheel and said desired vehicle angular velocity.
3 Assignments
0 Petitions
Accused Products
Abstract
In a preferred embodiment, the present invention relates to automatic vehicle control systems for controlling individual wheel torque and steering angle. Control is provided in response to desired forward velocity, desired steering angle, actual angular velocities of each controlled wheel, actual vehicle yaw rate, and actual vehicle lateral acceleration. A command processor uses desired forward speed, desired steering angle, and lateral acceleration to compute command angular velocities for each drive wheel and the commanded vehicle yaw rate. Further, the command signal processor monitors a tire adhesion limit. If this limit is exceeded, command signal will be reduced.
-
Citations
18 Claims
-
1. Apparatus for controlling wheel torque of a vehicle having at least one wheel and steering angle of the vehicle comprising:
-
means for sensing desired vehicle speed; means for sensing a desired steering angle; means for sensing lateral acceleration of the vehicle; means for providing a desired angular velocity for said at least one wheel of the vehicle and a desired vehicle angular velocity of the vehicle in response to said desired vehicle speed, said desired steering angle and said lateral acceleration; and means for controlling the wheel torque and the steering angle of the vehicle in response to said desired angular wheel velocity for said at least one wheel and said desired vehicle angular velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. System for controlling a vehicle with at least one wheel comprising:
-
means for providing a desired angular velocity for plural wheels of the vehicle and a desired vehicle angular velocity of the vehicle; means for detecting an actual angular velocity of each said wheel; means for detecting an actual angular velocity of the vehicle; means for determining an individual torque for each said wheel of the vehicle in response to said actual angular velocity of each said wheel and said desired angular velocity for each said wheel; and means for determining a command steering angle for at least some of the wheels of said vehicle in response to said actual and said desired angular velocities of the vehicle about a center of gravity. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
-
17. Method for controlling a vehicle with at least one wheel comprising the steps of:
-
providing a desired angular velocity for plural wheels of the vehicle and a desired vehicle angular velocity; detecting an actual angular velocity of the vehicle; determining an individual torque for said at least one wheel of the vehicle in response to an actual angular velocity of said at least one wheel and said desired angular velocity for said at least one wheel; and determining a command steering angle for said at least one wheel of said vehicle in response to said actual and said desired angular velocities of the vehicle about a center of gravity. - View Dependent Claims (18)
-
Specification