Method and a system for steering a wheeled vehicle
AssigneeNissan Motor Co., Ltd.
InventorsHideo Ito, Namio Irie
Life of this patent
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Abstract
A method and system for steering a wheeled vehicle having a pair of rear steering road wheels, a pair of front steering road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering wheels, wherein the pair of rear steering wheels is steered through an angle .delta.r proportioned at a ratio k to the angle .delta.f through which the pair of front steerable road wheels is steered and wherein the ratio k is given by (A-B.multidot.V.sup.2)/(C-D.multidot.V.sup.2) wherein V is a detected vehicle speed and A, B, C and D are predetermined parameters, and .delta.f is given by e.multidot..delta.f.sub.D /(1+k) when .delta.f.sub.D is the angle through which the steering wheel is turned and e is a constant.
Claims7
A method of steering a wheeled vehicle having a pair of rear steerable road wheels, a pair of front steerable road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering road wheels, comprising the steps of:
- (a) sensing the vehicle speed;
- (b) sensing the angle .delta.f.sub.D through which said steering wheel is turned;
- (c) controlling the angle .delta.f through which the pair of front steering road wheels is turned to e.multidot..delta.f.sub.D /(1+k) where e is a constant and k is a function of a detected vehicle speed;
- and
- (d) controlling the angle .delta.r through which the pair of rear steering road wheels is turned to k.multidot..delta.f.
A system for steering a wheeled vehicle having a pair of rear steerable road wheels, a pair of front steerable road wheels, and a steering wheel for controlling a steering force applied to the pair of front steering road wheels, said system comprising:
- (a) a front servomechanism for controlling the pair of front steerable road wheels;
- (b) a rear servomechanism for controlling the pair of rear steerable road wheels;
- (c) a vehicle-speed sensor for sensing the vehicle speed to output a speed signal representing the vehicle speed;
- (d) a steering wheel angle sensor for sensing the angle .delta.f.sub.D through which the steering wheel is steered to output a signal representing the steered angle;
- and
- (e) a control unit responsive to the signals from said vehicle-speed sensor and said steering wheel angle sensor for producing to said rear servomechanism a rear control signal representing the angle .delta.r through which the pair of rear steerable wheels are to be steered, and to said front servomechanism a front control signal representing the angle .delta.f through which the pair of front steerable wheels are to be steered, the rear control signal .delta.r being given by
- k.multidot..delta.f
- where k is a function of a sensed vehicle speed, and the front control signal being given by
- e.multidot..delta.f.sub.D /(1+K)
- where e is a constant and .delta.f.sub.D is the angle through which the steering wheel is turned.
Dependencies are inferred from the claim text.