• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A system for steering a vehicle (1) with at least one non-driven wheeled support shaft (2) following in the ordinary direction of travel of the vehicle after the front wheel axle (3) of the vehicle comprises a control circuit (7) for supporting the function of a steering wheel steering means (5). ), a power device (9) designed to transmit force to the support shaft to control the alignment of its wheels (13) and a control unit (8) designed to control the power device. A device (15) is designed to determine whether the vehicle is in a normal condition part of the system or a special condition with respect to the system with an increased need to support the control device function relative to the normal condition of the vehicle. The control unit (15) is designed to, in a certain special condition of the vehicle, control the power device to transmit power so that the steering angle of the support axle wheels (13) according to a ratio of greater angular angle relative to the angular inclination of the front wheel axle (6) than in the normal condition. (Fig. 1)
    公开号:SE1450115A1
    申请号:SE1450115
    申请日:2014-02-03
    公开日:2015-08-04
    发明作者:Göran Nilsson；Max Nensén
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    The function of the steering wheel steering means by making it easier for the driver to achieve the desired angular deflection of the wheels of the front wheel axle, i.e. without having to apply unacceptably large muscle forces for this.
    A normal condition of the vehicle with respect to the steering system is when this system enables the driver to steer the vehicle in a defined manner with the application of forces that do not exceed a predetermined level. When this is not possible, there is a special condition of the vehicle with respect to the said steering system with difficult steering of the vehicle. This may, for example, be due to the control circuit having failed and therefore the function of the steering wheel-like control means not receiving any support from the control circuit or that the speed of the vehicle is so low that the control is made difficult even with the control circuit mentioned intact.
    As regards the first-mentioned reason for the occurrence of a said special condition, the problem of this can be solved by providing a control system of this kind with two said control circuits, i.e. a spare control circuit in addition to said control circuit. However, such an additional control circuit entails increased costs, so that there is a need to avoid arranging one. For this reason, there are requirements set for what a control system according to the above must be able to do in order for it to be marketed with only one control circuit. This requirement is set so that vehicles of the type mentioned may only be sold with a control circuit if they are able to achieve a oscillation with a certain turning radius (s) within a certain time (t) without the driver applying a torque (M). exceeding a certain level of the vehicle's steering wheel. In this case, for example, t = 6s, r = 20m and M = 101.25 Nm. The greater the wheelbase of a mentioned vehicle, the greater the angular deflection must be achieved at the wheels of the front wheel axle within the specified time (t). This then means a higher necessary torque (M), so that a given known vehicle must have two control circuits in the event that said wheelbase exceeds a given length.
    SUMMARY OF THE INVENTION The object of the present invention is to provide a system of the kind mentioned in the introduction, which is improved in at least some respect in relation to previously known such systems.
    This object is achieved according to the invention by providing a system according to appended claim 1.
    Because the control unit is designed at a said special condition of the vehicle, control the angular inclination of the wheels of the support wheel axle according to a ratio with greater angular inclination relative to the angular inclination of the front wheel axle wheels than under said normal condition when applying a certain torque to the steering wheel. relative to the longitudinal direction of the vehicle to be achieved due to the fact that the changed said condition will support the function of the control means. In addition to the fact that a greater angular deflection of the front wheel axle wheels can be achieved in servo failure, said changed ratio with a larger angular deflection of the support axle wheels at a given angular deflection of the front wheel axle wheels already means that a narrower radius is achieved, so that a smaller angle of the front wheel axle wheels necessary to achieve a given turning radius. This means an increase in the maximum wheelbase of a vehicle equipped with the steering system, so that a long vehicle that previously required the arrangement of two steering circuits can instead be allowed to have only one steering circuit and thus costs can be saved. .
    According to an embodiment of the invention, the system comprises means designed to send information about the state of the control circuit to said device, and the device is designed to determine that a said special state prevails in the event of failure of the function of said control circuit. This ensures that the function of the control means supported by changing the said condition is achieved in the event of a failure of the control circuit and the driver is then able to steer the vehicle in the required manner.
    According to another embodiment of the invention, the control circuit has means arranged to drive a medium flow to support the function of said control means, the control circuit also has a means arranged to sense the magnitude of said medium flow and send information thereon to the device and the correction is designed to determine that said special condition prevails in the case that the medium flow sensed by said means is zero.
