# US 2017/0282970 A1 · Vehicle adaptive steering control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0282970 A1 - Document ID: US20170282970A1 - Status: Published application - Kind: A1 - Application number: 15/085,490 - Filed: 2016-03-30 - Published: 2017-10-05 - Earliest claimed: 2016-03-30 - Assignees: Nissan North America, Inc. - Applicants: Nissan North America, Inc. - Inventors: Andre YANEZ - Web page: https://patentgrep.com/patent/US20170282970A1 ## CPC - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 5/001: {Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup} - B62D 5/0418: {Electric motor acting on road wheel carriers} - B62D 5/0457: {characterised by control features of the drive means as such} - B62D 6/06: responsive only to vehicle vibration dampening arrangements (steering dampers for cycles B62K21/08) - B62D 7/159: {characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition} - B62D 7/18: Steering knuckles; King pins - B62D 17/00: Means on vehicles for adjusting camber, castor, or toe-in - 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 vehicle adaptive steering control apparatus includes a front wheel steering mechanism having a right wheel steering portion and a left wheel steering portion that are independently operable relative to one another. A load detection device measures a condition indicative of vehicle loads at one of the following: the left and right suspension structures and the front wheel steering mechanism. A controller in electronic communication with a steer-by-wire steering wheel assembly, the front wheel steering mechanism and the load detection device, calculates toe angle adjustments for each of the right wheel steering portion and the left wheel steering portion in response to determining a load on each of a left front wheel and a right front wheel based on signals from the load detection device. The controller further makes the toe angle adjustments via changes in turning and steering movements effected by the front wheel steering mechanism. ## Claims ### Claim 1 A vehicle adaptive steering control apparatus, comprising: a steer-by-wire steering wheel assembly; a front wheel steering mechanism in electronic communication with the steer-by-wire steering wheel assembly, the front wheel steering mechanism having a right wheel steering portion and a left wheel steering portion, the right wheel steering portion and the left wheel steering portion being independently operable relative to one another; a left front wheel rotatably coupled to the left wheel steering portion; a right front wheel rotatably coupled to the right wheel steering portion; a left front suspension structure coupled to the left front wheel; a right front suspension structure coupled to the right front wheel; a load detection device configured to measure a condition indicative of vehicle loads at one of the following: the left and right suspension structures and the front wheel steering mechanism; and a controller in electronic communication with the steer-by-wire steering wheel assembly, the front wheel steering mechanism and the load detection device, the controller calculating toe angle adjustments for each of the right wheel steering portion and the left wheel steering portion in response to determining a load on each of the left front wheel and the right front wheel based on signals from the load detection device, the controller further making the toe angle adjustments via changes in turning and steering movements effected by the front wheel steering mechanism. ### Claim 2 (depends on 1) The vehicle adaptive steering control apparatus according to claim 1, wherein the load detection device includes sensors installed to coil springs of the left and right suspension structures, and the controller determines the load on the left front wheel and the right front wheel based on measurements of the sensors installed to the coil springs. ### Claim 3 (depends on 1) The vehicle adaptive steering control apparatus according to claim 1, wherein the front wheel steering mechanism includes a right side electric motor that effects positioning of the right wheel steering portion and a left side electric motor that effects positioning of the left wheel steering portion, the load detection device includes left and right detection circuits that measure resistive forces within each of the right side electric motor and the left side electric motor, and the controller determines the load on the left front wheel and the right front wheel based on measurements of the resistive forces of the left and right detection circuits. ### Claim 4 (depends on 1) The vehicle adaptive steering control apparatus according to claim 1, wherein the load detection device includes a right side sensor installed to a connecting arm of the right side steering portion and a left side sensor installed to a connecting arm of the left side steering portion, the right side sensor and the left side sensor being configured to measure strain on each of the connecting arms, and the controller determines the load on the left front wheel and the right front wheel based on signals from the left and right side sensors. ### Claim 5 (depends on 1) The vehicle adaptive steering control apparatus according to claim 1, further comprising: a vehicle speed sensor; and a vehicle yaw sensor, the controller being