Vehicle steering control systems and methods

Patent metadata

Field	Value
Publication number	US-11465605-B2
Application number	US-201816122094-A
Country	US
Kind code	B2
Filing date	Sep 5, 2018
Priority date	Sep 5, 2018
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

According to the present disclosure, a steering system and method for a machine includes a vehicle control system configured to command steering of the machine, and a steering sensor in communication with the vehicle control system. The steering sensor is configured to detect a position of a steering actuator of the machine. The vehicle control system is configured to detect an acceleration rate of the machine and to command steering of the machine based at least in part on the position of the steering actuator and the acceleration rate of the machine.

First claim

What is claimed is:

1. A steering system for a machine, the steering system comprising:
a vehicle control system configured to command steering of the machine; and
a steering sensor in communication with the vehicle control system, the steering sensor configured to detect a position of a steering actuator of the machine;
wherein the vehicle control system is configured to detect an acceleration rate of the machine and to command steering of the machine based at least in part on the position of the steering actuator and the acceleration rate of the machine; and
wherein the vehicle control system determines the acceleration rate of the machine by monitoring a control signal supplied to a propulsion system of the machine by the vehicle control system and measuring a ramp rate of the control signal.

2. The steering system according to claim 1 , further comprising:
an acceleration sensor in communication with the vehicle control system, the acceleration rate of the machine being detected by the acceleration sensor.

3. The steering system according to claim 1 , wherein the vehicle control system is configured to command steering of the machine with a steady state control signal if the acceleration rate is equal to zero.

4. The steering system according to claim 3 , wherein the vehicle control system is configured to command steering of the machine with a full acceleration control signal if the acceleration rate is equal to a maximum acceleration rate, the full acceleration control signal being different than the steady state control signal.

5. The steering system according to claim 4 , wherein the vehicle control system is configured to command steering of the machine as a function of acceleration rate if the acceleration rate is between zero and the maximum acceleration rate.

6. A method for steering a machine, the method comprising:
detecting, through a steering sensor in communication with a vehicle control system of the machine, a position of a steering actuator of the machine;
detecting, at the vehicle control system of the machine, an acceleration rate of the machine; and
commanding, by the vehicle control system, steering of the machine based at least in part on the position of the steering actuator and the acceleration rate of the machine;
wherein acceleration of the machine is detected by monitoring a control signal supplied to a propulsion system of the machine by the vehicle control system and measuring a ramp rate of the control signal.

7. The method according to claim 6 , wherein acceleration of the machine is detected by an acceleration sensor in communication with the vehicle control system.

8. The method according to claim 6 , wherein the vehicle control system commands steering of the machine with a steady state control signal if the acceleration rate is equal to zero.

9. The method according to claim 8 , wherein the vehicle control system commands steering of the machine with a full acceleration control signal if the acceleration rate is equal to a maximum acceleration rate, the full acceleration control signal being different than the steady state control signal.

10. The method according to claim 9 , wherein the vehicle control system commands steering of the machine as a function of acceleration rate if the acceleration rate is between zero and the maximum acceleration rate.

11. A machine comprising:
a body;
a plurality of ground contacting elements supporting the body on a surface;
a steering actuator for commanding steering;
a steering sensor configured to detect a position of the steering actuator; and
a vehicle control system operatively connected to the steering sensor and the plurality of ground contacting elements, the vehicle control system configured to command the plurality of ground contacting elements to propel and steer the machine;
wherein the vehicle control system is configured to detect an acceleration rate of the machine and to command steering based at least in part on the position of the steering actuator and the acceleration rate of the machine; and
wherein the vehicle control system determines the acceleration rate of the machine by measuring a ramp rate of a control signal generated by the vehicle control system to command propulsion of the machine.

12. The machine according to claim 11 , further comprising:
an acceleration sensor in communication with the vehicle control system, the acceleration rate of the machine being detected by the acceleration sensor.

13. The machine according to claim 11 , wherein the vehicle control system is configured to command steering of the machine with a steady state control signal if the acceleration rate is equal to zero.

14. The machine according to claim 13 , wherein the vehicle control system is configured to command steering of the machine with a full acceleration control signal if the acceleration rate is equal to a maximum acceleration rate, the full acceleration control signal being different than the steady state control signal.

15. The machine according to claim 14 , wherein the vehicle control system is configured to command steering of the machine as a function of acceleration rate if the acceleration rate is between zero and the maximum acceleration rate.

Assignees

• Danfoss Power Solutions Inc

Inventors

• Van De Stroet Caleb

Classifications

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• B62D11/003 Primary

  Electric or electronic control systems · CPC title

• B60W30/045

  Improving turning performance · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W10/08

  including control of electric propulsion units, e.g. motors or generators · CPC title