    According to an embodiment of the invention, the system comprises a means designed to sense the torque which a driver applies to said steering wheel-like control means and to send information about this torque to said device, and the device is designed to determine that said special condition prevails in the case of said sensed torque. exceeds a predetermined value. As a result, in a driving situation where the driver of the vehicle has to apply a relatively large force to the steering wheel of the vehicle in order to steer the vehicle in the desired manner, it can receive additional support from the steering of the support shaft wheels, so that the torque required for to achieve the required control can be kept below said predetermined value. This can, for example, be the case during extremely slow driving of the vehicle or when the vehicle's wheels partially “dig themselves” into the ground on which the vehicle is driven.
    According to another embodiment of the invention, the system comprises means designed to sense the speed of the vehicle and to send information thereon to the device, and the device is designed to determine that a said special condition prevails in the event that the speed of the vehicle falls below a predetermined value. At low speeds, such a much increased maneuverability of the vehicle may be desired that disproportionately large forces must be applied by the driver to the steering wheel steering means to perform the desired maneuver in case the vehicle is in said normal condition with respect to the steering system, and then a transferring the steering system to the function it has in the said special condition of the vehicle to achieve such a desired maneuverability without requiring the application of large muscle forces from the driver.
    According to another embodiment of the invention, the control unit is designed to increase said angular deflection of the wheels of the front axle wheel by at least 50%, at least 75% or at least 100% relative to the angular deflection at said given angular angle of the front axle wheel. of the wheels of the support axle at the respective angular deflection of the wheels of the front wheel axle in said normal condition. An increase in the angular angle of the wheels of the support axle by a factor of at least 1.5, at least 1.75 or at least 2 enables the driver of the vehicle to apply a certain torque to the steering gear. achieve a clearly larger angular angle of the front wheel axle wheels than in said normal condition by a factor of 1. At the same time a narrower turning radius is achieved only by a larger angular angle of the support wheel axle wheels at a given angular angle of the front wheel axle wheels, ie angle of rotation of the vehicle steering wheel.
    According to another embodiment of the invention, the device is designed to determine that a said special condition prevails in case said sensing torque exceeds a predetermined value located in the range 30-80 Nm, 40-70 Nm or 45-55 Nm, or that the predetermined value is 50 Nm. According to another embodiment of the invention, said predetermined value of the vehicle speed is lower than 20 km / h, lower than 15 km / h, 5-15 km / h, 8-12 km / h or 10 km / h. These torque and speed limit values are suitable for transmitting the vehicle in the said special condition with a different ratio between the angular angle of the front axle wheel and the support axle wheel than in the normal condition of the vehicle.
    The invention also relates to a method for steering a vehicle with at least one non-driven wheeled support axle following in the ordinary direction of travel of the vehicle after the vehicle's front wheel axle according to the appended independent method patent claims. The result of carrying out such a method and the advantages thereof appear with all the desired clarity from the above description of the system according to the invention. The invention also relates to a computer program having the features listed in claim 11, a computer software product having the features listed in claim 12, an electronic control unit having the features listed in claim 13 and a vehicle according to claim 14.
    Other advantageous features and advantages of the invention will become apparent from the following description.
    BRIEF DESCRIPTION OF THE DRAWINGS Embodiments of the invention are described below by way of example with reference to the accompanying drawings, in which: Fig. 1 is a simplified view illustrating a vehicle steering system according to an embodiment of the present invention, Figs. 2a and 2b are very simplified views illustrating two possible appearances of wheel sets of vehicles to which the control system according to the invention is applicable, Fig. 3 is a flow chart showing a method according to an embodiment of the invention, and Fig. 4 is a schematic diagram of an electronic control unit for implementing a method according to the invention. DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION Fig. 1 very schematically illustrates a system for steering a vehicle 1 in the form of a truck with a non-driven wheeled support axle 2, a front wheel axle 3 and one in the ordinary direction of travel of the vehicle in front of the support axle. arranged rear axle 4. It is schematically illustrated how the front wheel axle 3 can be controlled in a conventional manner in that the vehicle steering wheel 5 is mechanically connected to the front wheel axle 3 for controlling the alignment of the front wheel axle wheels 6 relative to the longitudinal direction of the vehicle. to support the function of the steering wheel, ie the achievement of power steering that facilitates turning of the steering wheel and steering of the wheels of the front wheel axle. The vehicle has an electronic control unit E which is designed to send to a control unit 8 included in the system information about the alignment of the wheels 6 of the front wheel axle relative to the longitudinal direction L. of the vehicle. The system has a power device 9 with an electric motor 10 designed to drive a hydraulic pump 11 for to transmit force via a power cylinder 12 on the support shaft 2 to control the alignment of its wheels 13 relative to the longitudinal direction of the vehicle.