connected to both the vehicle speed sensor and the vehicle yaw sensor, the controller further determining the loads on the left front wheel and the right front wheel based on measurements from the vehicle speed sensor and the vehicle yaw sensor. ### Claim 6 (depends on 1) The vehicle adaptive steering control apparatus according to claim 1, further comprising: a rear wheel steering mechanism in electronic communication with the steer-by- wire steering wheel assembly, the rear wheel steering mechanism having a right rear wheel steering portion and a left rear wheel steering portion, the right rear wheel steering portion and the left rear wheel steering portion being independently operable relative to one another; a left rear wheel rotatably coupled to the left rear wheel steering portion; a right rear wheel rotatably coupled to the right rear wheel steering portion; a left rear suspension structure coupled to the left rear wheel; a right rear suspension structure coupled to the right rear wheel; and a second load detection device configured to measure a condition indicative of vehicle loads at one of the following: the left rear and right rear suspension structures and the rear wheel steering mechanism, wherein the controller is in electronic communication with the rear wheel steering mechanism and the second load detection device, the controller calculating and effecting toe angle adjustments of each of the right rear wheel steering portion and the left rear wheel steering portion in response to determining a load on the left rear wheel and the right rear wheel based on measurements from the second load detection device. ### Claim 7 A vehicle adaptive steering control apparatus, comprising: a steer-by-wire steering wheel assembly; a front wheel steering mechanism in electronic communication with the steer-by-wire steering wheel assembly, the front wheel steering mechanism having a right wheel steering portion and a left wheel steering portion, the right wheel steering portion and the left wheel steering portion being independently operable relative to one another; a left front wheel rotatably supported by a left front steering knuckle having a wheel bearing assembly coupled to the left wheel steering portion; a right front wheel rotatably supported by a left front steering knuckle having a wheel bearing assembly coupled to the right wheel steering portion; a left front suspension structure coupled to the left front wheel; a right front suspension structure coupled to the right front wheel; a load detection device configured to measure a condition indicative of vehicle loads, the load detection device being spaced apart from and separate from the left and right front steering knuckles; and a controller in electronic communication with the steer-by-wire steering wheel assembly, the front wheel steering mechanism and the load detection device, the controller calculating toe angle adjustments for each of the right wheel steering portion and the left wheel steering portion in response to determining loads on each of the left front wheel and the right front wheel based on signals from the load detection device. ### Claim 8 (depends on 7) The vehicle adaptive steering control apparatus according to claim 7, wherein the load detection device includes sensors installed to coil springs of the left and right suspension structures, and the controller determines the load on the left front wheel and the right front wheel based on measurements of the sensors installed to the coil springs. ### Claim 9 (depends on 7) The vehicle adaptive steering control apparatus according to claim 7, wherein the front wheel steering mechanism includes a right side electric motor that effects positioning of the right wheel steering portion and a left side electric motor that effects positioning of the left wheel steering portion, the load detection device includes left and right detection circuits that measure resistive forces within each of the right side electric motor and the left side electric motor, and the controller determines the load on the left front wheel and the right front wheel based on measurements of the resistive forces of the left and right detection circuits. ### Claim 10 (depends on 7) The vehicle adaptive steering control apparatus according to claim 7, wherein the load detection device includes a right side sensor installed to a connecting arm of the right side steering portion and a left side sensor installed to a connecting arm of the left side steering portion, the right side sensor and the left side sensor being configured to measure strain on each of the connecting arms, and the controller determines the load on the left front wheel and the right front wheel based on signals from the left and right side sensors. ### Claim 11 (depends on 7) The vehicle adaptive steering control apparatus according to claim 7, further comprising: a vehicle speed sensor; and a vehicle yaw sensor, the controller being connected to both the vehicle speed sensor and the vehicle yaw sensor, the controller further determining the loads on the left front wheel and the right front wheel based on measurements from the vehicle speed sensor and the vehicle yaw sensor. ### Claim 12 (depends on 7) The vehicle adaptive steering control apparatus according to claim 7, further comprising: a rear wheel steering mechanism in electronic