WO2016200311A1 - Procédé et système permettant de diriger un véhicule - Google Patents

Procédé et système permettant de diriger un véhicule Download PDF

Info

Publication number
WO2016200311A1
WO2016200311A1 PCT/SE2016/050506 SE2016050506W WO2016200311A1 WO 2016200311 A1 WO2016200311 A1 WO 2016200311A1 SE 2016050506 W SE2016050506 W SE 2016050506W WO 2016200311 A1 WO2016200311 A1 WO 2016200311A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
steering
wheels
rear axle
function
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2016/050506
Other languages
English (en)
Inventor
Markus Svensson
Christofer ÖMAN
Lars BROANDER
Simon HAGERLIND
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Priority to EP16807909.3A priority Critical patent/EP3307605A4/fr
Priority to BR112017024112A priority patent/BR112017024112A2/pt
Publication of WO2016200311A1 publication Critical patent/WO2016200311A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
    • B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Definitions

  • the present invention relates to a method for steering a vehicle comprising a front axle and a rear axle. More particularly, the invention relates to a method for steering a vehicle comprising a front axle and a rear tag axle.
  • the invention relates also to a computer program product comprising program code for a computer for implementing a method according to the invention. It relates also to a system for steering a vehicle comprising a front axle and a rear axle and a vehicle being equipped with the system.
  • Said vehicles may be a truck or lorry. Such vehicles may be arranged with steerable front wheels being provided at a front wheel axle. Hereby an operator may steer said front wheels during propulsion by means of a steering wheel. Said vehicles are provided with a drive axle for propelling said vehicle by means of thereto associated drive wheels. Said tag axle is a support axle being provided with steerable wheels.
  • One common hydraulic steering configuration is hereby provided for controlling steering of both said front wheels and said tag axle wheels. This configuration is rather bulky and requires fluid pipes to each of said front axle and said tag axle.
  • Said tag axle wheel steering functionality is today performed based on a current steering wheel angle but is not providing sufficient or desired aid for manoeuvring said vehicle in all traffic situations.
  • the tag axle wheel steering functionality is today limited in various ways and also static to its nature.
  • EP0845403 relates to a power assisted steering system for vehicles having more than one rear axle.
  • An object of the present invention is to propose a novel and advantageous method for steering a vehicle.
  • Another object of the invention is to propose a novel and advantageous system and a novel and advantageous computer program for steering a vehicle.
  • An object of the present invention is to propose a novel and advantageous method for providing a more versatile steering of a vehicle.
  • Yet another object of the invention is to propose a method, a system and a computer program for achieving a robust and cost-effective steering of a vehicle.
  • Yet another object of the invention is to propose an alternative method, an alternative system and an alternative computer program for steering a vehicle.
  • a method for steering a vehicle comprising a front axle and a rear axle, wheels being arranged for steering said vehicle being provided for said front axle and said rear axle, comprising the steps of: - controlling the steering action of said rear axle wheels based upon a steering action exerted by said front axle wheels;
  • Said rear axle of the vehicle may be a tag axle.
  • a versatile method for steering the vehicle is achieved.
  • An operator of the vehicle may in a user friendly way drive the vehicle in a rearward direction more safely and smoothly.
  • a process of parallel parking in a rearward direction is significantly facilitated.
  • two separate steering configurations are provided, one for controlling steering of wheels of one or more rear axles of the vehicle and one for controlling steering of wheels of a front axle of the vehicle.
  • These steering configurations may for example be an electro-mechanical steering configuration or a hydraulic steering
  • an operator of the vehicle may manually activate a steering functionality according to the invention for use during reverse propulsion of the vehicle.
  • activation of said innovative steering functionality may be performed automatically if the vehicle is set for reverse propulsion.
  • the method may comprise the step of: - determining said function specifying a relation between the steering action exerted by said front axle wheels and the steering action exerted by said rear axle wheels such that a certain steering action of said rear axle wheels is obtained for a relatively lower steering action of said front wheels when the vehicle is determined to be set for reverse propulsion.
  • Said certain steering action of said rear axle wheels may for example be corresponding to a maximal rear axle wheel angle.
  • the method may comprise the step of:
  • the method may comprise the step of:
  • the method may comprise the step of:
