Automatic vehicle steering apparatus

• US 5,234,070 A
• Filed: 02/25/1991
• Issued: 08/10/1993
• Est. Priority Date: 02/25/1991
• Status: Expired due to Fees

• Current Assignee: TRW Inc.
• Original Assignee: TRW Limited (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Noah, Bruce C., Callahan, William L.
• Primary Examiner(s): Tyson, Karin L.
• Assistant Examiner(s): Hurley, Kevin
• Application Number:
  US07/660,665
• Time in Patent Office: 897 Days
• Field of Search: 180/131, 180/133, 180/142, 180/169, 180/142, 180/167, 364/424.02, 364/424.07
• US Class Current: 180/169
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 5/093 Telemotor driven by steering wheel movement hydraulic steering gear B62D3/14
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

A vehicle is operable in either one of two modes to control the turning of steerable vehicle wheels. During operation of the vehicle in a manual steering mode, the steerable vehicle wheels are turned in response to rotation of a steering wheel. During operation of the vehicle in an automatic steering mode, the steerable vehicle wheels are turned to maintain a predetermined relationship between the vehicle and a reference during movement of the vehicle relative to the reference. Upon initiation of operation of the vehicle in either of the two steering modes, a valve assembly is operated from an initial condition to either one of two actuated conditions to effect turning movement of the steerable vehicle wheels toward either the left or the right. During the manual steering mode, the valve assembly is operated in response to rotation of the vehicle steering wheel. During the automatic steering mode, the relationship of a vehicle to the reference outside of the vehicle is sensed and the valve assembly is operated independently of the steering wheel to maintain a predetermined relationship between the vehicle and the reference as the vehicle moves relative to the reference.

Claims

1. A vehicle steering apparatus comprising:

fluid motor mean for turning steerable vehicle wheels;

valve means operable from an initial condition to a first actuated condition to effect operation of said fluid motor means in a first direction to turn the steerable vehicle wheels in one direction and operable from the initial condition to a second actuated condition to effect operation of said fluid motor means in a second direction opposite to the first direction to turn the steerable vehicle wheels in another direction;

fluid metering means for providing a metered flow of fluid at a rate which is a function of the rate of rotation of the steering wheel to effect operation of said fluid motor means at a rate which is a function of the rate of rotation of the steering wheel;

control means for sensing a relationship of the vehicle relative to a reference outside of the vehicle and for effecting actuation of said valve means between the initial condition and said first and second actuated conditions independently of the steering wheel to maintain a predetermined relationship between the vehicle and the reference during movement of the vehicle relative to the reference;

and means for interrupting operation of said control means in response to rotation of the steering wheel during operation of said control means;

said control means including electrically activated means for effecting actuation of said valve means.

2. A vehicle steering apparatus as set forth in claim 1 wherein said valve means includes a valve member, a first actuator chamber disposed adjacent to a first end portion of said valve member for receiving fluid pressure from said fluid metering means to effect movement of said valve member and operation of said valve means from the initial condition to the first actuated condition, and a second actuator chamber disposed adjacent to a second end portion of said valve member for receiving fluid pressure from said fluid metering means to effect movement of said valve member and operation of said valve means from the initial condition to the second actuated condition;

said electrically activated means includes first electrical solenoid means disposed adjacent to the first end portion of said valve member and operable under the influence of said control means to effect movement of said valve member from the initial condition to one of said actuated conditions, and second electrical solenoid means disposed adjacent to the second end portion of said valve member and operable under the influence of said control means to effect movement of said valve member from the initial condition to another of said actuated conditions.

3. A vehicle steering apparatus as set forth in claim 1, wherein said valve means including a valve member, said valve member having an initial position during the initial condition of said valve means, said valve member being movable from the initial position to a first actuated position during operation of said valve means from the initial condition to the first actuated condition, said valve member being movable from the initial position to a second actuated position during operation of said valve means from the initial condition to the second actuated condition.

4. A vehicle steering apparatus as set forth in claim 1 including means for effecting operation of said valve means from an actuated condition to the initial condition in response to operation of said fluid motor means to an extent which is a function of the amount of metered fluid flow.

5. A vehicle steering apparatus as set forth in claim 1 further including stepper motor means for operating said valve means, said control means including means for effecting operation of said stepper motor means to operate said valve means.

