US 12,759,628 B2Granted

Apparatus and method for controlling a vehicle

AssigneeZF Friedrichshafen AG

InventorDaniel Williams

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Abstract

An apparatus for controlling a vehicle has a first actuator for turning a first set of steerable vehicle wheels connected with a first axle of the vehicle. The first actuator turns the first set of steerable vehicle wheels connected with the first axle to cause the vehicle to turn and travel along a desired path. A second actuator turns a second set of steerable vehicle wheels connected with a second axle of the vehicle. A third actuator turns a third set of steerable vehicle wheels connected with a third axle of the vehicle. A control unit controls the second and third actuators connected with the second and third axles to turn the second set of steerable vehicle wheels and the third set of steerable vehicle wheels. The control unit may control the second and third actuators in response to a signal from a sensor to turn the second set and third set of steerable vehicle wheels connected with the second and third axles to eliminate, reject or reduce the yaw moment and lateral force acting on the vehicle due to an aerodynamic force.

Claims3

Dependent claims

An apparatus for controlling a vehicle comprising:

a first actuator for changing a steering angle of a first set of steerable vehicle wheels connected with a first axle of the vehicle, the first actuator changing the steering angle of the first set of steerable vehicle wheels connected with the first axle to cause the vehicle to turn and travel along a desired path;
a second actuator for changing a steering angle of a second set of steerable vehicle wheels connected with a second axle of the vehicle;
a third actuator for changing a steering angle of a third set of steerable vehicle wheels connected with a third axle of the vehicle;
a sensor that sends a signal indicative of a lateral aerodynamic force acting on the vehicle;
and
a control unit that controls the second and third actuators connected with the second and third axles to change the steering angles of the second set of steerable vehicle wheels and the third set of steerable vehicle wheels, the control unit controlling the second and third actuators in response to the signal to change the steering angles of the second set and third set of steerable vehicle wheels connected with the second and third axles and eliminate, reject or reduce the yaw moment and lateral force acting on the vehicle due to the aerodynamic force, the control unit changing the steering angle of the second set of steerable vehicle wheels to a steering angle calculated as
δ
2
=
1
C
2
⁢
(
x
a
-
x
3
x
3
-
x
2
)
⁢
F
a
and the control unit changing the steering angle of the third set of steerable vehicle wheels to a steering angle calculated as
δ
3
=
1
C
3
⁢
(
x
2
-
x
a
x
3
-
x
2
)
⁢
F
a
where x2 is the distance along an x-axis of the vehicle from a center of gravity of the vehicle to the second axle, x3 is the distance along the x-axis from the center of gravity to the third axle, xa is the distance along the x-axis from the center of gravity to the sensor and Fa is the lateral aerodynamic force acting on the vehicle.

49 more elements

A method for controlling a vehicle having a first axle with a first set of steerable vehicle wheels, a second axle with a second set of steerable vehicle wheels and a third axle with a third set of steerable vehicle wheels comprising:

sensing a lateral aerodynamic force acting on the vehicle;
changing a steering angle of the second set of steerable vehicle wheels on the second axle and changing a steering angle of the third set of steerable vehicle wheels on the third axle in response to the lateral aerodynamic force acting on the vehicle to eliminate, reject or reduce the yaw moment and lateral force acting on the vehicle due to the aerodynamic force;
and
calculating a steering angle for the second set of steerable wheels as
δ
2
=
1
C
2
⁢
(
x
a
-
x
3
x
3
-
x
2
)
⁢
F
a
calculating a steering angle for the third set of steerable wheels as
δ
3
=
1
C
3
⁢
(
x
2
-
x
a
x
3
-
x
2
)
⁢
F
a
where x2 is the distance along an x-axis of the vehicle from a center of gravity of the vehicle to the second axle, x3 is the distance along the x-axis from the center of gravity to the third axle, xa is the distance along the x-axis from the center of gravity to a sensor that senses the lateral aerodynamic force and Fa is the lateral aerodynamic force acting on the vehicle;
and
changing the steering angle of the second set of steerable vehicle wheels to the calculated steering angle for the second set of steerable vehicle wheels and changing the steering angle of the third set of steerable vehicle wheels to the calculated steering angle for the third set of steerable wheels.

49 more elements

Dependencies are inferred from the claim text.