  • a system for steering a vehicle comprising a front axle and a rear axle, wheels being arranged for steering said vehicle being provided for said front axle and said rear axle, comprising:
  • - means for determining if said vehicle is set for reverse propulsion or forward propulsion - means for determining a function according to which the steering action is performed by means of said rear axle wheels, said function providing a steering action different from the steering action provided by means of said rear axle wheels when said vehicle is set for forward propulsion; and - means for controlling the steering action exerted by means of said rear axle wheels according to said determined function when the vehicle is determined to be set for reverse propulsion.
  • the system may comprise:
  • the system may comprise: - means for determining said function based upon at least one of vehicle speed, front axle wheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
  • the system may comprise:
  • the system may comprise:
  • a vehicle comprising the innovative system.
  • the vehicle may be any from among a truck, bus or passenger car.
  • a computer program for steering a vehicle comprising a front axle and a rear axle, wherein said computer program comprises program code for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1-5, when run on said electronic control unit or said computer.
  • a computer program for steering a vehicle comprising a front axle and a rear axle
  • said computer program comprises program code stored on a computer-readable medium for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1-5.
  • a computer program for steering a vehicle comprising a front axle and a rear axle
  • said computer program comprises program code stored on a computer-readable medium for causing an electronic control unit or a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1-5, when run on said electronic control unit or said computer.
  • a computer program product containing a program code stored on a computer-readable medium for performing method steps according to anyone of claims 1-5, when said computer program is run on an electronic control unit or a computer connected to the electronic control unit.
  • a computer program product containing a program code stored non-volatile on a computer-readable medium for performing method steps according to anyone of claims 1-5, when said computer program is run on an electronic control unit or a computer connected to the electronic control unit.
  • Figure 1 schematically illustrates a vehicle according to an embodiment of the invention
  • Figure 2 schematically illustrates a subsystem for the vehicle depicted in Figure 1, according to an embodiment of the invention
  • Figure 3 schematically illustrates a diagram presenting a rear axle wheel angle as a function of a steering wheel angle, according to an embodiment of the invention
  • Figure 4a is a schematic flowchart of a method according to an embodiment of the invention.
  • Figure 4b is a more detailed schematic flowchart of a method according to an embodiment of the invention.
  • Figure 5 schematically illustrates a computer according to an embodiment of the invention.
  • FIG. 1 depicts a side view of a vehicle 100.
  • the exemplified vehicle 100 is hereby a tractor unit to which a trailer unit (not shown) may be connected.
  • the vehicle may be a heavy vehicle, e.g. a truck or a bus. It may alternatively be a car.
  • said vehicle is provided with a front wheel axle FA, a driving first rear axle RAl and a second rear axle RA2.
  • Said first rear axle RAl is hereby a driving axle being arranged for propelling said vehicle 100.
  • Said second rear axle RA2 is a steerable tag axle of the vehicle 100.
  • the inventive system for steering a vehicle is applicable to various vehicles having a front axle and at least one rear axle, wheels being arranged for steering said vehicle being provided for said front axle and said at least one rear axle, such as e.g. a mining machine, tractor, dumper, wheel loader, platform comprising an industrial robot, forest machine, earth mover, road construction vehicle or emergency vehicle.
  • the vehicle may according to an example be an autonomous vehicle.
  • the inventive method is applicable to vehicles comprising a front axle and at least one rear axle, wheels being arranged for steering said vehicle being provided for said front axle and said at least one rear axle.
  • Said at least one rear axle may be two rear axles, each having steerable wheels.
  • link refers herein to a communication link which may be a physical connection such as an opto-electronic communication line, or a non-physical connection such as a wireless connection, e.g. a radio link or microwave link.
  • steering action refers herein to a steering action of wheels of said front axle and steering action of steerable rear wheels of a rear axle, such as said tag axle RA2.
  • the steering actions of the vehicle correspond to wheel angles of said steerable front wheels and said steerable rear wheels, respectively.
  • the vehicle may be arranged with any suitable wheel axle configuration comprising two or more rear axles having steerable wheels.
  • controlling the steering action of wheels of each of said rear axles may be based upon a steering action exerted by said front axle wheels.