6. A vehicle steering apparatus as set forth in claim 5 further including clutch means operable between an engaged condition connecting the steering wheel with said stepper motor means and a disengaged condition in which said clutch means is ineffective to connect the steering wheel with said stepper motor means, said valve means being operable between the initial condition and the first and second actuated conditions under the influence of force transmitted from the steering wheel through said clutch means and said stepper motor means when said clutch means is in the engaged condition.

7. A vehicle steering apparatus as set forth in claim 1 further including signal generator means connected with the steering wheel for providing an output signal in response to rotation of the steering wheel, said control means including means for rendering said control means ineffective to operate said valve means in response to a signal from said signal generator means.

8. A vehicle steering apparatus as set forth in claim 1 further including clutch means connected with said valve means and the steering wheel, said clutch means being operable between an engaged condition in which said clutch means is effective to transmit force between the steering wheel and said valve means and a disengaged condition in which said clutch means is ineffective to transmit force between the steering wheel and said valve means, said control means including means for maintaining said clutch means in the disengaged condition during operation of said control means to maintain the predetermined relationship between the vehicle and the reference.

9. A vehicle steering apparatus as set forth in claim 1 further including conduit means for conducting a flow of fluid from said fluid metering means to said fluid motor means during operation of said fluid motor means to turn the steerable vehicle wheels.

10. A vehicle steering apparatus comprising fluid motor means for turning steerable vehicle wheels, valve means operable from an initial condition to a first actuated condition to effect operation of said fluid motor means in a first direction to turn the steerable vehicle wheels in one direction and operable from the initial condition to a second actuated condition to effect operation of said fluid motor means in a second direction opposite to the first direction to turn the steerable vehicle wheels in another direction, stepper motor means for operating said valve means, clutch means operable between an engaged condition connecting the steering wheel with said stepper motor means and a disengaged condition in which said clutch means is ineffective to connect the steering wheel with said stepper motor means, said valve means being operable under the influence of force transmitted from the steering wheel through said clutch means and said stepper motor means when said clutch means is in the engaged condition, and control means for sensing a relationship of the vehicle relative to a reference outside of the vehicle and for effecting operation of said stepper motor means to operate said valve means when said clutch means is in the disengaged condition to maintain a predetermined relationship between the vehicle and the reference during movement of the vehicle relative to the reference.

11. A vehicle steering apparatus as set forth in claim 10 further including means for interrupting operation of said control means in response to rotation of the steering wheel during operation of said control means.

12. A vehicle steering apparatus as set forth in claim 10 further including fluid metering means for providing a metered flow of fluid to said fluid motor means at a rate which is a function of the rate of rotation of the steering wheel when said clutch means is in the engaged condition and for providing a metered flow of fluid to said fluid motor means at a rate which is a function of the rate of operation of said stepper motor means when said clutch means is in the disengaged condition.

13. A vehicle steering apparatus comprising fluid motor means for turning steerable vehicle wheels, valve means operable from an initial condition to a first actuated condition to effect operation of said fluid motor means in a first direction to turn the steerable vehicle wheels in one direction and operable from the initial condition to a second actuated condition to effect operation of said fluid motor means in a second direction opposite to the first direction to turn the steerable vehicle wheels in another direction, fluid metering means for providing a metered flow of fluid at a rate which is a function of the rate of rotation of the steering wheel to effect operation of said fluid motor means at a rate which is a function of the rate of rotation of the steering wheel, control means for sensing a relationship of the vehicle relative to a reference outside of the vehicle and for effecting actuation of said valve means between the initial condition and said first and second actuated conditions independently of the steering wheel to maintain a predetermined relationship between the vehicle and the reference during movement of the vehicle relative to the reference, and clutch means connected with said fluid metering means and the steering wheel, said clutch means being operable between an engaged condition in which said clutch means is effective to transmit force between the steering wheel and said fluid metering means and a disengaged condition in which said clutch means is ineffective to transmit force between the steering wheel and said fluid metering means, said control means including means for maintaining said clutch means in the disengaged condition during operation of said control means to maintain the predetermined relationship between the vehicle and the reference.

