СПОСОБ И УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА

Группа изобретений относится к способу и устройству управления движением для управления движением транспортного средства с использованием процессора. Способ содержит: автономное управление транспортным средством, выполнение первого и второго автономных управлений. Автономное управление транспортным средством происходит посредством управления скоростью и рулевым управлением. Первое автономное управление происходит с использованием информации, распознанной из изображения, захваченного камерой, установленной на транспортном средстве. Второе автономное управление происходит с использованием картографической информации, хранящейся на носителе данных в транспортном средстве. Первое автономное управление выполняется, когда внешняя ситуация транспортного средства распознается из захваченного изображения. Когда на маршруте движения транспортного средства присутствует нераспознаваемая область, осуществляется переключение с первого автономного управления на второе автономное управление. Достигается ...

УСТРОЙСТВО ПОМОЩИ ПРИ ВОЖДЕНИИ В ПОЛОСЕ

Изобретение относится к системам помощи при вождении транспортных средств. Устройство помощи при вождении в полосе содержит модуль рулевого управления, поворотный модуль, средство определения отклонения от полосы, средство вычисления величины поворачивания для помощи при вождении, средство управления поворотом и средство логического вывода стабилизирующего крутящего момента, средство вычисления целевой силы реакции при рулении, средство управления силой реакции при рулении для управления силой реакции, средство обнаружения поперечной позиции, средство вычисления величины поворачивания. Средство вычисления целевой силы реакции при рулении вычисляет целевую силу реакции при рулении на основе характеристики силы реакции при рулении, которая задается таким образом, что стабилизирующий крутящий момент увеличивается по мере того, как увеличивается сила реакции при рулении. Достигается повышение безопасности управления транспортным средством. 4 н. и 4 з.п. ф-лы, 14 ил.

СПОСОБ СОДЕЙСТВИЯ УПРАВЛЕНИЮ АВТОТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к общей области способов содействия управлению автотранспортными средствами. Способ содействия управлению автотранспортным средством, занимающим полосу движения, в ходе которого в зависимости от элемента данных (yL), относящегося к положению автотранспортного средства относительно полосы движения, определяют поправочный крутящий момент (T) для воздействия на орган рулевого управления автотранспортного средства с учетом прикладываемого крутящего момента (Т), которым действует водитель автотранспортного средства, чтобы автотранспортное средство следовало по целевой траектории. Дополнительно определяется фильтрованный поправочный крутящий момент (T) в зависимости от указанного поправочного крутящего момента так, чтобы этот фильтрованный поправочный крутящий момент систематически имел меньшее значение по сравнению с этим поправочным крутящим моментом, когда указанный (Т) по существу противодействует указанному (T). Причем, если указанный (Т) по существу противодействует ...

ТРАНСПОРТНОЕ СРЕДСТВО С МНОЖЕСТВОМ ПРОГРАММ УПРАВЛЕНИЯ КОЛЕСАМИ

Предложено сельскохозяйственное транспортное средство (1), содержащее управляемые передние и задние колеса (3l, 3r, 4l, 4r) и устройство (9) управления поворотом для управления полюсом (13) поворота колес (3l, 3r, 4l, 4r) на основе информации о направлении движения. Устройство управления поворотом выполнено с возможностью переключения между различными программами управления поворотом колес, реализующими различные взаимосвязи между информацией о направлении движения и полюсом (13) поворота колес. Устройство (9) управления поворотом выполнено с возможностью замены программы управления поворотом колес в зависимости от события, при этом событием, которое вызывает замену программы управления поворотом колес, является достижение места, представляющего собой границу площади поля. Достигается создание транспортного средства, которое, с одной стороны, за счет возможности использования различных программ управления поворотом колес обладает гибкой и точной маневренностью и, с другой стороны, не требует ...

УСТРОЙСТВО УСИЛИТЕЛЯ РУЛЕВОГО УПРАВЛЕНИЯ

Изобретение относится к устройству усилителя рулевого управления. Устройство усилителя рулевого управления содержит механизм рулевого управления, который рулит управляемыми колесами в соответствии с операцией руления руля, электромотор, который предоставляет силу поворота при рулении для механизма рулевого управления, трансмиссионный механизм, который передает силу вращения электромотора в механизм рулевого управления, датчик крутящего момента, который определяет крутящий момент поворота при рулении, сформированный в механизме рулевого управления, и модуль управления. Модуль управления вычисляет командный ток электромотора, управляющий с возможностью приведения в действие электромотором на основе крутящего момента поворота при рулении, и выводит командный ток электромотора в электромотор. Модуль управления получает сигналы, связанные с нагрузкой по рулению во время операции руления в течение предварительно определенного интервала времени, и обнаруживает анормальность упомянутого устройства ...

УСТРОЙСТВО РУЛЕВОГО УПРАВЛЕНИЯ И СПОСОБ РУЛЕВОГО УПРАВЛЕНИЯ

Группа изобретений относится к устройству и способу рулевого управления транспортным средством, включающим в себя функцию сокращения холостого хода для остановки холостого хода двигателя 91 и повторного запуска двигателя 91, когда транспортное средство начинает движение. Когда двигатель 91 находится в рабочем состоянии, муфта расцепляется, и управление приведением в действие поворотного исполнительного механизма выполняется, а когда двигатель 91 находится в остановленном состоянии, муфта вводится в зацепление, и управление приведением в действие поворотного исполнительного механизма прекращается. Разъединенное состояние муфты поддерживается, когда работа двигателя 91 на холостом ходу прекращается посредством функции сокращения холостого хода. Обеспечивается способствование большей тишине во внутреннем пространстве транспортного средства в режиме сокращения холостого хода. 2 н. и 7 з.п. ф-лы, 10 ил.

СМЕНА ПОЛОСЫ ДВИЖЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к транспортным системам. Компьютер и способ смены полосы движения для транспортного средства содержат этапы, на которых оценивают запрошенную смену полосы движения транспортного средства на основании радиуса изгиба текущей полосы движения главного транспортного средства и по меньшей мере одного из ограничения движения транспорта, включающего в себя запрет смены полосы движения, погодного условия и условия наружного освещения и приводят в действие компоненты транспортного средства для выполнения смены полосы движения после определения, что оценка является меньшей, чем предопределенное пороговое значение. Достигается безопасная смена полосы движения для транспортного средства. 2 н. и 15 з.п. ф-лы, 5 ил.

СПОСОБ УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА И УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к способу управления движением. Способ управления движением транспортного средства содержит установку множества пороговых значений отмены, соответствующих соответствующим сценам движения, причем пороговые значения отмены используются для отмены автономного управления рулевым управлением и перехода к ручному управлению водителем, обнаружение сцены движения транспортного средства во время выполнения автономного рулевого управления, извлечение порога отмены, соответствующего обнаруженной сцене движения, из множества установленных пороговых значений отмены и определение на основе извлеченного порога отмены, отменять ли автономное управление рулевым управлением и переходить к ручному управлению водителем. Автономное управление рулевым управлением отменяется и переходит к ручному управлению водителем, когда крутящий момент рулевого колеса, управляемого водителем, превышает стандартный порог отмены, сцена движения включает в себя первую сцену движения из области, находящейся ...

СИСТЕМА И СПОСОБ УПРАВЛЕНИЯ РУЛЕВЫМ МЕХАНИЗМОМ ТРАНСПОРТНОГО СРЕДСТВА В АВТОНОМНОМ РЕЖИМЕ ДВИЖЕНИЯ

... 1. Система для управления рулевым механизмом транспортного средства, выполненного с возможностью функционировать в автономном режиме, которая включает в себя компьютер с процессором и запоминающим устройством, выполненный с возможностью:выдавать команды рулевому механизму транспортного средства в условиях автономного режима движения;получать по крайней мере одно первое значение параметра для управления рулевым механизмом и применять это значение параметра при задействовании рулевого механизма;собирать данные, относящиеся к функционированию транспортного средства, и на их основании определять по крайней мере одно второе значение параметра для управления рулевым механизмом.2. Система по п. 1, в которой компьютер дополнительно выполнен с возможностью сравнения первого значения параметра со вторым значением параметра и в зависимости от результатов сравнения применять второе значение параметра при задействовании рулевого механизма.3. Система по п. 1, в которой по крайней мере один параметров ...

РЕЗЕРВИРОВАНИЕ ДЛЯ АВТОМАТИЧЕСКИХ ОПЕРАЦИЙ ТРАНСПОРТНОГО СРЕДСТВА

... 1. Система, содержащая контроллер для подсистемы транспортного средства, содержащий процессор и память, причем память хранит инструкции, выполняемые процессором, чтобы:принимать первое сообщение и второе сообщение, при этом, первое сообщение включает в себя по меньшей мере команду для контроллера, а второе сообщение включает в себя по меньшей мере целевое значение для достижения контроллером;выявлять неисправность в отношении первого сообщения; илокально определять настройку для подсистемы, чтобы добиваться целевого значения.2. Система по п. 1, в которой подсистема транспортного средства является одной из подсистемы рулевого управления, тормозной подсистемы и подсистемы силовой передачи.3. Система по п. 1, в которой неисправность является по меньшей мере одним из неспособности принимать сообщение, ошибки в сообщении и отправки системой неисправности.4. Система по п. 1, в которой целевое значение является одним из скорости, ускорения, замедления, кривизны, крутящего момента на колесах, крутящего ...

Способ автоматического регулирования схождения управляемых колёс автотранспортного средства в процессе движения

Изобретение относится к транспортным средствам. Способ автоматического регулирования схождения управляемых колёс автотранспортного средства в процессе движения заключается в том, что непрерывно измеряют и сравнивают с помощью электрического моста между собой боковые силы, действующие на управляемые колеса. Дисбаланс моста вызывает подачу напряжения на катушку привода и его устраняют реверсивным механизмом изменения рабочей длины поперечной рулевой тяги. Привод, воздействующий на золотник распределительного устройства, включают импульсно, и после каждого включения золотник распределительного устройства возвращается в среднее положение. Регулирующее воздействие отключают до достижения оптимального значения схождения управляемых колёс на промежуток времени инерционного дорегулирования, зависящий от режима и условий движения автотранспортного средства. Достигается повышение точности регулирования параллельности плоскостей вращения управляемых колёс при различных режимах и условиях движения.

СПОСОБ УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА И УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к способам управления движением транспортных средств и устройствам управления движением транспортных средств. Способ управления движением транспортного средства содержит определение того, собирается ли транспортное средство въехать на полосу движения, на которой предусмотрен пункт взимания платы, и после того как определено, что транспортное средство собирается въехать на такую полосу движения, остановку транспортного средства в положении перед пунктом взимания платы в направлении движения транспортного средства. Устройство управления движением транспортного средства содержит камеру, блок привода, который управляет тормозным усилием транспортного средства, блок определения полосы движения, который определяет, собирается ли транспортное средство въехать на полосу движения, на которой предусмотрен пункт взимания платы, и блок управления движением, который после того как определено, что транспортное средство собирается въехать на такую полосу движения, останавливает транспортное ...

ТРАНСПОРТНОЕ СРЕДСТВО И УЗЕЛ РУЛЕВОГО КОЛЕСА (ВАРИАНТЫ)

СИСТЕМА ПРЕДОТВРАЩЕНИЯ И УМЕНЬШЕНИЯ ПОСЛЕДСТВИЙ ЗАДНЕГО СТОЛКНОВЕНИЯ

УСТРОЙСТВО УПРАВЛЕНИЯ ПРИВЕДЕНИЕМ В ДВИЖЕНИЕ ТРАНСПОРТНОГО СРЕДСТВА

Предложено устройство управления приведением в движение транспортного средства, которое выполняет управление траекторией, при котором управляемые колеса управляются таким образом, чтобы заставлять транспортное средство двигаться вдоль целевой траектории. Когда существует вероятность того, что направление движения транспортного средства может быть изменено за счет управления траекторией, по меньшей мере, одно из рабочей позиции средства ввода для руления, управляемого водителем, угла относительно вертикальной оси транспортного средства и поперечной позиции транспортного средства относительно полосы движения изменяется до того, как будет выполнено изменение направления движения, в силу этого выдавая пассажирам в транспортном средстве предварительное уведомление относительно вероятности изменения направления движения транспортного средства, вызываемого за счет управления траекторией. Достигается выдача предварительного уведомления относительно изменения направления движения транспортного средства ...

УСИЛИТЕЛЬ РУЛЕВОГО ПРИВОДА ДЛЯ БЕЗРЕЛЬСОВОГО ТРАНСПОРТНОГО СРЕДСТВА

В автомобиле 2, оснащенном гибридным приводом в виде агрегата "ДВС-генератор" 16, активное усиление рулевого привода осуществляется за счет того, что независимые приводы 8, 10 внешнего и внутреннего колес регулируются в зависимости от угла поворота управляемых колес 4, 6 путем установки разности моментов так, что фактическая процентная разность в числе оборотов колес приближается к заданной процентной разнице в числе оборотов. Вследствие того, что при повороте мощность привода на внешнем колесе 4 больше, чем на внутреннем колесе 6, прикладываемое через рулевое управление 20, 22, 12 усилие, необходимое для поворота управляемых колес, значительно меньше, чем без разности моментов. 3 з.п. ф-лы, 7 ил.

МЕХАНИЗМ УПРАВЛЕНИЯ РУЛЕВЫМ КОЛЕСОМ ДЛЯ АВТОНОМНОГО ТРАНСПОРТНОГО СРЕДСТВА

СИСТЕМА АВАРИЙНОГО РУЛЕВОГО УПРАВЛЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА

... 1. Система аварийного рулевого управления в пределах полосы для удержания движущегося со скоростью автомобильного транспортного средства в пределах полосы движения во время торможения, включающая в себя:датчик объекта для обнаружения наличия объекта на расстоянии от автомобильного транспортного средства на текущей траектории движения автомобильного транспортного средства, с помощью которого может быть определено расстояние от автомобильного транспортного средства до объекта; причем датчик объекта передает сигнал в ответ на обнаружение наличия объекта перед автомобильным транспортным средством и предоставляет данные, на основании которых определяется расстояние от автомобильного транспортного средства до объекта;датчик скорости, передающий сигнал и предоставляющий данные, на основании которых определяется скорость автомобильного транспортного средства;контроллер, связанный с датчиком объекта и датчиком скорости и рассчитывающий время до контакта (ТТС) с обнаруженным объектом, исистему рулевого ...

Sensor system for dynamic control of vehicle - has pair of sensors straddling each axis and with central processor

Pairs of sensors are mounted each side of each of the three axes through the centre of gravity of the vehicle. The sensor outputs are collected by a central processing unit and the rotational and linear movements about and along each axis are computed. This enables the vehicle dynamics to be controllled, e.g. steering, active suspensions etc. The sensor pairs are directed in opposite ways and thus together provide the required information for each axis. The system can compute the dynamic condition for any selected point of the vehicle to enable, e.g. the separate suspension elements to be controlled. USE/ADVANTAGE - Predicting behaviour of motor vehicle. Centrallised control; min. of sensors; active dynamic control.

Verfahren und Vorrichtung zur Erfassung des Gierwinkels eines Fahrzeugs

Kooperative Steuervorrichtung einer motorbetriebenen Servolenkvorrichtung für ein intelligentes Einparkhilfssystem

Kooperative Steuervorrichtung (20) zur Berechnung eines Winkelgeschwindigkeits-Steuerwerts zum Steuern einer motorbetriebenen Servolenkvorrichtung (30) eines intelligenten Einparkhilfssystems (10) (SPAS = Smart Parking Assistant System), die umfasst: eine Positionssteuereinheit (22), die konfiguriert ist, um eine Ziellenkwinkelgeschwindigkeit, mit der ein Fahrzeug automatisch gesteuert werden soll, aus einem von einem Lenkwinkelsensor (40) eingegebenen Radlenkwinkel und einem von dem SPAS (10) eingegebenen angeforderten Lenkwinkel zu berechnen, eine Grenzwert-Einstellungseinheit (24), die konfiguriert ist, in Bezug auf den angeforderten Lenkwinkel eine angeforderte Lenkwinkelgeschwindigkeit sowie darauf basierend eine angeforderte Lenkwinkelbeschleunigung zu berechnen, und dazu konfiguriert ist, wenn die angeforderte Lenkwinkelbeschleunigung einen übermäßigen angeforderten Grenzeinstellungswert überschreitet, den angeforderten Lenkwinkel als einen übermäßigen Lenkwinkel zu bestimmen sowie ...

Verfahren zum Erfassen von Lenkungsfehlstellungen einer adaptiven Lenkung eines Kraftfahrzeugs

Die Erfindung betrifft ein Verfahren zum Erfassen von Lenkungsfehlstellungen einer adaptiven Lenkung eines Kraftfahrzeugs (2), wobei die adaptive Lenkung einen Lenkradwinkelsensor (4) zum Erfassen eines Wertes repräsentativ für einen Lenkradwinkel (LW), eine Einrichtung (6) zur Erfassung eines Wertes repräsentativ für einen adaptiven Winkel (AW) und einer Radwinkelerfassungseinrichtung (18) zum Erfassen eines Wertes repräsentativ für einen Radwinkel (RW) aufweist, mit den Schritten:Erfassen eines Wertes repräsentativ für den Lenkradwinkel (LW),Erfassen eines Wertes repräsentativ für den adaptiven Winkel (AW),Erfassen und/oder Bestimmen eines Wertes repräsentativ für den Radwinkel (RW),Bilden eines Vergleichswertes (VW) unter Auswertung des Wertes repräsentativ für den Lenkradwinkel (LW) und des Wertes repräsentativ für den adaptiven Winkel (AW) und des Wertes repräsentativ für den Radwinkel (RW), undErzeugen eines Fehlersignals (FS), wenn ein Vergleich des Vergleichswertes (VW) mit einem ...

Abstands- und Vorspannungseinstellung für Lenkmechanismus unter Verwendung piezoelektrischer Elemente

Ein Lenkmechanismus mit einem piezoelektrischen Element zum Einstellen von Komponentenabstand und -vorspannung basierend auf Lenkeingaben, Straßeneingaben und Betriebszeit. Das piezoelektrische Element ist zur elektrischen Einstellung im Lenkmechanismus positioniert, so dass der Abstand und die Vorspannung in Reaktion auf Lenkeingaben, Straßeneingaben und Betriebszeit elektrisch eingestellt werden können. Diese Anordnung ermöglicht niedrige Vorspannung und geringe Reibung, wenn das Fahrzeug über ebene Straßenbedingungen gefahren wird. Wenn eine raue Straßenbedingung detektiert wird, können Abstand und Vorspannung elektrisch erhöht werden, um Geräusche zu minimieren. Das offenbarte erfindungsgemäße Konzept kann in einer Vielzahl von Lenkmechanismen Anwendung finden, um NVH zu minimieren oder zu eliminieren, wenn das Fahrzeug über raue Oberflächen gefahren wird. Unter anderem kann das piezoelektrische Element in elektrischen Zahnstangenservolenksystemen oder in elektrischen Schneckenrad-( ...

LENKUNGSUNTERSTÜTZUNG BEI EINEM NICHT-SPURGEBUNDENEN FAHRZEUG.

BEDIENERAKTIONSPOSITIONIERUNGSMODUL FÜR SPURASSISTENZFUNKTION

Ein Mischlenksteuerverfahren umfasst, dass ein durch einen Bediener auf ein Handrad aufgebrachter Handraddruck geschätzt wird und ein Handraddrehmomenteingang empfangen wird, der einen durch den Bediener auf das Handrad aufgebrachten Drehmomentwert angibt. Das Verfahren umfasst auch, dass ein Soll-Handradwinkel empfangen wird, der einen Soll-Handradwinkel eines elektrischen Servolenkungssystems angibt, das ausgestaltet ist, um ein entsprechendes Fahrzeug entlang eines definierten Pfads zu steuern. Das Verfahren umfasst auch, dass ein skalierter Bedienerabsichtswert basierend auf dem geschätzten Handraddruck und dem Handraddrehmoment erzeugt wird und ein Ausgangsdrehmomentwert basierend auf dem Soll-Handradwinkel und dem skalierten Bedienerabsichtswert erzeugt wird. Das Verfahren umfasst auch, dass eine Fahrzeugtrajektorie basierend auf dem Ausgangsdrehmomentwert selektiv gesteuert wird.

FLOW CONTROL SERVO DEVICE FOR A HYDRAULIC INSTALLATION, PARTICULARLY FOR SERVO STEERING AN AUTOMOTIVE VEHICLE

Fahrunterstützungsvorrichtung und Verfahren eines Steuerns/Regelns einer Fahrunterstützungsvorrichtung

Bereitgestellt sind eine Fahrunterstützungsvorrichtung, welche dazu fähig ist, in einer bevorzugten Weise Warnvibrationen zu erzeugen, welche eine Abweichung eines Fahrzeugs in Bezug auf einen Fahrweg melden, und ein Verfahren zum Steuern/Regeln dieser. Eine Fahrunterstützungsvorrichtung (14) umfasst eine Fahrunterstützungs-Steuerungsvorrichtung/Fahrunterstützungs-Regelungsvorrichtung (140), die einen Fahrer von einer Gegen-Abweichungsrichtung oder einer Abweichungsrichtung durch Hervorrufen einer Lenkwinkelbeschleunigung (aθ) in der Abweichungsrichtung und der Lenkwinkelbeschleunigung (aθ) in der Gegen-Abweichungsrichtung, die voneinander unterschiedlich sind, wenn Warnvibrationen erzeugt werden, in Kenntnis setzt, wobei ein nach der Zeit abgeleiteter Wert eines Lenkwinkels (θstr) eines Lenkrades (20) als eine Lenkwinkelgeschwindigkeit (Vθ) definiert ist und ein nach der Zeit abgeleiteter Wert der Lenkwinkelgeschwindigkeit (Vθ) als die Lenkwinkelbeschleunigung (aθ) definiert ist.

