Vehicle steering control systems and methods

Patent metadata

Field	Value
Publication number	US-10946869-B2
Application number	US-201816178983-A
Country	US
Kind code	B2
Filing date	Nov 2, 2018
Priority date	Nov 2, 2018
Publication date	Mar 16, 2021
Grant date	Mar 16, 2021

Abstract

According to the present disclosure, a system for providing steering control in a dual path machine includes a propulsion controller operatively connected to plants of the machine for driving ground contacting elements, the propulsion controller being configured to control steering of the dual path machine through drive signals sent to the plants, and a brake controller operatively connected to left and right brakes of the machine, the brake controller being configured to control steering of the machine by providing differential brake pressures to the left and right brakes. The system of the present disclosure provides redundant steering control by receiving an input signal at the brake controller with an indication of steering position, receiving an input signal at the brake controller with an indication of brake position, and providing a differential brake pressure to brakes of the dual path machine based on the steering input signal and brake input signal.

First claim

What is claimed is:

1. A steering system for a dual path machine that includes left and right ground contacting elements driven by left and right plants, respectively, and left and right brakes for applying brake forces to the left and right ground contacting elements, respectively, the steering system comprising:
a propulsion controller operatively connected to the left and right plants, the propulsion controller configured to control steering of the dual path machine through drive signals sent to the left and right plants; and
a brake controller operatively connected to the left and right brakes, the brake controller configured to control steering of the dual path machine by providing differential brake pressures to the left and right brakes;
wherein the steering system is configured to switch steering control from the propulsion controller to the brake controller when a machine failure is detected; and
wherein the brake controller is configured to detect actuation of a brake element of the dual path machine, the actuation indicating the machine failure.

2. The steering system according to claim 1 , further comprising a steering sensor in communication with the brake controller, the steering sensor configured to provide the brake controller with an indication of a position of a steering element of the dual path machine.

3. The steering system according to claim 2 , further comprising a brake sensor in communication with the brake controller, the brake sensor configured to provide the brake controller with an indication of a position of the brake element of the dual path machine.

4. The steering system according to claim 3 , wherein the brake controller is configured to provide differential brake pressures to the left and right brakes based on the position of the steering element and the position of the brake element.

5. A method for providing redundant steering control to a dual path machine, the method comprising:
detecting, at a vehicle control system, whether a machine failure has occurred;
commanding steering, by the vehicle control system, through plants of a machine propulsion system if a machine failure is not detected; and
commanding steering, by the vehicle control system, through brakes of the dual path machine if a machine failure is detected;
wherein detecting, at the vehicle control system, whether a machine failure has occurred comprises detecting whether a brake element of the dual path machine has been actuated.

6. The method according to claim 5 , further comprising:
receiving a steering input signal from a steering sensor providing an indication of steering position of a steering element of the dual path machine.

7. The method according to claim 6 , further comprising:
receiving a brake input signal from a brake sensor providing an indication of brake position of the brake element of the dual path machine.

8. The method according to claim 7 , further comprising:
providing a differential brake pressure to the brakes of the dual path machine.

9. The method according to claim 8 , wherein the differential brake pressure is based on the steering position of the steering element and the brake position of the brake element.

10. A machine comprising:
a body;
left and right ground contacting elements;
left and right plants, the left and right plants configured to drive the left and right ground contacting elements, respectively;
left and right brakes configured to apply brake forces to the left and right ground contacting elements, respectively;
a steering element for commanding steering;
a brake element for commanding braking; and
a vehicle control system including a propulsion controller and a brake controller,
wherein the propulsion controller is operatively connected to the left and right plants, the propulsion controller being configured to control steering of the machine through drive signals sent to the left and right plants;
wherein the brake controller is operatively connected to the left and right brakes, the brake controller configured to control steering of the machine by providing differential brake pressures to the left and right brakes;
wherein the vehicle control system is configured to detect actuation of the brake element, the actuation indicating a machine failure, and to switch steering control from the propulsion controller to the brake controller upon detection of the machine failure.

11. The machine according to claim 10 , further comprising a steering sensor in communication with the vehicle control system, the steering sensor configured to provide the brake controller with an indication of a position of the steering element.

12. The machine according to claim 11 , further comprising a brake sensor in communication with the vehicle control system, the brake sensor configured to provide the brake controller with an indication of a position of the brake element.

13. The machine according to claim 12 , wherein the brake controller is configured to provide differential brake pressures to the left and right brakes based on the position of the steering element and the position of the brake element.

Assignees

• Danfoss Power Solutions Inc

Inventors

• Van De Stroet Caleb
• Du Zhekang

Classifications

• B60W50/035 Primary

  Bringing the control units into a predefined state, e.g. giving priority to particular actuators · CPC title

• B60W2540/12

  Brake pedal position · CPC title

• B62D11/08 Primary

  using brakes or clutches as main steering-effecting means · CPC title

• B60W30/18145

  Cornering · CPC title

• B60W2540/18

  Steering angle · CPC title