Vehicle steer angle control system based on mathematical model
US4840389A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 9, 1987 |
| Grant date | Jun 20, 1989 |
| Priority date | — |
| Expiry date | Oct 9, 2007 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60G2600/042
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A steer angle control system for a controlled vehicle comprises sensors for sensing the steering wheel angle and the vehicle speed of the controlled vehicle, a processor such as a microcomputer, and an actuator for steering the front and/or rear wheels of the controlled vehicle in response to a control signal produced by the processor. The processor includes a reference behavior determining section for determining the value of a reference output motion variable corresponding to the sensed steering wheel angle and vehicle speed by solving a reference mathematical model representing desired vehicle motion characteristics, a vehicle behavior monitoring section for determining a value of the plant output motion variable which is a linear combination of a yawing motion variable, such as a yaw rate of the controlled vehicle, and a side translational motion variable, such as a lateral acceleration of the controlled vehicle, and a controller section for producing the control signal representing a target steer angle so as to reduce an error between the reference variable and the plant variable.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.