FAHRUNTERSTÜTZUNGSVORRICHTUNG, FAHRUNTERSTÜTZUNGSSYSTEM, FAHRUNTERSTÜTZUNGSVERFAHREN, FAHRUNTERSTÜTZUNGSPROGRAMM, UND AUTOMATISCH ANGETRIEBENES FAHRZEUG

Ein Fahrer kann intuitiv und bequem eine Bedienung zum Anweisen eines Fahrspurwechsels an einem Fahrzeug durchführen. In einer Fahrunterstützungsvorrichtung (10) gibt eine Bildausgabeeinheit (14) ein Bild, welches ein eigenes Fahrzeugobjekt, welches ein eigenes Fahrzeug zeigt, und eine Vielzahl von Fahrspuren umfasst, an eine Anzeigeeinheit (31) aus. Eine Bedienungssignaleingabeeinheit (14) erhält eine Bedienung eines Benutzers zum Bewegen des eigenen Fahrzeugobjekts in dem auf der Anzeigeeinheit (31) angezeigten Bild von einer ersten Fahrspur zu einer zweiten Fahrspur. Eine Befehlsausgabeeinheit (14) gibt an eine automatische Fahrsteuereinheit 20, welche das automatische Fahren steuert, einen Befehl zum Anweisen eines Wechsels einer Fahrspur des eigenen Fahrzeugs von der ersten Fahrspur zu der zweiten Fahrspur aus., wenn die Bedienung erhalten worden ist.

Power steering system for vehicle

The power steering system is such that the switch-over action in the drive region of the position member (drive 10), which controls the steering movement, is achieved by a direct transmission process which approximates to the original steering wheel movement. The switch-over action is carried out through a 'steer by wire' function in which the first steering movement as desired by the driver is blocked and the steering movement is controlled exclusively via the servo system.

Servolenkvorrichtung

Eine Servolenkvorrichtung umfasst: eine Lenklast-Mittelwert-Berechnungsschaltung 39, die einen Lenkdrehmoment-Mittelwert Trav berechnet, der der Mittelwert des Lenkdrehmoments Tr innerhalb eines vorbestimmten Zeitintervalls ist; und eine Anomalitätsdetektionsschaltung 40, die den Lenkdrehmoment-Mittelwert Trav mit einem festgelegten Lenkdrehmomentwert Trrf vergleicht und die Anomalität der Vorrichtung detektiert, wenn der Lenkdrehmoment-Mittelwert Trav größer ist als der festgelegte Wert.

Steuereinrichtung für ein Kraftfahrzeug

Verfahren zur Regelung der Fahrstabilität eines Kraftfahrzeugs

Verfahren zur Regelung einer die Fahrstabilität eines Kraftfahrzeugs (1) repräsentierenden ersten Größe (w) auf eine erste Führungs- bzw. Sollgröße (wref), wobei - ersatzweise für die der zu regelnden ersten Größe (w) entsprechenden Istgröße wenigstens eine die Fahrstabilität des Kraftfahrzeugs (1) repräsentierende zweite Größe (w',aySp) erfasst wird, - die zweite Größe (w', aySp,ref) auf eine zweite Führungs- bzw. Sollgröße (w'ref, aySp.ref) geregelt wird, wobei - die zweite Führungs- bzw. Sollgröße (w'ref, aySp,ref) derart ermittelt wird, dass die zu regelnde erste Größe (w) den durch die erste Führungsgröße (wref) vorgegebenen Wert einnimmt. dadurch gekennzeichnet, dass - als erste den Fahrzustand repräsentierende Größe die Fahrzeuggiergeschwindigkeit (w) auf die erste Führungs- bzw. Sollgröße (wref) geregelt wird und - ersatzweise für die zu regelnde Fahrzeuggiergeschwindigkeit (w) als zweite Größe die Fahrzeuggierbeschleunigung (w') und/oder die Fahrzeugquerbeschleunigung (aySp) im ...

Elektrische Servolenkungsvorrichtung für ein Fahrzeug

Eine elektrische Servolenkungsvorrichtung für ein Fahrzeug weist Folgendes auf: eine erste Hilfslenkeinheit für das Unterstützen einer Lenkkraft, während sie eine Lenkspindel in einer Vorwärts- oder Rückwärtsrichtung mit einer Antriebskraft eines ersten Elektromotors dreht; eine zweite Hilfslenkeinheit für das Unterstützen einer Lenkkraft, während sie einen Zahnstangenstab in einer Richtung oder in einer entgegengesetzten Richtung mit einer Antriebskraft eines zweiten Elektromotors gleitend verschiebt; einen Drehmomentsensor zum Erfassen eines Rotationsdrehmoments der Lenkspindel; einen Geschwindigkeitssensor zum Erfassen einer Geschwindigkeit des Fahrzeugs; und ein elektronisches Steuergerät zum Senden eines Steuersignals für einen Zielstromwert jeweils zu dem ersten Elektromotor und dem zweiten Elektromotor in Reaktion auf Eingangssignale, die jeweils von dem Drehmomentsensor und dem Geschwindigkeitssensor eingegeben werden.

Fahrerunterstützungssystem für ein Fahrzeug

Wenn während einer autonomen Lenkregelung ein Lenkeingriff des Fahrers durchgeführt wird, bestimmt ein Fahrerunterstützungssystem für ein Fahrzeug eine P-Steuergröße auf Basis einer nicht-linearen Kennlinie und berechnet eine I-Steuergröße unter Verwendung eines Koeffizienten (C) gemäß einer Kennlinie (durchgezogene Linie). In einem Winkeldifferenzbereich (R1) wird die P-Steuergröße auf Basis der nicht-linearen Kennlinie so bestimmt, dass der Anstieg des absoluten Wertes der P-Steuergröße in Bezug auf den Anstieg des absoluten Wertes der Winkeldifferenz (Δθ) im Vergleich zu einer linearen Kennlinie geringer wird. Der Koeffizient (C) mit der Kennlinie (der durchgezogenen Linie) gibt in dem Winkeldifferenzbereich (R1) 1 an und nähert sich in einem Winkeldifferenzbereich (R2) null an, wenn der absolute Wert der Winkeldifferenz (Δθ) größer ist. Um die I-Steuergröße zu berechnen, wird der Koeffizient (C) mit dem aktuellen Wert der Winkeldifferenz (Δθ) multipliziert.

Steer-by-wire-Lenkung und Verfahren zur Einstellung eines Lenkwinkels bei einer Steer-by-wire-Lenkung

Steer-by-wire-Lenkung (1), umfassend eine Lenkhandhabe (2), einen Drehwinkelsensor (3) zur Erfassung einer Stellung der Lenkhandhabe (2), einen Aktor (4) zur Erzeugung eines Gegenmoments (M) an der Lenkhandhabe (2), einen Lenkaktor (5) zur Einstellung eines Lenkwinkels (φ) in Abhängigkeit der Daten (φ) des Drehwinkelsensors (3) an einem Stellglied (6), wobei dann das Stellglied (6) einen mechanischen Endanschlag aufweist und der Aktor (4) an der Lenkhandhabe (2) einen Software-Endanschlag realisiert, wobei zwischen Drehwinkel (φ) an der Lenkhandhabe (2) und Lenkwinkel (φ) ein Übersetzungsverhältnis (Ü) eingestellt ist, dadurch gekennzeichnet, dass zu dem eingestellten Übersetzungsverhältnis (Ü) ein positiver Deltawert (pD) ungleich null und ein negativer Deltawert (-nD) ungleich null definiert sind, wobei die Steer-by-wire-Lenkung (1) derart ausgebildet ist, dass bei einer Überdrehung der Lenkhandhabe (2) über den dem Software-Endanschlag zugeordneten Drehwinkel (φ) bei einer Richtungsumkehr ...

Kriechunterstützung für Lenkmanagement

Das Steuern eines Fahrzeuglenksystems beinhaltet das Bestimmen einer Zahnstangenposition einer Zahnstange, die zum Ausführen eines Manövers benötigt ist. Es wird eine Mindestgeschwindigkeit, die ein Erreichen des gewünschten Lenkwinkels ermöglicht, bestimmt. Die Geschwindigkeit des Fahrzeugs wird auf die bestimmte Mindestgeschwindigkeit erhöht. Die Zahnstange wird auf die benötigte Zahnstangenposition bewegt.

Rückfallbetriebsmodus für ein Verfahren für das Betreiben eines Kraftfahrzeugs mit einem aktiven Querstabilisator und einer aktiven Lenkung

Die Erfindung betrifft ein Verfahren für das Betreiben eines Kraftfahrzeugs (1) mit einem aktiven Querstabilisator (3, 4) und einer aktiven Lenkung (7, 8, 9; 11, 12), die ausgebildet ist, einen von einem Fahrer des Kraftfahrzeuges (1) vorgegebenen Lenkradstellwinkel gemäß einem vorgegebenen Lenkverhalten auf einen Lenkwinkel des Kraftfahrzeugs (1) abzubilden, ein. Das Verfahren weist wenigstens die folgenden Schritte auf: – Betreiben der aktiven Lenkung (7, 8, 9; 11, 12) in einem Normalbetriebsmodus gemäß einem Normallenkverhalten; – Prüfen auf eine Fehlfunktion des aktiven Querstabilisators (3, 4); und – wenn eine Fehlfunktion des aktiven Querstabilisators (3, 4) festgestellt wird, Betreiben der aktiven Lenkung (7, 8, 9; 11, 12) in einem Rückfallbetriebsmodus gemäß einem von dem Normallenkverhalten verschiedenen Ausnahmelenkverhalten. Die Erfindung betrifft außerdem ein Kraftfahrzeug (1), das ausgebildet ist, das erfindungsgemäße Verfahren auszuführen.

Vorrichtung und Verfahren zur Steuerung eines Rückhaltesystems in einem Kraftfahrzeug

Vorrichtung (1) zur Steuerung eines Rückhaltesystems (2) in einem Kraftfahrzeug, wobei das Rückhaltesystem mindestens einen Airbag (5), ein Airbagsteuergerät (3) und einen Beschleunigungssensor (4) aufweist, wobei dem Rückhaltesystem (2) mindestens ein Schallsensor (7, 8) zur Erfassung von Luftschall in einer Fahrzeugkabine (12) zugeordnet ist, dadurch gekennzeichnet, dass das Airbagsteuergerät (3) oder mindestens ein weiteres Steuergerät (9, 10) derart ausgebildet ist, dass in Abhängigkeit der Signale des Schallsensors (7, 8), wenn der Schallsensor (7, 8) Schallsignale aufgrund einer Kollision erfasst, wobei die Lautstärke mindestens einen Schwellwert überschreitet, mindestens ein weiteres Rückhaltemittel (6) angesteuert und/oder mindestens ein automatischer Brems- und/oder Lenkeingriff durchgeführt wird, ohne dass eine Auslöseschwelle des mindestens einen Beschleunigungssensors (4) für den Airbag (5) überschritten wurde oder nachdem der Airbag (5) bereits gezündet hat.

Method for producing a force which assists in the steering of a motor vehicle when required, and device for carrying out the method

The subject of the invention is a method for producing a force which assists in the steering of a motor vehicle when required, the force transmitted from the steering column (7) to the steering elements connected downstream being monitored in both directions of rotation of the steering column (7) for at least one threshold value, and when the threshold value is exceeded, a force which acts in the same direction as the force produced by the steering column (7) being transmitted, with hydraulically or pneumatically operating actuation elements (14), to the steering elements connected downstream. ...

Verfahren zur Positionsregelung für ein Lenksystem

Ein Verfahren zur Positionsregelung für ein elektromechanisch unterstütztes Lenksystem (10) eines Kraftfahrzeugs wird beschrieben, das eine elektromechanische Lenkunterstützung mit einem Elektromotor (24) und zumindest einen Regler (40, 40') aufweist, wobei ein vom Elektromotor (24) aufzubringendes Drehmoment (TDEM) die Stellgröße des zumindest einen Reglers (40, 40') ist, und wobei die Regelstrecke (42) für den Entwurf des zumindest einen Reglers (40') wenigstens einen den Elektromotor (24) umfassenden unteren Teil des Lenksystems (10) umfasst. Ein Frequenzgang der Regelstrecke (42) wird basierend auf einem mathematischen Modell der Regelstrecke (42) und/oder durch Vermessen der Regelstrecke (42) bestimmt. Reglerparameter des zumindest einen Reglers (40, 40') werden basierend auf dem Frequenzgang der Regelstrecke (42) angepasst. Wenigstens eine Sollposition (φref) wird generiert und/oder empfangen. Wenigstens eine Istposition (φ) wird erfasst und rückgeführt, und die Stellgröße wird mittels ...

Elektrische Servolenkung für ein Kraftfahrzeug

Verfahren zum Betreiben eines Lenksystems und Lenksystem

Vorgeschlagen werden ein Verfahren zum Betreiben eines Steer-by-Wire-Lenksystems (10) eines Kraftfahrzeugs. Das Steer-by-Wire-Lenksystem (10) umfasst ein Lenkrad (14), einen mit dem Lenkrad (14) gekoppelten Kraftrückkopplungsaktuator (12), einen mit einem lenkbaren Rad gekoppelten Lenkaktuator (16) und ein Steuerungssystem (18). Das Verfahren umfasst a) das Ermitteln einer Lenkinformation unter Einbeziehung von einem Lenkradwinkel und/oder einem vom Fahrer auf das Lenkrad aufgebrachten Fahrerlenkmoment; b) das Ansteuern des Lenkaktuators (16) unter Einbeziehung der Lenkinformation, um einen gewünschten Radlenkwinkel des lenkbaren Rades einzustellen; c) das Ansteuern des Kraftrückkopplungsaktuators (12) zur Einstellung eines Lenkradmoments (ML); sowie d) das Vorsehen eines dem Lenkradmoment (ML) und/oder dem Radlenkmoment (MR) zugeordneten Schwellwerts (40-45); e) das Erzeugen eines das Lenkradmoment (ML) und/oder das Radlenkmoment (MR) ab- oder nachbildenden Momentenwerts; und f) das Ausgeben ...

Elektrische Servolenkung für ein Fahrzeug

Fahrzeugsteuerungsystem

CHEMICAL COMPOUNDS POWER STEERING SYSTEM

Power steering system with reaction

A power steering system which includes a fluid source that supplies pressure fluid of a constant flow rate, a fluid motor for supplementing manual steering torque, a servo-valve for distributing fluid to the fluid motor, and a reaction device for applying hydraulic reaction or feeling to a steering wheel. A magnetic control valve is connected to the reaction device to control fluid pressure applied thereto in accordance with a vehicle operating condition, such a vehicle speed. A flow dividing valve serves to divide the pressure fluid of a constant flow rate in a predetermined ratio into first and second flows which are respectively directed to the servo-valve and reaction device. A bypass conduit provided with a bypass orifice is connected between the fluid source and the servo-valve in parallel relation with the flow dividing valve.

Process for determining quantities characterising vehicle travel behaviour.

Signals 401, 402, 403, 406 which represent the longitudinal acceleration ax, the vehicle velocity in the longitudinal direction Vx, the transverse acceleration ay and the yaw angular velocity OMEGA z, are fed to a computer 407 and at least one further quantity 408, 410 comprising at least the floating angle is derived on the basis of these measured quantities in the computing device 407, using a vehicle model. The floating angle beta is defined by beta = - arctan (Vy/Vx). ...

Vehicle steering by differentially driving steerable wheels

A vehicle having steerable wheels 24, 26 driven by individual motors 16, 18 has the motors controlled to create a torque imbalance in response to the steering angle to reduce the turning circle. The torque imbalance may be triggered by the approach of the steering to the full lock position. The vehicle may have a hybrid drive system with all wheels driven by electric motors.

A steering system for a motor vehicle

IMPROVEMENTS IN OR RELATING TO STEERING MECHANISMS FOR DIRIGIBLE VEHICLES

... 1,242,601. Vehicle steering mechanism. MITSUBISHI JIDOSHA KOGYO K.K. 17 May, 1968 [22 Aug., 1967; 2 Oct., 1967], No. 23724/68. Heading B7H. Lag reducing means for vehicle steering mechanism comprise a piston 62 dividing a bore 64 in a cylinder member 44 into two chambers which are filled with oil and communicate through respective passages 72, 74 with further oil chambers 76, 78 interconnected by a throttle orifice 82. Springs 70 arranged on either side of the piston 62 urge the piston into a central position in the bore 64. The cylinder member 44 is connected by a ball-joint 48 to the drop arm 18 of steering gear 12 actuated by a steering wheel 14. The piston 62 is connected through a rod 60 to the spool 58 of a control valve 30 which regulates supply of pressure fluid from a pump 34 to a steering ram 32. The spool 58 slides in a valve housing 42 carried by a cylinder member 36 which slidably supports the cylinder member 44 and is connected to a link rod 20 connected through tie rods 28 ...

Control system for optimizing operation of vehicle performance/safety enhancingsystems such as 4WS, 4WD and active suspension

Vehicular acceleration is sensed and used to set and/or modify at least two of a plurality of control sensitivity values in a manner which increases one with respect to the other and thus avoids the situation wherein a limited amount of servo power is wasted by futile operation of a servo powered arrangement which cannot produce a large control effect under the instant operating conditions and enables an adequate amount servo power to be directed to the operation of a different arrangement which can be effective.

Vehicle with activation and deactivation of driver assistance

A motor vehicle is provided with a driver assistance system and a steering wheel 10, which has sensors between a sleeve 11 and a foam layer for detecting compressive, tensile or torsional forces. The sensors are coupled to a signal evaluation unit 12. The driver assistance system is put into operation or is taken out of operation when a threshold value stored in the evaluation unit 12 is fallen below or exceeded by the signal. A controller 16 is provided, which is activated when the threshold value is exceeded or fallen below and which transitionally transfers control from driver assistance to manual control or vice versa. The vehicle typically has at least a degree of autonomous steering control for use in lane changing, for example.

Device for controlling the steering angle of a motor vehicle

Steering assistance for two wheeled vehicle

A steering assistance system 3 is provided for a two-wheeled vehicle 1 and a control 9 is provided for the steering assistance system. The steering assistance system 3 has an actuator 7, with the aid of which a steering moment can be exerted on the two-wheeled vehicle. The actuator 7 can be, for example, an electric motor interacting with a steering tube 5. The control 9 can specifically control the actuator to bring about a desired steering moment. In addition, various sensors 11, 13, 15, 19, 21 are provided to pick up riding-dynamics parameters such as, for example, a steering angle, a steering moment, accelerations on the two-wheeled vehicle or speeds of wheels of the two-wheeled vehicle. Based on the parameters picked up by the sensors, the actuator 7 can be controlled to bring about a steering moment. In this way, various comfort-and safety-related functions such as, for example, power steering, countersteering when braking on a bend in a highly inclined position, countersteering in ...

Electric power steering control apparatus for a vehicle

A method for controlling a vehicle

Enhanced steering operation

A vehicle power steering system comprises first actuator 14 engaged with a steering rack 34 and a second actuator 16 engaged with a steering column 22, and an operation mode of each is determined. The operation mode of an actuator 14, 16 is adjusted upon detecting a failure in the other actuator 16, 14, so that at least one of rack 34 and column 22 is actuated based on the operation mode. In an angle control mode, a predetermined steering angle is provided to actuators 14, 16 to adjust rack 34 according to the steering angle. In a torque control mode, a steering column torque from a torsion sensor disposed on column 22 is provided to actuators 14 16 to adjust rack 34 according to the steering column torque. Suitably, the torque control mode may be used if first actuator 14 fails, and the angle control mode may be used if second actuator 16 is used or if the steering is operated in a fully autonomous mode.

Vehicle servo steering system

A power steering system operates with a servo-valve, which responds to the wheel angle of a hand steering wheel, for the operating pressure of a steering system servo-motor and with a modulating valve operating as a function of at least one parameter, in particular the travelling speed. The modulating valve produces a reaction pressure dependent on the parameters by reducing an output pressure derived from the operating pressure. A reaction pressure due to the action on a reaction pressure surface embodied at the valve setting element of the control valve and located in a rection pressure chamber can be felt exclusively, as pressure-dependent feedback, at the hand steering wheel, because the reaction pressure chamber is connected to an operating pressure chamber of the steering system servo-motor and the operating pressure chamber via an associated valve connection of the control valve to an operating pressure source, and, at the same time, the modulating valve is inserted, in series with ...

Steering wheel feedback mechanism

A method, particularly for use with a steer-by-wire system, involves changing a steering angle (typically via an autonomous steering controller) and rotates a steering wheel to a steering wheel angle (step 425) determined based on a steering angle estimated at a preset future time (Step 405) and a ratio (step 420) of steering wheel angle to steering angle which depends at least on vehicle speed and which may also depend on roadway type (for example whether the road is a controlled access road). The future time may typically be about two seconds and the method is particularly useful for providing feedback to a human driver.

