Vehicle steer angle control system based on mathematical model

Details Vehicle steer angle control system based on mathematical model Vehicle steer angle control system based on mathematical model

1987-10-09

1989-06-20

Marmor, Charles A.

Land vehicles

Wheeled

Running gear

36442405, 180140, B62D 602

Patent

active

048403890

ABSTRACT:
A steer angle control system for a controlled vehicle comprises sensors for sensing the steering wheel angle and the vehicle speed of the controlled vehicle, a processor such as a microcomputer, and an actuator for steering the front and/or rear wheels of the controlled vehicle in response to a control signal produced by the processor. The processor includes a reference behavior determining section for determining the value of a reference output motion variable corresponding to the sensed steering wheel angle and vehicle speed by solving a reference mathematical model representing desired vehicle motion characteristics, a vehicle behavior monitoring section for determining a value of the plant output motion variable which is a linear combination of a yawing motion variable, such as a yaw rate of the controlled vehicle, and a side translational motion variable, such as a lateral acceleration of the controlled vehicle, and a controller section for producing the control signal representing a target steer angle so as to reduce an error between the reference variable and the plant variable.

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patent: 4706979 (1987-11-01), Kawabe et al.
patent: 4718685 (1988-01-01), Kawabe et al.

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