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公开(公告)号：US5828972A
公开(公告)日：1998-10-27
申请号：US950081
申请日：1992-09-23
IPC分类号： B62D6/00 , B62D5/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D121/00
摘要： A motor vehicle steering system has a yaw rate sensor for detecting a yaw rate of a motor vehicle, and a lateral acceleration sensor for detecting a lateral acceleration of the motor vehicle. The detected yaw rate and lateral acceleration are processed according to predetermined functions to determine a control signal, which is applied to a motor to turn a steering wheel. Road wheels are correspondingly steered through a steering mechanism in a direction to suppress a disturbant motor vehicle behavior that is caused by the yaw rate and the lateral acceleration.
摘要翻译： 机动车辆转向系统具有用于检测机动车辆的偏航率的偏航率传感器和用于检测机动车辆的横向加速度的横向加速度传感器。 根据预定功能来检测检测到的横摆率和横向加速度，以确定施加到电动机以转动方向盘的控制信号。 通过转向机构相应地转向道轮，以抑制由横摆率和横向加速度引起的扰动的机动车行为。
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公开(公告)号：US6108599A
公开(公告)日：2000-08-22
申请号：US525844
申请日：1995-09-08
CPC分类号： B62D6/00
摘要： In a vehicle steering control system, a manual steering input is assisted by a powered actuating steering torque which is given by K(.gamma.-t.sub.d .multidot.d .gamma./dt), where y is a detected yaw rate, K and t.sub.d are coefficients which depend on a vehicle speed, and d/dt denotes a time derivative. The detected yaw rate contributes to reducing the yaw rate of the vehicle. In particular, the coefficient t.sub.d is positive in value in a low speed range, and substantially linearly decreases with the vehicle speed, becoming negative at a certain intermediate vehicle speed. Thus, in a high speed range, when the vehicle is steered in one direction either by external disturbances or by a manual steering input, the detected yaw rate and the change rate of the yaw rate both contribute to the reduction of the yaw rate. However, in a low speed range, when the vehicle is steered in one direction, the detected yaw rate contributes to the reduction of the yaw rate but the change rate of the yaw rate contributes to the increase of the yaw rate. Thus, in a high speed range, the vehicle is made highly immune against external disturbances and the effort required for the manual steering of the vehicle is increased with the increase in the change rate of the yaw rate. Conversely, in a low speed range, the stability of the vehicle is of no concern, and the effort required for the manual steering of the vehicle is decreased with the increase in the change rate of the yaw rate.
摘要翻译： 在车辆转向控制系统中，手动转向输入由由K（γ-DTXDγ/ dt）给出的动力执行转向转矩辅助，其中y是检测到的横摆率，K和td是依赖于 车速，d / dt表示时间导数。 检测到的横摆率有助于降低车辆的横摆角速度。 特别地，系数td在低速范围内的值为正值，并且随着车速大致线性地减小，在某一中间车速下变为负值。 因此，在高速范围内，当车辆通过外部干扰或手动转向输入在一个方向转向时，所检测到的横摆率和偏航率的变化率都有助于减小偏航率。 然而，在低速范围内，当车辆沿一个方向转向时，检测到的横摆率有助于降低横摆率，但偏航率的变化率有助于偏航率的增加。 因此，在高速范围内，使车辆高度免受外部干扰的影响，随着横摆率的变化率的增加，车辆的手动转向所需的努力也增加。 相反，在低速范围内，车辆的稳定性是不必要的，车辆的手动转向所需的努力随着偏航率的变化率的增加而降低。
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公开(公告)号：US6018691A
公开(公告)日：2000-01-25
申请号：US218135
申请日：1994-03-25
IPC分类号： B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D5/06 , G06F7/70
CPC分类号： B62D5/0463 , B62D5/0484 , B62D6/008
摘要： According to the invention, there is provided is a vehicle steering system which can improve the resistance of a vehicle against external disturbances such as crosswind, and can prevent the operability of the steering system from being seriously affected by a failure in a part of the system related to the generation of steering reaction such as a lateral acceleration sensor, a yaw rate sensor or a reaction control unit. Because the assisting steering torque continues to be produced even when a failure has occurred in a part related to the generation of steering reaction. Therefore, a fail-safe feature can be obtained, and unnecessary loss of the operability of the steering system can be avoided. By reducing the assisting steering torque from the normal level, which is effective when the sensors are operating normally, at such a time, the driveability of the steering system similar to that under the normal condition can be ensured.
