Method of and apparatus for controlling steering of a vehicle

• US 8,209,091 B2
• Filed: 01/21/2008
• Issued: 06/26/2012
• Est. Priority Date: 07/19/2007
• Status: Active Grant

• Current Assignee: Mitsubishi Heavy Industries Engineering, Ltd. (Mitsubishi Heavy Industries, Ltd.)
• Original Assignee: Mitsubishi Heavy Industries, Ltd.
• Inventors: Morichika, Shunji, Morita, Katsuaki, Yamaguchi, Masahiro, Hoshi, Mitsuaki, Katahira, Kousuke
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US12/516,243
• Publication Number:
  US 20100100267A1
• Time in Patent Office: 1,618 Days
• Field of Search: 701/19, 701/23, 701/41, 701/43, 701/70, 701/92, 701/32.3, 701/32.5, 701/33.3, 701/33.4
• US Class Current: 701/41
• CPC Class Codes: B61B 10/04 with vehicles rolling trackless on the ground
• CPC Class Codes: B62D 1/265 especially adapted for guiding road vehicles carrying loads or passengers, e.g. in urban networks for public transportation

Abstract

According to a steering control method, before starting, a pattern steering angle table on which pattern steering angles for the front and rear wheels at respective change points of the track are listed is prepared in view of a track condition, etc. from a departure point to a destination point, a vehicle is steered in accordance with a pattern steering angle read from the table, a track widthwise position of the vehicle on running is detected so as to calculate correcting steering angles by which the track widthwise position of the vehicle coincides with a desired position, and the correcting steering angles are added to pattern steering angles so as to obtain desired steering angles by which the front wheels are steered. The pattern steering angle, the corrected steering angle and the desired steering angle are calculated for each of the front and rear wheels, independent from each other.

Claims

1. A steering control method performed by a steering control apparatus for automatically steering a vehicle so as to cause the vehicle to run on a predetermined track, the vehicle incorporating steering mechanisms including actuators by means of which front and rear wheels of the vehicle run on the track, said method comprising the steps of:

preparing a pattern steering angle table on which pattern steering angles for the front and rear wheels are listed for respective change points of the track before starting, in view of a track condition, a running condition and a vehicle condition from a departure point to a destination point in order to steer the vehicle in accordance with the pattern steering angles which are read from the table at every change point while a traveled distance from the departure point is detected,

detecting a track widthwise position of the vehicle on running on the track so as to calculate correcting steering angles with which the track widthwise position of the vehicle coincides with a desired position, and

adding the correcting steering angles to the pattern steering angles so as to calculate desired steering angles in order to steer the front and rear wheels in accordance with the desired steering angles,

wherein the pattern steering angles, the correcting steering angles and the desired steering angles for the front wheels and for the rear wheels are independently calculated from each other.

2. A steering control method as set forth in claim 1, wherein the pattern steering angles in a curved track are computed in view of a geometrical steering angle obtained from a radius of curvature of the track and a space between the front and rear wheels, a speed of the vehicle running on the curved track, and a slip angle produced at a tire and affected by a cant.

3. A steering control method as set forth in claim 1, further comprising the steps of:

obtaining a distance from the departure point to each of the change points of the track based on detected number of revolutions of the wheels from the departure point to the change point, and

deriving a distance coefficient which exhibits a ratio between a known distance from a departure point to a destination point of a last running block and a number of revolutions of the wheels which has been detected in said last running block, in order to correct a distance detection error due to worn wheels.

4. A steering control method as set forth in claim 1, wherein the pattern steering angles along a transition curve between a curved track and a straight track are calculated by linear interpolation of steering angles on the curved track.

5. A steering control method as set forth in claim 1, wherein the correcting steering angles are calculated by adding a product of a deviation between the track widthwise position of the vehicle and the desired position, and a proportional gain to the product of a derivative gain and a time differential of the deviation.

6. A steering control method as set forth in claim 5, wherein the proportional gain is set to be variable in dependence upon a speed of the vehicle, the higher the vehicle speed, the smaller the proportional gain.

7. A steering control method as set forth in claim 1, wherein the correcting steering angle for the rear wheels is obtained by multiplying the correcting steering angle for the front wheel by a variable coefficient α

which is set to α

<

1 when the vehicle speed is high, but is set to α

≧

1 when the vehicle speed is low or when the vehicle runs on a curved track.

8. A steering control apparatus for a vehicle, including a steering mechanism for automatically steering front and rear wheels of the vehicle by actuators so to cause the vehicle to run on a predetermined track, said steering control apparatus comprising:

a start preparation means including

a storage means for storing therein a distance, a track condition, a running condition and a vehicle condition from a departure point to a destination point, and

a first computing means for computing pattern steering angles for the front and rear wheels at respective change points of the track from data stored in the storage means so as to prepare a pattern steering angle table on which the pattern steering angles for the front and rear wheels at the respective change points are listed,

an on-running steering control means including;

a means for detecting a track widthwise position of the vehicle,

a distance detecting means for detecting a distance from a departure point,

a second computing means for receiving steering angle data on the pattern steering angle table and distance data from the distance detecting means, for calculating a pattern steering angle at an arbitrary running point, and for receiving vehicle position data from the vehicle position detecting means so as to calculate a correcting steering angle with which the track widthwise position of the vehicle coincides with a desired position, and

a control means for controlling the actuators in accordance with the pattern steering angle and the correcting steering angle calculated by the second computing means,

wherein the on-running steering control means is provided independently to each of the front and rear wheels.

9. A steering control apparatus as set forth in claim 8, further comprising a vehicle weight detecting means for delivering detection data to the computing means in the start preparation means.

10. A steering control apparatus as set forth in claim 8, wherein the means for detecting track widthwise position is adapted to be mounted on the vehicle to detect a track widthwise relative position with respect to a ground structure which is laid along the track with such a positional relationship that the relative position to the track is not changed.

11. A steering control apparatus as set forth in claim 10, further comprising a fail-safe mechanism that includes

a protection track laid on the track, and

protection wheels adapted to be provided underneath the vehicle to travel along the protection track,

wherein the track widthwise position detecting means is adapted to be mounted to a lower portion of the vehicle at a position located in the protection track so as to detect track widthwise distances to left and right walls of the protection track in order to detect a track widthwise position of the vehicle.