Autonomous steering system for an articulated truck

A control system (64) for a steering a work machine (20) is disclosed. The control system (64) may include a steering input device (32) configured to steer a lead machine module (22) and an articulation module (42) disposed between the lead machine module (22) and a trailing machine module (24). The control system (64) may further include a first articulation cylinder (46) and a second articulation cylinder (48) configured to actuate between a first and second articulation cylinder (48) first position and a first and second articulation cylinder (48) second position. Furthermore, an electronic controller (60) in communication with the first and second articulation cylinder (48) and programmed to transmit a control signal such that the first actuation cylinder actuates between the first cylinder first position and the first cylinder second position and the second actuation cylinder actuates between the second cylinder first position and the second cylinder second position ...

POWER-ASSISTED STEERING GEAR

PROCESS FOR THE DETERMINATION OF A TRAVEL-SITUATION-DEPENDENT STEERING ANGLE

A vehicle control system

VEHICLE DRIVING CONTROL SYSTEM

Device for controlling the steering angle of a motor vehicle

POWER-ASSISTED STEERING UNITS FOR VEHICLES

Enhanced vehicle operation

Motor control in an electric power steering

An electric power assisted steering system for a vehicle has an electric motor 11 applying assistance torque to a part of a steering assembly, a drive circuit selectively connecting motor phases to an electrical supply and a control circuit generating a control signal indicating the currents required in the motor phases. The control circuit comprises a PID controller 12 which receives a demand signal indicating required motor behaviour and outputs the control signal, and which is in a closed loop with motor 11 to minimises an error value given by the difference between demanded and actual motor behaviour. The control circuit also has a neural network with an input neuron layer receiving the demand signal, the control signal and the error value, at least one hidden neuron layer and an output neuron layer, and which is a feedforward neural network that receives at the input layer of input neurons the demand signal, the control signal, the error value and a discrete environmental variable, ...

CONTROL SYSTEM FOR A BOTTOM PLATE

ELECTROMECHANICAL STEERING ELEMENT WITH DYNAMIC GUIDANCE RECOMMENDATION

ELECTRICAL STEERING WHEEL LOCK DEVICE

TAX ENGINES IN ELECTRICAL SERVO STEERING SYSTEMS

Autonomous steering system for an articulated truck

A control system (64) for a steering a work machine (20) is disclosed. The control system (64) may include a steering input device (32) configured to steer a lead machine module (22) and an articulation module (42) disposed between the lead machine module (22) and a trailing machine module (24). The control system (64) may further include a first articulation cylinder (46) and a second articulation cylinder (48) configured to actuate between a first and second articulation cylinder (48) first position and a first and second articulation cylinder (48) second position. Furthermore, an electronic controller (60) in communication with the first and second articulation cylinder (48) and programmed to transmit a control signal such that the first actuation cylinder actuates between the first cylinder first position and the first cylinder second position and the second actuation cylinder actuates between the second cylinder first position and the second cylinder second position.

Automatic trolley guidance

A system and method for guiding an off-highway truck along a roadway with respect to a trolley line determine a position of the off-highway truck on the roadway by sensing two or more roadside objects and uses the determined position of the off-highway truck and a known position of the trolley line relative to the two or more roadside objects to automatically determine a relative position of the off-highway truck under the trolley line. Based on the relative position of the off-highway truck under the trolley line, the off-highway truck is automatically steered to alter the position of the off-highway truck relative to the trolley line, e.g., to maintain an electrical power flow from the trolley line to the off-highway truck.

Single-mode implement steering

A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading. Docket No. 129196-218219 RF CONVERTORI? ` MFACKG DEICE 18 HQIbSIC VP? 206 / GASRECEIVER 4 , uA T-4 PROCESSOR (CPU) & I C ~ 46 / -34 sy Tk 4 4 AUTO --- STRiNG 166 \ .3 WI-iEEL MOW 4 EN/'C0.5 30 ...

SERVO-ASSISTED STEERING SYSTEM

PARKING CONTROL METHOD AND PARKING CONTROL DEVICE

A parking control method for executing a control command to move a vehicle V along a parking route RT, wherein: a second position having relatively high remote operability is selected from among one or more first positions at which an operator M of the vehicle V can exit the vehicle; the vehicle V is stopped at the second position; and on the basis of an operation instruction acquired from the operator M who has exited the vehicle V, the vehicle is parked according to the control command.

PARKING CONTROL METHOD AND PARKING CONTROL APPARATUS

In the present invention, an operating instruction is acquired from an operator M outside a vehicle V. The position of an operation terminal 5 is detected and the position of an obstacle is detected. On the basis of the positional relationship between the position of the obstacle and the position of the operator M, a first region that can be observed by the operator M and a second region that is a region other than the first region and that cannot be observed by the operator are calculated, a parking route RT and a control command to move the parking route such that a first proximity of the vehicle to the obstacle in the first region is higher than a second proximity of the vehicle to the obstacle in the second region are calculated, and the vehicle V is parked according to the control command.

METHOD AND SYSTEM FOR DRIVING A MINING AND/OR CONSTRUCTION MACHINE IN A SAFE MANNER WITHOUT THE RISK OF COLLISION

The present invention relates to a method for driving a mining and/or construction machine, where said machine is arranged to be controlled by an operator by means of maneuvering means, where said operator, when driving said machine, provides steering commands by means of said maneuvering means for maneuvering said machine. The method comprises, when said machine is being driven in an environment having at least a first obstacle: - estimating a path that has been requested by said operator by means of said steering commands, - by means of a control system determining whether said machine when moving according to said requested path will be driven within a first distance from said first obstacle, and - when said machine, when travelling along said path, will be driven within a first distance from said first obstacle, influencing the path of said machine by means of said control system.

Steering controller

System provided with an assistance-controller for assisting an operator of the system, control-operation assisting device, control-operation assisting method, driving-operation assisting device, and driving-operation assisting method

A target-travel-path generating circuit calculates a target travel path along which the controlled object can travel in the future from the current controlled object position, an ideal-control-signal calculating circuit calculates a control profile S to travel along the target travel path P, and a difference calculating circuit calculates a difference delta between the ideal control magnitude S and a current control magnitude S. An operation system assistance controller controls the operation system based on the magnitude of the calculated difference delta to assist the control operation of the operator, the control-operation-state of the operator, the environment-state, and the required operation-precision. Accordingly, it is possible to provide the operator with control operation assistance that is a function of the magnitude of the difference delta from an ideal control state, the control-operation-state of the operator, the environment-state, and the required operation-precision, and ...

Systems and methods for lane end recognition

The power steering system, carrying the power steering system of the vehicle, and control method thereof

Autonomous driving sensing system and method

DISPOSITIF DE CORRECTION DE L'ANGLE D'ATTITUDE D'UN VEHICULE AUTOMOBILE

L'INVENTION CONCERNE UN DISPOSITIF DE CORRECTION DE L'ANGLE D'ATTITUDE D'UN VEHICULE AUTOMOBILE. CE DISPOSITIF COMPORTE DES MOYENS INDUISANT SUR AU MOINS UN ESSIEU UNE CORRECTION DE BRAQUAGE EN FONCTION DE PARAMETRES REPRESENTATIFS DE L'ETAT DYNAMIQUE DU VEHICULE ET MESURES PAR DES CAPTEURS FOURNISSANT DES SIGNAUX ELECTRIQUES CORRESPONDANTS, CES PARAMETRES INCLUANT LA VITESSE INSTANTANEE S DU VEHICULE, SA VITESSE ANGULAIRE DE LACET TH ET SON ACCELERATION LATERALE R, ET DES MOYENS DE CALCUL 7 D'UN SIGNAL ELECTRIQUE DE CORRECTION A PARTIR DE CES PARAMETRES, QUI EST APPLIQUE A DES MOYENS DE CORRECTION DE BRAQUAGE. LE DISPOSITIF EST CARACTERISE EN CE QUE LES MOYENS DE CALCUL 7 DU SIGNAL DE CORRECTION KE, KE SONT ADAPTES POUR ELABORER CE SIGNAL A PARTIR D'UNE QUANTITE E EGALE A R-THSS OU A R-THS. L'INVENTION EST UTILISABLE DANS L'INDUSTRIE AUTOMOBILE.

CONTROLLED DEVICE OF CONTROL OF FLOW FOR HYDRAULIC INSTALLATION, IN PARTICULAR FOR DIRECTION ASSISTEE OF VEHICLE

Distributeur hydraulique rotatif pour servo-mecanisme

L'invention est relative a un distributeur hydraulique rotatif pour servo-mecanisme, en particulier pour direction de mecanisme. Selon l'invention, pour obtenir une construction plus facile et moins couteuse, le distributeur comprend un element externe 3 traverse par des orifices d'entree 17, au moins deux orifices de distribution 19, 20 et un ou plusieurs groupes de trous 201, 202 obturables plus ou moins partiellement par un manchon coulissant 203 et faisant partie d'un passage de retour. A l'interieur de l'element externe, un element interne 10, rotatif, fait communiquer les differents orifices en obturant selectivement l'un ou l'autre des orifices de distribution 19, 20.

VEHICULE A MOTEUR MUNI D'UN DISPOSITIF DE DETERMINATION DE L'ETAT DE CONDUITE

L'INVENTION CONCERNE LES DIRECTIONS ASSISTEES DES VEHICULES A MOTEUR. ELLE SE RAPPORTE A UNE DIRECTION ASSISTEE DANS LAQUELLE UN CAPTEUR 45 DETERMINE LA FREQUENCE AVEC LAQUELLE LE VOLANT 18 EST TOURNE DANS DES PLAGES ANGULAIRES RESPECTIVES. LES FREQUENCES SONT MODIFIEES PAR DES COEFFICIENTS DE PONDERATION PAR UN MICROORDINATEUR 51 QUI DETERMINE ALORS, PAR INTEGRATION ET COMPARAISON, L'ETAT DE CONDUITE DU VEHICULE, C'EST-A-DIRE S'IL S'AGIT D'UNE CONDUITE EN VILLE OU EN MONTAGNE. EN FONCTION DE CET ETAT DETECTE, UN CIRCUIT DE COMMANDE 61 REGLE UNE ELECTROVANNE 20 AFIN QUE L'ENERGIE NECESSAIRE SOIT TRANSMISE A LA DIRECTION 14. APPLICATION AUX VEHICULES A MOTEUR A DIRECTIONS ASSISTEES.

DISPOSITIF DE DIRECTION AVEC UN DISPOSITIF AUXILIAIRE D'ASSISTANCE A LA DIRECTION

DISPOSITIF DE DIRECTION AVEC UN DISPOSITIF AUXILIAIRE D'ASSISTANCE A LA DIRECTION, CARACTERISE EN CE QUE L'ORGANE DETECTANT LE DEPLACEMENT EN ROTATION, EST UN DETECTEUR 4 FONCTIONNANT SANS CONTACT ET COOPERANT AVEC DES REPERES 3 SUR UN DISQUE 2 RELIE A L'ARBRE DE DIRECTION 1.

MECANISME D'ASSISTANCE HYDRAULIQUE

Un système de distribution rotatif à centre fermé comporte un piston monté coulissant dans un alésage prévu dans un boîtier solidaire de l'arbre d'entrée et perpendiculaire à l'axe des arbres d'entrée et de sortie. L'une des faces du piston est soumise à la haute pression et l'autre face est soumise à une pression intermédiaire communiquée à un compartiment d'un moteur hydraulique d'assistance. Un élément de commande solidaire de l'arbre de sortie pénètre dans le piston, perpendiculairement à son axe. En fonctionnement, le déplacement relatif du piston et de l'élément de commande agit sur un distributeur pour augmenter ou diminuer la pression transmise au moteur hydraulique. Un mécanisme à ressort associé avec le piston permet de moduler la caractéristique du distributeur.

SERVOREGULATEUR DE PRESSION

Servorégulateur de pression hydraulique, destiné à fournir une pression de fluide hydraulique correspondant à un signal électrique donné, comprenant un dispositif électromécanique 10 relié à un moyen de valve 12 d'un circuit de fluide haute pression 38, caractérisé en ce que le dispositif électromécanique 10 comprend un motoréducteur, le moyen de valve 12 comprenant un tiroir 44 relié au motoréducteur 10 par l'intermédiaire d'un ressort 58. (CF DESSIN DANS BOPI) ...

ELECTRIC SYSTEM OF DIRECTION ASSISTEE HAS OIL PRESSURE

MOTOR VEHICLE PROVIDED With a DEVICE OF DETERMINATION OF the STATE OF CONTROL

SERVOREGULATEUR OF PRESSURE

Steering control from scanned wheel information

A method for automatically controlling the extension and steering of left side and right side wheels ( 112, 114 ) in a work vehicle ( 102 ), the vehicle ( 102 ) having a digital microcontroller ( 172 ) configured to control the steering of left side and right side wheels ( 112, 114 ) by electronically scanning data from identifiers ( 136, 138, 140, 141 ) on the left and right side wheels ( 112, 114 ) that are indicative of wheel geometry of the left and right side wheels ( 112, 114 ); electronically transmitting the data to the digital microcontroller ( 172 ); calculating steering angle limits in the digital microcontroller ( 172 ) based upon the data; and electronically facilitating in the digital microcontroller ( 172 ) that the left and right side wheels ( 112, 114 ) are steered within the steering angle limits during subsequent operations of the work vehicle ( 102 ).

Control apparatus for vehicle

Lane keeping control is ended in accurate timing which does not give an uncomfortable feeling to a driver. In a vehicle 10 which is provided with a steering mechanism 200, an EPS actuator 300, and a VGRS actuator 500 and which can change a rudder angle regardless of a driver's steering input due to the cooperative control of the aforementioned mechanism and actuators, an ECU 100 performs LKA end control. In the control, in cases where a winker lever 16 is operated in a period of performing LKA control for making the vehicle 10 follow a target driving route, if the indicated direction of the winker lever 16 is different from a generation direction of generating an assist steering torque TA of the EPS actuator 300 in the LKA control, the LKA control is promptly ended. In cases where the indicated direction is equal to the generation direction, if a steering angle MAdrv corresponding to the driver's steering input exceeds a steering angle MAlka generated by the LKA control, the LKA control is ended.

Power Steering System For A Vehicle And Method For Limiting A Torque Applied By A Power Steering System

A power steering system ( 1 ) for a vehicle comprises a torque limiter ( 5 ) for limiting a torque applied by the power steering system ( 1 ), wherein the limitation is based on the anticipated reaction by the vehicle.

Method and a system for assisting a driver of a vehicle during operation

A method is provided for assisting a driver of a vehicle during operation by providing the driver with a desired steering feel. The method includes determining a desired steering device guiding force including a part representing a desired friction in a steering arrangement, and providing the driver with the desired steering feel based on the determined steering device guiding force.

Variable displacement pump

A variable displacement pump includes a pumping part and a cam ring for supplying working fluid to a vehicle steering device. The cam ring is arranged radially outside of the pumping part, and configured to move along with a change in eccentricity of the cam ring, wherein the change in eccentricity causes a change in specific discharge rate. A solenoid is configured to control the eccentricity of the cam ring by being driven with an energizing current conformed to a control setpoint. A base setpoint is calculated based on steering angular speed and vehicle speed. The control setpoint is calculated based on the base setpoint and steering angular acceleration in a manner that the control setpoint increases more quickly than the base setpoint when the base setpoint increases in accordance with steering operation of the steering wheel.

System and Method for Responding to Driver Behavior

Methods of assessing driver behavior include monitoring vehicle systems and driver monitoring systems to accommodate for a driver's slow reaction time, attention lapse and/or alertness. When it is determined that a driver is drowsy, for example, the response system may modify the operation of one or more vehicle systems. The systems that may be modified include: visual devices, audio devices, tactile devices, antilock brake systems, automatic brake prefill systems, brake assist systems, auto cruise control systems, electronic stability control systems, collision warning systems, lane keep assist systems, blind spot indicator systems, electronic pretensioning systems and climate control systems.

Rotor For Torque Sensor

Disclosed is a rotor for a torque sensor configured to improve a mechanical coupling force with respect to a jig in a process of adjusting a torque center, thus enabling a fine adjustment, the rotor including a rotor body having a sleeve coupled to a rotating shaft and a yoke protruding from an outer circumference of the sleeve, a ring-shaped magnet coupled to an outer circumference of the yoke, and an anti-slip structure formed on the rotor body and partially coming into contact with a jig during a rotating process for adjusting a torque center, thus inhibiting slipping between the rotor body and the jig when a rotating force is transmitted, so that slipping between the jig and the rotor body is inhibited to enable precise transmission of the rotating force whereby accuracy is improved during fine adjustment of the torque center.

CONTROL DEVICE FOR ELECTRIC POWER STEERING APPARATUS

A control apparatus for an electric power steering apparatus, including a dead time characteristic section that calculates a dead time characteristic value; a steering status determining section that determines a steering status; a gain section that varies a gain of the dead time characteristic value in accordance with a determination of the steering status; a polarity determining section that switches polarity determining methods in accordance with the determination of the steering status and determines a polarity on the basis of a detected current of a motor, a current command value or a model current; a temperature sensor that detects a temperature of an inverter; a dead time temperature correction value calculating section that calculates a dead time temperature correction value corresponding to the temperature; and a calculation processing section that calculates and processes the dead time temperature correction value with respect to a dead time compensation value with polarity based on an output of the gain section and outputs a dead time compensation value. 1. A control device for an electric power steering apparatus that controls a motor providing a steering mechanism with asteering assist force by means of an inverter based on current command value calculated based on a steering torque generated in a steering shaft and a voltage command value from a current control section inputting said current command value, comprising:a dead time characteristic section that calculates a dead time characteristic value based on said current command value;a steering status determining section that determines a steering status of a steering wheel;a gain section that varies a gain of said dead time characteristic value in accordance with a determination of said steering status determining section;a polarity determining section that switches polarity determining methods in accordance with said determination of said steering status determining section and simultaneously ...

STEERING SYSTEM AND STEERING CONTROL APPARATUS

A steering system including a steering member provided in a vehicle and configured to be rotated, an adjustment apparatus configured to adjust a rotary direction vibration of the steering member, and a steering control apparatus configured to control the adjustment apparatus, in accordance with an operating condition of the vehicle, so as to adjust the vibration. 115.-. (canceled)16. A steering system comprising:a steering member provided in a vehicle and configured to be rotated;an adjustment apparatus configured to adjust a rotary direction vibration of the steering member; anda steering control apparatus configured to control the adjustment apparatus, in accordance with an operating condition of the vehicle, so as to adjust the rotary direction vibration, whereinthe adjustment apparatus is configured to adjust a degree by which the rotary direction vibration is transmitted to the steering member,the adjustment apparatus is configured to adjust the rotary direction vibration by outputting an assist steering force for supplementing a steering force input into the steering member by the driver, andthe steering control apparatus is configured to switch between a plurality of filter characteristics of a filter used to calculate the assist steering force, in accordance with the operating condition of the vehicle, the plurality of the filter characteristics having different degrees with which a signal corresponding to the rotary direction vibration is likely to be passed through the filter.17. The steering system according to claim 16 , wherein the steering control apparatus controls the adjustment apparatus to increase the rotary direction vibration when a speed of the vehicle is relatively high claim 16 , relative to the rotary direction vibration when the speed is relatively low.18. The steering system according to claim 16 , wherein the steering control apparatus controls the adjustment apparatus to increase the rotary direction vibration when a torque acting on the ...

STEER-BY-WIRE STEERING DEVICE

A steer-by-wire steering device includes a steering wheel connected with a steering shaft, a steering angle sensor, a steering reactive force motor, and a steering control unit for controlling a steering shaft drive motor and the steering reactive force motor. Provided is a power transmitting mechanism for transmitting the power from the steering shaft drive motor to the steering shaft. A changeover unit for selectively connecting and disconnecting the power is disposed on the way thereof. The changeover unit includes a clutch mechanism comprised of an input member and an output member juxtaposed in an axial direction for movement in the axial direction and, also, rotatable relative to each other, a clutch groove provided in one of those members, and a clutch rolling element provided in the other of those members and biased in a radial direction by the clutch groove so that it can be selectively engaged and disengaged. 1. A steer-by-wire steering device comprising:a steering wheel not mechanically connected with a steering shaft for turning;a steering angle sensor for detecting a steering angle of the steering wheel;a steering reactive force motor for applying a reactive force torque to the steering wheel;a steering shaft drive motor for driving the steering shaft;a steering control unit for controlling the steering reactive force motor and the steering shaft drive motor, the steering control unit controlling the steering shaft drive motor on the basis of a driving condition detection signal including a signal indicative of the steering angle detected by the steering angle sensor;a power transmitting mechanism for transmitting a power from the steering shaft drive motor to the steering shaft; anda changeover unit disposed at a location generally intermediate of the power transmitting mechanism for switching between a condition for transmitting the power and a condition for interrupting the power;wherein the changeover unit includes;a clutch mechanism comprising an ...

Motor vehicle, in particular automobile, and method for controlling a motor vehicle, in particular an automobile

A motor vehicle and a method for controlling a motor vehicle in road traffic are provided. A motor vehicle includes a driver assistance system and a navigation means comprising a sensor for detecting compressive forces, or tensile forces, or torsional forces. An evaluation unit is coupled to the navigation means and evaluates the signals of the sensor. The evaluation unit puts the driver assistance system into operation or takes it out of operation when a threshold value of the signals stored in the evaluation unit is exceeded or fallen below. A controller is activated when the threshold value is exceeded or fallen below and transfers at least partial control of the motor vehicle by the driver assistance system to manual operation by a driver or transfers the manual control of the motor vehicle to at least partial control by the driver assistance system.

Apparatus and method for adjusting electric power steering device

An adjusting apparatus for an electric power steering device includes a steering mechanism converting an input torque into a steering force and transmitting the steering force to wheels, a torque sensor outputting a torque detection signal according to an input torque, an electric motor applying a steering assist torque according to a torque detection signal output from the sensor, a sensor circuit changing output characteristics of the sensor, an actuator applying an input torque to the steering mechanism, a steering force meter actuating the motor via the sensor according to an input torque and measuring a steering force output by the steering mechanism, and a sensor output adjuster adjusting the output characteristic of the sensor circuit to approximate a steering force measured by the meter to an ideal value set in advance according to a deviation amount calculated based on a difference between the steering force and the ideal value.

Vehicle travel control device

A travel control device for a vehicle has a steered angle varying device 14 or a by-wire type steering device 96 which modifies a relationship of steered angle of steerable wheels to steering operation amount by a driver. When the control device decides that vehicle trajectory control is to be initiated or renewed, it calculates a target steered angle of the steerable wheels for driving the vehicle along a target trajectory which is required for the vehicle to arrive at a target arrival position in a target traveling direction on the basis of steering operation amount by a driver and vehicle speed at a time point of the decision. The control device controls the steered angle of the steerable wheels according to the target steered angle in feed-forward or feed-back manner.

METHODS AND SYSTEM FOR AUTOMATIC USER-CONFIGURABLE STEERING PARAMETER CONTROL

A vehicle guidance system and method for automatically adjusting an amount of a user-configurable steering parameter applied to at least one steerable wheel of a vehicle. The vehicle guidance system may comprise a computing device for receiving a desired angle of the steerable wheel, measuring the actual angle of the steerable wheel, and comparing the actual angle with the desired angle. The computing device may then decrease the user-configurable steering parameter automatically if over-steering has occurred, meaning the actual angle of the wheel is determined to be greater than the desired angle of the wheel and angled in the same direction as the desired angle, or the computing device may increase the user-configurable steering parameter automatically if under-steering has occurred, meaning the actual angle of the wheel is determined to be less than the desired angle of the wheel or is angled in the opposite direction as the desired angle. 1. A method of automatically adjusting an amount of a user-configurable steering parameter applied to at least one steerable wheel of a vehicle to optimize steering performance of a vehicle guidance system , the method comprising:receiving a desired angle of the steerable wheel as defined by the vehicle guidance system;measuring the actual angle of the steerable wheel;comparing the actual angle with the desired angle;decreasing the user-configurable steering parameter automatically using the data processor if over-steering occurs, wherein the actual angle of the wheel is greater than the desired angle of the wheel and angled in the same direction as the desired angle; andincreasing the user-configurable steering parameter automatically using the data processor if under-steering occurs, wherein the actual angle of the wheel is less than the desired angle of the wheel or is angled in the opposite direction as the desired angle.2. The method of claim 1 , wherein the desired angle of the wheel may further include the desired angle ...

VEHICLE STEERING APPARATUS

A vehicle steering apparatus for setting a target steering reaction force to be applied to a steering wheel on the basis of a steering angle and a vehicle speed and for performing reaction force control to apply the target steering reaction force, is provided with: a steering speed specifying device for specifying a steering speed of the steering wheel; and a target steering reaction force changing device for changing magnitude of the target steering reaction force in accordance with magnitude of an absolute value of the steering speed specified by the steering speed specifying device. 1. A vehicle steering apparatus for setting a target steering reaction force to be applied to a steering wheel on the basis of a steering angle and a vehicle speed and for performing reaction force control to apply the target steering reaction force , said vehicle steering apparatus comprising:a steering speed specifying device for specifying a steering speed of the steering wheel; anda target steering reaction force changing device for changing magnitude of the target steering reaction force in accordance with magnitude of an absolute value of the steering speed specified by said steering speed specifying device,said target steering reaction force changing device changing the magnitude of the target steering reaction force such that the magnitude of the target steering reaction force is less than that of the target steering reaction force currently set, in the case of a steering-hold state in which the magnitude of the absolute value of the steering speed specified by said steering speed specifying device is less than or equal to a threshold value continues for a predetermined period.2. (canceled)3. The vehicle steering apparatus according to claim 1 , wherein said target steering reaction force changing device sets the target steering reaction force such that magnitudes of the target steering reaction force are different from each other between in the case of the steering-hold state ...

CONTROL APPARATUS FOR VEHICLE

A control apparatus for controlling a vehicle which is provided with a braking/driving force varying device capable of individually changing a braking/driving force acting on each of wheels (FL, FR, RL, RR) with respect to each wheel. The control apparatus includes a target state quantity setting device for setting a target state quantity corresponding to a target motion state of the vehicle; and a target braking/driving force setting device for setting a target braking/driving force, which is a target value of the braking/driving force, such that a state quantity corresponding to the target state quantity and a steering reaction force transmitted to a steering apparatus from the wheel are the set target state quantity and a predetermined target steering reaction force, respectively, on the basis of a relative relation, which is set in advance, between the state quantity and the steering reaction force, and a left-right braking/driving force difference of front wheels and a braking/driving force difference of rear wheels. 110-. (canceled)11. A control apparatus for controlling a vehicle , the vehicle comprising a braking/driving force varying device capable of individually changing a braking/driving force acting on each of wheels , with respect to the each wheel , said control apparatus comprising:a target state quantity setting device for setting a target state quantity corresponding to a target motion state of the vehicle;a target braking/driving force setting device for setting a target braking/driving force, which is a target value of the braking/driving force, such that a state quantity corresponding to the target state quantity and a steering reaction force transmitted to a steering apparatus from the wheel are the set target state quantity and a predetermined target steering reaction force, respectively, on the basis of a relative relation, which is set in advance, between the state quantity and the steering reaction force, and a left-right braking/driving ...

Vehicle steering control apparatus

A vehicle steering control apparatus ( 100 ) in a vehicle ( 10 ), which is provided with: a steering system including at least a rudder angle varying device ( 400, 700 ) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel ( 12 ), and a rudder angle of steered wheels and a steering torque assisting device ( 500 ) capable of assisting a driver steering torque; and a power supply source ( 800 ) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.

METHOD AND DEVICE FOR THE COMPENSATION OF STEERING WHEEL ROTARY OSCILLATIONS IN A STEERING SYSTEM

A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator. 1. A method for the compensation of steering wheel rotary oscillations during operation of a steering system in a vehicle , said steering system comprising an activatable torque actuator , wherein a current torsion bar torque is determined , a compensation torque is determined as a function of the current torsion bar torque , and the torque actuator is activated as a function of the compensation torque , wherein the torsion bar torque or a variable formed as a function of the torsion bar torque is fed to a variable-frequency disturbance variable and state variable calculator which contains a model of a sinusoidal disturbance and a model of the transmission behavior from a torque of the torque actuator and the compensation torque is determined by means of the variable-frequency disturbance variable and state variable calculator using the model of the disturbance.2. The method according to claim 1 , wherein claim 1 , by means of the variable-frequency disturbance variable and state variable calculator claim 1 , an amplitude and a phase of the steering wheel rotary oscillation are taken into account when determining the compensation torque.3. The method according to claim 1 , wherein a component of the steering wheel rotary oscillations that has already been compensated is to into account when determining the compensation torque.4. The method according to claim 3 , wherein the compensation torque is fed back to the variable- ...

VEHICLE BEHAVIOR CONTROL APPARATUS

A vehicle behavior control apparatus disposed in a subject vehicle performs a steering angle control of the subject vehicle. The apparatus acquires lead vehicle information transmitted from a lead vehicle to determine a virtual shape of a road (i.e., a virtual road shape) based on a travel locus of the lead vehicle. A virtual road border distance is calculated as a distance from the subject vehicle to a road border of a virtual curve road positioned straight in front of the subject vehicle. The apparatus, calculates an appropriate turn radius for travel along the virtual curve road and, based on the appropriate turn radius, calculates an appropriate distance from the subject vehicle to the virtual road border positioned in front of the subject vehicle. A steering unit then controls a steering angle of the subject vehicle by maintaining the virtual road border distance with the appropriate distance. 1. A vehicle behavior control apparatus disposed in a subject vehicle and including a wireless communication apparatus for exchanging information through vehicle to vehicle communication , the vehicle behavior control apparatus comprising:a current position acquisition unit regularly acquiring a current position of the subject vehicle;a lead vehicle information acquisition unit acquiring lead vehicle information via the wireless communication apparatus, the lead vehicle information being regularly transmitted from a lead vehicle;a virtual road shape determination unit determining a virtual shape of a road as a virtual road shape based on the lead vehicle information;a virtual road border distance calculation unit calculating a virtual road border distance as a distance from the subject vehicle to a road border of a virtual curve road straight in front of the subject vehicle based on the current position of the subject vehicle and the virtual road shape;a curvature radius calculation unit calculating a curvature radius of the virtual curve road in front of the subject ...

FOUR-WHEEL STEERING CONTROL SYSTEM

A four-wheel steering control system includes; a torque sensor that detects a steering torque based on an operation of a steering member; a steering angle sensor that detects a steering angle; a steering assist control unit that calculates an assist force for steering front wheels based on the value detected by the torque sensor; and a steered system control unit that executes steered control on rear wheels based on the value detected by the steering angle sensor or the value detected by the torque sensor. When it is determined that there is a failure in a function of the steering assist control unit, the steered system control unit executes the steered control such that the rear wheels are steered only on the side where the steered angle of the rear wheels is opposite in phase from the steering angle of the steering member. 1. A four-wheel steering control system that includes: a steering member; a torque sensor that detects a steering torque based on an operation of the steering member; a steering angle sensor that detects a steering angle of the steering member; a steering assist control unit that computes an assist force for steering one of a pair of front wheels and a pair of rear wheels based on at least one of a value detected by the torque sensor and a value detected by the steering angle sensor; and a steered system control unit that executes steered control on the other one of the pair of front wheels and the pair of rear wheels based on at least one of the value detected by the steering angle sensor and the value detected by the torque sensor , whereinwhen it is determined that there is a failure in a function of the steering assist control unit, the steered system control unit executes the steered control such that the other one of the pair of front wheels and the pair of rear wheels is steered only on a side where a steered angle of the other one of the pair of front wheels and the pair of rear wheels is opposite in phase from the steering angle of the ...

VEHICLE STEERING SYSTEM

An acceleration sensor is attached to a rack housing. A FFT processing unit converts a signal output from the acceleration sensor, which is a time-domain signal, into a frequency-domain signal. An inverse input vibration component extraction unit extracts a signal, of which the frequency (f) falls within a predetermined range (fL≦f≦fH (fH>fL)) and of which the power density (ρ) falls within a predetermined range (ρL≦ρ≦ρH (ρH>ρL)), from the frequency-domain signal obtained by the FFT processing unit. An IFFT processing unit converts the frequency-domain signal extracted by the inverse input vibration component extraction unit into a time-domain signal (estimated inverse input vibration). 1. A vehicle steering system , comprising:a steered shaft that transmits a force for steering a steered wheel, to the steered wheel via a tie rod;a housing that is connected to a vehicle body, and that supports the steered shaft such that the steered shaft is able to reciprocate in an axial direction of the steered shaft;an acceleration sensor that is attached to the housing or the tie rod;an inverse input vibration estimation unit that estimates an inverse input vibration input into the tie rod from the steered wheel side, based on a signal output from the acceleration sensor; andan inverse input vibration transmission unit that transmits the inverse input vibration estimated by the inverse input vibration estimation unit to a steering member that is operated to steer a vehicle, whereinthe inverse input vibration estimation unit includes:a FFT processing unit that converts the signal output from the acceleration sensor, which is a time-domain signal, into a frequency-domain signal;an extraction unit that extracts a frequency-domain signal, of which a frequency falls within a predetermined range and of which a power density falls within a predetermined range, from the frequency-domain signal obtained by the FFT processing unit; andan IFFT processing unit that extracts an inverse ...

POWER STEERING APPARATUS CAPABLE OF SENSING MOISTURE

A power steering apparatus includes: a torque sensor for detecting a steering torque applied to a steering wheel and outputting a torque signal corresponding to the steering torque; a speed sensor for detecting a speed of a vehicle and outputting a speed signal corresponding to the speed of the vehicle; a humidity sensor for outputting a humidity signal corresponding to a humidity of an interior of the power steering apparatus; and an electronic control unit for receiving the humidity signal from the humidity sensor, and for, when a measured humidity is an reference value or higher, generating a motor current signal for supplying an assistant steering force smaller than an assistant force set in response to the torque signal and the speed signal. 1. A power steering apparatus comprising:a torque sensor for detecting a steering torque applied to a steering wheel and outputting a torque signal corresponding to the steering torque;a speed sensor for detecting a speed of a vehicle and outputting a speed signal corresponding to the speed of the vehicle;a humidity sensor for outputting a humidity signal corresponding to a humidity of an interior of the power steering apparatus; andan electronic control unit for receiving the humidity signal from the humidity sensor, and for, when a measured humidity is an reference value or higher, generating a motor current signal for supplying an assistant steering force smaller than an assistant force set in response to the torque signal and the speed signal.2. The power steering apparatus as claimed in claim 1 , further comprising:an alarm unit for, when the electronic control unit outputs an alarm signal as the measured humidity is the reference value or higher, receiving the alarm signal from the electronic control unit and outputting an alarm.3. The power steering apparatus as claimed in claim 1 , wherein the humidity sensor is moduled with at least one of the torque sensor and the electronic control unit.4. The power steering ...

VEHICLE STEERING SYSTEM

In a vehicle steering system, when a sensor malfunction determination unit detects a malfunction of a rotation angle sensor, the sensor malfunction determination unit changes a control mode from a first control mode to a second control mode. In the second control mode, an actual rotor angle (mechanical angle) (θ) of a steered system motor is computed on the basis of a second rotor angle (electric angle) (θ) estimated by a rotation angle estimation unit. Then, feedback control is executed such that the actual rotor angle (θ) converges to a target rotor angle (θ*) that is obtained by superimposing a rotation maintaining command signal on a target rotor angle (θ*) computed by a target rotor angle computation unit. 1. A vehicle steering system in which an operating member that is operated for steering is not mechanically coupled to a steering mechanism and the steering mechanism is driven by a steered system motor formed of a brushless motor , comprising:a rotation angle sensor used to detect a rotation angle of a rotor of the steered system motor;a rotor angle estimator that estimates the rotation angle of the rotor of the steered system motor based on an induced voltage of the steered system motor;a target rotor angle computation unit that computes a target rotor angle that is a target value of the rotation angle of the rotor of the steered system motor based on a steering state;a signal superimposing unit used to superimpose a rotation maintaining command signal for continuously rotating the steered system motor on the target rotor angle computed by the target rotor angle computation unit;a malfunction detector that detects occurrence of a malfunction of the rotation angle sensor; anda selector, whereinwhen a malfunction of the rotation angle sensor is detected by the malfunction detector, the selector changes a control mode from a first control mode, in which the steered system motor is controlled based on the target rotor angle computed by the target rotor angle ...

VEHICLE STEERING SYSTEM

When a partial malfunction is detected, a sensor malfunction determination unit changes a control mode from a first control mode to a second control mode. When the control mode is changed from the first control mode to the second control mode, a steered system motor is rotated in a direction corresponding to a rotation direction of a steering wheel immediately before the partial malfunction occurs in the angle sensor. When the absolute value of a steering angular velocity of the steering wheel exceeds a threshold, it is determined that a driver has operated the steering wheel in a direction opposite to a current steered direction, and the rotation direction of the steered system motor is reversed. 1. A vehicle steering system in which an operating member that Is operated for steering is not mechanically coupled to a steering mechanism and the steering mechanism is driven by a steered system motor , comprising:an angle sensor that is used to detect an operation angle of the operating member and an operation angular velocity of the operating member;malfunction detection means for detecting occurrence of a partial malfunction in the angle sensor, the partial malfunction being such a malfunction that allows detection of the operation angular velocity of the operating member but does not allow detection of the operation angle of the operating member;first control means for controlling the steered system motor using the operation angle that is detected based on a signal output from the angle sensor when no partial malfunction of the angle sensor is detected by the malfunction detection means; andsecond control means for controlling the steered system motor such that the steered system motor is rotated in one direction and, each time an absolute value of the operation angular velocity that is detected based on a signal output from the angle sensor exceeds a predetermined threshold, a rotation direction of the steered system motor is reversed, when the partial malfunction ...

HANDS ON STEERING WHEEL DETECT IN LANE CENTERING OPERATION

A control system to determine a hands on wheel (HOW) condition is provided. The control system includes a sensor that monitors an amount of applied torque exerted upon a hand wheel, and a control module for monitoring the sensor. The control module includes a notch filter to attenuate a normal column mode frequency from the amount of applied torque to produce a filtered torque signal. The normal column mode frequency represents a range of vibrational modes of the hand wheel based on a hands off wheel condition. The control module includes a state detector to receive the filtered torque signal from the notch filter. The state detector determines if the HOW condition exists based on if the filtered torque signal exceeds an ON threshold torque value. 1. A control system to determine a hands on wheel (HOW) condition of a hand wheel , the control system comprising:a sensor that monitors an amount of applied torque exerted upon the hand wheel; and a notch filter to attenuate a normal column mode frequency from the amount of applied torque to produce a filtered torque signal, the normal column mode frequency configured to represent a range of vibrational modes of the hand wheel based on a hands off wheel condition; and', 'a state detector to receive the filtered torque signal from the notch filter, the state detector configured to determine if the HOW condition exists based on if the filtered torque signal exceeds an ON threshold torque value., 'a control module for monitoring the sensor, the control module including2. The control system as recited in claim 1 , wherein the control module includes a torque assist generation module claim 1 , wherein the state detector is configured to send a HOW input to the torque assist generation module if the HOW condition exists.3. The control system as recited in claim 2 , wherein the torque assist generation module is configured to generate a torque assist command if the HOW input is received from the state detector.4. The control ...

VEHICLE CONTROL SYSTEM AND CONTROL DEVICE

A vehicle control system includes an actuator capable of adjusting a behavior of a vehicle, a temperature detecting device configured to detect a temperature of a tire on a wheel of the vehicle, and a control device configured to control the actuator according to the temperature of the tire detected by the temperature detecting device so as to change a degree of suppressing a behavior change of the vehicle by the actuator. Therefore, the vehicle control system can suppress a variation in a driving feeling. 1. A vehicle control system comprising:an actuator capable of adjusting a behavior of a vehicle;a temperature detecting device configured to detect a temperature in a tread of a tire on a wheel of the vehicle; anda control device configured to control the actuator according to the temperature in a tread of the tire detected by the temperature detecting device so as to increase a degree of suppressing a behavior change of the vehicle by the actuator, when the temperature in the tread of the tire detected by the temperature detecting device is relatively high, compared to a case where the temperature in the tread of the tire is relatively low.2. (canceled)3. The vehicle control system according to claim 1 , whereinthe control device decreases the degree of suppressing the behavior change of the vehicle by the actuator, when the temperature in the tread of the tire detected by the temperature detecting device is relatively low, compared to a case where the temperature in the tread of the tire is relatively high.4. The vehicle control system according to claim 1 , whereinthe control device increases the degree of suppressing the behavior change of the vehicle by the actuator, as the temperature in the tread of the tire detected by the temperature detecting device is high, and decreases the degree of suppressing the behavior change of the vehicle by the actuator, as the temperature in the tread of the tire detected by the temperature detecting device is low.5. ( ...

MULTI-DIRECTION VEHICLE CONTROL SENSING

A vehicle includes a first control configured to operate the vehicle from a first operator position facing a front of the vehicle and a second control configured to operate the vehicle from a second operator position facing a rear of the vehicle. The vehicle further includes a processor configured to monitor for an operator presence in the first operator position or the second operator position and receive a vehicle operating request, wherein the operator presence is monitored independent of receiving the vehicle operating request. The processor is further configured to enable either the first control or the second control and select a vehicle operating parameter associated with the vehicle operating request, wherein the vehicle operating parameter varies according to which control is enabled. 1. A steering system comprising:a first control;a second control; and monitor an operator presence;', 'enable a control selected from the first control and the second control in response to monitoring the operator presence;', 'receive a steering command for a vehicle;', 'steer the vehicle with a first steering sense in a first direction of travel in response to receiving the steering command and enabling the first control, and', 'steer the vehicle with a second steering sense in the first direction of travel in response to receiving the steering command and enabling the second control., 'a processing device configured to2. The steering system of claim 1 , wherein the first control is associated with a first operator position claim 1 , and wherein the second control is associated with a second operator position which is substantially opposite to that of the first operator position.3. The steering system of claim 1 , wherein the first control comprises:a control handle; anda sensor configured to detect the operator presence at the control handle.4. The steering system of claim 1 , wherein the first control comprises an acceleration control claim 1 , and wherein the processing ...

LANE-KEEPING ASSISTANCE METHOD FOR A MOTOR VEHICLE

A lane-keeping method and system for a motor vehicle determines a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline, calculates a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle, determines a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle, and compares the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation. A steering input is then applied to a steering system of the motor vehicle to minimize the control deviation. 1. A lane-keeping method for a motor vehicle comprising:determining a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline;calculating a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle;determining a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle;comparing the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation; andapplying a steering input into a steering system of the motor vehicle to minimize the control deviation.2. The method of claim 1 , wherein the reference track is calculated such that at least one of an instantaneous curvature of the reference track and a curvature change rate of the reference track do not each exceed a pre-defined maximum value.3. The method of claim 1 , wherein the transverse deviation and the misalignment angle of the motor vehicle are weighted independently of each other in the calculation of the reference track claim 1 , and wherein the respective weightings are independent of the longitudinal speed.4. The method of claim 1 , wherein the target lane centerline has a curvature and the steering input is controlled based upon the curvature of the target lane centerline.5. ...

STEERING SYSTEM FOR MOTOR-DRIVEN VEHICLE

An object of the present invention is to provide a steering system for a motor-driven vehicle, which has steering operability equivalent to that of a vehicle mounted with a conventional internal combustion engine only, and has steering operability equivalent to an inherent one even during the time when fail-safe control of assist of steering force is carried out. To achieve this object, in the steering system for a motor-driven vehicle including a drive motor that is a power source for the motor-driven vehicle, a motor speed sensor for detecting the speed of the drive motor, a steering system for giving a steering angle to front wheels according to the steering angle of a steering wheel, a vehicle speed sensor for detecting the speed of the motor-driven vehicle, and a power steering controller that outputs an assist amount according to the steering of a passenger based on at least one of the output signals of the motor speed sensor and the vehicle speed sensor, as the speed of the motor-driven vehicle or the speed of the drive motor increases, the assist amount is made smaller. 1. A steering system for a motor-driven vehicle comprising a drive motor which is a power source for the motor-driven vehicle , a motor speed sensor for detecting the speed of the drive motor , a steering system for giving a steering angle to front wheels according to the steering angle of a steering wheel , a vehicle speed sensor for detecting the speed of the motor-driven vehicle , and a power steering controller which outputs an assist amount according to the steering of a passenger based on at least one of the output signals of the motor speed sensor and the vehicle speed sensor , characterized in that as the speed of the motor-driven vehicle or the speed of the drive motor increases , the assist amount is made smaller.2. The steering system for a motor-driven vehicle according to claim 1 , wherein the power steering controller sets a false engine speed having a value that becomes higher ...

ELECTRIC POWER STEERING APPARATUS

The electric power steering apparatus has a plurality of power systems each including an inverter apparatus provided corresponding to a plurality of wiring sets of a motor thereof. The control section calculates the assist current to be supplied to the motor using a one power system failure-state map when the inverter apparatus or its corresponding wiring set of one of the power systems fails, or using a vehicle speed detection failure-state map when there is a failure in detecting the vehicle speed. The assist current limit value in the one power system failure-state map and the assist current limit value in the vehicle speed detection failure-state map are set to the same value. 1. An electric power steering apparatus comprising:a vehicle speed sensor for detecting a vehicle speed of a vehicle;a torque sensor for detecting a steering torque generated by a steering wheel operated by a vehicle driver;a motor having a plurality of wiring sets and generating an output torque when supplied with electric power;a reduction gear for reducing a rotational speed of the motor to amplify the output torque of the motor, and transmitting the amplified output torque to a steering shaft of the vehicle as an assist torque; anda control section for controlling rotation of the motor,wherein the control section includes:a plurality of power systems provided corresponding to the plurality of the winding sets of the motor, each of the power systems including a power converter apparatus for supplying power to a corresponding one of the winding sets;a drive circuit for driving the power converter apparatus of each of the plurality of the power systems to supply an assist current to the motor in accordance with an assist current command value;a failure detection means for, upon detecting a failure in the power converter apparatus or the winding set of any one of the power systems, identifying the one of the power systems as a failed power system;a power supply stopping means for stopping ...

VEHICULAR POWER SUPPLY SYSTEM

In a vehicular power supply system, a main battery supplies electric power to both main machine drive circuit, which drives a main motor for driving a vehicle, and a steering assist drive circuit, which drives a steering assist motor of a power steering apparatus. A main machine switching circuit, which is capable of shutting off power supply to the main machine drive circuit, and an auxiliary machine switching circuit, which is capable of shutting off power supply to the steering assist drive circuit are provided in parallel. As long as the auxiliary machine switching circuit is turned on, power supply to the steering assist drive circuit is continued even when the main machine switching circuit is turned off. 1. A vehicular power supply system comprising:a main motor for driving a vehicle;a main drive circuit for driving the main motor;a steering assist motor for assisting a steering operation of the vehicle;a steering assist drive circuit for driving the steering assist motor;a battery for supplying power to the main machine drive circuit and the steering assist drive circuit;a main machine switching circuit provided between the battery and the main machine drive circuit and capable of shutting off power supply from the main battery to the main machine drive circuit; andan auxiliary machine switching circuit provided between the battery and the steering assist drive circuit in parallel to the main machine drive circuit relative to the battery and capable of shutting off power supply from the battery to the steering assist drive circuit.2. The vehicular power supply system according to claim 1 , wherein:the battery outputs a voltage higher than a voltage, which is required to drive the steering assist motor; andthe auxiliary machine switching circuit includes a fuse.3. The vehicular power supply system according to claim 2 , wherein:the auxiliary machine switching circuit includes a switch, which is capable of switching between conduction and non-conduction; ...

LANE DEPARTURE CONTROL SYSTEM

A lane departure control system is provided which steers a vehicle toward the center of a lane of a road at a first yaw rate by a controlled angle when the vehicle is determined to be about to deviate from the lane. Afterwards, when the vehicle is determined to be traveling toward a virtual line defined near a lane boundary, the system steers the vehicle by a correction angle so as to orient the vehicle parallel to the virtual line at a second yaw rate. The system changes the value of the first yaw rate at a first rate within the controlled angle and also changes the value of the second yaw rate at a second rate within the correction angle. An absolute value of the second rate is set smaller than that of the first rate, thereby minimizing an undesirable physical load on a driver of the vehicle. 1. A lane departure control apparatus for controlling a lane departure of a vehicle using a steering mechanism comprising:an angle determiner which determines a controlled angle that is an angle between a direction in which a vehicle equipped with this apparatus is now heading within a given area of a lane on a road and a target angular direction in which the vehicle is to be pointed, the angle determiner also determining a correction angle that is an angle between a direction in which the vehicle is now pointing and a virtual line, the virtual line being defined to extend parallel to a lane boundary of the lane; anda lane departure controller engineered to operate in a first steering control mode and a second steering control mode following the first steering control mode, when the vehicle is determined to be about to unintentionally deviate from the given area of the lane, the lane departure controller entering the first steering control mode to acquire the controlled angle from the angle determiner and outputting a control signal to the steering mechanism to steer the vehicle toward a center of the given area of the lane by the controlled angle at a first yaw rate, when ...

LANE DEPARTURE CONTROL SYSTEM

A lane departure control system is provided which works to control a lane departure of a vehicle. The lane departure control system determines a controlled angle between a heading direction and a target direction of the vehicle running in a lane. When the vehicle is expected to unintentionally leave the lane, the system steers the vehicle toward the center of the lane by the controlled angle at at least a first yaw rate in a first angular range and a second yaw rate in a second angular range following the first angular range. Each of the first and second yaw rates is changed at a constant rate. This results in simplified calculation of the schedule of changing the first and second yaw rates. 1. A lane departure control apparatus for controlling a lane departure of a vehicle using a steering mechanism comprising:an angle determiner which determines a controlled angle that is an angle between a direction in which a vehicle equipped with this apparatus is pointing within a given area of a lane on a road and a target angular direction in which the vehicle is to be pointed; anda lane departure controller which enters a first steering control mode when the vehicle is determined to be about to unintentionally deviate from the given area of the lane, in the first steering control mode, the lane departure controller controlling an operation of the steering mechanism to steer the vehicle toward a center of the given area of the lane by the controlled angle at at least a first yaw rate in a first angular range and a second yaw rate in a second angular range following the first angular range, each of the first and second yaw rates being changed at a constant rate.2. A lane departure control apparatus as set forth in claim 1 , wherein the lane departure controller determines the first and second yaw rates so that when the vehicle has been steered through the controlled angle in the first steering control mode claim 1 , a target value of the second yaw rate will be a curving yaw ...

LANE DEPARTURE CONTROL SYSTEM

A lane departure control system is provided which works to control a lane departure of a vehicle using a steering mechanism. The lane departure control system determines a deviation angle between a direction in which the vehicle is pointing and a boundary line of a lane. When the vehicle is expected to unintentionally leave the lane, the lane departure control system calculates an assist angle between a target angular direction of the vehicle and the boundary line and outputs a control signal to the steering mechanism to steer the vehicle in a direction away from the boundary line toward the center of the lane by the sum of the deviation angle and the assist angle. The lane departure control system determines the assist angle as a function of the deviation angle. Such calculation results in a decreased load on the system in controlling the steering of the vehicle. 1. A lane departure control apparatus for controlling a lane departure of a vehicle using a steering mechanism comprising:an angle determiner which determines a deviation angle that is an angle between a direction in which a vehicle equipped with this apparatus is pointing and a boundary line which is provided to define a given area of a lane in which the vehicle is to travel; anda lane departure controller which determines whether the vehicle is expected to unintentionally leave the boundary line or not, when the determination is affirmative, the lane departure controller entering a lane departure control mode in which the lane departure controller calculates an assist angle between a target angular direction in which the vehicle is to be pointed and the boundary line and outputs a control signal to the steering mechanism to steer the vehicle in a direction away from the boundary line toward a center of the given area of the lane by an angle that is the sum of the deviation angle and the assist angle, the lane departure controller determining the assist angle as a function of the deviation angle.2. A lane ...

LANE DEPARTURE CONTROL SYSTEM

A lane departure control system is provided which works to control a lane departure of a vehicle. When the vehicle is expected to unintentionally leave a lane of a road, the system steers the vehicle toward the center of the lane at a first yaw rate. Afterwards, when the vehicle is determined to be traveling toward a virtual line extending parallel to the boundary line, the system directs the vehicle parallel to the virtual line at a second yaw rate. The system keeps an absolute value of the first yaw rate below a first upper limit and also keeps an absolute value of the second yaw rate below a second upper limit that is less than the first upper limit. This provides an improved comfortable ride to a driver of the vehicle when the vehicle is directed parallel to the virtual line. 1. A lane departure control apparatus for controlling a lane departure of a vehicle using a steering mechanism comprising: 'a lane departure controller engineered to operate in a first steering control mode and a second steering control mode following the first steering control mode, when the vehicle is determined to be about to unintentionally deviate from the given area of the lane, the lane departure controller entering the first steering control mode to acquire the controlled angle from the angle determiner and outputting a control signal to the steering mechanism to steer the vehicle toward a center of the given area of the lane by the controlled angle at a first yaw rate, when the vehicle is determined to be traveling toward the virtual line, the lane departure controller entering the second steering control mode to acquire the correction angle from the angle determiner and outputting a control signal to the steering mechanism to steer the vehicle by the correction angle to orient the vehicle parallel to the virtual line at a second yaw rate, the lane departure controller keeping an absolute value of the first yaw rate below a first upper limit in the first steering control mode and ...

VEHICLE AND STEERING APPARATUS

A vehicle has a rear wheel drive device for driving rear wheels independently of a front wheel drive device. A drive mode control unit performs at least one of a first switching operation for switching between a front-wheel-only-drive mode and a rear-wheel-only-drive mode, a second switching operation for switching between a composite drive mode and the rear-wheel-only-drive mode, and a third switching operation for switching between the composite drive mode and the front-wheel-only-drive mode. When the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation, an assistive force controller of the steering apparatus changes a control process for controlling a steering assistive force. 1. A vehicle comprising:a front wheel drive device for driving front wheels;a rear wheel drive device for driving rear wheels independently of the front wheel drive device;a drive mode control unit for controlling the front wheel drive device and the rear wheel drive device to control drive modes of the front wheels and the rear wheels; anda steering apparatus for steering steerable wheels, which are at least the front wheels or the rear wheels;wherein the drive mode control unit performs at least one of:a first switching operation of switching between a front-wheel-only-drive mode in which only the front wheels are driven, and a rear-wheel-only-drive mode in which only the rear wheels are driven;a second switching operation of switching between the rear-wheel-only-drive mode, and a composite drive mode in which both the front wheels and the rear wheels are driven; anda third switching operation of switching between the composite drive mode and the front-wheel-only-drive mode; andthe steering apparatus further comprises:manual steering means that manually steers the steerable wheels;assistive force generating means, which generates a steering assistive force acting in a same direction as or in an ...

CONTROL DEVICE AND CONTROL METHOD FOR VEHICLE

In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced. 1. A control device that controls a vehicle provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio ,the control device comprising:a setting unit that sets a target state quantity for keeping the vehicle in a target lane;a first control unit that controls the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity;a second control unit that controls the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; anda correction unit that corrects the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.2. The control device according to claim 1 , wherein the ...

Self-Propelled Civil Engineering Machine And Method Of Controlling A Self-Propelled Civil Engineering Machine

The invention relates to a self-propelled civil engineering machine, and in particular to a slipform paver, road paver or road milling machine, and to a method of controlling a self-propelled civil engineering machine. The civil engineering machine according to the invention has a control unit which is configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system (X, Y, Z) independent of the position and orientation of the civil engineering machine. The reference system (X, Y, Z) independent of the machine-related reference system (x, y, z) may be selected as desired, and there is thus no need for the positions of various reference points to be plotted on the ground. 1. A self-propelled civil engineering machine , comprising:a chassis;a working unit arranged on the chassis and operable to produce a structure on the ground or to make changes to the ground;a drive unit operable to perform movements of the civil engineering machine in translation and/or rotation on the ground; and a shape selection component configured to preset a geometrical shape for the structure to be produced or for the ground to which changes are to be made;', 'a position data determination component configured to determine position data to define the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system which is independent of the position and orientation of the civil engineering machine;', 'a curve data determination component configured to determine curve data to define a desired curve based on the preset geometrical shape of the structure to be produced or the ground to which changes are to be made and based on a desired position and orientation of the preset geometrical shape in the reference system independent of the position and orientation of the civil engineering machine, the desired curve being that curve along which the ...

SENSOR CONFIGURATION FOR A MATERIALS HANDLING VEHICLE

A materials handling vehicle includes a power unit, a load handling assembly, at least one first obstacle detector, and at least one second obstacle detector. The at least one first obstacle detector is mounted at a first location on the power unit to detect an object located along a path of travel of the power unit beyond a non-detect zone of the at least one first obstacle detector. The at least one second obstacle detector is mounted at a second location on the power unit, spaced from the first location in a first direction, and is capable of detecting an object in the non-detect zone of the at least one first obstacle detector. 1. A materials handling vehicle comprising:a power unit;a load handling assembly;at least one first obstacle detector mounted at a first location on said power unit to detect an object located along a path of travel of said power unit beyond a non-detect zone of said at least one first obstacle detector; andat least one second obstacle detector mounted at a second location on said power unit, spaced from said first location in a first direction, and capable of detecting an object in said non-detect zone of said at least one first obstacle detector.2. The materials handling vehicle of claim 1 , wherein said at least one first obstacle detector is located at a front portion of said power unit.3. The materials handling vehicle of claim 2 , wherein said at least one second obstacle detector is spaced away from said at least one first obstacle detector in a direction towards said load handling assembly.4. The materials handling vehicle of claim 1 , wherein said at least one first obstacle detector comprises a sweeping laser sensor.5. The materials handling vehicle of claim 4 , wherein said sweeping laser sensor is capable of detecting an object in any of first claim 4 , second claim 4 , and third zones claim 4 , the first and third zones comprising steer bumper zones used for implementing steer correction maneuvers and the second zone ...

Method of steering a vehicle by a steering assistance system

In a method of steering a vehicle by a steering assistance system, a steering-wheel angle of a steering wheel is set by a driver. The steering assistance system checks whether the set steering-wheel angle is maintained during a predefined time period and checks whether the driver has taken the hands from the steering wheel. The vehicle is then operated according to the set steering-wheel angle, when the driver maintains the set steering-wheel angle during the predefined time period, or the steering assistance system is switched off, when the driver has released the steering wheel.

VEHICLE CONTROL APPARATUS

A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver's seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle. 1. A vehicle control apparatus mounted in a vehicle , the apparatus comprising:a lane detection unit that detects a lane in which the vehicle is driven to travel;an offset setting unit that sets an offset suitable for making a driver of the vehicle feel less stressed, the offset being a deviation of a lateral position of the vehicle from the middle position of the lane along the lane width direction, the lateral position of the vehicle being the middle position of the vehicle along the vehicle width direction;an occupant detection unit that detects the presence of a designated occupant in the vehicle other than the driver, the designated occupant being an occupant sitting in a seat laterally opposite a driver's seat;an offset adjustment unit that, when the designated occupant is detected by the occupant detection unit, adjusts the offset set by the offset setting unit to be decreased;a vehicle-path estimation unit that estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle, the target ...

COORDINATED VEHICLE RESPONSE SYSTEM AND METHOD FOR DRIVER BEHAVIOR

Methods of assessing driver behavior include monitoring vehicle systems and driver monitoring systems to accommodate for a slow reaction time, attention lapse and/or alertness of a driver. When it is determined that a driver is drowsy, for example, the response system may modify the operation of one or more vehicle systems. The response system can modify the control of two or more systems simultaneously in response to driver behavior. 1. A method of controlling vehicle systems in a motor vehicle , comprising:receiving information from a first vehicle system;determining a level of drowsiness;detecting a hazard;modifying the control of the first vehicle system using at least the level of drowsiness;selecting a second vehicle system that is different from the first vehicle system; andmodifying the control of the second vehicle system using at least the level of drowsiness.2. The method according to claim 1 , wherein the first vehicle system is connected to an electronic control unit and where the second vehicle system is connected to the electronic control unit.3. The method according to claim 1 , wherein the first vehicle system can communicate directly with the second vehicle system.4. The method according to claim 3 , wherein the first vehicle system communicates with the second vehicle system through a network.5. The method according to claim 1 , wherein the control of the second vehicle system is coordinated with the control of the first vehicle system.6. The method according to claim 1 , wherein the first vehicle system is a blind spot indicator system and wherein the second vehicle system is an electronic power steering system.7. The method according to claim 6 , wherein the electronic power steering system is controlled to help prevent a driver from turning a steering wheel of the motor vehicle when the blind spot indicator system detects a hazard and when the driver is drowsy.8. A method of controlling vehicle systems in a motor vehicle claim 6 , comprising: ...

VEHICLE CONTROL SYSTEM, STEERING SIMULATING SYSTEM, STEERING TORQUE APPLICATION METHOD, AND STORAGE MEDIUM THAT STORES PROGRAM FOR STEERING TORQUE APPLICATION METHOD

A steering angle sensor and a steering velocity detection unit respectively detect a steering angle of a steering wheel and a steering velocity of the steering wheel through driver's steering operation. A target torque setting unit, when the steering wheel is being steered from a neutral state of the steering wheel without changing a steering direction, sets a steering torque corresponding to the detected steering angle and the detected steering velocity as a target steering torque on the basis of a correspondence correlation at the detected steering velocity between a steering angle and a steering torque. An assist control unit executes control such that the set target steering torque is achieved. 1. A vehicle control system comprising:a detector configured to detect a steering angle of a steering wheel and a steering velocity of the steering wheel through driver's steering operation; anda controller configured to, when the steering wheel is being steered from a neutral state of the steering wheel without changing a steering direction, set a steering torque corresponding to the detected steering angle and the detected steering velocity as a target steering torque on the basis of a preset correlation at each steering velocity between a resistance quantity of the driver and one of the steering angle and the steering torque, the resistance quantity being obtained on the basis of a sensory quantity of a rate of a variation in the steering torque with respect to a variation in the steering angle and a sensory quantity of the steering torque, and the controller being configured to execute control such that the set target steering torque is achieved.2. The vehicle control system according to claim 1 , whereinthe preset correlation between the resistance quantity and the one of the steering angle and the steering torque is set such that the resistance quantity increases with an increase in the one of the steering angle and the steering torque.3. The vehicle control system ...

Steering apparatus

A steering apparatus is provided with: a specifying device which is configured to specify an environment of a road on which a vehicle travels, on the basis of a manipulated amount of the steering wheel manipulated by a driver and a change of the manipulated amount in a predetermined period.

LANE KEEPING SYSTEM AND LANE CENTERING SYSTEM

A lane keeping system for a vehicle sets a safe zone in which the driver can drive the vehicle. If the system determines that the driver is at risk of leaving the safe zone, the system takes a corrective action, such as notifying the driver or applying a steering correction to the vehicle. The system adjusts the width of the safe zone depending on the driver's capability to stay within the safe zone. A lane centering system may be capable of autonomously steering the vehicle to remain within a lane. The lane centering system may include a controller that determines a target path for the vehicle depending on certain parameters. The controller may model each of the lane delimiters in a simplified form. This facilitates the determination of one of the target paths (the centerline of the lane). The simplified form may be a 3rd order polynomial equation. 1. A lane keeping system for use in a vehicle driving in a lane on a road , said lane keeping system comprising:a controller;a lane delimiter detection device;said lane delimiter detection device comprising a camera disposed behind a windshield of the vehicle and having a field of view through the windshield and forward of the vehicle;wherein the controller is responsive to an output of he lane delimiter detection device that is indicative of position of a left lane delimiter on the road on a left side of the vehicle and a right lane delimiter on the road on a right side of the vehicle,wherein, responsive to the output of the lane delimiter detection device. the controller is operable to:a) establish a safe zone having a left safe zone delimiter based on the sensed position of the left lane delimiter and a right safe zone delimiter based on the sensed position of the right lane delimiter, wherein the safe zone has a width between the left and right safe zone delimiters,b) take a corrective action responsive to the controller determining that the vehicle is at risk of unintentionally leaving the safe zone, wherein the ...

VEHICLE DRIVING ASSISTANCE APPARATUS

A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle. 1. A vehicle driving assistance apparatus mounted in a vehicle , comprising:a drivable route detection unit that detects a drivable route on which the vehicle may travel;a vehicle state quantity detection unit that detects state quantities of the vehicle;a steering control unit that controls steering of the vehicle;an allowable region estimation unit that estimates a driving allowable region on the basis of the state quantities detected by the vehicle state quantity detection unit and a predetermined allowable range of behavior of the vehicle, the driving allowable region being a region where the vehicle is allowed to change its traveling direction within the predetermined allowable range of behavior of the vehicle;a deviation determination unit that compares a minimum width of an overlap region of the drivable route and the driving allowable region with a predetermined threshold for determining whether or not the vehicle will deviate from the drivable route; andan intervention instruction unit that, when it is determined that the minimum width of the overlap region is less than the predetermined threshold, outputs to ...

Apparatus for use in turning steerable vehicle wheels

An apparatus ( 10 ) for use in turning steerable vehicle wheels ( 14, 16 ) includes a steering member ( 12 ) which is linearly movable relative to the vehicle to effect turning movement of the steerable vehicle wheels. A pinion ( 28 ) is disposed in meshing engagement with a rack portion ( 30 ) of the steering member ( 12 ). A steering column ( 22 ) is connected with the pinion ( 28 ) and with a vehicle steering wheel ( 20 ) such that rotation of the steering wheel results in linear movement of the steering member. An electrically powered steering unit ( 40 ) is connected to the steering member ( 12 ) for providing steering feel to the operator. A hydraulic power steering motor ( 60 ) mechanically connected to the steering member provides steering assist to the steerable wheels ( 14, 16 ).

Vehicle steering control system

The absolute value of a steering torque detected by a steering torque sensor is compared with a predetermined threshold. When the absolute value of the detected steering torque is smaller than the threshold, a steering reaction force is controlled on the basis of the steering torque; whereas, when the absolute value of the detected steering torque is larger than or equal to the threshold, the steering reaction force is controlled using a detected reaction motor current value as a reference value.

Synchronous Steering Control

An exemplary method correlates a steering device position to a steered element position by determining a target steering angle based on a detected position of the steering device; determining a vehicle steering angle based on a detected position of the steered element; determining a steering correction based on comparing the target steering angle to the vehicle steering angle; and applying a steering control multiplier to affect the steering correction in response to a difference between the target steering angle and the vehicle steering angle being larger than a threshold difference, and in response to a detected vehicle parameter. 1. A method for correlating a steering device position to a steered element position comprising:determining a target steering angle based on a detected position of the steering device;determining a vehicle steering angle based on a detected position of the steered element;determining a steering correction based on comparing the target steering angle to the vehicle steering angle;applying a steering control multiplier to affect the steering correction in response to (i) a difference between the target steering angle and the vehicle steering angle being larger than a threshold difference, and (ii) a detected vehicle parameter.2. A method according to claim 1 , further comprising selecting the steering control multiplier from a range of 0 to 1 based on a magnitude of the detected vehicle parameter.3. A method according to claim 2 , wherein a detected vehicle parameter comprises at least two detected vehicle parameters.4. A method according to claim 3 , wherein selecting the steering control multiplier from a range of 0 to 1 based on a magnitude of the detected vehicle parameter further comprises weighting a first detected vehicle parameter more than a second detected vehicle parameter.5. A method according to claim 1 , wherein the steering control multiplier varies based on changes in the detected vehicle parameter.6. A method according to ...

VEHICLE STEERING CONTROL APPARATUS

A vehicle steering control apparatus is provided with: a first setting device for setting a first target steering angle of rear wheels according to a steering wheel operation of a driver; a second setting device for setting a second target steering angle of the rear wheels which does not work with the steering wheel operation by the driver and which is associated with automatic steering; a controlling device for controlling a steering angle of the rear wheels on the basis of the set first and second target steering angles; and a limiting device for limiting an influence of the first target steering angle on the steering angle of the rear wheels in accordance with a driving condition of the vehicle if the set first and second target steering angles have a mutually anti-phase relation, the limiting device limiting an influence of the second target steering angle on the steering angle of the rear wheels in accordance with the driving condition of the vehicle in preference to the first target steering angle if the automatic steering associated with the setting of the second target steering angle suppresses a change in the vehicle state quantity produced in a process of controlling a state controlled variable which is different front the steering angle of the rear wheels. 1. A vehicle steering control apparatus for controlling a vehicle , the vehicle comprising a rear wheel steering angle varying apparatus capable of changing a steering angle of rear wheels , said vehicle steering control apparatus comprising:a first setting device for setting a target steering angle of the rear wheels according to a steering wheel operation of a driver, as a first target steering angle;a second setting device for setting a target steering angle of the rear wheels which does not work with the steering wheel operation by the driver and which is associated with automatic steering accompanied by control of a vehicle state quantity for a target value, as a second target steering angle;a ...

NON-LINEAR COMPENSATION CONTROLLER FOR ACTIVE STEERING SYSTEM IN A VEHICLE

Systems and methods are described for controlling vehicle steering. A target yaw rate and a target side-slip angle are determined for the vehicle and an initial steering angle setting is determined based on a position of a steering wheel operated by a driver of the vehicle. A nonlinear vehicle model is applied to calculate a compensated steering angle setting based on the initial steering angle setting, an actual yaw rate of the vehicle, and an actual side-slip angle of the vehicle. A steering system of the vehicle is then controls the angle of the front wheels of the vehicle based on the compensated steering angle and, by doing so, causes both the actual yaw rate and the actual side-slip angle to approach the target yaw rate and the target side-slip angle, respectively. 1. A method for controlling vehicle steering , the method comprising:determining a target yaw rate and a target side-slip angle for a vehicle;determining an initial vehicle actuator setting based on operator input;applying a non-linear vehicle model to calculate a compensated vehicle actuator setting based on the initial vehicle actuator setting, an actual yaw rate of the vehicle, and an actual side-slip angle of the vehicle; andcontrolling a vehicle actuator based on the compensated vehicle actuator setting to cause the actual yaw rate to approach the target yaw rate and to cause the actual side-slip angle to approach the target side-slip angle.2. The method of claim 1 , wherein the vehicle actuator is a steering system that adjusts an angle of at least one front wheel of the vehicle and the initial vehicle actuator setting is a value indicative of the angle of the at least one front wheel.3. The method of claim 1 , wherein the desired yaw rate is determined based at least in part on the operator input.4. The method of claim 1 , wherein the initial vehicle actuator setting is determined based on the target yaw rate claim 1 , the target side-slip angle claim 1 , the actual yaw rate claim 1 , and the ...

VEHICLE DRIVE CONTROL SYSTEMS AND THE RELATED VEHICLES

Vehicle control systems that can be used, for example, to configure a vehicle (e.g., a lawn tractor or riding lawn mower) to make low- to substantially zero-radius turns. Some of the present vehicle control systems utilize at least one steered wheel position sensor to generate a signal that indicates the actual position of the steerable structure (e.g., wheel) to which the sensor is coupled, rather than a projected or anticipated position of that steerable structure. Vehicles that include such control systems. 112.-. (canceled)13. A control system for a vehicle capable of making a small radius turn that has steerable wheels and drivable wheels , the control system comprising:a steered wheel position sensor coupled to one of the steerable wheels and configured to generate a signal corresponding to the actual position of such steerable wheel;a speed input sensor configured to generate a signal representative of a commanded speed input; anda control unit coupled to the steered wheel position sensor and the speed input sensor, the control unit being configured to generate signals for controlling the drivable wheels as a function of at least the signal corresponding to the actual position of the steerable wheel to which the steered wheel position sensor is coupled, and the signal representative of the commanded speed input.14. The control system of claim 13 , where the control unit is coupled to each drivable wheel through a separate electric drive motor claim 13 , and the control unit is configured to generate signals for controlling the electric drive motors as a function of at least the signal corresponding to the actual position of the steerable wheel to which the steered wheel position sensor is coupled claim 13 , and the signal representative of the commanded speed input.15. The control system of claim 13 , where the control unit is coupled to each drivable wheel through a separate hydrostatic transmission claim 13 , and the control unit is configured to generate ...

Vehicle Drive Control Systems And The Related Vehicles

Vehicle control systems that can be used, for example, to configure a vehicle (e.g., a lawn tractor or riding lawn mower) to make low- to substantially zero-radius turns. Some of the present vehicle control systems utilize at least one steered wheel position sensor to generate a signal that indicates the actual position of the steerable structure (e.g., wheel) to which the sensor is coupled, rather than a projected or anticipated position of that steerable structure. Vehicles that include such control systems. 1. A control system for a vehicle capable of making a small radius turn that has steerable wheels and drivable wheels , the control system comprising:a steered wheel position sensor coupled to one of the steerable wheels and configured to generate a signal corresponding to the actual position of such steerable wheel;a speed input sensor configured to generate a signal representative of a commanded speed input; anda control unit coupled to the steered wheel position sensor and the speed input sensor, the control unit being configured to generate signals for controlling the drivable wheels as a function of at least the signal corresponding to the actual position of the steerable wheel to which the steered wheel position sensor is coupled, and the signal representative of the commanded speed input.2. The control system of claim 1 , where the control unit is coupled to each drivable wheel through a separate electric drive motor claim 1 , and the control unit is configured to generate signals for controlling the electric drive motors as a function of at least the signal corresponding to the actual position of the steerable wheel to which the steered wheel position sensor is coupled claim 1 , and the signal representative of the commanded speed input.3. The control system of claim 1 , where the control unit is coupled to each drivable wheel through a separate hydrostatic transmission claim 1 , and the control unit is configured to generate signals for controlling ...

Zone driving

A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.

CONTROL METHOD OF WHEEL ALIGNMENT APPARATUS USING MOTOR DRIVEN POWER STEERING

The present invention relates to a control method of a wheel alignment apparatus using an MDPS, which determines whether or not to cancel center alignment control due to a trouble or error is preferentially determined prior to each control step and then performs control when wheels of a vehicle having an MDPS mounted therein are aligned, such that the trouble or error is preferentially considered in the control priority, thereby increasing driver's convenience and improving safety performance for protecting the driver. 1. A control method of a wheel alignment apparatus using a motor-driven power steering (MDPS) , comprising:determining, by a wheel alignment control unit, whether or not a current condition is a compulsory cancellation condition during initialization, and then determining whether or not a current state is a standby state;determining whether the current condition is the compulsory cancellation condition when it is determined that the current condition is the standby state, and receiving a state of a vehicle when an operating command for center alignment of wheels of the vehicle is inputted;determining whether the current condition is the compulsory cancellation condition or a normal cancellation condition, through the received vehicle state;generating a request value for center alignment of the wheels by determining the operating state, when the current condition is the normal cancellation condition; andreceiving the vehicle state to determine whether the current condition is the compulsory cancellation condition or the normal cancellation condition, and driving an MDPS based on the request value.2. The control method of claim 1 , wherein the standby state comprises a state in which a gearshift is positioned at a parking state or neural state and the MDPS is in a normal state.3. The control method of claim 1 , wherein the compulsory cancellation condition comprises determining whether or not a fatal error to stop the MDPS occurs in main functions claim ...

Object tracking and steer maneuvers for materials handling vehicles

A materials handling vehicle automatically implements steer maneuvers when objects enter one or more zones proximate the vehicle, wherein the zones are monitored by a controller associated with the vehicle. The controller tracks objects in the zones via sensor data obtained from at least one obstacle sensor located on the vehicle and via dead reckoning. The objects are tracked by the controller until they are no longer in an environment proximate the vehicle. Different zones result in different steer maneuvers being implemented by the controller.

METHOD FOR CONTROLLING A POWER STEERING DEVICE FOR A MOTOR VEHICLE EQUIPPED WITH A STOP & START SYSTEM

A power-steering device and method for controlling a device for a motor vehicle including a stop and start system, the device including an electric pump unit including at least one electric motor and one processor. The method includes a stage in which the electric pump unit is switched to a standby mode by reducing rotation speed of the electric motor, this stage implemented by the processor following receipt of a control signal sent by the stop and start system to the processor, the signal representing an automatic switching of a heat engine into a stop mode. The method enables the power-steering device to be kept in operation during an automatic stopping phase of the heat engine, without resulting in unwanted noise or excessive electricity draw. 14-. (canceled)5. A method for controlling a power-steering device for a motor vehicle including a stop and start system , the power-steering device including an electric pump unit including at least one electric motor and one processor , the method comprising:a first stage in which the electric pump unit is switched to a standby mode by reducing rotation speed of the electric motor, the stage being implemented by the processor following receipt of a control signal sent by the stop and start system to the processor, the control signal representing an automatic switching of a heat engine into a stop mode.6. The method according to claim 5 , further comprising:a second stage in which the electric pump unit is reactivated by increasing the rotation speed of the electric motor from its rotation speed in the standby mode up to its top rotation speed to provide adequate power steering, the second stage being implemented by the processor following receipt of a control signal representing verification of one of following conditions:a condition involving automatic switching of the heat engine into start mode, the corresponding control signal being sent by the stop and start system to the processor,a condition involving ...

VEHICLE BEHAVIOR CONTROL APPARATUS

A vehicle behavior control apparatus mounted in a vehicle to control steering of the vehicle. A virtual road outline, which is an outline of a drivable road region where the vehicle will travel, is determined on the basis of detection results from a location sensor. The virtual road outline is reconstructed as a sequence of road segments, such as straight road segments, and right- and left-hand curved road segments. When a current road segment where the vehicle is currently present is a right- or left-hand curved road segment, a subsequent road segment where the vehicle will be present subsequently is tentatively set to a straight road segment until the vehicle reaches the subsequent road segment. The steering angle is controlled so that a virtual-road boundary distance is adapted to a proper distance from the vehicle to a boundary of the virtual road outline situated in front of the vehicle. 1. A vehicle behavior control apparatus mounted in a vehicle , comprising:boundary information acquisition means for successively acquiring detection results from a location sensor that successively detects a position of a boundary of a drivable road region situated in front of the vehicle;current-position acquisition means for successively acquiring a current position of the vehicle;virtual-road-outline determination means for determining a virtual road outline that is an outline of a drivable road region where the vehicle will travel on the basis of the detection results from the location sensor acquired by the boundary information acquisition means;reconstruction means for reconstructing the virtual road outline determined by the virtual-road-outline determination means as a sequence of road segments including straight road segments, right-hand curved road segments, and/or left-hand road segments;first tentatively setting means for, when a current road segment where the vehicle is currently present is a right- or left-hand curved road segment, tentatively setting a ...

CHECKING METHOD IMPLEMENTED BY A STEERING SYSTEM REGULATING FUNCTION

Checking method implemented by a function that automatically checks a steering system () of a motor vehicle comprising a steering wheel () to operate a powered system () that turns the wheels () under certain specific conditions of operation of this vehicle, this checking method calculating a reference steering wheel angle (Av cons) to provide torque control of the power system (), characterized in that it additionally calculates a steering wheel rate of turn reference (Av cons) which is saturated at a predefined value (Avp target). 1. A control process implemented by an automatic control function of a steering system of an automotive vehicle comprising a steering wheel; the control process controlling a motorization unit which turns the wheels under certain specific conditions of operation of the vehicle; this the control process calculating a steering wheel angle set point (Av) to perform a torque servo control of the motorization unit; the control process also calculating a set point for the steering wheel rotation speed (Avp) which is saturated at a predefined value (Avp)2. The control process according to claim 1 , wherein the predefined saturation value of the steering wheel rotation speed (Avp) is calculated to ensure comfort in case of a sudden release of the steering wheel after an intervention by the driver on this the steering wheel during the operation of the automatic control function claim 1 , irrespective of the difference generated by the driver.3. The control process according to claim 1 , it wherein the control process performs the following operations:{'sub': set', 'set', 'mes', 'set', 'set', 'mes', 'mes, 'first it establishes a steering wheel angle set point (Av) which enables the automatic control function of the steering system to achieve its position objective, compares the steering wheel angle set point (Av) with the steering wheel angle (Av) measured by a sensor of the steering system, to calculate the steering wheel speed set point (Avp); ...

Hands-on-off steering wheel detection for motor vehicle

In a method for detecting contact between a driver's hands and the steering wheel ( 12 ) of a vehicle, an actuator ( 14 ) for selectively applying a steering force and sensors ( 22 ) for measuring the instantaneous steering force and/or the steering angle being associated with the steering wheel ( 12 ), the actuator ( 14 ) impresses ( 32 ) a test force pulse pattern on the steering wheel ( 12 ). The steering force sensor and/or the steering angle sensor ( 22 ) measure(s) the reaction of the steering wheel movement to the test pulse pattern, and the reaction of the steering wheel movement is used to decide whether or not at least one of the driver's hands is in contact with the steering wheel ( 12 ).

Active steering system

A method for operating an active steering system of a vehicle, in which a ratio between a wheel steer angle and a steering wheel angle specified by the driver can be modified by superimposition of a superimposition angle. The method comprises detecting an offset between a requested motor angle and an actual motor angle, and reducing the offset between the requested motor angle and the actual motor angle using a reduction rate that is selected as a function of at least one input variable specified by the driver.

METHOD AND APPARATUS FOR CONTROLLING FAILURE OF MOTOR-DRIVEN POWER STEERING SYSTEM

A method and apparatus of controlling failure of a Motor-Driven Power Steering (MDPS) system may include monitoring a first torque sensor signal and a second torque sensor signal detected by a torque sensor, performing a safety mode operation in which control of the MDPS may be performed such that when a fault signal of the first torque sensor signal or the second torque sensor signal may be detected, the MDPS may be controlled to decrease a steering assist power, and performing a manual mode operation in which control of the MDPS may be performed such that when a fault signal of a remaining torque sensor signal out of the first and second torque sensor signals, which was not detected during the safety mode operation, may be detected, the MDPS may be controlled to completely lose the steering assist power. 1. A method of controlling failure of a Motor-Driven Power Steering (MDPS) system , comprising: monitoring a first torque sensor signal and a second torque sensor signal detected by a torque sensor;performing a safety mode operation in which control of the MDPS is performed such that when a fault signal of the first torque sensor signal or the second torque sensor signal is detected, the MDPS is controlled to decrease a steering assist power; andperforming a manual mode operation in which control of the MDPS is performed such that when a fault signal of a remaining torque sensor signal out of the first and second torque sensor signals, which was not detected during the safety mode operation, is detected, the MDPS is controlled to completely lose the steering assist power.2. The method according to claim 1 , wherein in the performing the safety mode operation and the performing the manual mode operation claim 1 , a reference voltage used by the torque sensor is compared with the first torque sensor signal and the second torque sensor signal claim 1 , and the fault signal is detected when a corresponding torque sensor signal falls outside a normal voltage section in ...

EMERGENCY STEERING SYSTEM AND CONTROLLING METHOD OF THE SAME

Provided are an emergency steering system and a method of controlling the emergency steering system. The emergency steering system includes a plurality of wheel units each including an in-wheel motor and a steering unit; a motor controller configured to control an electric current applied to at least one of the in-wheel motors; and an emergency steering signal input unit configured to receive an emergency steering signal, which is a signal for applying the electric current to the at least one of the in-wheel motors, transmit the received emergency steering signal to the motor controller, and control the motor controller based on the emergency steering signal, wherein the motor controller configured to control the electric current applied to the at least one of the in-wheel motors based on the emergency steering signal. 1. An emergency steering system comprising:a plurality of wheel units each including an in-wheel motor and a steering unit;a motor controller configured to control an electric current applied to at least one of the in-wheel motors; andan emergency steering signal input unit configured to receive an emergency steering signal, which is a signal for applying the electric current to the at least one of the in-wheel motors, transmit the received emergency steering signal to the motor controller, and control the motor controller based on the emergency steering signal,wherein the motor controller configured to control the electric current applied to the at least one of the in-wheel motors based on the emergency steering signal.2. The emergency steering system of claim 1 , wherein an amount of the electric current applied to the at least one of the in-wheel motors is changed based on the emergency steering signal.3. The emergency steering system of claim 1 , wherein the emergency steering signal input unit includes a direction display unit that is configured to display a direction of a vehicle.4. An emergency steering system comprising:a plurality of wheel ...