摘要翻译： 根据本发明，提供了一种车辆转向系统，其可以改善车辆抵抗诸如侧风等外部干扰的阻力，并且可以防止转向系统的可操作性受到系统的一部分中的故障的严重影响 与侧向加速度传感器，横摆率传感器或反应控制单元等的转向反应的产生有关。 因为即使在与转向反作用的产生相关的部分中发生故障，继续产生辅助转向转矩。 因此，可以获得故障保护功能，并且可以避免转向系统的可操作性的不必要的损失。 通过将辅助转向扭矩从正常水平减小，这在传感器正常运行时有效，可以确保与正常情况下相似的转向系统的驾驶性能。
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公开(公告)号：US5774819A
公开(公告)日：1998-06-30
申请号：US485484
申请日：1995-06-07
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. In particular, by suppressing the additional actuating torque in an understeer condition, the handling of the vehicle can be improved.
摘要翻译： 在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩 以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。 这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得 尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。 特别地，通过在不足转向条件下抑制附加的动作转矩，能够提高车辆的搬运。
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公开(公告)号：US6148951A
公开(公告)日：2000-11-21
申请号：US188719
申请日：1998-11-10
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D111/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/008 , B62D5/0463 , B62D6/003
摘要： In a steering system which produces a reactive steering assist torque which tends to cancel any unintended or undesired behavior of the vehicle, the control unit for the steering system is prevented from producing any reactive steering assist torque when the vehicle speed is zero so that no reactive steering assist torque may be produced to the discomfort of the vehicle even when the vehicle is being moved by external causes such as when being turned by a turntable or being transported by a car lift or a car carrier.
摘要翻译： 在产生倾向于消除车辆的任何非预期或不期望的行为的反作用转向辅助转矩的转向系统中，当车速为零时，防止转向系统的控制单元产生任何反作用力转向辅助转矩，使得无反应 即使当车辆被转盘转动或被汽车升降机或汽车运输工具运送时的外部原因移动时，也可能产生转向辅助转矩，即使车辆不适。
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公开(公告)号：US6112845A
公开(公告)日：2000-09-05
申请号：US182469
申请日：1998-10-30
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D5/0463 , B62D5/0472 , B62D6/008 , B62D6/04
摘要： In a steering system which produces a reactive steering assist torque which tends to cancel any unintended or undesired behavior of the vehicle, the relationship between the steering angle and the vehicle behavior such as the yaw rate and the lateral acceleration reverses in sense depending on the traveling direction of the vehicle. To prevent the control unit for the steering system from producing any reactive steering assist torque which could worsen the behavior of the vehicle when the vehicle is traveling rearward, the control unit either eliminates or reverses the sense of the reactive steering assist torque when the vehicle is traveling rearward.
摘要翻译： 在产生倾向于消除车辆的任何非预期或不期望的行为的反作用力转向辅助转矩的转向系统中，转向角和车辆行为（例如横摆角速度和横向加速度）之间的关系取决于行驶 车辆的方向 为了防止转向系统的控制单元产生任何反作用力转向辅助扭矩，当车辆向后行进时，可能会使车辆的行为恶化，控制单元可以消除或反转当车辆是 向后走
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公开(公告)号：US5481457A
公开(公告)日：1996-01-02
申请号：US218116
申请日：1994-03-25
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D117/00 , B62D137/00
CPC分类号： B62D5/0463 , B62D6/04
摘要： Provided is a vehicle steering system which can substantially stabilize the lateral dynamic behavior of a vehicle with a simple control logic over the entire range of the vehicle speed. A steering torque proportional to a yaw rate and/or a lateral acceleration of the vehicle is applied to the steerable wheels to counteract a lateral deviation of the vehicle. To avoid the oscillatory or overshooting behavior of the control system, a damping torque is applied to the steering wheel. Thus, the counteracting steering torque is given as a mathematical function including a sum of a first term consisting of a product of a yaw rate and/or the lateral acceleration of the vehicle and a first coefficient, and a second term consisting of a product of an angular speed of the steering wheel and a second coefficient. In particular, the first coefficient and second coefficient are variable in a mutually proportional relationship so that the optimum selection of the first and second conditions can be done without any complication.
