Method and apparatus for controlling active rear steering
First Claim
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1. An active rear steering control system for a vehicle, comprising:
- a front steering angle sensor configured to measure a front steering angle of the vehicle;
a yaw rate sensor configured to measure a yaw rate of the vehicle;
a speed sensor configured to measure a speed of the vehicle; and
a controller comprising instructions that, when executed by a processor, cause the processor to at least;
calculate a first rear steering angle based on the front steering angle;
calculate a second rear steering angle based on the yaw rate;
select a marker indicative of a vehicle state, yielding a vehicle state marker, selecting the vehicle state marker including;
comparing a steering angle velocity to a steering angle velocity threshold, comparing a yaw acceleration to a yaw acceleration threshold, and comparing vehicle speed to a speed threshold;
wherein the steering angle velocity is the rate of change of the steering angle and the yaw acceleration is the rate of change of the yaw rate;
select a first shaping function associated with the first rear steering angle based on the vehicle state marker and the first rear steering angle;
select a second shaping function associated with the second rear steering angle based on the vehicle state marker and the second rear steering angle; and
calculate a rear steering command based on the first rear steering angle, the second rear steering angle, the first shaping function, and the second shaping function.
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Abstract
A controller of an active rear steering (ARS) control system includes a processor and a software module. The software module includes instructions that, when executed by the processor, cause the processor to determine rear steering angles, determine a vehicle state, determine shaping functions, and determine a rear steering command.
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Citations
16 Claims
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1. An active rear steering control system for a vehicle, comprising:
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a front steering angle sensor configured to measure a front steering angle of the vehicle; a yaw rate sensor configured to measure a yaw rate of the vehicle; a speed sensor configured to measure a speed of the vehicle; and a controller comprising instructions that, when executed by a processor, cause the processor to at least; calculate a first rear steering angle based on the front steering angle; calculate a second rear steering angle based on the yaw rate; select a marker indicative of a vehicle state, yielding a vehicle state marker, selecting the vehicle state marker including; comparing a steering angle velocity to a steering angle velocity threshold, comparing a yaw acceleration to a yaw acceleration threshold, and comparing vehicle speed to a speed threshold; wherein the steering angle velocity is the rate of change of the steering angle and the yaw acceleration is the rate of change of the yaw rate; select a first shaping function associated with the first rear steering angle based on the vehicle state marker and the first rear steering angle; select a second shaping function associated with the second rear steering angle based on the vehicle state marker and the second rear steering angle; and calculate a rear steering command based on the first rear steering angle, the second rear steering angle, the first shaping function, and the second shaping function. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A controller of an active rear steering control system, comprising:
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a processor; and at least one software module comprising instructions that, when executed by the processor, cause the processor to at least; calculate a first rear steering angle based on a front steering angle measured by a steering angle sensor of the active rear steering control system; calculate a second rear steering angle based on a yaw rate measured by a yaw rate sensor of the active rear steering control system; select a marker indicative of a vehicle state, yielding a vehicle state marker; select a first shaping function associated with the first rear steering angle based on the vehicle state marker and the first rear steering angle; select a second shaping function associated with the second rear steering angle based on the vehicle state marker and the second rear steering angle; and calculate a rear steering command wherein the calculation of the rear steering angle includes a sum of; the first rear steering angle multiplied by the first shaping function; and the second rear steering angle multiplied by the second shaping function. - View Dependent Claims (14, 15, 16)
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Specification