  • a respective function according to which the steering action is performed by means of wheels of each of said rear axles is determined, said functions providing a steering action different from the steering action provided by means of said rear axle wheels when said vehicle is set for forward propulsion.
  • steerable wheels of each of said rear axles may be controlled mutually different and/or independently according to each respective determined function when the vehicle 100 is determined to be set for reverse propulsion.
  • Figure 2 schematically illustrates a subsystem of the vehicle 100.
  • a framework FW is arranged to hold a number of wheel axles.
  • said vehicle 100 is arranged with three wheel axles.
  • a front wheel axle FA is arranged with a right front wheel FW1 and a left front wheel FW2.
  • a first rear wheel axle RA1 is arranged with a right rear wheel RW11 and a left rear wheel RW12.
  • Said first rear wheel axle RA1 is arranged to propel said vehicle 100 by means of said right rear wheel RW11 and said left rear wheel RW12.
  • An engine (not shown) is arranged to provide torque to said first rear wheel axle RA1 via a transmission (not shown) for propelling said vehicle 100.
  • Said right rear wheel RW11 and said left rear wheel RW12 are according to this example not steerable.
  • a second rear wheel axle RA2 is arranged with a right rear wheel RW21 and a left rear wheel RW22. Said right rear wheel RW21 and said left rear wheel RW22 are steerable. Said second rear wheel axle RA2 is hereby a so called tag axle.
  • a first sensor configuration 230 is arranged for communication with a first electronic control unit 200 via a link L230.
  • Said first sensor configuration 230 is arranged to continuously or intermittently determine a steering action performed by an operator of the vehicle 100.
  • Said first sensor configuration 230 is arranged to determine a front wheel angle al.
  • Said front wheel angle al is defined relative a longitudinal axle of said vehicle 100 7 corresponding to a straight propulsion direction of said vehicle 100 (forward or reverse).
  • Said front wheel angle al is present at said right front wheel FW1 and said left front wheel FW2.
  • said front wheel angle al is only illustrated at said left front wheel FW2 for sake of clarity.
  • Said first sensor configuration 230 may comprise a front wheel angle sensor.
  • Said first sensor configuration 230 may be arranged at one of said right front wheel FW1 and said left front wheel FW2, or at both of said right front wheel FW1 and said left front wheel FW2. Said first sensor configuration 230 is arranged to continuously or intermittently send signals S230 comprising information about said detected front wheel angle al to the first control unit 200 via said link L230.
  • a second sensor configuration 240 is arranged for communication with the first electronic control unit 200 via a link L240.
  • Said second sensor configuration 240 is arranged to continuously or intermittently determine a steering action performed by the operator of the vehicle 100.
  • Said second sensor configuration 240 is arranged to determine a steering wheel angle a2.
  • Said steering wheel angle a2 is defined relative a reference steering wheel angle corresponding to a straight propulsion direction of said vehicle 100.
  • Said steering wheel angle al corresponds to said front wheel angle al being present at said right front wheel FW1 and said left front wheel FW2.
  • Said second sensor configuration 240 may comprise a steering wheel angle sensor.
  • Said first sensor configuration 230 may be arranged at a steering wheel arrangement (not shown) of the vehicle 100.
  • configuration 240 is arranged to continuously or intermittently send signals S240 comprising information about said detected steering wheel angle al to the first control unit 200 via said link L240.
  • Said front wheel angle al and said steering wheel angle a2 are two different representations of a steering action performed by the operator of the vehicle 100.
  • Said first control unit 200 is arranged to determine if said vehicle 100 is set for forward propulsion or reverse propulsion. This may be performed in any suitable way. According to an example said first control unit 200 is arranged to determine a prevailing gear state of a gearbox of a transmission of the vehicle 100. According to an example said first control unit 200 is arranged to determine if an operator manually has requested a particular gear state of said gearbox. According to one example said first control unit 200 is arranged to determine a propulsion direction of said vehicle on the basis of at least one speed sensor of said vehicle, so as to determine if said vehicle is propelled in a forward direction or a reverse direction.
  • a second control unit 210 is arranged for communication with the first control unit 200 via a link L210. Said second control unit and said first control unit is arranged to communicate by means of signals S210. It may be adapted to conducting the innovative method steps according to the invention.
