Algorithm for computing vehicle's steering ratio under dynamic maneuver
First Claim
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1. A method for mapping a vehicle steering ratio as a function of vehicle velocity and yaw rate having the steps of:
- determining the length, L, of the wheelbase of the vehicle;
determining the understeer coefficient, Kus, of the vehicle;
accelerating the speed, U, of the vehicle past a predetermined value;
turning the vehicle steering wheel through a plurality of steering wheel angles at predetermined angular rate about a known vehicle center axis in the clockwise direction and repeat in the counterclockwise direction;
measuring the yaw rate, r, of the vehicle at each one of the plurality of predetermined steering wheel angles;
calculating the front tire steer angles, δ
{f}, of the vehicle according to the equation
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Abstract
For a motor vehicle 10, a method for generating a map of a vehicle'"'"'s dynamic steering ratio as a function of vehicle velocity and yaw rate. The steering ratio accounts for vehicle system compliance during dynamic maneuvers. The mapping of the steering ratio is used in an algorithm to estimate the vehicle'"'"'s steering wheel angle while the vehicle is in a dynamic maneuver such as a turning maneuver. This estimation is based on the front wheel steer angles that are derived from the yaw rate and longitudinal velocity and the steering ratio.
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2 Claims
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1. A method for mapping a vehicle steering ratio as a function of vehicle velocity and yaw rate having the steps of:
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determining the length, L, of the wheelbase of the vehicle;
determining the understeer coefficient, Kus, of the vehicle;
accelerating the speed, U, of the vehicle past a predetermined value;
turning the vehicle steering wheel through a plurality of steering wheel angles at predetermined angular rate about a known vehicle center axis in the clockwise direction and repeat in the counterclockwise direction;
measuring the yaw rate, r, of the vehicle at each one of the plurality of predetermined steering wheel angles;
calculating the front tire steer angles, δ
{f}, of the vehicle according to the equation - View Dependent Claims (2)
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Current AssigneeFord Motor Company
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Original AssigneeFord Motor Company
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InventorsMadau, Dinu Petre, Ashrafi, Behrouz
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Primary Examiner(s)Louis-Jacques, Jacques H.
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Assistant Examiner(s)Broadhead, Brian J.
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Application NumberUS09/188,058Time in Patent Office1,642 DaysField of Search701/36, 701/41, 701/42, 701/44, 180/415, 180/443, 180/446US Class Current701/41CPC Class CodesB62D 15/02 Steering position indicator...