MOTOR VEHICLE AND STEER CONTROL METHOD FOR STEERABLE WHEEL

A vehicle suspension apparatus is constructed to improve stability and controllability. Suspension apparatus includes; a tire wheel to be equipped with a tire; a wheel hub mechanism to support the tire wheel; a first link member connecting the wheel hub mechanism and a vehicle body on a lower side of an axle in an vehicle up and down direction; a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view; and a steering rack moving in a vehicle widthwise direction and steering the wheel hub mechanism. 145-. (canceled)46. A motor vehicle comprising:a steer control apparatus to steer a steerable wheel by actuating an actuator in accordance with a steering condition of a steering wheel; anda suspension apparatus to support the steerable wheel to a vehicle body;wherein the suspension apparatus comprises:a wheel hub mechanism to support a tire wheel to be provided with a tire;a first link member connecting the wheel hub mechanism and the vehicle body on a lower side of an axle in a vehicle up and down direction; and 'wherein a kingpin axis passing through an upper pivot point of the suspension apparatus and a lower pivot point located at an intersection point of the first link member and the second link member is set to pass through a tire ground contact surface at a neutral position of the steering wheel; and', 'a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view;'}wherein the steer control apparatus is configured to steer the steerable wheel by producing a restoring force for self-aligning in the steerable wheel by actuating the actuator and thereby to secure a straightness of the vehicle.47. The motor vehicle as recited in claim 46 , wherein the steer control apparatus ...

VEHICLE INFORMATION PROCESSING DEVICE

A vehicle information processing device mounted on a vehicle includes a future position calculating unit configured to calculate a future position of the vehicle based on steering input information corresponding to a steering input, a vehicle state amount that prescribes a turning state, and a vehicle speed, and an estimating unit configured to estimate a turning curvature of the vehicle at a provisional travel position ahead of a present position based on at least three vehicle positions according to the vehicle including at least the one calculated future position as well as including a vehicle position corresponding to the present position of the vehicle. As a result, a turning curvature of the vehicle at a vehicle position ahead of a present position can be estimated by a simple configuration and further the estimated turning curvature can be preferably used to stabilize vehicle behavior. 115-. (canceled)16. A vehicle information processing device mounted on a vehicle including at least one of a steering angle variable unit capable of changing a relation between a steering input and a steering angle of a steering wheel and an assist torque supplying unit capable of supplying assist torque for assisting steering torque of a driver , the vehicle information processing device comprising:a future position calculating unit configured to calculate a future position of the vehicle based on steering input information corresponding to a steering input, a vehicle state amount that prescribes a turning state, and a vehicle speed;an estimating unit configured to estimate a turning curvature of the vehicle at a provisional travel position ahead of a present position based on at least three vehicle positions according to the vehicle including at least the one calculated future position as well as including a vehicle position corresponding to the present position of the vehicle; anda controller configured to control at least one of the steering angle variable unit and the ...

HYBRID MOTOR DRIVEN POWER STEERING SYSTEM FOR COMMERCIAL VEHICLE AND METHOD OF IMPROVING PERFORMANCE AND FUEL EFFICIENCY THROUGH CONTROL THEREOF

A hybrid motor driven power steering system for a commercial vehicle may include a MDPS unit to generate motor output torque depending on driver steering torque, an EHPS unit to generate hydraulic output torque considering the motor output torque of the MDPS unit, a ball nut type gear box to generate output torque which operates a tie rod leading to left and right wheels after being input with the driver steering torque, the motor output torque, and the hydraulic output torque, and two torsion bars to block torque fluctuation rates at respective regions of a joint by detecting a road surface reaction force transferred to a steering column through the ball nut type gear box in at least two different positions. Accordingly, it may be possible to provide a steering capacity required in small-sized, medium-sized and full-sized commercial vehicles. 1. A hybrid motor driven power steering system for a commercial vehicle comprising:a Motor Driven Power Steering (MDPS) unit configured to generate motor output torque corresponding to a portion of detected driver torque, wherein the MDPS unit is mounted to a steering column connecting a steering wheel;an Electro-Hydraulic Power Steering (EHPS) unit configured to generate hydraulic output torque, to create, together with the motor output torque of the MDPS unit, an output required for steering the commercial vehicle;a ball nut type gear box configured to include a hydraulic cylinder having a large hydraulic area and a ball nut to generate real output torque of a piston using hydraulic pressure supplied from the EHPS unit;a link configured to be operated by the output torque generated at the ball nut type gear box to operate a tie rod connected to left and right wheels; andtwo torsion bars configured to be respectively installed in at least two different positions of the steering column to detect a road surface reaction force which is introduced to the ball nut type gear box and transferred to the steering wheel.2. The hybrid ...

ELECTRONIC POWER STEERING APPARATUS

An electronic power steering apparatus for a vehicle having a steering mechanism to generate a steering assisting force includes: a steering angle sensor; a steering torque sensor; a target steering torque setting unit for setting a target steering torque based on the detected steering angle; a torque deviation computing unit for computing a torque deviation between the target steering torque and the detected steering torque; a first target current value computing unit for computing a first target current value for generating a steering assisting force by the motor based on the computed torque deviation; and a vehicle speed sensitivity adjusting unit that adjusts the first target current value, at least corresponding to a detected vehicle speed, and outputs the adjusted first current value as a second target current value. The motor control unit controls the motor to generate the steering assisting force based on the second target current value. 112-. (canceled)13. An electronic power steering apparatus that is applied to a vehicle having a steering mechanism , causes a motor to generate a steering assisting force with motor control unit , and transmits the steering assisting force to a steering system to cause a reduction in a steering force , comprising:a steering angle sensor for detecting a steering angle of a steering wheel;a steering torque sensor for detecting a steering torque of the steering wheel;a target steering torque setting unit configured to set a target steering torque on the basis of the steering angle detected by the steering angle sensor;a torque deviation computing unit configured to compute a torque deviation between the target steering torque set by the target steering torque setting unit and the steering torque detected by the steering torque sensor;a first target current value computing unit configured to compute a first target current value for generating a steering assisting force by the motor on the basis of the torque deviation computed ...

Vehicle remote operation device

In a vehicle remote operation, device enabling parking-in and parking-out by a remote operation, the present invention provides the vehicle remote operation device which may correspond to an ambient condition change. When an automatic steering unit 15 automatically performs parking-in and parking-out by receiving an instruction from the transmitter 50, obstacle conditions around a vehicle (particularly, around a door) obtained by the surrounding object sensor 21 are detected, and it is determined whether a sufficient space is ensured for a passenger's getting on/off through a door to automatically move a vehicle to a place where getting on/off is easy if necessary.

Power-steering controller for vehicle

A basic assist torque is set on the basis of the vehicle speed and the steering torque, and when the vehicle changes from a straight driving state to a curve driving state, a correction amount for the basic assist torque is calculated, which is to offset steering torque characteristic values which has been predetermined depending on a steering angle, in a direction opposite to the steering direction by correcting an absolute value of the basic assist torque to reduce its action on the steering direction depending at least upon the curvature radius of the driving road in front of the vehicle, and the basic assist torque is corrected with the basic assist torque correction amount and the controlled/corrected torque (assist torque) is output to a motor drive unit.

METHOD AND DEVICE FOR DETERMINING A TRANSVERSAL CONTROLLER PARAMETERIZATION FOR TRANSVERSAL CONTROL OF A VEHICLE

A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, having a step for determining the parameter based on a piece of information about a curvature of the route segment to be instantaneously traveled on. 110-. (canceled)11. A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle , the method comprising:determining the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on.12. The method as recited in claim 11 , wherein the determining of the transversal controller parameterization includes:providing a plurality of curviness ratings which represent different curvature states of a possible course of a road, each curviness rating including a parameter which is related to a curvature state corresponding to the curviness rating;ascertaining a curvature of the route segment to be instantaneously traveled on;selecting an instantaneous curviness rating from the plurality of curviness ratings based on the curvature; andproviding the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle.13. The method as recited in claim 12 , wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle.14. The method as recited in claim 11 , further comprising:ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined on the basis of the instantaneous driving velocity in the determining the transversal controller parameterization step.15. The method as recited in claim 11 , wherein the curvature is determined in the ascertainment step by accessing a ...

METHODS AND SYSTEMS FOR OPTIMIZING PERFORMANCE OF VEHICLE GUIDANCE SYSTEMS

A vehicle guidance system includes a location determining component for determining locations of the vehicle; a weight sensor for sensing a weight associated with the vehicle; a steering actuator for steering at least one wheel of the vehicle; and a computing device in communication with the location determining component, the weight sensor, and the steering actuator. The computing device receives cartographic data representative of a desired path for the vehicle, receives location information from the location determining component, controls operation of the steering actuator in order to guide the vehicle along the desired path, and adjusts a steering parameter at least partially based on the weight sensed by the weight sensor. 1. A method for optimizing performance of a guidance system for a vehicle , the method comprising:receiving data representative of a weight associated with a periodically changing payload of the vehicle, an overall possible weight change of the payload being equivalent to a weight of the vehicle; andsetting or adjusting a steering parameter of the guidance system at least partially based on the weight such that the guidance system steers the vehicle in a manner that compensates for the weight;wherein the receiving and setting steps are automatically performed by a computing device of the guidance system.2. The method as set forth in claim 1 , wherein the computing device adjusts the steering parameter of the guidance system based on the changing payload.3. The method as set forth in claim 1 , wherein the steering parameter is a steering gain setting.4. The method as set forth in claim 3 , wherein the setting or adjusting step comprises the step of increasing the steering gain setting when the weight increases.5. The method as set forth in claim 3 , wherein the setting or adjusting step comprises the step of decreasing the gain steering when the weight decreases.6. The method as set forth in claim 1 , further comprising the steps of: ...

CONTROL APPARATUS FOR VEHICLE

Lane keeping control is ended in accurate timing which does not give an uncomfortable feeling to a driver. In a vehicle which is provided with a steering mechanism , an EPS actuator , and a VGRS actuator and which can change a rudder angle regardless of a driver's steering input due to the cooperative control of the aforementioned mechanism and actuators, an ECU performs LKA end control. In the control, in cases where a winker lever is operated in a period of performing LKA control for making the vehicle follow a target driving route, if the indicated direction of the winker lever is different from a generation direction of generating an assist steering torque TA of the EPS actuator in the LKA control, the LKA control is promptly ended. In cases where the indicated direction is equal to the generation direction, if a steering angle MAdrv corresponding to the driver's steering input exceeds a steering angle MAlka generated by the LKA control, the LKA control is ended. 1. A control apparatus for a vehicle comprising a steering mechanism capable of changing a rudder angle of steered wheels regardless of a driver's steering input ,said control apparatus comprising:a performing device for performing predetermined lane keeping control for controlling the steering mechanism such that the vehicle does not depart from a target driving route, in response to a lane keeping request; andan ending device for ending the lane keeping control on the basis of an operating state of a direction indicator and a control state of the steering mechanism in a period of performing the lane keeping control.2. The control apparatus for the vehicle according to claim 1 , wherein the control state is a generation direction of generating a steering torque in a course of performing the lane keeping control claim 1 , the operating state is an indicated direction of the direction indicator claim 1 , and said ending device changes end timing of the lane keeping control in accordance with whether or ...

Vehicle steering device

The present invention provides a vehicle steering device, comprising: a manual steering means for manually steering steerable wheels in a vehicle; a steering-torque detection means for detecting a steering torque applied to the manual steering means; a first electromotive-torque determination means for determining a first electromotive-torque value based on the detected steering torque; a vehicle-behavior detection means for detecting behavior of the vehicle; a second electromotive-torque determination means for determining a second electromotive-torque value based on a detected value obtained by the vehicle-behavior detection means; an electric motor for applying a combined electromotive torque to the steerable wheels; and a current control means for controlling current supplied to the electric motor based on a value of the combined electromotive torque obtained by adding the first electromotive-torque value to the second electromotive-torque value.

SYSTEM PROVIDED WITH AN ASSISTANCE-CONTROLLER FOR ASSISTING AN OPERATOR OF THE SYSTEM, CONTROL-OPERATION ASSISTING DEVICE, CONTROL-OPERATION ASSISTING METHOD, DRIVING-OPERATION ASSISTING DEVICE, AND DRIVING-OPERATION ASSISTING METHOD

A target-travel-path generating circuit calculates a target travel path along which a controlled object can travel in the future from a current controlled object position. An ideal-control-signal calculating circuit calculates a control profile to travel along the target travel path, and a difference calculating circuit calculates a difference between an ideal control magnitude and a current control magnitude. A controller controls an operation system based on a magnitude of the difference to assist a control operation and a control-operation-state of an operator, an environment-state, and a required operation-precision. The operator receives assistance corresponding to the magnitude of the difference from an ideal control state, the control-operation-state, the environment-state, and the required operation-precision. An outputted control-operation assistance control is suitable for conditions that characterize the operator state, the environment, and the controlled object. 1. A control-operation assisting method for assisting the control operation of an operator for control of a controlled object , comprising:generating an ideal control path of the controlled object from information about the control operation state of the operator and information about the control operation environment on the periphery of the controlled object;calculating, as an ideal control signal, a control profile of an operation system for the controlled object to operate along the generated ideal control path;calculating the difference between the calculated ideal control signal and the information about the control operation state;controlling the operation system based on the magnitude of the calculated difference to assist the operation of the operator for the operation system; andestimating the accuracy required for the control operation of the controlled object, from the information about the control operation state and/or the information about the control operation environment, ...

SYSTEM FOR PROVIDING STEERING ASSIST TORQUE BASED ON A LATERAL POSITION COMMAND

A steering system providing an assist torque to a handwheel is provided, and includes a lateral position module and a torque command module. The lateral position module determines a lateral position command based on a curvature of a lane and a near field heading angle. The torque command module determines the torque assist based on the lateral position command. 1. A steering system providing an assist torque to a handwheel of a vehicle , the control system comprising:a lateral position module that determines a lateral position command based on a curvature of a lane and a near field heading angle; anda torque command module that determines the torque assist based on the lateral position command.2. The steering system as recited in claim 1 , comprising a lane keeping system that calculates the curvature and the near field heading based on a plurality of lane markers of the lane.3. The steering system as recited in claim 2 , wherein the lane keeping system includes a camera and a processor claim 2 , wherein the camera detects the presence of the lane markers and the processor includes control logic for determining the curvature and the near field heading angle.4. The steering system as recited in claim 1 , wherein the lateral position command is further based on a sign of the curvature and a sign of the near field heading angle.5. The steering system as recited in claim 4 , wherein the lateral position command is set to zero if the sign of the curvature and the sign of the near field heading angle are equal to one another.6. The steering system as recited in claim 4 , wherein the lateral position command is set to an offset value if the sign of the curvature and the sign of the near field heading angle are different from one another.7. The steering system as recited in claim 6 , wherein the offset value represents a distance from a center of the lane.8. The steering system as recited in claim 6 , wherein the offset value is calculated based on the curvature of the lane ...

CONTROL SYSTEM AND VEHICLE STEERING CONTROL SYSTEM

A control system calculates inputs to a control target that has m inputs and n outputs (m=n, each of m and n is a natural number that is more than one), while designating a plurality of combinations of the inputs and the outputs. A feedback controller calculates, with respect to each designated combination, a control input to a non-interference controller based on a difference between a target value and a current value of the control quantity to make the current value follow the target value. The non-interference controller executes, with respect to each designated combination, a non-interference control to reduce influence due to mutual interference between n control quantities. This reduces the number of combinations of the inputs and the outputs, the combinations whose mutual interference needs considering; thereby, the non-interference control may be easily achieved. 1. A control system that controls a control target that provides a plurality of n outputs of control quantities based on a plurality of m inputs of operation quantities , wherein m=n and each of m and n is a natural number that is more than one , the control system comprising:a plurality of feedback controllers, each of which calculates the operation quantity based on a difference between (i) a target value, which is generated by a target value generator, the target value corresponding to the control quantity and, and (ii) a current value of the output provided by the control target; anda non-interference controller provided between (i) the plurality of feedback controllers and (ii) the control target, the non-interference controller executing a non-interference control to reduce influence due to mutual interference between the outputs provided by the control target, wherein:combinations of the inputs and the outputs in the control target are designated; andthe non-interference control by the non-interference controller and the feedback control by the feedback controllers are executed with respect ...

VEHICLE LANE KEEP ASSIST SYSTEM

A lane keep assist system for a vehicle includes a forward facing camera and an image processor. The forward facing camera is disposed at a vehicle and has a forward field of view exterior of the vehicle. The image processor is operable to process image data captured by the forward facing camera. The lane keep assist system is operable to process image data to determine lane markers in the field of view and to determine a time to lane crossing value. The lane keep assist system determines a first time to lane crossing value via a first algorithm and a second time to lane crossing value via a second algorithm. The lane keep assist system is operable to apply a steering signal to adjust the steering of the vehicle at least in part responsive to the determined first and second time to lane crossing values. 1. A lane keep assist system for a vehicle , said lane keep assist system comprising:a forward facing camera disposed at a vehicle and having a forward field of view exterior of the vehicle;an image processor operable to process image data captured by said forward facing camera;wherein said lane keep assist system is operable to process image data to determine lane markers in said field of view and to determine at least one time to lane crossing value;wherein said lane keep assist system is operable to determine a first time to lane crossing value via a first algorithm and a second time to lane crossing value via a second algorithm;wherein said first algorithm determines the first time to lane crossing value responsive to image processing of captured image data by said image processor;wherein said second algorithm determines the second time to lane crossing value responsive to signals from at least one other vehicle sensor; andwherein said lane keep assist system is operable to apply a steering signal to adjust the steering of the vehicle at least in part responsive to the determined first and second time to lane crossing values.2. The lane keep assist system of ...

Driver assistant system using influence mapping for conflict avoidance path determination

A driver assistance system for a vehicle includes a plurality of sensors disposed at a vehicle and operable to detect objects at least one of ahead of the vehicle and sideward of the vehicle. The driver assistance system includes a data processor operable to process data captured by the sensors to determine the presence of objects ahead and/or sideward of the vehicle. Responsive to the data processing, the driver assistance system is operable to determine at least one of respective speeds of the determined objects and respective directions of travel of the determined objects. The driver assistance system is operable to determine respective influence values for the determined objects. Responsive to the respective determined speeds and/or directions of travel of the determined objects and responsive to the determined respective influence values, at least one path of travel for the vehicle is determined that limits conflict with the determined objects.

METHOD OF OPERATING A MOTOR VEHICLE WITH A DRIVER ASSISTANCE SYSTEM

The invention relates to a method of operating a motor vehicle, in which, when at least one predefined driving situation is present, an assigned steering intervention is carried out by a driver assistance system. In advance of such steering interventions, predictions relating to the occurrence of the at least one predefined driving situation are produced as a function of at least one predefined criterion and, as a function of the prediction, at least one operating parameter of the motor vehicle, which is relevant for the steering intervention, is set, before the steering intervention takes place, to a predefined value which is necessary for carrying out the steering intervention. This ensures that when the driving situation takes place, the motor vehicle is in an operating state in which the steering intervention can be executed without interference. 14.-. (canceled)5. A method of operating a motor vehicle; comprising:predicting the occurrence of at least one predefined driving situation of the motor vehicle in dependence on at least one predefined criterion;setting at least one operating parameter that is relevant for a steering intervention in response to the prediction to a predefined value that is required for executing the steering intervention; andexecuting the steering intervention by a driver assistance system as a function of the predetermined value,wherein the at least one operating parameter required for the steering intervention is a steering angle on a rear axle or front axle of the motor vehicle.6. The method of claim 5 , wherein the at least one operating parameter required for the steering intervention is a power output provided in an electric on-board power supply of the motor vehicle.7. The method of claim 5 , wherein the at least one predefined driving situation involves the presence of a lane change claim 5 , a parking procedure claim 5 , a parking space departure claim 5 , an evasive action claim 5 , or a maneuvering procedure. The invention ...

Vehicle with a controllable wheel route

A vehicle with a controllable wheel route includes a vehicle body, a first pair of wheels, which are individually suspended on both sides of the vehicle body to roll on the ground and can rotate around the vertical axis, a second pair of wheels, which are individually suspended on both sides of the vehicle body to roll on the ground, can rotate around the vertical axis, and are placed in the back of the first wheels, a regulator, which regulates each steering angle on the vertical axis of the first and second wheels, a mode selector, which is configured to select a first mode and a second mode, and a controller, which receives the first mode signal or the second mode signal from the mode selector and controls the regulator according to the received signal. The second wheel route is regulated to be identical to the first wheel route in the first mode, and the second wheel route is regulated to be different from the first wheel route in the second mode.

LANE TRACKING APPARATUS AND METHOD USING CAMERA DIRECTION CONTROL

A lane tracking apparatus and method using camera direction control is provided. The lane tracking apparatus using camera direction control includes a lane recognition unit for obtaining lane information from an image captured and acquired by a camera. A road curvature calculation unit calculates a curvature of a road using the lane information. A camera direction angle control unit controls a direction angle of the camera in consideration of the road curvature. 1. A lane tracking apparatus using camera direction control , comprising:a lane recognition unit for obtaining lane information from an image captured and acquired by a camera;a road curvature calculation unit for calculating a curvature of a road using the lane information; anda camera direction angle control unit for controlling a direction angle of the camera in consideration of the road curvature.2. The lane tracking apparatus of claim 1 , wherein the camera direction angle control unit controls the direction angle of the camera so that a first camera direction angle claim 1 , obtained when the road curvature is a first road curvature and based on a travel direction of a vehicle claim 1 , is set to an angle greater than a second camera direction angle claim 1 , obtained when the road curvature is a second road curvature smaller than the first road curvature and based on the travel direction.3. The lane tracking apparatus of claim 2 , further comprising a vehicle steering angle sensor unit for obtaining a steering angle of the vehicle claim 2 ,wherein the camera direction angle control unit controls the direction angle of the camera in consideration of the road curvature and the steering angle of the vehicle.4. The lane tracking apparatus of claim 3 , wherein the camera direction angle control unit controls the direction angle of the camera so that a first camera direction angle claim 3 , obtained when the steering angle of the vehicle is a first vehicle steering angle and based on the travel direction ...