  • the second control unit 210 may be arranged to perform the inventive method steps according to the invention. It may be used to cross-load software to the first control unit 200 7 particularly software for conducting the innovative method. It may alternatively be arranged for communication with the first control unit 200 via an internal network on board the vehicle 100. It may be adapted to performing substantially the same functions as the first control unit 200 7 such as controlling the steering action exerted by means of said second rear axle wheels according to a determined function when the vehicle is determined to be set for reverse propulsion. This is depicted in greater detail below.
  • the innovative method may be conducted by the first control unit 200 or the second control unit 210, or by both of them.
  • the second control unit 210 is arranged to control steering of said second rear axle wheels RW21 and RW22 according to an aspect of the invention.
  • the second control unit 210 is arranged to continuously send control signals S250 to a steering configuration 250 via a link L250.
  • Said steering configuration 250 is arranged to control steering of said second rear axle wheels RW21 and RW22 based on said control signals S250.
  • Said steering arrangement 250 may be any suitable steering arrangement.
  • Said steering arrangement 250 may e.g. be an electro-mechanical steering arrangement or a hydraulic steering arrangement.
  • Said second rear axle wheels RW21 and RW22 are hereby controlled by means of said second control unit 210 so as to present a desired rear axle wheel angle a3.
  • Said rear axle wheel angle a3 is defined relative a longitudinal axle of said vehicle 100, corresponding to a straight propulsion direction of said vehicle 100 (forward or reverse).
  • Said rear axle wheel angle a3 is present at said right rear axle wheel RW21 and said left rear axle wheel RW22.
  • said rear axle wheel angle a3 is only illustrated at said left rear axle wheel RW22 for sake of clarity.
  • first function Fl depicting the relation between a rear axle wheel angle 3 and a front wheel angle l for a reverse propulsion of the vehicle 100.
  • second function F2 depicting the relation between a rear axle wheel angle a3 and a front wheel angle al for a forward propulsion of the vehicle 100.
  • the rear axle wheel angle a3 is presented in degrees [Deg].
  • the front wheel angle al is presented in degrees [Deg].
  • the herein depicted steering wheel angle a2 corresponds to said front wheel angle al and the first function Fl and the second function F2 of the diagram of Figure 3 could thus alternatively be presented for the rear axle wheel angle a3 and the steering wheel angle a2 for reverse propulsion of the vehicle 100 and forward propulsion of the vehicle 100, respectively.
  • said first function Fl and said second function F2 presented as a relation between said rear wheel angle a3 and a steering action of said vehicle 100.
  • Said first function Fl and said second function F2 are predetermined functions.
  • Said first function Fl and said second function F2 are presented as two sections, one referring to turning the front wheels to the right relative a longitudinal axis of the vehicle 100 and one referring to turning the front wheels to the left relative a longitudinal axis of the vehicle 100.
  • Said two sections of said first function Fl are substantially symmetrical.
  • Said two sections of said second function F2 are substantially symmetrical.
  • the first function Fl and said second function F2 differ from each other.
  • the first function Fl is determined so as to reach a maximum rear wheel angle 3max (or - 3max) at a relatively lower front wheel angle l when the vehicle 100 is set to reverse propulsion compared to when the vehicle 100 is set to forward propulsion. This means in practice that said rear wheels, at least partly, are steered to a greater extent at reverse propulsion than at forward propulsion, given a front wheel angle al.
  • the first function Fl may be any suitable function.
  • the second function F2 may be any suitable function.
  • said first function Fl is equal to zero within an interval defined by [-alinit, alinit].
  • An initial first part of said first function Fl may be smoothly curved for improved vehicle operator comfort.
  • a second part of said first function Fl may be a linear function presenting any suitable slope.
  • Said second function F2 is set to be zero for relatively small steering action values (al, a2).
  • Said second function F2 may be equal to zero within said interval defined by [-alinit, alinit], or within a suitable larger interval of said steering action.
  • said second function is zero within an interval which is slightly larger than said interval [-alinit, alinit].
  • Said interval [-alinit, alinit] may be defined as [10, -10], [20, -20], [30, -30] or any suitable interval.
  • a difference between front wheel angle values al at a maximum rear wheel angle a3max for said first function Fl and said second function F2 is denoted Diff.
  • Said difference Diff may be any suitable difference, such as for example 45, 90, 180, 360, 720, 1080 or 2160 degrees.
  • any suitable difference Diff may be determined or even chosen by said operator of the vehicle.
  • Said operator may according to an embodiment actively chose any suitable first function Fl and/or second function F2 and/or difference Diff and input said choice to said first control unit 200 by any suitable means.
