Adaptive rear-wheel steer open-loop control for vehicle-trailer system
First Claim
1. A control system for providing an open-loop rear-wheel steering assist signal for a vehicle/trailer combination, said system comprising:
- a hand-wheel angle sensor for providing a hand-wheel angle signal of the position of a vehicle hand-wheel;
a vehicle speed sensor for providing a vehicle speed signal of the speed of the vehicle;
a vehicle yaw rate sensor for providing a measured vehicle yaw rate signal of the yaw rate of the vehicle; and
a controller responsive to the hand-wheel angle signal, the vehicle speed signal and the vehicle yaw rate signal, said controller generating the open-loop steering assist signal, said controller adapting the open-loop steering assist signal for different trailers or the same trailer with different configurations based only on vehicle parameters and without any trailer parameters.
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Accused Products
Abstract
A rear-wheel steering control system for a vehicle/trailer combination that adaptively changes an open-loop feed-forward command signal for different trailers or the same trailer with different configurations based only on vehicle parameters. The system includes a hand-wheel sensor for providing a hand-wheel angle signal of a hand-wheel position of the vehicle, a vehicle speed sensor for providing a vehicle speed signal of the vehicle, and a vehicle yaw rate sensor for providing a measured vehicle yaw rate signal of the vehicle. The system also determines if a vehicle yaw rate has reached a steady state and uses the steady-state yaw rate signal to calculate the rear-wheel steering command. In one embodiment, the system updates feed-forward rear/front values for a plurality of predetermined vehicle speeds when determining the proper rear-wheel steering command.
63 Citations
20 Claims
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1. A control system for providing an open-loop rear-wheel steering assist signal for a vehicle/trailer combination, said system comprising:
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a hand-wheel angle sensor for providing a hand-wheel angle signal of the position of a vehicle hand-wheel; a vehicle speed sensor for providing a vehicle speed signal of the speed of the vehicle; a vehicle yaw rate sensor for providing a measured vehicle yaw rate signal of the yaw rate of the vehicle; and a controller responsive to the hand-wheel angle signal, the vehicle speed signal and the vehicle yaw rate signal, said controller generating the open-loop steering assist signal, said controller adapting the open-loop steering assist signal for different trailers or the same trailer with different configurations based only on vehicle parameters and without any trailer parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A control system for providing an open-loop rear-wheel steering assist signal for a vehicle/trailer combination, said system comprising:
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a hand-wheel angle sensor for providing a hand-wheel angle signal of the hand-wheel position of a vehicle hand-wheel; a vehicle speed sensor for providing a vehicle speed signal of the speed of the vehicle; a vehicle yaw rate sensor for providing a measured vehicle yaw rate signal of the yaw rate of the vehicle; a steady-state processor responsive to the vehicle yaw rate signal, said steady state processor determining if the vehicle yaw rate signal has reached steady state and generating a vehicle yaw rate steady-state signal; a rear-wheel steering processor responsive to the vehicle speed signal and the hand-wheel angle signal, said rear-wheel steering processor generating nominal rear-wheel steering values; a rear-wheel adapter processor responsive to the vehicle speed signal and the vehicle steady-state signal, said rear-wheel adapter processor generating new feed-forward rear/front (R/F) ratio values; an adapter for updating the nominal rear-wheel steering values with the new feed-forward rear/front (R/F) ratio values; and a multiplier for multiplying the updated feed-forward rear/front (R/F) ratio values and the hand-wheel angle signal and generating a rear-wheel steering command signal that provides the rear-wheel steering assist signal. - View Dependent Claims (10, 11, 12)
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13. A method for providing an open-loop rear-wheel steering assist signal for a vehicle/trailer combination, said method comprising:
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providing a hand-wheel angle signal of the position of a vehicle hand-wheel; providing a vehicle speed signal of the speed of the vehicle; providing a measured vehicle yaw rate signal of the yaw rate of the vehicle; and adapting the open-loop steering signal for different trailers or the same trailer with different configurations using only vehicle parameters and without any trailer parameters by using the hand-wheel angle signal, the vehicle speed signal and the vehicle yaw rate signal. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification