Steering system and vehicle equipped with same

Patent metadata

Field	Value
Publication number	US-11459029-B2
Application number	US-202017025176-A
Country	US
Kind code	B2
Filing date	Sep 18, 2020
Priority date	Mar 20, 2018
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

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.

First claim

What is claimed is:

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; and
a vehicle information detection section configured to detect vehicle information including a vehicle velocity of the vehicle and the steering command angle,
wherein 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 δ 2 for 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, and an actual steering angle of the front wheels steered by the first steering device,
wherein the following equation using a two-wheel model is used in a control, in which the steering angle δ 2 for auxiliary turning is calculated by the supplementary turning control section of the second steering device and is used for turning,

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Assignees

• Ntn Toyo Bearing Co Ltd

Inventors

• Ishihara Norio
• Itou Atsushi
• Abe Masato
• Kano Yoshio
• Yamakado Makoto
• Ishibashi Mitsunori

Classifications

• B62D6/008 Primary

  Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications · CPC title

• B62D6/003

  in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence) · CPC title

• B62D17/00

  Means on vehicles for adjusting camber, castor, or toe-in · CPC title

• B62D7/18

  Steering knuckles; King pins · CPC title

• B62D9/00 Primary

  Steering deflectable wheels not otherwise provided for (steering positon indicators B62D15/02) · CPC title