  • Figure 4a schematically illustrates a flow chart of a method for steering a vehicle 100 comprising a front axle FA and a rear axle RA2, wheels being arranged for steering said vehicle 100 being provided for said front axle FA and said rear axle RA2.
  • the method comprises the method step s401.
  • the method step s401 comprises the steps of: - controlling the steering action of said rear axle wheels RW21 and RW22 based upon a steering action exerted by said front axle wheels FW1 and FW2;
  • Figure 4b schematically illustrates a flow chart of a method for steering a vehicle 100 comprising a front axle FA and a rear axle RA2, wheels being arranged for steering said vehicle 100 being provided for said front axle FA and said rear axle RA2.
  • the method comprises the method step s410.
  • the method step s410 comprises the step of determining if said vehicle 100 is set for reverse propulsion or forward propulsion. This may be performed by means of said first control unit 200. After the method step s410 a subsequent method step s420 is performed.
  • the method step s420 comprises the step of determining a function Fl according to which the steering action is performed by means of said rear axle wheels RW21 and RW22, said function Fl providing a steering action different from the steering action provided by means of said rear axle wheels RW21 and RW22 when said vehicle 100 is set for forward propulsion.
  • This step may be performed by means of said first control unit 200 and/or by means of the second control unit 210.
  • Said determined function Fl may be stored in a memory of the first control unit 200 and/or in a memory of the second control unit 210.
  • the method step s420 may comprise the step of determining said function Fl specifying a relation between the steering action, e.g. represented by the front wheel angle l and/or the steering wheel angle al, exerted by said front axle wheels FW1, FW2 and the steering action a3 exerted by said rear axle wheels RW21, RW22 such that a certain steering action, e.g. said maximal rear wheel angles - 3max or 3max of said rear axle wheels RW21, RW22 is obtained for a relatively lower steering action (al; a2) of said front wheels (FW1, FW2) when the vehicle 100 is determined to be set for reverse propulsion.
  • This step may be performed by means of said first control unit 200 and/or by means of the second control unit 210.
  • the method step s420 may comprise the step of determining said function Fl based upon at least one of vehicle speed, front axle wheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
  • said function Fl may be determined so as to provide a smaller difference Diff for relatively high vehicle speeds when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a greater difference Diff for relatively low vehicle speeds when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a lesser slope of said function Fl for relatively high vehicle speeds.
  • said function Fl may be determined so as to provide a greater slope of said function Fl for relatively low vehicle speeds.
  • said function Fl may be determined so as to provide a smaller difference Diff for relatively high front axle wheel steering action speeds (time derivative of steering wheel angle or time derivative of front wheel angle) when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a greater difference Diff for relatively low front axle wheel steering action speeds when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a lesser slope of said function Fl for relatively high front axle wheel steering action speeds (time derivative of steering wheel angle or time derivative of front wheel angle).
  • said function Fl may be determined so as to provide a steeper slope of said function Fl for relatively low front axle wheel steering action speeds.
  • said function Fl may be determined so as to provide a smaller difference Diff for relatively high vehicle masses when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a greater difference Diff for relatively small vehicle masses when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a lesser slope of said function Fl for relatively high vehicle masses.
  • said function Fl may be determined so as to provide a steeper slope of said function Fl for relatively small vehicle masses.
  • said function Fl may be determined so as to provide a smaller difference Diff for relatively long vehicles having a vehicle axle configuration wherein said front axle FA is relatively remotely arranged from said rear axle RA2 when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a greater difference Diff for relatively short vehicles having a vehicle axle configuration wherein said front axle FA is relatively closely arranged from said rear axle RA2 when the vehicle 100 is set to reverse propulsion.
  • said function Fl may be determined so as to provide a lesser slope of said function Fl for relatively long vehicles having a vehicle axle configuration wherein said front axle FA is relatively remotely arranged from said rear axle RA2.
  • said function Fl may be determined so as to provide a steeper slope of said function Fl for relatively short vehicles having a vehicle axle configuration wherein said front axle FA is relatively closely arranged from said rear axle RA2.
  • said function Fl may be determined on the basis of a surrounding configuration.