摘要翻译： 提供一种车辆转向系统，其能够在车辆速度的整个范围上以简单的控制逻辑基本上稳定车辆的横向动态特性。 与车辆的偏航率和/或横向加速度成比例的转向扭矩被施加到可转向轮以抵消车辆的横向偏差。 为了避免控制系统的振荡或过冲行为，向方向盘施加阻尼扭矩。 因此，反作用转向扭矩被给出为数学函数，其包括由横摆率和/或车辆的横向加速度的乘积和第一系数组成的第一项的和和由第一项组成的第二项， 方向盘的角速度和第二系数。 特别地，第一系数和第二系数可以相互成比例的关系变化，从而可以在没有任何复杂性的情况下进行第一和第二条件的最佳选择。
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公开(公告)号：US6154696A
公开(公告)日：2000-11-28
申请号：US184971
申请日：1998-11-03
申请人： Yutaka Nishi , Yasuharu Oyama , Yasuji Shibahata , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
发明人： Yutaka Nishi , Yasuharu Oyama , Yasuji Shibahata , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
IPC分类号： B62D5/04 , B62D6/00 , B62D6/04 , B62D119/00 , B62D137/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D5/0472 , B60T2260/024
摘要： In a steering control system for controlling torque steer in a vehicle equipped with an electric power steering device and a torque split arrangement for individually controlling traction and/or braking force of right and left wheels, a difference in traction and/or braking force between the right and left wheels which may be produced by the torque split arrangement may give rise to torque steer depending on the geometry of the wheel suspension system of the vehicle. The control unit for the electric power steering device additionally receives an additional signal for providing an additional steering torque which is required for canceling the torque steer. Thus, the torque steer can be eliminated both economically and reliably without requiring to modify the wheel suspension system.
摘要翻译： 在配备有电动助力转向装置的车辆中用于控制扭矩转向的转向控制系统和用于单独控制左右车轮的牵引力和/或制动力的转矩分配装置中，牵引力和/或制动力之间的差异 可以通过扭矩分配装置产生的左右车轮可以根据车辆的车轮悬挂系统的几何形状产生扭矩转向。 用于电动助力转向装置的控制单元另外接收附加信号以提供用于消除扭矩转向所需的附加转向转矩。 因此，在不需要修改车轮悬架系统的情况下，可以经济地和可靠地消除扭矩转向。
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公开(公告)号：US5845222A
公开(公告)日：1998-12-01
申请号：US525845
申请日：1995-09-08
CPC分类号： B62D5/0472 , B62D6/003
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. A torque steer arising from the drive force applied to power driven steerable wheels can be also controlled as one form of external disturbances. In particular, by amplifying the steering reaction torque when the drive force is great, it is possible to favorably control the influences of a torque steer under any operation conditions.
摘要翻译： 在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩 以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。 这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得 尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。 施加到动力转向轮的驱动力产生的扭矩转向器也可以被控制为一种形式的外部干扰。 特别地，通过在驱动力大时放大转向反作用转矩，可以有利地控制转矩转矩在任何操作条件下的影响。
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公开(公告)号：US5703775A
公开(公告)日：1997-12-30
申请号：US463969
申请日：1995-06-05
摘要： In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. By representing the vehicle with a first-order delay transfer function in regards to its lateral dynamic response for each given steering input, the vehicle operator can handle the vehicle without encountering any substantial resistance even when the steering wheel is turned briskly or at high speed.
摘要翻译： 在车辆转向控制系统中，根据以常规方式施加到方向盘的转向转矩，将致动扭矩施加到可转向车轮，并且通过电动机根据横向动态条件向方向盘施加附加的致动转矩 以便即使在诸如侧风等外部干扰的情况下也可以控制车辆的横向稳定性。 这种外部干扰被检测为车辆的横向动态条件，例如车辆的横摆角速度，并且转向控制系统产生转向反作用力，该转向反作用力通过向可转向车轮施加额外的致动转矩来抵消这种横向动态状态，使得 尽管有这种外部干扰，车辆可能保持直线航向，而不需要车辆操作者的任何有意的努力。 通过以对于每个给定的转向输入的横向动态响应来表示具有一阶延迟传递函数的车辆，即使当方向盘快速或高速转动时，车辆操作者也可以处理车辆而不会遇到任何实质阻力。
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