Land vehicles – Wheeled – Running gear
Patent
1985-09-09
1987-09-01
Love, John J.
Land vehicles
Wheeled
Running gear
280 91, 180140, 180142, B62D 602
Patent
active
046904310
ABSTRACT:
A control system for steering either or both of front wheel pair and a rear wheel pair of a controlled vehicle has a processing unit such as a microcomputer for determining a desired vehicle behavior, and an actuator unit for steering either or both of the front and rear wheel pairs under command of the processing unit. The processing unit first determines a desired value of a dynamical variable such as a yaw acceleration corresponding to sensed steering input and sensed vehicle speed by solving equations of motion of a desired vehicle obtained by setting vehicle parameters appearing in the equations to desired values determined by the desired vehicle. The processing unit further determines a desired value of a steering angle of at least one of the front and rear wheel pairs which is required to achieve the desired value of the dynamical variable by solving equations of motion obtained by setting the vehicle parameters equal to actual values determined by the controlled vehicle. The control system further has an actual behavior sensor for sensing an actual value of the yaw acceleration or other dynamical variable of the controlled vehicle, and an adjuster for adjusting the actual values of one or more vehicle parameters used in determining the desired steering angle, in accordance with the actual value of the dynamical variable.
REFERENCES:
patent: 3011579 (1961-12-01), Milliken
patent: 3866706 (1975-02-01), Lincke
patent: 3897846 (1978-08-01), Inoue
patent: 4412594 (1983-11-01), Furukawa
patent: 4418780 (1983-12-01), Ito
patent: 4441572 (1984-04-01), Ito
patent: 4476529 (1984-10-01), Nakamura
Inoue Naohiko
Ito Ken
Ferriter Karin L.
Love John J.
Nissan Motor Co,. Ltd.
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