  • the vehicle 100 may be arranged with sensors, such as a video camera or radar unit, so as to determine a surrounding configuration of the vehicle.
  • said first control unit may be arranged to determine said function Fl on the basis of detected movable or fixed objects in the surrounding of the vehicle.
  • the method step s420 may comprise the step of determining said function Fl such that a certain steering action (-alinit, alinit) of said front axle wheels FW1, FW2 is required before steering of said rear axle wheels RW21, RW22 is initiated
  • the method step s420 may comprise the step of determining said function Fl such that the steering action a3 of said rear axle wheels RW21, RW22 is initiated smoothly.
  • the method step s430 comprises the step of controlling the steering action exerted by means of said rear axle wheels RW21 and RW22 according to said determined function Fl when the vehicle 100 is determined to be set for reverse propulsion. This may be performed by means of said second control unit 210 and/or said first control unit 200. Said second control unit 210 may hereby control operation of said steering configuration 250 so as to control steering of said rear axle wheels RW21 and RW22 according to said determined function Fl, and thus in dependence of steering action of said front wheels FW1 and FW2. After the method step s430 the method is returned or ended.
  • FIG. 5 is a diagram of one version of a device 500.
  • the control units 200 and 210 described with reference to Figure 2 may in one version comprise the device 500.
  • the device 500 comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory 550.
  • the non-volatile memory 520 has a first memory element 530 in which a computer program, e.g. an operating system, is stored for controlling the function of the device 500.
  • the device 500 further comprises a bus controller, a serial communication port, I/O means, an A/D converter, a time and date input and transfer unit, an event counter and an interruption controller (not depicted).
  • the non-volatile memory 520 has also a second memory element 540.
  • a computer program P for steering a vehicle 100 comprising a front axle FA and a rear axle RA2, wheels being arranged for steering said vehicle 100 being provided for said front axle FA and said rear axle RA2.
  • the computer program P comprises routines for controlling the steering action of said rear axle wheels RW21 and RW22 based upon a steering action exerted by said front axle wheels FW1 and FW2.
  • the computer program P comprises routines for determining if said vehicle 100 is set for reverse propulsion or forward propulsion.
  • the computer program P comprises routines for determining a function Fl according to which the steering action is performed by means of said rear axle wheels RW21 and RW22, said function Fl providing a steering action different from the steering action provided by means of said rear axle wheels RW21 and RW22 when said vehicle 100 is set for forward propulsion.
  • the computer program P comprises routines for controlling the steering action exerted by means of said rear axle wheels RW21 and RW22 according to said determined function Fl when the vehicle 100 is determined to be set for reverse propulsion.
  • the computer program P may comprise routines for determining said function Fl specifying a relation between the steering action exerted by said front axle wheels FW1 and FW2 and the steering action exerted by said rear axle wheels RW21 and RW22 such that a certain, e.g. a maximum (a3max, -a3max), steering action of said rear axle wheels RW21 and RW22 is obtained for a relatively lower steering action of said front wheels FW1 and FW2 when the vehicle 100 is determined to be set for reverse propulsion.
  • a certain, e.g. a maximum (a3max, -a3max) steering action of said rear axle wheels RW21 and RW22 is obtained for a relatively lower steering action of said front wheels FW1 and FW2 when the vehicle 100 is determined to be set for reverse propulsion.
  • the computer program P may comprise routines for determining said function Fl based upon at least one of vehicle speed, front axle wheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
  • the computer program P may comprise routines for determining said function Fl such that a certain steering action of said front axle wheels is required before steering of said rear axle wheels RW21 and RW22 is initiated
  • the computer program P may comprise routines for determining said function Fl such that the steering action of said rear axle wheels RW21 and RW22 is initiated smoothly.
  • the program P may be stored in an executable form or in compressed form in a memory 560 and/or in a read/write memory 550.
  • the data processing unit 510 performs a certain function, it means that it conducts a certain part of the program which is stored in the memory 560 or a certain part of the program which is stored in the read/write memory 550.
  • the data processing device 510 can communicate with a data port 599 via a data bus 515.
  • the non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512.
  • the separate memory 560 is intended to communicate with the data processing unit via a data bus 511.
  • the read/write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514.
  • the links L210, L230, L240 and L250 for example, may be connected to the data port 599 (see Figure 2).

