Method for controling rear wheel steering

Patent metadata

Field	Value
Publication number	US-9650069-B2
Application number	US-201514705965-A
Country	US
Kind code	B2
Filing date	May 6, 2015
Priority date	May 7, 2014
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

Provided is a method for controlling rear wheel steering provided for a vehicle. The method includes: recognizing an abnormal condition of a sensor; calculating a speed of a vehicle; calculating a steering angular velocity of the vehicle; calculating torque of a steering column of the vehicle; determining a curvature of a lane along which the vehicle is traveling; and determining a rear wheel steering angle of the vehicle based on the speed of the vehicle, the steering angular velocity, the torque of the steering column, and the curvature of the lane.

First claim

What is claimed is:

1. A method for controlling rear wheel steering provided for a vehicle, the method comprising:
recognizing an abnormal condition of a sensor that detects a stroke of a rear wheel actuator of the vehicle;
when the abnormal condition of the sensor is recognized, controlling the rear wheel steering to move rear wheels to a center position and determining whether the vehicle is traveling straight; and
when it is determined that the vehicle is traveling straight, stopping an operation of the rear wheel steering and converting a current mode to a mode of steering the vehicle only with front wheel steering.

2. The method according to claim 1 , wherein the determining of whether the vehicle is traveling straight includes
calculating a speed of the vehicle,
calculating a steering angular velocity of the vehicle,
calculating torque of a steering column of the vehicle, and
determining a curvature of a lane along which the vehicle is traveling; and
the determining of whether the vehicle is traveling straight is performed based on the speed of the vehicle, the steering angular velocity, the torque of the steering column, and the curvature of the lane.

3. The method according to claim 2 , wherein the calculating of the speed of the vehicle includes determining whether the speed of the vehicle is equal to or more than a preset first reference value and is less than a preset second reference value.

4. The method according to claim 3 , wherein the calculating of the steering angular velocity includes determining whether the steering angular velocity is less than a preset third reference value.

5. The method according to claim 4 , wherein the calculating of the torque of the steering column includes determining whether the torque of the steering column is less than a preset fourth reference value.

6. The method according to claim 5 , wherein the determining of the curvature of the lane includes determining whether the curvature of the lane is less than a preset fifth reference value.

7. The method according to claim 1 , wherein in the determining whether the vehicle is traveling straight, it is determined that the vehicle is traveling straight when a speed of the vehicle is between a preset first reference value and a preset second reference value, a steering angular velocity is less than a preset third reference value, a torque of a steering column is less than a preset fourth reference value, and/or a curvature of a lane is less than a preset fifth reference value.

8. The method according to claim 2 , wherein the determining of the curvature of the lane is performed through a camera provided for the vehicle.

Assignees

• Mando Corp

Inventors

• Jang Jae Hoon

Classifications

• B62D7/148

  provided with safety devices · CPC title

• B62D7/159 Primary

  characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition · CPC title