Steering angle control apparatus
First Claim
1. A steering angle control apparatus for controlling steering angles of front wheels and rear wheels of a vehicle, said apparatus comprising:
- a yaw rate detection means for detecting a detected yaw rate occurring in said vehicle;
a first yaw rate estimation means for estimating a desired yaw rate for causing said vehicle to drive stably;
a second yaw rate estimation means for estimating an ideal yaw rate of said vehicle for assuming an ideal driving condition;
a disturbance estimation means for estimating a yaw rate disturbance which causes said detected yaw rate to deviate from said ideal yaw rate;
a yaw rate compensation means for compensating said desired yaw rate based on said yaw rate disturbance to produce a compensated desired yaw rate; and
steering angle control means for controlling said steering angles based on said compensated desired yaw rate.
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Accused Products
Abstract
A steering angle control apparatus for controlling steering angles of front wheels and rear wheels of a vehicle includes a yaw rate detector for detecting an actual yaw rate of the vehicle. A desired yaw rate calculator estimates a desired yaw rate for causing the vehicle to drive stably. A yaw rate disturbance calculator calculates a yaw rate disturbance which causes the detected yaw rate to deviate from an ideal yaw rate of the vehicle assuming driving in ideal driving conditions. A desired yaw rate compensator compensates the desired yaw rate based on the calculated yaw rate disturbance and produces a compensated yaw rate so that the desired yaw rate tracks the compensated yaw rate.
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Citations
13 Claims
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1. A steering angle control apparatus for controlling steering angles of front wheels and rear wheels of a vehicle, said apparatus comprising:
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a yaw rate detection means for detecting a detected yaw rate occurring in said vehicle; a first yaw rate estimation means for estimating a desired yaw rate for causing said vehicle to drive stably; a second yaw rate estimation means for estimating an ideal yaw rate of said vehicle for assuming an ideal driving condition; a disturbance estimation means for estimating a yaw rate disturbance which causes said detected yaw rate to deviate from said ideal yaw rate; a yaw rate compensation means for compensating said desired yaw rate based on said yaw rate disturbance to produce a compensated desired yaw rate; and steering angle control means for controlling said steering angles based on said compensated desired yaw rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A steering angle control apparatus for controlling the steering angles of front wheels and rear wheels of a vehicle, said apparatus comprising:
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a yaw rate detection means for detecting a detected yaw rate occurring in said vehicle; a first yaw rate estimation means for estimating a desired yaw rate for causing said vehicle to drive stably; a second yaw rate estimation means for estimating an ideal yaw rate of said vehicle assuming an ideal driving condition; a disturbance estimation means for estimating a yaw rate disturbance which causes said detected yaw rate to deviate from said ideal yaw rate; yaw rate compensation means for compensating said desired yaw rate based on said yaw rate disturbance to produce a compensated desired yaw rate; and a steering means steering said front and rear wheels; and a steering angle determination means for determining first and second steering angles at which said steering means steers said front and rear wheels, respectively, based on said compensated desired yaw rate.
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Specification