    The control unit 8 is designed to control the force device for controlling said alignment of the wheels 13 of the support axle on the basis of information about the alignment of the wheels 6 of the front axle relative to the vehicle longitudinal direction according to a predetermined relationship between the angles of the front axle longitudinal direction of a normal condition of the vehicle for the system part. Control systems with the parts so far described are previously known. Figures 2a and 2b illustrate two of a number of possible vehicle configurations to which a control system of this kind may be applied, the arrow L showing the ordinary direction of travel of the vehicle, D the driving axis and A the wheelbase. It is the wheelbase A that determines the degree of rotation of the vehicle at given angular angles oi, ß of the wheels of the front wheel axle and the wheels of the support axle, respectively. As previously mentioned, there are requirements as to how quickly a certain turning radius can be achieved at the vehicle in the event of failure of the control circuit 7, for example in the event of a break in the line 14, as indicated by B when applying a torque to the steering wheel of a predetermined value for that the vehicle may be marketed with only one mentioned control circuit.
    In order to reduce the torque that must be applied to the steering wheel of the vehicle in order to achieve a certain turning radius of the vehicle in conditions where the vehicle is particularly 'difficult to steer', eg in the event of failure of the control circuit 7, low speed of the vehicle or driving of the vehicle on a certain type of substrate, the circuit according to the invention has a device 15 designed to determine whether the vehicle is in a said normal state or a special state with respect to the system with an increased need to support the function of the control means relative to the normal state of the vehicle.
    This device 15 is schematically shown as assembled with the control unit 8. The control unit 8 is in turn designed to, in the event of a special condition of the vehicle 15 determined by the device 15, control the power device 9 to transmit force to control the angular deflection of the support shaft. wheels 13 according to a ratio with greater angular angle relative to the angular angle of the wheels 6 of the front wheel axle than under said normal condition. The system comprises means in the form of the vehicle's electronic control unit E designed to send information about the condition of the control circuit to the device 15, and the device is designed to determine that a said special condition prevails in the event of failure of the function of the control circuit. 7. Such a failure can be determined, for example, by arranging a medium flow measuring means in the form of a flow meter 18 in the medium flow loop 14 having the control circuit, here between the loop pump 19 and a control device 20 of the control circuit 7. The flow meter transmits information about the magnitude of the flow in the loop to the vehicle's electronic control unit E which sends it on to the device 15, which determines that a mentioned special condition prevails at a zero flow sensed by the flow meter. Then the control means does not receive any support from the control circuit and help is then obtained from changed control of the support shaft wheels.
    It is also shown how the system has a means 16 designed to sense the torque that a driver applies to the steering wheel 5 and send information about this torque to the device 15, which is designed to determine that a said special condition prevails in case said sensed torque exceeds a predetermined value, which is suitably in the order of 50 Nm, as there may be a need to support the function of the steering wheel by increasing the angular deflection of the support shaft wheels 13 at a given angular deflection of the front wheel axle wheels 6.
    The system also has a schematic indicated means 17 designed to sense the speed of the vehicle and send information thereon to the device 15, which is designed to determine that a said special condition prevails in case the speed of the vehicle is less than a predetermined value, which is suitably in the order of 10 km / h.
    When the device 15 determines that a said special condition of the vehicle is at hand, it consequently ensures that the dependence on the angular angle of the wheels 13 of the support axle is relative to the angular angle of the wheels 6 of the front wheel axle, ie the steering angle.
    This change may, for example, involve a multiplication of the angular angle the support axle wheel would have at a given angular angle of the front axle wheel by a factor of 1.5 or 2. This allows, for example, a considerably extended wheelbase in a vehicle with only one mentioned control circuit of the system.
