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EP0663333A1
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EP
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Steering angle control apparatus
Assignee: Panasonic Holdings Corp
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Filing: 1995-01-13
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Granted: —
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Expires: 2015-01-13
Abstract
Abstract A steering angle control apparatus for controlling steering angles of front wheels (20) and rear wheels (19) of a vehicle (Vc) includes a yaw rate detector (13) for detecting a yaw rate (Y) occurring in the vehicle (Vc). A desirable yaw rate calculator (14) calculates a desirable yaw rate (Ym) whereby the vehicle (Vc) can drive stably. A yaw rate disturbance calculator (16) calculates a yaw rate disturbance (Yg) causing the detected yaw rate (Y) to deviate from an ideal yaw rate (Yh) occurring in the vehicle (Vc) driving an unbound driving condition. A desirable yaw rate compensator (15) compensates the desirable yaw rate (Ym) based on the calculated yaw rate disturbance (Yg) and produces a compensated yaw rate (Yc) so that the desirable yaw rate (Ym) tracks the compensated yaw rate (Yc).
Inventors
- 👤 Akira Ishida
- 👤 Takashi Fukunaga
- 👤 Akiyoshi Mezon Mizuura Taishibashi Nr.301 Segawa
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-05 18:52
CPC Classifications
B; B62; B62D; B62D7/00; B62D7/06; B62D7/14; B62D7/15; B62D7/159; B62D6/00; B60; B60T; B60T2210/00; B60T2210/20; B60T2210/22; B60T2260/00; B60T2260/02; B60T2260/022
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
146 words
A steering angle control apparatus for controlling steering angles of front wheels (20) and rear wheels (19) of a vehicle (Vc), said apparatus comprising: a yaw rate detection means (13) for detecting a first yaw rate (Y) occurring in said vehicle (Vc); a first yaw rate estimation means (14) for determining a second yaw rate (Ym) whereby said vehicle (Vc) drives stably under an unbound driving condition; a disturbance estimation means (16) for determining a yaw rate disturbance (Yg) causing said first yaw rate (Y) to deviate from an ideal yaw rate (Yh) occurring in said vehicle (Vc) which is driving an unbound driving condition; and a yaw rate compensation means (15) for compensating said second yaw rate (Ym) based on said yaw rate disturbance (Yg) to produce a third yaw rate (Yc) whereby said vehicle (Vc) drives stably even with said yaw rate disturbance (Yg).
Claim 2
Dependent Claim
97 words
A steering angle control apparatus as claimed in Claim 1, further comprising: a vehicle speed detection means (11) for detecting the speed (Sv) of said vehicle (Vc) driving; and a steering angle detection means (12) for detecting the steering angle (Ss) of said front wheels (20), said first yaw rate estimation means (14) determining said second yaw rate (Ym) based on said detected speed (Sv) and said detected steering angle (Ss), and said disturbance estimation means (16) determining said yaw rate disturbance (Yg) based on said ideal yaw rate (Yh) and said detected first yaw rate (Y).
Claim 3
Dependent Claim
44 words
A steering angle control apparatus as claimed in Claim 1, further comprising a first steering means (17, 42, 18, and 40) for steering said front and rear wheels (20 and 19) based on said third yaw rate (Yc) and said first yaw rate (Y).
Claim 4
Dependent Claim
50 words
A steering angle control apparatus as claimed in Claim 3, further comprising a first steering angle determination means (17) for determining first and second steering angles (ϑf and ϑr) at which said first steering means (17, 42, 18, and 40) steers said front and rear wheels (20 and 19), respectively.
Claim 5
Dependent Claim
30 words
A steering angle control apparatus as claimed in Claim 3, further comprising a selection means (42) selectively producing either one of said first and second steering angles (ϑf and ϑr).
Claim 6
Dependent Claim
50 words
A steering angle control apparatus as claimed in Claim 2, further comprising a second yaw rate estimation means (31) for determining said ideal yaw rate (Yh) based on said detected speed (Sv) and said detected steering angle (Ss), a road fictional coefficient (Sf) and a rear wheel steered angle (Sr).
