Method for controlling a steering system of a vehicle
AssigneeVolvo Truck Corporation
InventorsBjörn Källstrand, Leo Laine, Leon Henderson, Patrick Volz
Life of this patent
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Abstract
The present invention relates to a method for controlling a steering system of a vehicle (100). The steering system comprises individually controllable wheel torque actuators (103, 105) on a respective left (104) and right (106) steerable wheel of the vehicle, wherein the wheel torque actuators (103, 105) are controlled during a turning maneuver of the vehicle.
Claims17
A method for controlling a steering system of a vehicle, said vehicle comprising a front axle comprising a pair of front steerable wheels on a left and right hand side of the front axle, wherein each of said steerable wheels comprises an individually controllable wheel torque actuator, said method comprising the steps of:
- determining a required steering angle for operating said vehicle during a turning maneuver;
- detecting an actual steering angle during the turning maneuver;
- determining a difference between the required steering angle and the detected, actual steering angle;
- determining, for the wheel torque actuators of the pair of front steerable wheels, a differential wheel torque required for reducing the difference between the required steering angle and the detected, actual steering angle, the differential wheel torque being determined by the steps of:
- determining a required additional steering torque of the pair of front steerable wheels for reducing the difference between the required steering angle and the detected, actual steering angle;
- and
- determining the differential wheel torque based on the required additional steering torque and a wheel suspension scrub radius of the steerable wheels;
- and
- controlling said wheel torque actuators for achieving said differential wheel torque of the steerable wheels.
A steering system of a vehicle, said vehicle comprising a front axle comprising a pair of front steerable wheels on a left and right hand side of the front axle, wherein each of said steerable wheels comprises an individually controllable wheel torque actuator, and a control unit connected to each of the wheel torque actuators, the control unit being configured to:
- determine a required steering angle for operating said vehicle during a turning maneuver;
- detect an actual steering angle during the turning maneuver;
- determine a difference between the required steering angle and the detected, actual steering angle;
- determine, for the wheel torque actuators of the pair of front steerable wheels, a differential wheel torque required for reducing the difference between the required steering angle and the detected, actual steering angle, wherein the control unit is configured to determine the differential wheel torque by:
- determining a required additional steering torque of the pair of front steerable wheels for reducing the difference between the required steering angle and the detected, actual steering angle;
- and
- determining the differential wheel torque based on the required additional steering torque and a wheel suspension scrub radius of the pair of front steerable wheels;
- and
- control the wheel torque actuators to achieve the differential wheel torque of the pair of front steerable wheels.
A vehicle comprising a front axle comprising a pair of front steerable wheels on a left and right hand side of the front axle, wherein each of said steerable wheels comprises an individually controllable wheel torque actuator, and a steering system, the steering system comprising a control unit connected to each of the wheel torque actuators, the control unit being configured to:
- determine a required steering angle for operating said vehicle during a turning maneuver;
- detect an actual steering angle during the turning maneuver;
- determine a difference between the required steering angle and the detected, actual steering angle;
- determine, for the wheel torque actuators of the steerable wheels, a differential wheel torque required for reducing the difference between the required steering angle and the detected, actual steering angle, wherein the control unit is configured to determine the differential wheel torque by:
- determining a required additional steering torque of the pair of front steerable wheels for reducing the difference between the required steering angle and the detected, actual steering angle;
- and
- determining the differential wheel torque based on the required additional steering torque and a wheel suspension scrub radius of the pair of front steerable wheels;
- and
- control the wheel torque actuators to achieve the differential wheel torque of the pair of front steerable wheels.
Dependencies are inferred from the claim text.