    Fig. 3 shows a flow chart illustrating a method according to an embodiment of the invention for steering a vehicle with at least one non-driven wheeled support axle following in the ordinary direction of travel of the vehicle after the front wheel axle of the vehicle. In a first step S1, the wheels of the front wheel axle are mechanically steered by a driver of the vehicle to steer the vehicle. In a step S2 the question is then asked whether the vehicle is in normal condition with respect to its steerability, and if the answer to this question is yes, then in a step S3 the angular inclination of the support axle wheels is controlled in a first predetermined relation to the angular inclination of the front axle wheels but if the answer to this question is no, then in a step S4 the angular deflection of the wheels of the support axle is controlled in a second predetermined relation to the angular deflection of the wheels of the front wheel axle. In this case, as mentioned above, in the second predetermined ratio the angular angle of the wheels of the support axle will be greater for a given angular angle of the wheels of the front axle than in the first ratio. Throughout the execution of the process, it is constantly returned to step S2 to determine whether the steering of the vehicle is to take place according to step S3 or step S4.
    Computer program code for implementing a method according to the invention is suitably included in a computer program which can be read into the internal memory of a computer, such as the internal memory of an electronic control unit of a motor. Such a computer program is suitably provided via a computer program product comprising a data storage medium readable by an electronic control unit, which data storage medium has the computer program stored thereon. Said data storage medium is, for example, an optical data storage medium in the form of a CD-ROM, a DVD disc, etc., a magnetic data storage medium in the form of a hard disk, a floppy disk, a cassette tape, etc., or a flash memory or a memory of type ROM, PROM, EPROM or EEPROM.
    Fig. 4 very schematically illustrates an electronic control unit E comprising an execution means 18, such as a central processing unit (CPU), for executing computer software. The execution means 18 communicates with a memory 19, for example of the RAM type, via a data bus 20. The control unit E also comprises data storage medium 21, for example in the form of a Flash memory or a memory of the type ROM, PROM, EPROM or EEPROM. The execution means 18 communicates with the data storage medium 21 via the data bus 20. A computer program comprising computer program code for implementing a method according to the invention, for example in accordance with the embodiment illustrated in Fig. 3, is stored on the data storage medium 21. The invention is of course not limited to the embodiments described above, without a variety of possibilities for modifications thereof, it will be apparent to a person skilled in the art without departing from the scope of the invention as defined in the appended claims.
    权利要求:
    Claims (10)
    [1]
    1. 0 15 20 25 30 14 Patent claims
    [2]
    A system for steering a vehicle (1) with at least one driven wheeled support shaft (2) following in the ordinary direction of travel of the vehicle after the front wheel axle (3) of the vehicle, comprising: a steering wheel steer means (5) designed to be mechanically actuated by a driver of the vehicle for controlling the alignment of the wheels of the front wheel axle (6) relative to the longitudinal direction of the vehicle (L), a control circuit (7) for supporting the function of said control means, a force device (9) designed to transmit force to the support shaft (2) for controlling the alignment of its wheels (13) relative to the longitudinal direction of the vehicle, and a control unit (8) designed to control the power device for controlling said alignment of the wheels (13) of the support axle on the basis of information about the alignment of the front axle wheels (6) relative said vehicle longitudinal direction (L) according to a predetermined ratio between the angular angle of the wheels of the support axle and the angular angle of the wheels of the front wheel axle relative to the longitudinal direction of the vehicle in a normal condition the vehicle for the part of the system, characterized in that the system comprises a device (15) designed to determine whether the vehicle is in a said normal state or a special state with respect to the system with an increased need to support the function of the control means (5) relative in the normal condition of the vehicle and notify the control unit (8) of the result of this determination, and that the control unit (8) is designed to, in the event of a special condition of the vehicle determined by the device, control said power device (9) to transmit force to control the angular angle of the wheels (13) of the support axle according to a ratio with a greater angular angle relative to the angular angle of the wheels of the front axle (6) than under said normal condition.
    [3]
    System according to claim 1, characterized in that it comprises means (E) designed to send information about the condition of the control circuit (7) to said device (15), and that the device is designed to determine that said special condition occurs upon failure of the function of said device. control circuit.
    [4]
    System according to claim 2, characterized in that said control circuit has means (19) arranged to drive a medium flow to support the function of said control means (5), that the control circuit (7) further has a means (18) arranged to sense the magnitude of said medium flow and send information thereon to the device (15), and that the device is designed to determine that said special condition prevails in the event that the medium flow sensed by said means (18) is zero.
    [5]
    A system according to any one of the preceding claims, characterized in that it comprises a means (16) designed to sense the torque which a driver applies to said steering wheel-like control means (5) and to send information about this torque to said device (15), and that the establishment is designed to determine that a said special condition prevails in the event that said sensed elements exceed a predetermined value. System according to any one of the preceding claims, characterized in that it comprises means (17) designed to sense the speed of the vehicle and to send information thereon to the device (15), and that the device is designed to agree that a mentioned special permit prevails in the event that the vehicle's speed falls below a predetermined value.
