Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
329 words
A steering control system for a wheeled vehicle having a set of steerable front wheels, a set of steerable rear wheels, a steering wheel and a steering gear, comprising: means for performing a main steer of said front wheels by an angle determined by said steering gear in response to a steering operation of said steering wheel; means for performing, in addition to said main steer, a secondary steer of said front and rear wheels in response to said steering operation of said steering wheel by angles computed using a steer angle steer angle angular velocity θ and vehicle speed V from the following formulas, ##EQU4## where δf is a front wheel secondary steer angle, δr is a rear wheel secondary steer angle, N is a steering gear ratio and Kf, Kr, Tf and Tr are control constants which are functions of vehicle speed; means for correcting said control constants Kf and Kr in such a way that said control constants Kf and Kr become a steady-state value when said steer angle is larger than a predetermined value and become smaller than said steady-state value when said steering angle becomes smaller than said predetermined value; means for correcting said control constants Tf and Tr in such a way that said control constants Tf and Tr become a steady-state value when said steer angle is larger than a predetermined value and become smaller than said second mentioned steady-state value when said steer angle becomes smaller than said second mentioned predetermined value; means for correcting said control constants Kf and Kr in such a way that said control constant Kr reduces at the rate larger than said control constant Kf as said steer angle reduces from said first mentioned predetermined value; and means for correcting said control constants Tf and Tr in such a way that said control constant Tf reduces at the rate larger than said control contant Tr as said steer angle reduces from said second mentioned predetermined value.
Claim 2
Dependent Claim
329 words
A steering control system for a wheeled vehicle having a set of steerable front wheels, a set of steerable rear wheels, a steering wheel and a steering gear, comprising: means for performing a main steer of said front wheels by an angle determined by said steering gear in response to a steering operation of said steering wheel; means for performing, in addition to said main steer, a secondary steer of said front and rear wheels in response to said steering operation of said steering wheel by angles computed using a steer angle steer angle angular velocity θ and vehicle speed V from the following formulas, ##EQU4## where δf is a front wheel secondary steer angle, δr is a rear wheel secondary steer angle, N is a steering gear ratio and Kf, Kr, Tf and Tr are control constants which are functions of vehicle speed; means for correcting said control constants Kf and Kr in such a way that said control constants Kf and Kr become a steady-state value when said steer angle is larger than a predetermined value and become smaller than said steady-state value when said steering angle becomes smaller than said predetermined value; means for correcting said control constants Tf and Tr in such a way that said control constants Tf and Tr become a steady-state value when said steer angle is larger than a predetermined value and become smaller than said second mentioned steady-state value when said steer angle becomes smaller than said second mentioned predetermined value; means for correcting said control constants Kf and Kr in such a way that said control constant Kr reduces at the rate larger than said control constant Kf as said steer angle reduces from said first mentioned predetermined value; and means for correcting said control constants Tf and Tr in such a way that said control constant Tf reduces at the rate larger than said control contant Tr as said steer angle reduces from said second mentioned predetermined value.
Claim 3
Dependent Claim
57 words
A steering control system as set forth in claim 1, further comprising means for correcting a steering angle in such a way that a ratio of a θ correcting value to a measured steer angle θ is relatively small when said steering wheel is adjacent its neutral position and varies depending upon variation of said vehicle speed.
Claim 4
Dependent Claim
43 words
A steering control system as set forth in claim 2 wherein said ratio of said θ correcting value to said measured steer angle θ increases with increase of said vehicle speed and at the rate that reduces with increase of said vehicle speed.
Claim 5
Dependent Claim
31 words
A steering control system as set forth in claim 1 wherein said control constants Kf and Kr reduce as said steer angle reduces from said first mentioned predetermined value to zero.
Claim 6
Dependent Claim
31 words
A steering control system as set forth in claim 1 wherein said control constants Tf and Tr reduce as said steer angle reduces from said second mentioned predetermined value to zero.