Steering control system and method

• US 7,392,122 B2
• Filed: 04/18/2005
• Issued: 06/24/2008
• Est. Priority Date: 06/13/2002
• Status: Expired due to Term

• Current Assignee: Oshkosh Corporation
• Original Assignee: Oshkosh Corporation
• Inventors: Miller, Jeffrey J., Pillar, Duane R., Linsmeier, Catherine R., Magners, Kevin W.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US11/108,605
• Publication Number:
  US 20050234622A1
• Time in Patent Office: 1,163 Days
• Field of Search: 701/22, 701/33, 701/34, 701/36, 701/41, 701/48, 303/121, 303/131, 303/143, 303/147
• US Class Current: 701/48
• CPC Class Codes: A62C 27/00 Fire-fighting land vehicles
• CPC Class Codes: B60L 2240/70 Interactions with external data bases, e.g. traffic centres
• CPC Class Codes: B60L 3/12 Recording operating variables ; Monitoring of operating variables
• CPC Class Codes: B60L 50/15 with additional electric power supply with capacitors charged by engine-driven generators B60L50/40; with batteries charged by engine-driven generators B60L50/61
• CPC Class Codes: B60R 16/0315 using multiplexing techniques multiplexing for transmission of signals G08C15/00; multiplexing for electrical communication in general H04J
• CPC Class Codes: B60T 2270/602 ABS features related thereto
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/128 Silo or fluid transporting vehicles
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 50/0205 Diagnosing or detecting failures; Failure detection models
• CPC Class Codes: B60W 50/023 Avoiding failures by using redundant parts
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B62D 1/00 : Steering controls, i.e. means for initiating a change of direction of the vehicle
• CPC Class Codes: B62D 15/02 : Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 7/144 : for vehicles with more than two axles
• CPC Class Codes: B62D 7/1509 : with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
• CPC Class Codes: B65F 3/043 : with additional means for keeping the receptacle substantially vertical during raising
• CPC Class Codes: B65F 3/045 : Four-bar linkages
• CPC Class Codes: G07C 5/008 : communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/08 : Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y02W 30/10 : Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion

Abstract

An electronic control system may be used to control the steering angle of a vehicle wheel. The electronic control system may be used to determine that a measured speed that a steering angle of a wheel is changing exceeds a threshold speed. The electronic control system may be used to determine that a measured range of motion of the steering angle exceeds a threshold amount. The electronic control system may use an encoder to measure the position of a steering angle of a vehicle wheel.

Claims

1. An electronic control system for a vehicle comprising:

a sensor that provides information relating to a steering angle of a front vehicle wheel;

wherein the electronic control system uses the information provided by the sensor to determine whether a measured speed at which the steering angle of the front vehicle wheel is changing exceeds a steering relationship deadband; and

wherein the electronic control system is configured to turn a rear wheel in relation to the front wheel based on a steering relationship deadband determination.

2. The electronic control system of claim 1 wherein the front vehicle wheel is a first vehicle wheel, the electronic control system including an actuator capable of adjusting a steering angle of the rear vehicle wheel, and wherein the electronic control system uses the actuator to adjust the steering angle of the rear vehicle wheel based on the information provided by the sensor.

3. The electronic control system of claim 1, further comprising a learning module, wherein the learning module is configured to calculate a first threshold value required to operate a cylinder, and wherein the learning module is configured to receive a hydraulic fluid temperature from a hydraulic fluid sensor and a vehicle weight from a vehicle weight sensor and wherein the learning module calculates a second threshold value required to operate the cylinder based on the hydraulic fluid temperature and vehicle weight.

4. The electronic control system of claim 1 wherein the sensor is an encoder.

5. The electronic control system of claim 1 wherein the electronic control system uses the information provided by the sensor to determine whether a measured speed at which the steering angle of the front vehicle wheel is changing exceeds a threshold speed and wherein the threshold speed is at least about 500 degrees per second.

6. The electronic control system of claim 1 wherein the electronic control system includes

a plurality of input devices including the sensor;

a plurality of output devices;

a plurality of microprocessor based interface modules which are interconnected with each other using a communication network, the plurality of interface modules being coupled to the plurality of input devices and the plurality of output devices.