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

La présente invention concerne un procédé de direction d'un véhicule (100) comprenant un essieu avant (FA) et un essieu arrière (RA2), des roues (FW1, FW2 ; RW21, RW22) étant conçues pour diriger ledit véhicule (100) étant prévu pour ledit essieu avant (FA) et ledit essieu arrière (RA2), comprenant les étapes consistant à : - commander (s401) l'action de direction (α3) desdites roues de l'essieu arrière (RW21, RW22) sur la base d'une action de direction (α1 ; α2) exercée par lesdites roues de l'essieu avant (FW1, FW2) ; - déterminer (s410) si ledit véhicule (100) est réglé pour une propulsion en marche arrière ou une propulsion en marche avant ; - déterminer (s420) une fonction (F1) selon laquelle l'action de direction est effectuée au moyen desdites roues de l'essieu arrière (RW21, RW22), ladite fonction (F1) fournissant une action de direction (α3) différente de l'action de direction fournie au moyen desdites roues de l'essieu arrière (RW21, RW22) lorsque ledit véhicule (100) est réglé pour une propulsion en marche avant ; et - commander (s430) l'action de direction (α3) exercée au moyen desdites roues de l'essieu arrière (RW21, RW22) conformément à ladite fonction déterminée (F1) lorsque le véhicule (100) est déterminé à être réglé pour la propulsion en marche arrière. La présente invention concerne également un produit de programme informatique qui comprend un code de programme (P) destiné à un ordinateur (200 ; 210 ; 500) en vue de mettre en œuvre un procédé selon l'invention. La présente invention concerne également un système permettant de diriger un véhicule (100) comprenant un essieu avant et un essieu arrière, ainsi qu'un véhicule (100) équipé du système.
PCT/SE2016/050506 2015-06-11 2016-05-31 Procédé et système permettant de diriger un véhicule Ceased WO2016200311A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP16807909.3A EP3307605A4 (fr) 2015-06-11 2016-05-31 Procédé et système permettant de diriger un véhicule
BR112017024112A BR112017024112A2 (pt) 2015-06-11 2016-05-31 método e sistema para guiar um veículo

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1550790-8 2015-06-11
SE1550790A SE541254C2 (en) 2015-06-11 2015-06-11 A method and a system for steering a vehicle

Publications (1)

Publication Number Publication Date
WO2016200311A1 true WO2016200311A1 (fr) 2016-12-15

Family

ID=57504805

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2016/050506 Ceased WO2016200311A1 (fr) 2015-06-11 2016-05-31 Procédé et système permettant de diriger un véhicule

Country Status (4)

Country Link
EP (1) EP3307605A4 (fr)
BR (1) BR112017024112A2 (fr)
SE (1) SE541254C2 (fr)
WO (1) WO2016200311A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240166257A1 (en) * 2021-04-08 2024-05-23 Scania Cv Ab Control device and method for controlling a tag axle steering system

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63312270A (ja) * 1987-06-15 1988-12-20 Fuji Heavy Ind Ltd 自動車の後輪操舵制御方法
FR2664552A1 (fr) * 1990-07-11 1992-01-17 Renault Systeme de direction a quatre roues directrices pour vehicule automobile.
US5227974A (en) * 1990-02-28 1993-07-13 Mazda Motor Corporation Rear wheel turning system for four-wheel steered vehicle
EP0577571A2 (fr) * 1992-07-03 1994-01-05 Marco Bettini Groupe de direction pour marche arrière pour un essieu auto-directeur pour camions, tracteur semi-remorques ou analogue
US5754966A (en) 1995-08-10 1998-05-19 Unisia Jecs Corporation Method and apparatus for steering rear wheel for four wheel steering vehicle
EP0845403A2 (fr) 1996-10-31 1998-06-03 R.C.D. S.r.l. Direction assistée pour des roues auto-orientable d'un ou plusieurs essieux d'un véhicule à moteur comme un camion, une remorque et une semi-remorque, pour diriger le véhicule dans la marche arrière
DE102006059082A1 (de) 2006-12-14 2008-06-19 Robert Bosch Gmbh Verfahren zur Durchführung eines Lenkvorganges in einem Fahrzeug mit Anhänger
DE602004011988T2 (de) 2003-12-23 2009-02-12 Renault S.A.S. Hinterradlenkvorrichtung für kraftfahrzeug
DE102008004160A1 (de) * 2008-01-14 2009-08-20 Volkswagen Ag Zugfahrzeug für einen Anhänger oder Auflieger und Verfahren zum Unterstützen eines Fahrers beim Manövrieren eines Zugfahrzeugs

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6118568A (ja) * 1984-07-04 1986-01-27 Mazda Motor Corp 車両の４輪操舵装置
DE3533487A1 (de) * 1984-09-20 1986-03-27 Nissan Motor Co., Ltd., Yokohama, Kanagawa Hinterrad-lenkwinkelsteueranordnung fuer fahrzeuge mit vier lenkbaren raedern
US6580988B2 (en) * 2001-11-06 2003-06-17 General Motors Corporation Rear wheel steering control
WO2015060752A1 (fr) * 2013-10-21 2015-04-30 Volvo Truck Corporation Système de direction de roue permettant de commander un angle de direction d'une seconde paire de roues orientables d'un véhicule