Claim 7
Dependent Claim
83 words
A steering angle control apparatus as claimed in Claim 6, further comprising a first judging means (#62) for judging whether said yaw rate disturbance (Yg) is caused steadily or shakily, based on said detected first yaw rate (Y) and said determined ideal yaw rate (Yh); and a first compensation prevention means (#66) for preventing said yaw rate compensation means (#62) from compensating said second yaw rate (Ym) when said first judging means (50) judges that said yaw rate disturbance (Yg) is caused shakily.
Claim 8
Dependent Claim
76 words
A steering angle control apparatus as claimed in Claim 4, further comprising a second judging means (#82) for judging whether said yaw rate disturbance (Yg) is caused steadily or shakily, based on said determined yaw rate disturbance (Yg); and a second compensation prevention means (#66) for preventing said yaw rate compensation means (15) from compensating said second yaw rate (Ym) when said second judging means (#82) judges that said yaw rate disturbance (Yg) is caused shakily.
Claim 9
Dependent Claim
123 words
A steering angle control apparatus as claimed in Claim 2, further comprising a third judging means (#112, #114, and #116) for judging whether any of said steering angle detection means (12), said yaw rate detection means (13), and said disturbance estimation means (16) has a false or not, based on said detected steering angle (Ss), said detected yaw rate (Y), and said detected yaw rate disturbance (Yg); and a third compensation prevention means (#119) for preventing said yaw rate compensation means (15) from compensating said second yaw rate (Ym) when said third judging means (#112, #114, and #116) judges that any of said steering angle detection means (12), said yaw rate detection means (13), and said disturbance estimation means (16) has a false.
Claim 10
Dependent Claim
112 words
A steering angle control apparatus as claimed in Claim 2, further comprising a fourth judging means (#120) for judging whether any of said steering angle detection means (12), said yaw rate detection means (13), and said disturbance estimation means (16) has a false or not, based on said detected yaw rate disturbance (Yg); and a fourth compensation prevention means (#122, #124, and #126) for preventing said yaw rate compensation means (15) from compensating said second yaw rate (Ym) when said third judging means (#122, #124, and #126) judges that any of said steering angle detection means (12), said yaw rate detection means (13), and said disturbance estimation means (16) has a false.
Claim 11
Dependent Claim
86 words
A steering angle control apparatus as claimed in Claim 2, further comprising a fifth judging means (#142, #144, and #146) for judging whether said vehicle (Vc) is under an emergency circumstances or not, based on said detected steering angle (Ss) and said detected yaw rate (Y); a fifth compensation prevention means (#148) for preventing said yaw rate compensation means (15) from compensating said second yaw rate (Ym) when said fifth judging means (#142, #144, and #146) judges that said vehicle (Vc) is under an emergency circumstances.
Claim 12
Dependent Claim
79 words
A steering angle control apparatus as claimed in Claim 4, further comprising a sixth judging means (#166 and #168) for judging whether said vehicle (Vc) is about to move out from a banked road or not, based on said detected steering angle (Ss) and said second steering angle (ϑr); and a sixth compensation prevention means (#169) for preventing said first steering angle determination means (17) from determining said second steering angle (ϑr) based on said third yaw rate (Yc).
Claim 13
Dependent Claim
133 words
A steering angle control apparatus for controlling the steering angles of front wheels (20) and rear wheels (19) of a vehicle (Vc), said apparatus comprising: a yaw rate detection means (13) for detecting a first yaw rate (Y) occurring in said vehicle (Vc); a first yaw rate estimation means (14) for determining a second yaw rate (Ym) whereby said vehicle (Vc) can drive stably; a second steering means (110, 42, 18, and 40) for steering said front and rear wheels (20 and 19); and a second steering angle determination means (110) for determining first and second steering angles (ϑf and ϑr) at which said second steering means (110, 42, 18, and 40) steers said front and rear wheels (20 and 19), respectively, based on said first and second yaw rates (Y and Ym).
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