Boots – shoes – and leggings
Patent
1991-01-11
1993-02-23
Black, Thomas G.
Boots, shoes, and leggings
180142, 180 791, B62D 504
Patent
active
051896133
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention relates to a device for adjusting the steering angle of at least one steerable wheel of a vehicle, having sensor means for detecting the locking angle of a steering wheel of the vehicle and having a controller which corrects the steering angle of the wheel generated by steering wheel adjustment as a function of a reference value which is dependent on the driving speed and the locking angle.
Conventional cars have large differences in respect of their reaction to steering commands, brake maneuvers and acceleration processes. Small sports cars react differently from, for example, large limousines. Furthermore, the reaction of a specific vehicle is dependent on the loading, on the state of its tires and on the condition of the road etc., so that the driver always has to carry out an adaptive control.
The chassis characteristics can be improved by active or semi active suspension/damping arrangements. These are to be understood as actuators lying parallel to the vehicle suspension which are influenced as a function of the driving condition variables present in each case.
In conventional vehicles, a pleasant behavior when driving around bends, namely a neutral or understeering behavior is desired.
The dynamic characteristics of a vehicle are of course also determined by means of the steering. On the one hand, it is intended to relieve the driver and on the other hand to achieve a high degree of driving safety. Thus, the German Offenlegungsschrift 37 34 477 discloses a device for controlling the steering angle of the wheels of a vehicle in which the steering wheel locking angle and the driving speed are fed to a controller via a reference value determining system, the controller driving the actuator for steerable wheels. The controller also receives data from a vehicle-monitoring system.
SUMMARY OF THE INVENTION
The device according to the present invention for adjusting the steering angle of at least one steerable wheel of a vehicle has the advantage, in contrast with the prior art of providing a neutral or understeering behavior of the vehicle when driving around bends as a result of an evaluation stage, so that, as far as possible irrespective of the respectively prevailing driving condition, no critical reaction occurs which would make the vehicle difficult or impossible to handle for the driver. Therefore, according to the invention, a vehicle which steers at least in a neutral manner is achieved. The steering angle determines the curve radius, even when the speed or the lateral acceleration of the vehicle changes. If understeering occurs, this places no particular demands on the driver, since, for example in a front wheel drive vehicle, merely an increase in the steering angle is required when driving around a bend at correspondingly high speeds. This increase is realized automatically by the subject of the invention. An understeering vehicle thus remains stable with a fixed steering angle. The reference value adaption circuit prevents an oversteering behavior from occurring since, above a critical speed, this would lead to instability with a fixed steering angle. By means of the dynamic timing function stage provided according to the invention, the correcting intervention of the controller can be determined as a function of time so that optimum conditions for driving around a bend are obtained. All in all, the current reaction of the vehicle is compared by the controller to the reaction of an ideal vehicle, the controller compensating deviations arising between the current reaction and that of the ideal model, and the t:,ming of this compensation being influenced by means of the dynamic timing function stage. Of course, in this process practical limits are placed on the controller, since if the model response of the ideal vehicle deviates too much from the reaction of the real vehicle, such large corrections are necessary that they have to be or can be limited. A limitation of this kind can be achieved by a correspondingly limited precedence of the controller
REFERENCES:
patent: 4794536 (1988-12-01), Eto et al.
patent: 4803629 (1989-02-01), Noto et al.
patent: 4840389 (1989-06-01), Kawabe et al.
patent: 4967865 (1990-11-01), Schindler
patent: 4996657 (1991-02-01), Shiraishi et al.
Black Thomas G.
Robert & Bosch GmbH
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