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63312270A (ja) * 1987-06-15 1988-12-20 Fuji Heavy Ind Ltd 自動車の後輪操舵制御方法
US5227974A (en) * 1990-02-28 1993-07-13 Mazda Motor Corporation Rear wheel turning system for four-wheel steered vehicle
FR2664552A1 (fr) * 1990-07-11 1992-01-17 Renault Systeme de direction a quatre roues directrices pour vehicule automobile.
EP0577571A2 (fr) * 1992-07-03 1994-01-05 Marco Bettini Groupe de direction pour marche arrière pour un essieu auto-directeur pour camions, tracteur semi-remorques ou analogue
US5754966A (en) 1995-08-10 1998-05-19 Unisia Jecs Corporation Method and apparatus for steering rear wheel for four wheel steering vehicle
EP0845403A2 (fr) 1996-10-31 1998-06-03 R.C.D. S.r.l. Direction assistée pour des roues auto-orientable d'un ou plusieurs essieux d'un véhicule à moteur comme un camion, une remorque et une semi-remorque, pour diriger le véhicule dans la marche arrière
DE602004011988T2 (de) 2003-12-23 2009-02-12 Renault S.A.S. Hinterradlenkvorrichtung für kraftfahrzeug
DE102006059082A1 (de) 2006-12-14 2008-06-19 Robert Bosch Gmbh Verfahren zur Durchführung eines Lenkvorganges in einem Fahrzeug mit Anhänger
DE102008004160A1 (de) * 2008-01-14 2009-08-20 Volkswagen Ag Zugfahrzeug für einen Anhänger oder Auflieger und Verfahren zum Unterstützen eines Fahrers beim Manövrieren eines Zugfahrzeugs

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3307605A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240166257A1 (en) * 2021-04-08 2024-05-23 Scania Cv Ab Control device and method for controlling a tag axle steering system
US12473021B2 (en) * 2021-04-08 2025-11-18 Scania Cv Ab Control device and method for controlling a tag axle steering system

Also Published As

Publication number Publication date
EP3307605A4 (fr) 2019-03-13
BR112017024112A2 (pt) 2018-07-31
SE541254C2 (en) 2019-05-14
EP3307605A1 (fr) 2018-04-18
SE1550790A1 (en) 2016-12-12

Similar Documents

Publication Publication Date Title
US11072366B2 (en) Method for controlling a steer-by-wire steering system with a reduced feedback in automatic drive mode
US12012143B2 (en) Electrified trailer with reverse assist function
US10000124B2 (en) Independent steering, power, torque control and transfer in vehicles
CN108725575B (zh) 控制电机驱动动力转向系统的装置和方法
US8214108B2 (en) Vehicle system and method for selectively coupled vehicles
CA2653735C (fr) Commande de direction de vehicule a moteur
EP2688763A1 (fr) Système et procédé permettant de contrôler une remorque reliée à un véhicule
US20180370562A1 (en) Method for active steering support in a stuck vehicle and control unit
SE1851059A1 (en) Method and device for combined hydraulic and electric power assisted steering
EP3409564B1 (fr) Système et procédé permettant d'effectuer des manoeuvres de stationnement parallèle par freinage latéral unique
CN107428370B (zh) 用于运行转向系统的方法以及转向系统
CN114506327A (zh) 车辆漂移控制的驾驶员意图判断系统及方法
CN115991231A (zh) 差动制动增加闪避操纵横向能力
CN114620151A (zh) 用于挂车或台车的控制系统和方法
WO2016200313A1 (fr) Procédé et système permettant de diriger un véhicule
CN111032491A (zh) 通过差速轮制动提供车辆转向支持的方法、系统、车辆、计算机程序和计算机可读介质
EP3307605A1 (fr) Procédé et système permettant de diriger un véhicule
JPS6331881A (ja) 車両用縦列駐車制御装置
BR112017024125B1 (pt) Método e sistema para guiar um veículo e veículo compreendendo tal sistema
JP5012520B2 (ja) ４輪操舵機構を搭載した車両の操舵制御装置
US10343688B2 (en) System and method for controlling propulsion of machine
WO2015115985A1 (fr) Procédé, système et programme informatique destinés à la commande de propulsion d'un appareil de forage et appareil de forage
KR102115932B1 (ko) 차량 제어 장치 및 차량 제어 방법
GB2559170A (en) Apparatus and method for controlling movement of a vehicle
JPWO2025018172A5 (fr)

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16807909

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112017024112

Country of ref document: BR

ENP Entry into the national phase

Ref document number: 112017024112

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20171109