14. A vehicle steering apparatus comprising fluid motor means for turning steerable vehicle wheels, valve means operable from an initial condition to a first actuated condition to effect operation of said fluid motor means in a first direction to turn the steerable vehicle wheels in one direction and operable from the initial condition to a second actuated condition to effect operation of said fluid motor means in a second direction opposite to the first direction to turn the steerable vehicle wheels in another direction, said valve means including a valve member having opposite end portions, fluid metering means for providing a metered flow of fluid at a rate which is a function of the rate of rotation of the steering wheel to effect operation of said fluid motor means at a rate which is a function of the rate of rotation of the steering wheel, control means for sensing a relationship of the vehicle relative to a reference outside of the vehicle and for effecting actuation of said valve means between the initial condition and said first and second actuated conditions independently of the steering wheel to maintain a predetermined relationship between the vehicle and the reference during movement of the vehicle relative to the reference, fluid pressure responsive means disposed adjacent to opposite end portions of said valve member for effecting movement of said valve member under the influence of fluid pressure conducted from said fluid metering means, and electrically actuated means disposed adjacent to opposite end portions of said valve member for effecting movement of said valve member in response to said control means.

15. A vehicle steering apparatus as set forth in claim 14 wherein said motor means including a cylinder and a piston movable within said cylinder for turning the steerable vehicle wheels, said vehicle steering apparatus including means for effecting operation of said valve means from an actuated condition to the initial condition in response to movement of said piston to an extent which is a function of the amount of metered fluid flow.

16. A vehicle steering apparatus comprising fluid motor means for turning steerable vehicle wheels, valve means operable from an initial condition to a first actuated condition to effect operation of said fluid motor means in a first direction to turn the steerable vehicle wheels in one direction and operable from the initial condition to a second actuated condition to effect operation of said fluid motor means in a second direction opposite to the first direction to turn the steerable vehicle wheels in another direction, means for providing fluid pressure to effect actuation of said valve means from the initial condition to the first actuated condition in response to rotation of a vehicle steering wheel in one direction and for providing fluid pressure to effect actuation of said valve means from the initial condition to the second actuated condition in response to rotation of the steering wheel in a direction opposite to the one direction of rotation, control means for sensing a relationship of the vehicle relative to a reference outside of the vehicle and for effecting actuation of said valve means between the initial condition and said first and second actuated conditions independently of the steering wheel to maintain a predetermined relationship between the vehicle and the reference during movement of the vehicle relative to the reference, and means for interrupting operation of said control means in response to rotation of the steering wheel during operation of said control means.

17. A vehicle steering apparatus as set forth in claim 16 wherein said valve means includes a valve member, a first actuator chamber disposed adjacent to a first end portion of said valve member for receiving fluid pressure from said means for providing fluid pressure to effect movement of said valve member and operation of said valve means from the initial condition to the first actuated condition, and a second actuator chamber disposed adjacent to a second end portion of said valve member for receiving fluid pressure from said means for providing fluid pressure to effect movement of said valve member and operation of said valve means from the initial condition to the second actuated condition, first electrical solenoid means disposed adjacent to the first end portion of said valve member and operable under the influence of said control means to effect movement of said valve member from the initial condition to one of said actuated conditions, and second electrical solenoid means disposed adjacent to the second end portion of said valve member and operable under the influence of said control means to effect movement of said valve member from the initial condition to another of said actuated conditions.

18. A vehicle steering apparatus as set forth in claim 16 further including clutch means connected with the steering wheel, said clutch means being operable between an engaged condition in which said clutch means is effective to transmit force between the steering wheel and said means for providing fluid pressure and a disengaged condition in which said clutch means is ineffective to transmit force between the steering wheel and said means for providing fluid pressure, said control means including means for maintaining said clutch means in the disengaged condition during operation of said control means to maintain the predetermined relationship between the vehicle and the reference.

19. A vehicle steering apparatus as set forth in claim 16 wherein said means for providing fluid pressure includes means for providing a metered fluid flow in an amount which is a function of the extent of rotation of the steering wheel.

20. A vehicle steering apparatus as set forth in claim 16 wherein said valve means includes a valve member having opposite end portions, fluid pressure activated means disposed adjacent to opposite end portions of said valve member for effecting movement of said valve member in response to fluid pressure conducted from said means for providing fluid pressure, and electrically actuated means disposed adjacent to opposite end portions of said valve member for effecting movement of said valve member in response to said control means.

21. A vehicle steering apparatus as set forth in claim 16 further including signal generator means connected with the steering wheel for providing an output signal in response to rotation of the steering wheel, said control means including means for rendering said control means ineffective to operate said valve means in response to a signal from said signal generator means.