YAW RATE SIGNAL OFFSET CALCULATION

A method of calculating the offset of a yaw rate signal may be based at least in part on signals representing pinion angle, wheel speed, and yaw rate. These signals may be determined, and threshold comparisons may be performed, and determination of the yaw rate signal may be based at least in part on the results of the threshold comparisons. 1. A method for calculating the offset of a yaw rate signal , which is provided by a yaw rate sensor in a motor vehicle , the method being implemented in an electronic system of an automobile which comprises a control unit , an electrically powered or assisted rack and pinion steering with a steering or pinion angle sensor which generates a pinion angle speed signal , wheel speed sensors associated with at least one road wheel which generate at least one wheel speed signal , and a yaw rate sensor which generates the yaw rate signal , the method comprising:a. observing the pinion angle signal, the at least one wheel speed signal, and the yaw rate signal, for a time;b. starting a waiting time if the pinion angle speed signal is below a pinion angle speed signal threshold, the wheel speed signal is below a wheel speed signal threshold, and the yaw rate signal is below a yaw rate signal threshold;c. starting a calculation for a time of a yaw rate offset if, after the waiting time, the pinion angle speed, wheel speed, and yaw rate signals are still below their respective thresholds, wherein the starting the calculation of the time of the yaw rate offset includes acquiring an average yaw rate for a predetermined time period; andd. storing the average yaw rate as the yaw rate offset in the control unit if, during the predetermined time period, the pinion angle speed, wheel speed, and yaw rate signals remain below their respective thresholds;e. determining if the pinion angle speed, wheel speed, and yaw rate signals still remain below their thresholds, and if so, then proceeding to c, or if at least one of the pinion angle speed, wheel ...

CROP ROW SENSING ON VEHICLE WITH MULTIPLE, INDEPENDENTLY STEERABLE AXLES/WHEELS

An agricultural machine has a set of front wheels and a set of rear wheels that are independently steerable relative to one another. Distance sensors are mounted to the agricultural vehicle to sense a distance between the front wheels, and the adjacent row crops, and between the rear wheels, and the adjacent row crops. Automatic steering control signals are generated to automatically steer the front wheels, and rear wheels, based upon the sensed distances. 1. An agricultural mobile machine , comprising:a frame;a set of front ground engaging traction elements movably connected to the frame;a first steering actuator controllable to steer the set of front ground engaging traction elements;a set of rear ground engaging traction elements movably connected to the frame;a second steering actuator controllable to steer the set of rear ground engaging traction elements independently of the set of front ground engaging traction elements;a sensing component configured to sense a distance from each ground engaging traction element, in the set of front ground engaging traction elements, to an adjacent crop row and to sense a distance from each ground engaging traction element, in the set of rear ground engaging traction element, to an adjacent crop row; anda steering control system that generates a first steering control signal to control the first steering actuator to steer the set of front ground engaging traction elements based on the sensed distance from each ground engaging traction element, in the set of front ground engaging traction elements, to adjacent crop rows, the steering control system generating a second steering control signal to control the second steering actuator to steer the set of rear ground engaging traction elements based on the sensed distance from each ground engaging traction element, in the set of rear ground engaging traction elements, to adjacent crop rows.2. The agricultural mobile machine of wherein the set of front ground engaging traction ...

Steering Control Device, Steering Control Method, and Steering Control System

In a steering control device, method, and system, a command is calculated for generating a periodical yaw moment having a phase opposite to oscillating motion based on information on oscillating motion which occurs in a vehicle combination composed of a vehicle and a trailer, and based on the calculated command, a first steering angle command for controlling a steering angle of the front wheels of the vehicle is output to a front wheel steering control unit and a second steering angle command for controlling a steering angle of the rear wheels of the vehicle is output to a rear wheel steering control unit, so that the oscillating motion can be suppressed.

Vehicle control system

A vehicle control system (30) for controlling a behavior control device (20) that controls a behavior of a vehicle (1), comprising: a feed-forward computing unit (71) that computes a feed forward control amount of the behavior control device according to a steering angle of the vehicle; a feedback computing unit (72) that computes a feedback control amount of the behavior control device according to a difference between a target vehicle state amount computed from the steering angle and an actual vehicle state amount; a correcting unit (73) that computes a corrected feed-forward control amount by correcting the feed forward control amount according to the feedback control amount; and a target control amount computing unit (74) that computes a target control amount of the behavior control device according to the feedback control amount and the corrected feed forward control amount.

DETECTION DEVICE, CALCULATION DEVICE, CONTROL DEVICE, AND ELECTRIC POWER STEERING DEVICE USING THE SAME

A main detection element detects a physical quantity that changes according to a rotation of a detection target. A sub detection element detects a physical quantity that changes according to the rotation of the detection target. A signal processing unit outputs main rotation information that is information corresponding to a detection value of the main detection element and sub rotation information that is information corresponding to a detection value of the sub detection element. A package seals the main detection element, the sub detection element, and the signal processing unit. Centers of all the main and the sub detection elements are arranged at positions shifted from a detection center of the detection target. The main detection element is arranged at a position closer to the detection center than the sub detection element. The package is arranged at a position where a center of the package deviates from the detection center. 1. A detection device comprising:a main detection element configured to detect a physical quantity that changes according to a rotation of a detection target;a sub detection element configured to detect a physical quantity that changes according to the rotation of the detection target;a signal processing unit configured to output main rotation information that is information according to a detection value of the main detection element and sub rotation information that is information according to a detection value of the sub detection element; anda package configured to seal the main detection element, the sub detection element, and the signal processing unit, whereincenters of all the main and the sub detection elements are arranged at positions displaced from a detection center of the detection target,the main detection element is arranged at a position closer to the detection center than the sub detection element, andthe package is arranged at a position where a center of the package deviates from the detection center.2. A detection ...

STEERING SYSTEM AND VEHICLE EQUIPPED WITH SAME

The steering system includes: a first steering device to-steer left and right wheels in a mechanically associated manner by changing an angle of left and right chassis frame components; and a second steering device to drive a supplementary turning actuator to change angles of the wheels relative to the chassis frame components. The second steering device includes a supplementary turning control section to perform a control to cause turning by a steering angle that is a difference between a steering angle determined by a numerical model of vehicle motion on the basis of the steering command angle and the vehicle velocity and an actual steering angle. 1. A steering system comprising:a first steering device configured to change an angle of left and right chassis frame components of a suspension device to which left and right wheels that serve as front wheels of a vehicle are mounted so as to steer the left and right wheels that serve as the front wheels of the vehicle in accordance with a steering command angle given by rotation of a steering wheel or an electrical signal, the left and right wheels being mechanically associated with each other;a second steering device configured to drive a supplementary turning actuator provided to each of the left and right wheels to change angles of the wheels relative to the chassis frame components and thereby individually turn the left and right wheels; anda vehicle information detection section configured to detect vehicle information including a vehicle velocity of the vehicle and the steering command angle, wherein{'sub': '2', 'the second steering device includes a supplementary turning control section configured to control the supplementary turning actuator so as to perform turning by a steering angle δfor auxiliary turning that is a difference between a steering angle of the front wheels, determined by a numerical model of vehicle motion on the basis of the information on the steering command angle and the vehicle velocity, ...

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus including: a steering angle control section that calculates a motor current command value and a switching section that inputs the motor current command value to switch. The steering angle control section has a feedback control section that generates a feedback control current command value; an SAT compensating section that generates an SAT compensation current command value; and an output section that generates the motor current command value from the feedback control current command value and the SAT compensation current command value. The switching section is switched depending on a switching command of an automatic steering mode and a manual steering mode, a motor is drive-controlled based on the motor current command value in the automatic steering mode. 19-. (canceled)10. An electric power steering apparatus that calculates a first motor current command value based on a steering torque and a vehicle velocity , performs an assist control of a steering system by driving a motor based on said first motor current command value , and has a function for switching between an automatic steering mode and a manual steering mode , comprising:a steering angle control section that calculates a second motor current command value based on a target steering angle, an actual steering angle, a motor angular velocity and a motor angular acceleration of said motor, said steering torque and a previous time current command value; and [ a feedback control section that generates a feedback control current command value based on said target steering angle, said actual steering angle, said motor angular velocity and said steering angle;', 'an SAT compensating section that generates an SAT compensation current command value based on said motor angular velocity, said motor angular acceleration, said steering torque and said previous time current command value; and', 'an output section that generates said second motor current command value from said ...

STEERABLE VEHICLE

A steerable, self-propelled vehicle includes a rotatable steering column that is connected to control the steering angle of one or more ground-engaging members of the vehicle. The vehicle includes between the steering column and the ground-engaging member a first steering servomechanism having at least a first steering assistance characteristic; a second steering servomechanism having a second steering assistance characteristic also being connected to act on the steering column. A controller is provided for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more one or more control commands generated in the controller. 1. A steerable , self-propelled vehicle including an agricultural tractor , the steerable self-propelled vehicle comprising: a first steering servomechanism acting on the steering mechanism in a first location, the first steering servomechanism having at least a first steering assistance characteristic;', 'a second steering servomechanism acting on the steering mechanism in a second location, the second servo mechanism having a second steering assistance characteristic; and', 'a programmable controller for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more control commands generated in the controller; and, 'a steering mechanism having a rotatable steering column that is connected to control a steering angle of one or more ground-engaging members of the vehicle, the vehicle including'}a human-machine interface (HMI) configured to receive driver input commands selecting two or more programmed modes of operation of the steering servomechanisms,wherein the HMI includes respective switches for selecting between programmed modes that control steering during movement of the tractor respectively in a field headland and in other locations, and sequentially selecting sub-modes following selection of a ...

Split vehicle power busses

A system includes a first DCDC converter arranged to output electrical power only to a first battery and to first loads in a first specified set. The first specified set includes loads provided to control and perform steering and braking. The system further includes a second DCDC converter arranged to output electrical power to loads isolated from the first loads provided to control and perform steering and braking.

Method for Controlling Position of Vehicle

The present invention relates to a method for controlling the position of a vehicle to ensure stable position of a vehicle against tilting due to a rapid change in vehicle speed. The method includes: determining whether a vehicle speed is rapidly changing in a straight direction on the basis of an extent of depression of a pedal that changes a position of a steering wheel and a change in vehicle speed; determining whether the vehicle is tilting on the basis of a change in a yaw-rate by means of the controller when the vehicle speed is rapidly changing in the straight direction; and providing compensation torque in the direction opposite the direction in which the vehicle is tilted by operating a steering motor when the controller determines that the vehicle is tilting.

STEERING SYSTEM FOR AN AUTOMATED DRIVING PROCESS OF A MOTOR VEHICLE

A steering system for an automated driving process of a motor vehicle having at least one steering controller, a power electronics unit, apparatus for adjusting a steering angle, and an electric motor. The steering system includes a steering controller which generates steering control commands dependent on the data of a surroundings sensor system. The steering control commands are converted into actuation signals for the electric motor by the power electronics unit, and the electric motor then actuates the apparatus for adjusting the steering angle. The steering controller generates a current steering control command and at least one future steering control command dependent on the data of the surroundings sensor system and transmits the steering control commands to the power electronics unit. 1. A steering system for the automated driving of a motor vehicle , the steering system comprising:at least one steering control unit;power electronics;a steering angle adjustment configuration including a toothed rack; andan electric motorwherein the steering system is implemented such that the steering control unit generates steering control commands depending on the data of a surroundings sensor arrangement, which are converted by the power electronics into actuation signals for the electric motor, which then actuates the steering angle adjustment configuration,{'sub': 0', '1', '1', '0, 'wherein the steering control unit is implemented so, depending on the data of the surroundings sensor arrangement, the steering control unit generates a current steering control command for a point in time tand at least one future steering control command for a point in time tand transmits the commands to the power electronics, wherein t>t, wherein the power electronics comprise a memory, in which the at least one future steering control command is stored, wherein the power electronics are implemented so, in the event of a communications disruption between the steering control unit and the ...

MOTOR VEHICLE, SYSTEM AND METHOD FOR OPERATING SUCH A MOTOR VEHICLE AND SUCH A SYSTEM

A motor vehicle has a control device, a first sensor and a global positioning device. The control device has a control unit and a data memory. At least one item of information about an arrangement of an overhead line is stored on the data memory. The control unit is connected to the first sensor and to the global positioning device. The first sensor determines a position of the overhead line relative to the motor vehicle and provides the control unit with the relative position. The global positioning device determines a global position of the motor vehicle and provides the control unit with it. The control unit, on the basis of the established relative position, the established global position and the information about the arrangement of the overhead line, calculates a position of the motor vehicle. 1. A motor vehicle , comprising:a first sensor;a global positioning device;a control device having a control unit and a data memory, wherein at least one item of information about a configuration of an overhead line is stored in said data memory, said control unit is connected to said first sensor and to said global positioning device;said first sensor determining a position of the overhead line relative to the motor vehicle and providing said control unit with a relative position;said global positioning device determining a global position of the motor vehicle on a basis of data signals from different satellites and, on a basis of acquired data signals, calculates the global position of the motor vehicle and provides said control unit with the global position;said control unit, on a basis of the relative position, the global position and the information about the configuration of the overhead line, calculates a position of the motor vehicle;a second sensor connected to said control unit, said second sensor establishing a trajectory of the motor vehicle and providing said control unit with an established trajectory;contact strips;said control unit, on a basis of the ...

RAILLESS TUGGER TRAIN

A railless tugger train () includes a train module (), at least one transportation module and at least two axis modules, wherein each axis module has a stiffly configured axis beam, at which a first mounting device is configured in the form of a stiff mounting of the train module or a transportation module and at which a second mounting device is configured for an articulated connection of a transportation module. At least two wheels () are mounted at the axis beam in such a way that the wheels are each rotatable around a rotation axis (D) which is configured vertical to the longitudinal axis (L) of the axis beam. 1. Railless tugger train witha train module,at least one transportation module andat least two axis modules, characterized in that each axis module has a stiffly configured axis beam, at which a first mounting device is configured in the form of a stiff mounting of the train module or a transportation module and at which a second mounting device is configured for an articulated connection of a transportation module,wherein at least two wheels are mounted at the axis beam in such a way that the wheels are each rotatable around a rotation axis (D) which is configured vertical to the longitudinal axis (L) of the axis beam.2. Railless tugger train according to claim 1 , characterized in that the rotational axis (D) of the wheel is configured outside or inside a contact surface (A) of the wheel.3. Railless tugger train according to or claim 1 , characterized in that the wheels are each arranged at a steering knuckle which is rotatable around the rotational axis (D) and is mounted at the axis beam.4. Railless tugger train according to claim 3 , characterized in that the steering knuckles mounted at an axis beam are individually drivable by means of a steering drive or that the steering knuckles mounted at an axis beam are coupled with each other via a connecting rod and are conjointly drivable by means of a steering drive.5. Railless tugger train according to or ...

VEHICLE DRIVING MODE SAFETY SYSTEM

Methods, systems, and apparatus for automatically regulating activation of one or more driving modes of a vehicle. The system includes a steering wheel sensor connected to a steering wheel and configured to detect whether two hands of a driver are in contact with the steering wheel. The system, includes a driving mode button configured to receive an indication from the driver to activate a driving mode, the driving mode adjusting at least one vehicle performance setting including a throttle sensitivity setting, a shift control setting, a traction control setting, or a stability control setting. The system includes an electronic control unit (ECU) configured to adjust the at least one vehicle performance setting in response to receiving the indication from the driver to activate the driving mode and receiving an indication from the steering wheel sensor that the two hands of the driver are in contact with the steering wheel. 1. A system for automatically regulating activation of one or more driving modes of a vehicle , the system comprising:a steering wheel sensor connected to a steering wheel and configured to detect whether two hands of a driver are in contact with the steering wheel;a driving mode button configured to receive an indication from the driver to activate a driving mode, the driving mode adjusting at least one vehicle performance setting including a throttle sensitivity setting, a shift control setting, a traction control setting, or a stability control setting; andan electronic control unit (ECU) connected to the driving mode button and the steering wheel sensor and configured to adjust the at least one vehicle performance setting in response to receiving the indication from the driver to activate the driving mode and receiving an indication from the steering wheel sensor that the two hands of the driver are in contact with the steering wheel.2. The system of claim 1 , wherein the driving mode is a sport driving mode claim 1 , andwherein adjusting at ...

TEST METHOD AND METRICS TO EVALUATE QUALITY OF ROAD FEEDBACK TO DRIVER IN A STEER-BY-WIRE SYSTEM

A method to evaluate a quality of road feedback to a driver in a steer-by-wire system includes setting a test bench by grounding a steering system steering wheel using a physical 6order impedance constraint; preloading the steering system with data defining a steering wheel angle and a vehicle speed; applying tie rod load signals to the steering system and recording signals representing each of a tie rod load, a steering wheel torque and a steering wheel acceleration. In parallel: applying first a fast Fourier transform algorithm to the recorded signals to calculate each of a gain, a phase and a coherence response from the tie rod load to the steering wheel torque; applying second a fast Fourier transform algorithm to the recorded signals to calculate a power spectral density of the steering wheel torque versus frequency; and applying frequency weighting functions to the gain and power spectral density functions. 1. A method to evaluate a quality of road feedback to a driver in a steer-by-wire system , comprising:fixing a torque feedback actuator and a steering rack of a steer-by-wire feedback system on a test bench;synthesizing road input waveform data equating to each of a rough road, a coarse road, and a synthesized load from an exemplary single high input defining a pot-hole impact; andgenerating output signals from a set of waveform inputs equating to the synthesized road input waveform data for a steering wheel torque and a steering wheel acceleration.2. The method to evaluate a quality of road feedback to a driver in a steer-by-wire system of claim 1 , further including:recording the output signals; andapplying a first fast Fourier transform algorithm to the recorded signals.3. The method to evaluate a quality of road feedback to a driver in a steer-by-wire system of claim 2 , further including calculating a gain response with a weighting function over predetermined frequency bands.4. The method to evaluate a quality of road feedback to a driver in a steer-by ...

System for controlling marine craft with steerable drives

A system for controlling one or more propulsion devices of a marine vessel. The system includes circuitry configured to: receive a steering angle command for a propulsion device of the marine vessel; receive a trim position of the propulsion device; and generate a steering actuator position command for the propulsion device based on the steering angle command and the trim position of the propulsion device.

Monitoring System for Electric Power Assisted Steering

A monitoring system for an electric power-assisted steering system comprising a DC power supply; an inverter bridge including a plurality of bridge switches selectively connecting phases of a multi-phase electric motor to the DC power supply, the multi-phase electric motor being configured to provide power-assistance to a steering system of a vehicle; a bridge driver circuit for providing control signals to the inverter bridge; and a DC link capacitor circuit interposed between the DC power supply and the inverter bridge, the DC link capacitor circuit at least one DC link capacitor. The monitoring system comprises a monitoring circuit configured to monitor the integrity of the DC link capacitor circuit, and outputting a ripple value indicative of a ripple voltage in an output of the DC power supply; and comparison means for comparing the ripple value with at least one ripple parameter indicative of a fault in the DC link capacitor circuit and determining whether a fault is present.

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus that has a function to switch an assist mode and an automatic mode, and comprises a handle vibration removing section to cut off frequency components near a predetermined central frequency with reference to a target steering angle, a position control section to output a motor angular velocity command value, an integration section to integrate a deviation between the motor angular velocity command value and a motor angular velocity, a proportion section to input the motor angular velocity, and a velocity control section to output the motor current command value by subtracting an output of the proportion section from an output of the integration section, thereby to remove the vibration being caused by spring characteristics of a torsion bar and inertia moment of a steering wheel in the automatic mode. 114-. (canceled)15. An electric power steering apparatus that has an assist mode which controls a motor applying an assist torque to a steering system of a vehicle when steering said steering system and an automatic mode which controls said motor depending on a target steering angle supplied from said vehicle as needed when said vehicle autonomously runs , comprising:a torque control section to calculate a first motor current command value based on a vehicle speed of said vehicle and a steering torque inputted into a steering shaft of said steering system;a steering angle control section to calculate a second motor current command value based on said target steering angle, an actual steering angle and a motor angular velocity of said motor; anda vehicle motion control section to calculate said target steering angle based on vehicle information,wherein said vehicle motion control section comprises:a rate limiter whose output value is coincident with a lateral position command by changing said output value in a step form with reference to said lateral position command in a predetermined period;a lateral position command vibration ...

Apparatus and method for controlling rear wheel steering

An apparatus for controlling rear wheel steering includes a steering angle sensor detecting a steering angle of a steering wheel; a vehicle speed sensor detecting a vehicle speed of a vehicle; a steering torque sensor detecting a steering torque applied to a steering shaft; and a control unit calculating a front wheel angle and a steering angle velocity from the steering angle detected by the steering angle sensor, calculating a rear wheel angle compensation factor for improving rear wheel steering responsiveness based on at least one of the steering torque detected by the steering torque sensor and the calculated steering angle velocity and a same/opposite phase gain depending on the vehicle speed detected by the vehicle speed sensor, and calculating a target rear wheel angle based on the front wheel angle, the rear wheel angle compensation factor and the same/opposite phase gain.