# US 12,179,836 B2 · Steering control apparatus, steering control method, and steering control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,836 B2 - Document ID: US12179836B2 - Status: Granted - Kind: B2 - Application number: 17/272,833 - Filed: 2019-08-02 - Published: 2021-11-11 - Granted: 2024-12-31 - Earliest claimed: 2018-09-03 - Assignees: Hitachi Astemo, Ltd. - Applicants: Hitachi Astemo, Ltd. - Inventors: Hiroshi Nakano; Tomoaki Fujibayashi; Kazuya Takahashi - Web page: https://patentgrep.com/patent/US12179836B2 ## CPC - B62D 13/00: Steering specially adapted for trailers (combined traction and steering hitches B60D) - B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)} - B62D 7/159: {characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition} - 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 control apparatus, a steering control method, and a steering control system according to the present invention output an instruction for generating a periodic yaw moment opposite in phase from an rolling motion occurring on a hitch vehicle including a vehicle and a trailer to a rear-wheel steering apparatus configured to control a steering angle of a rear wheel of the vehicle. ## Claims ### Claim 1 A steering control apparatus for a vehicle configured to tow a trailer, wherein the steering control apparatus acquires information regarding a yaw motion of the trailer, and outputs an instruction for generating a periodic yaw moment opposite in phase from the yaw motion of the trailer and of the magnitude corresponding to the yaw motion of the trailer to a rear-wheel steering apparatus configured to control a steering angle of a rear wheel of the vehicle based on the acquired information regarding the yaw motion of the trailer, wherein the steering control apparatus determines the yaw motion of the trailer based on an external force of the trailer that is applied to a hitch portion connecting the vehicle and the trailer and information regarding an external world around the vehicle that is acquired by an external world perception portion; wherein the steering control apparatus determines the external force of the trailer based on an estimated yaw rate of the vehicle alone and a yaw rate actually generated on the vehicle as a hitch vehicle including the vehicle and the trailer. ### Claim 2 (depends on 1) The steering control apparatus according to claim 1, wherein the steering control apparatus generates the periodic yaw moment opposite in phase from the yaw motion of the trailer with use of a force at the hitch portion connecting the vehicle and the trailer. ### Claim 3 A steering control method for a vehicle configured to tow a trailer, the steering control method comprising: acquiring information regarding a yaw motion of the trailer; and outputting an instruction for generating a periodic yaw moment opposite in phase from the yaw motion of the trailer and of the magnitude corresponding to the yaw motion of the trailer to a rear-wheel steering apparatus configured to control a steering angle of a rear wheel of the vehicle based on the acquired information regarding the yaw motion of the trailer, wherein the steering control method determines the yaw motion of the trailer based on an external force of the trailer that is applied to a hitch portion connecting the vehicle and the trailer and information regarding an external world around the vehicle that is acquired by an external world perception portion; wherein the steering control method determines the external force of the trailer based on an estimated yaw rate of the vehicle alone and a yaw rate actually generated on the vehicle as a hitch vehicle including the vehicle and the trailer. ### Claim 4 A steering control system for a vehicle configured to tow a trailer, the steering control system comprising: a vehicle motion state acquisition portion configured to acquire information regarding a motion state of the vehicle; an external world perception portion configured to acquire information regarding an external world around the vehicle; a steering control portion configured to acquire information regarding a yaw motion of the trailer that is determined based on the information regarding the motion state of the vehicle acquired by the vehicle motion state acquisition portion and the information regarding the external world around the vehicle acquired by the external world perception portion, and output an instruction for generating a periodic yaw moment opposite in phase from the yaw motion of the trailer and of the magnitude corresponding to the yaw motion of the trailer based on the acquired information regarding the yaw motion of the trailer; and a rear-wheel steering apparatus configured to acquire the instruction output from the steering control portion and control a steering angle of a rear wheel of the vehicle, wherein the steering control system determines the yaw motion of the trailer based on an external force of the trailer that is applied to a hitch portion connecting the vehicle and the trailer and information regarding an external world around the vehicle that is acquired by an external world perception portion; wherein the steering control system determines the external force of the trailer based on an estimated yaw rate of the vehicle alone and a yaw rate actually generated on the vehicle as a hitch vehicle including the vehicle and the trailer.