Automatic steering system for vehicle
First Claim
1. An automatic steering system for a vehicle having wheels, comprising:
- a movement locus setting means for storing a locus of movement of a vehicle to a target position,an electric motor for steering steerable wheels of the vehicle wheels,a control means for controlling a rotational angle of said electric motor to generate a steering angle for the wheels whereby the vehicle passes through said locus of movement, whereinsaid control means calculates said rotational angle as a function of terminal voltage and supplied current to said electric motor.
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Accused Products
Abstract
The elimination of a steering angle detector from an automatic steering system including an electric motor used as an actuator is accomplished and the steering angle of a wheel is calculated based on the rotational angle of the electric motor. In the electric motor, if a terminal voltage is represented by u; a supplied current is j; a resistance is R; an inductance is L; a rotational angle is α; and a constant depending on characteristic of the electric motor is K, the terminal voltage u is represented by the following equations: ##EQU1## If this equation is solved with respect to the rotational angle α and the inductance L having a small value is omitted, the rotational angle α is given according to the following equation: ##EQU2## The rotational angle α of the electric motor and the steering angle of the wheel are in a proportional relationship to each other and hence, if the rotational angle α is calculated from the terminal voltage u and the supplied current j to the electric motor, the steering angle of the wheel can be found. Thus, a steering angle detector can be eliminated.
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Citations
4 Claims
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1. An automatic steering system for a vehicle having wheels, comprising:
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a movement locus setting means for storing a locus of movement of a vehicle to a target position, an electric motor for steering steerable wheels of the vehicle wheels, a control means for controlling a rotational angle of said electric motor to generate a steering angle for the wheels whereby the vehicle passes through said locus of movement, wherein said control means calculates said rotational angle as a function of terminal voltage and supplied current to said electric motor. - View Dependent Claims (3, 4)
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2. An automatic steering system for a vehicle having wheels, comprising:
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a movement locus setting means for calculating a locus of movement of a vehicle to a target position, an electric motor for steering steerable wheels of the vehicle wheels, a control means for controlling a rotational angle of said electric motor to generate a steering angle for the wheels whereby the vehicle passes through said locus of movement, wherein said control means calculates said rotational angle as a function of terminal voltage and supplied current to said electric motor.
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Specification
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- Resources
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Current AssigneeHonda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
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Original AssigneeHonda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
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InventorsShimizu, Yasuo, Sakai, Katsuhiro
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Primary Examiner(s)Hurley, Kevin
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Assistant Examiner(s)ZIMMERLI, WILLIAM R
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Application NumberUS09/059,281Time in Patent Office476 DaysField of Search180/204, 180/446, 180/167, 180/168, 180/169, 701/23, 701/25, 701/41US Class Current180/204CPC Class CodesB62D 15/0235 by measuring or deriving di...B62D 15/024 Other means for determinati...B62D 15/0285 Parking performed automatic...
