# US 10,766,527 B2 · Steering angle controller > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,527 B2 - Document ID: US10766527B2 - Status: Granted - Kind: B2 - Application number: 16/058,485 - Filed: 2018-08-08 - Published: 2019-02-21 - Granted: 2020-09-08 - Earliest claimed: 2017-08-18 - Assignees: Volkswagen Aktiengesellschaft - Applicants: Volkswagen Aktiengesellschaft - Inventors: Dirk Dreyer - Web page: https://patentgrep.com/patent/US10766527B2 ## CPC - B62D 6/08: responsive only to {driver} input torque - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 6/007: {adjustable by the driver, e.g. sport mode} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A steering angle controller which controls an actual value to a desired value, wherein the steering angle controller outputs, as an output signal, an actuating signal for power electronics to control an electric servo motor, wherein the actual value is a steering angle or a measurement variable corresponding to the steering angle and the desired value is a steering angle request or measurement variable request, wherein the steering angle controller is assigned at least one memory which stores at least two different control algorithms. ## Claims ### Claim 1 A steering angle controller of a transportation vehicle that controls an actual steering angle value of the transportation vehicle based on a desired steering angle value, the controller comprising: at least one memory that stores at least first and second control algorithms for controlling a steering angle adjustment behavior, wherein the first control algorithm causes the steering angle adjustment behavior to be a sporty driving behavior and the second control algorithm causes the steering angle adjustment behavior to be a comfortable driving behavior, wherein the steering angle controller is configured to, in response to receiving a signal indicating a manual selection of one of the first and second control algorithms when the transportation vehicle is operating autonomously, generate and output an output signal according to the selected one of the first and second control algorithms, wherein the output signal according to the selected one of the first and second control algorithms is an actuating signal for power electronics to control an electric servo motor according to the steering angle adjustment behavior associated with the selected one of the first and second control algorithms, and wherein the actual steering angle value is a steering angle or a measurement variable corresponding to the actual steering angle and the desired steering angle value is a steering angle request or measurement variable request. ### Claim 2 (depends on 1) The steering angle controller of claim 1, wherein the steering angle controller is configured to enable automatic selection of the control algorithm of the at least two different control algorithms based on at least one driving state variable of the transportation vehicle. ### Claim 3 (depends on 1) The steering angle controller of claim 1, wherein the corresponding measurement variable is a gear rack position of the transportation vehicle. ### Claim 4 A method for controlling steering angle of a transportation vehicle using a steering angle controller, the method comprising: controlling, by a processor of the steering angle controller, an actual steering angle value to approach a desired steering angle value, wherein the actual steering angle value is a steering angle or a measurement variable corresponding to the actual steering angle and the desired steering angle value is a steering angle request or measurement variable request, wherein controlling includes controlling, during a transition from the actual steering angle value to the desired steering angle value, a steering angle adjustment behavior to be according to one of a first control algorithm and a second control algorithm stored in a memory of the steering angle controller, wherein the first control algorithm causes the steering angle adjustment behavior to be a sporty driving behavior and the second control algorithm causes the steering angle adjustment behavior to be a comfortable driving behavior, and in response to receiving a signal indicating a manual selection of one of the first and second control algorithms when the transportation vehicle is operating autonomously, generating and outputting an output signal according to the selected one of the first and second control algorithms, wherein the output signal is an actuating signal for power electronics to control an electric servo motor according to the steering angle adjustment behavior associated with the selected one of the first and second control algorithms. ### Claim 5 (depends on 4) The method of claim 4, further comprising the steering angle controller automatically selecting a control algorithm of the at least two different control algorithms based on at least one driving state variable of the transportation vehicle. ### Claim 6 (depends on 4) The method of claim 4, wherein the corresponding measurement variable is a gear rack position of the transportation vehicle. ### Claim 7 (depends on 1) The steering angle controller of claim 1, wherein controlling the steering angle adjustment behavior includes setting how quickly the desired steering angle value is set and/or whether the desired steering angle value is set with or without overshooting. ### Claim 8 (depends on 1) The steering angle controller of claim 1, wherein the driving state signal includes speed, acceleration, or a load of the transportation vehicle. ### Claim 9 (depends on 1) The steering angle controller of claim 1, wherein the desired steering angle value is based on a trajectory to be moved along and corresponds to a natural driving behavior. ### Claim 10 (depends on 4) The method of claim 4, wherein controlling the steering angle adjustment behavior includes setting how quickly the desired steering angle value is set and/or whether the desired steering angle value is set with or without overshooting. ### Claim 11 (depends on 4) The method of claim 4, wherein the driving state includes speed, acceleration, or a load of the transportation vehicle. ### Claim 12 (depends on 4) The method of claim 4, wherein the desired steering angle value is based on a trajectory to be moved along and corresponds to a natural driving behavior.