communication with the steer-by-wire steering wheel assembly, the rear wheel steering mechanism having a right rear wheel steering portion and a left rear wheel steering portion, the right rear wheel steering portion and the left rear wheel steering portion being independently operable relative to one another; a left rear wheel rotatably supported by a left rear steering knuckle having a wheel bearing assembly coupled to the left rear wheel steering portion; a right rear wheel rotatably supported by a left rear steering knuckle having a wheel bearing assembly coupled to the right rear wheel steering portion; a left rear suspension structure coupled to the left rear wheel; a right rear suspension structure coupled to the right rear wheel; and a second load detection device configured to measure a condition indicative of vehicle loads, the second load detection devices being spaced apart from and separate from the left and right front steering knuckles, wherein the controller is in electronic communication with the rear wheel steering mechanism and the second load detection device, the controller calculating and effecting toe angle adjustments for each of the right rear wheel steering portion and the left rear wheel steering portion in response to determining loads on the left rear wheel and the right rear wheel based on measurements from the second load detection device. ### Claim 13 A method for vehicle adaptive steering control comprising: rotatably supporting left and right front wheels on left and right steering knuckles of a vehicle body structure; manually operating a steer-by-wire steering wheel assembly to steer and turn the vehicle body structure; employing a front wheel steering mechanism in electronic communication with the steer-by-wire steering wheel assembly to independently control movement of each of a right wheel steering portion connected to the right steering knuckle and a left wheel steering portion connected to the left steering knuckle in response to manual operation of the steer-by-wire steering wheel assembly; detecting vehicle loads of the vehicle body structure at a location spaced apart from and separate from the left and right front steering knuckles; calculating a load for each of the left front wheel and the right front wheel based the detecting of the vehicle loads; electronically determining a toe angle adjustment for each of the right wheel steering portion and the left wheel steering portion in response to calculating the load for each of the left front wheel and the right front wheel; and effecting the toe angle adjustment for each of the right wheel steering portion and the left wheel steering portion during steering and turning movements of the right and left front wheels. ### Claim 14 (depends on 13) The method for vehicle adaptive steering control according to claim 13, wherein the detecting of vehicle loads includes measuring movement of coil springs of left and right suspension structures coupled to the left and right front wheels. ### Claim 15 (depends on 13) The method for vehicle adaptive steering control according to claim 13, wherein the detecting of vehicle loads includes measuring changes in resistive forces of left and right side electric motors that effect movements of left and right wheel steering portions of the front wheel steering mechanism. ### Claim 16 (depends on 13) The method for vehicle adaptive steering control according to claim 13, wherein the detecting of vehicle loads includes measuring changes in strain on respective connecting arms of the left and right side steering portions of the front wheel steering mechanism. ### Claim 17 (depends on 13) The method for vehicle adaptive steering control according to claim 13, further comprising: detecting a vehicle speed of the vehicle body structure; and detecting a vehicle yaw of the vehicle body structure, the calculating of the loads for the left and right front wheels is further based on the detecting of the vehicle speed and the vehicle yaw. ### Claim 18 (depends on 13) The method for vehicle adaptive steering control according to claim 13, further comprising: rotatably supporting left and right rear wheels on left and right rear steering knuckles of the vehicle body structure; employing a rear wheel steering mechanism in electronic communication with the steer-by-wire steering wheel assembly to independently control movement of each of a right rear wheel steering portion connected to the right rear steering knuckle and a left wheel rear steering portion connected to the left rear steering knuckle in response to manual operation of the steer-by-wire steering wheel assembly; detecting rear vehicle loads of the vehicle body structure at a location spaced apart from and separate from the left and right rear steering knuckles; calculating a load for each of the left rear wheel and the right rear wheel based the detecting of the rear vehicle loads; electronically determining a toe angle adjustment for each of the right rear wheel steering portion and the left rear wheel steering portion in response to calculating the load for each of the left rear wheel and the right rear wheel; and effecting the toe angle adjustment for each of the right rear wheel steering portion and the left rear wheel steering portion during steering and turning movements of the right and left rear wheels.