    [6]
    System according to one of the preceding claims, characterized in that the control unit (8) is designed to increase said angular deflection of the support axle wheels (13) by at least 50% at any given special condition of the vehicle at any given angular angle of the front axle wheel (6). , at least 75% or at least 100% in relation to the angular deflection of the wheels of the support axle at the respective angular deflections of the wheels of the front axle in the said normal condition.
    [7]
    System according to claim 4, characterized in that the device (15) is designed to determine that a said special condition prevails in the case said sensed torque exceeds a predetermined value located in the range 30-80 Nm, 40-70 Nm or 45-55 Nm, or that the predetermined value is 50 Nm.
    [8]
    System according to claim 5, characterized in that said predetermined value of the vehicle speed is lower than 20 km / h, lower than 15 km / h, 5-15 km / h, 8-12 km / h or 10 km / h .
    [9]
    Method for steering a vehicle (1) with at least one non-driven wheeled support axle (2) following in the ordinary direction of travel of the vehicle after the front axle of the vehicle (3) comprising the steps of: controlling the alignment of the front axle wheels (6) by mechanical action on a steering gear (5) of the vehicle, and detecting whether the vehicle is in a normal state or special condition with respect to the steerability of the vehicle, said special condition being defined as a condition in which there is an increased need to support said influence on the control means relative to the normal condition of the vehicle, and control the direction of the wheels (13) of the support axle according to a predetermined ratio between the angular angle of these wheels and that of the front wheel axle wheels (6) relative to the longitudinal direction (L) of the vehicle when detecting said normal condition of the vehicle, and o control the angular angle of the support shaft wheels (13) according to a ratio with greater angular angle r or the angular deflection of the wheels (6) of the front wheel axle upon detection of a normal condition mentioned during a special condition of the vehicle.
    [10]
    Method according to claim 9, characterized in that it is carried out on a vehicle with a control circuit (7) for supporting the function of said control means (5), and that the presence of said special condition of the vehicle is detected upon detection of a failure of the function of said control circuit (7) - Computer program which is rechargeable to the internal memory of a computer, which computer program comprises computer program code for causing the computer to control the steps according to any one of claims 9 and 10 when said computer program running on the computer. A computer program product comprising a durable data storage medium readable by a computer, the computer program code of a computer program according to claim 11 being stored on the data storage medium. Electronic control unit for a system for controlling the direction of travel of a vehicle comprising an execution means (18), a memory (19) connected to the execution means and a permanent data storage medium (21) connected to the execution means, the computer program code of a computer program according to claim 11 being stored on said data storage medium (21). Wheeled vehicle, in particular motor vehicle and in particular a truck or bus, characterized in that it comprises a system according to any one of claims 1-8.
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    同族专利:
    公开号 | 公开日
    WO2015115971A1|2015-08-06|
    SE538627C2|2016-10-04|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    AT113017T|1989-11-03|1994-11-15|Bishop A E|FOUR-WHEEL STEERING SYSTEM.|
    DE4413413C1|1994-04-18|1995-06-08|Daimler Benz Ag|Road-vehicle with automatic rear-wheel-steering|
    IT1285451B1|1996-01-24|1998-06-08|R C D S R L|IMPROVING A POWER-ASSISTED STEERING SYSTEM OF THE STEERING WHEELS OF ONE OR MORE REAR AXLES OF A VEHICLE SUCH AS|
    JP2005255001A|2004-03-11|2005-09-22|Isuzu Motors Ltd|Power steering device for vehicle|
    US8833504B2|2005-12-02|2014-09-16|Trw Automotive U.S. Llc|Steering apparatus|
    BR112013014898B1|2010-12-17|2021-08-10|Volvo Truck Corporation|ASSISTED STEERING SYSTEM FOR A VEHICLE HAVING TWO STEERING WHEELS|
    JP6089117B2|2012-12-27|2017-03-01|ボルボ トラック コーポレイション|Power steering system control method for a vehicle having two steering axles|
    法律状态:
    2021-09-28| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1450115A|SE538627C2|2014-02-03|2014-02-03|System for steering a vehicle|SE1450115A| SE538627C2|2014-02-03|2014-02-03|System for steering a vehicle|
    PCT/SE2015/050072| WO2015115971A1|2014-02-03|2015-01-26|System for the guidance of a vehicle|
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