Rear steering control for vehicles with front and rear steering
AssigneeDelphi Technologies, Inc.
InventorAleksander B. Hac
Life of this patent
Estimating the term…
Abstract
The invention provides a method and computer usable medium, including a program, for steering a vehicle having driver-controlled front wheel steering and active rear wheel steering. A rear wheel steering angle static portion is determined based on a control gain and a front wheel steering angle. A slew-limited magnitude of desired lateral acceleration is determined based on a desired lateral acceleration. A multiplying factor is determined based on the slew-limited magnitude of desired lateral acceleration. A feed-forward rear steering angle is determined based on the multiplying factor, the rear wheel steering angle static portion, and a rear wheel steering angle dynamic portion.
Claims18
A method for steering a vehicle having driver-controlled front wheel steering and active rear wheel steering, comprising:
- determining a rear wheel steering angle static portion based on a control gain and a front wheel steering angle;
- determining a slew-limited magnitude of desired lateral acceleration based on a desired lateral acceleration;
- determining a multiplying factor based on the slew-limited magnitude of desired lateral acceleration;
- and
- determining a feed-forward rear steering angle based on the multiplying factor, the rear wheel steering angle static portion, and a rear wheel steering angle dynamic portion.
A computer usable medium including a program for steering a vehicle having driver-controlled front wheel steering and active rear wheel steering, comprising:
- computer readable program code for determining a rear wheel steering angle static portion based on a control gain and a front wheel steering angle;
- computer readable program code for determining a slew-limited magnitude of desired lateral acceleration based on a desired lateral acceleration;
- computer readable program code for determining a multiplying factor based on the slew-limited magnitude of desired lateral acceleration;
- and
- computer readable program code for determining a feed-forward rear steering angle based on the multiplying factor, the rear wheel steering angle static portion, and a rear wheel steering angle dynamic portion.
Dependencies are inferred from the claim text.