7. An electronic control system for a vehicle comprising:

a sensor that provides information relating to a steering angle of a vehicle wheel;

wherein the electronic control system uses the information provided by the sensor to determine whether a measured range of motion of the steering angle exceeds a threshold amount and wherein the threshold amount is based on normal vehicle operations; and

wherein normal vehicle operations are a vehicle operating condition that conforms to a predetermined vehicle operating condition.

8. The electronic control system of claim 7 wherein the vehicle wheel is a first vehicle wheel, the electronic control system including an actuator capable of adjusting a steering angle of a second vehicle wheel, and wherein the electronic control system uses the actuator to adjust the steering angle of the second vehicle wheel based on the information provided by the sensor.

9. The electronic control system of claim 7 wherein the sensor is a digital sensor.

10. The electronic control system of claim 7 wherein the sensor is an encoder.

11. The electronic control system of claim 7 wherein the threshold amount is no less than an actual range of motion of the steering angle.

12. The electronic control system of claim 11 wherein the actual range of motion of the steering angle is the distance between a straight ahead position of the vehicle wheel and a position where the vehicle wheel is turned to one side and is prevented from further turning due to a mechanical stop.

13. The electronic control system of claim 7 wherein the electronic control system includes

a plurality of input devices including the sensor;

a plurality of output devices;

a plurality of microprocessor based interface modules which are interconnected with each other using a communication network, the plurality of interface modules being coupled to the plurality of input devices and the plurality of output devices.

14. An electronic control system for a vehicle comprising:

an encoder that provides information relating to a steering angle of a first vehicle drive wheel;

an actuator capable of adjusting a steering angle of a second vehicle drive wheel;

wherein the electronic control system uses the actuator to adjust the steering angle of the second vehicle drive wheel based on the information provided by the encoder; and

wherein a learning module is configured to calculate a threshold value required to operate a cylinder.

15. The electronic control system of claim 14 wherein the actuator is a hydraulic actuator.

16. The electronic control system of claim 14 wherein the electronic control system includes a plurality of modes for controlling the steering angle of the second vehicle drive wheel based on the information relating to the steering angle of the first vehicle drive wheel.

17. The electronic control system of claim 16 wherein the plurality of modes includes

a first mode where the steering angle of the second vehicle drive wheel is fixed;

a second mode where the steering angle of the second vehicle drive wheel is generally opposite to movement of the steering angle of the first vehicle drive wheel; and

a third mode where the steering angle of the second vehicle drive wheel is generally similar to movement of the steering angle of the first vehicle drive wheel.

18. The electronic control system of claim 14 comprising a graphical user interface which displays a representation of the position of the steering angle of the second vehicle drive wheel.

19. The electronic control system of claim 14 wherein the electronic control system uses a locked position of the second vehicle drive wheel as a calibration point for a straight ahead position of the first vehicle drive wheel and/or the second vehicle drive wheel.

20. The electronic control system of claim 14 wherein the electronic control system includes

a plurality of input devices including the encoder;

a plurality of output devices;

a plurality of microprocessor based interface modules which are interconnected with each other using a communication network, the plurality of interface modules being coupled to the plurality of input devices and the plurality of output devices.

21. An electronic control system for a vehicle comprising:

a sensor that provides information relating to a steering angle of a vehicle wheel;

wherein the electronic control system uses the information provided by the sensor to determine whether a measured speed at which the steering angle is changing exceeds a steering relationship deadband;

wherein the electronic control system is configured to turn a rear wheel in relation to a front wheel based on a steering relationship deadband determination;

wherein a learning logic is configured to adjust a threshold value required to operate a cylinder based on at least one of a hydraulic fluid temperature and a vehicle weight; and

wherein the learning logic adjusts the threshold value based on at least one of a first difference between a first hydraulic fluid temperature and a second hydraulic fluid temperature and a second difference between a first vehicle weight and a second vehicle weight.

22. The electronic control system of claim 21 wherein the learning logic is further configured to calculate the threshold value required to operate the cylinder.

23. The electronic control system of claim 21 wherein a front mode is engaged based on a threshold vehicle speed.

24. The electronic control system of claim 21 wherein a report logic generates a vehicle status report and transmits the vehicle status report to a fleet management computer system.

25. The electronic control system of claim 21 wherein the electronic control system uses the information provided by the sensor to determine whether a measured range of motion of the steering angle exceeds a threshold amount and wherein the threshold amount is based on normal vehicle operations.