• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a method for steering a vehicle (100) comprising a front axle (FA) and a rear axle (RA2), wheels (FW1, FW2; RW21, RW22) being arranged for steering said vehicle (100) being provided for said front axle (FA) and said rear axle (RA2), comprising the step of: - controlling (s401) the steering action (ct3) of said rear axle wheels (RW21, RW22) based upon a steering action (al; a2) exerted by said front axle wheels (FW1, FW2); - determining (s410) if said vehicle (100) is set for reverse propulsion or forward propulsion; - determining (s420) a function (Fl) according to which the steering action is performed by means of said rear axle wheels (RW21, RW22), said function (Fl) providing a steering action (ct3) different from the steering action provided by means of said rear axle wheels (RW21, RW22) when said vehicle (100) is set for forward propulsion; and - controlling (s430) the steering action (ct3) exerted by means of said rear axle wheels (RW21, RW22) according to said determined function (Fl) when the vehicle (100) is determined to be set for reverse propulsion.The invention relates also to a computer programme product comprising program code (P) for a computer (200; 210; 500) for implementing a method according to the invention. The invention relates also to a system for steering a vehicle (100) comprising a front axle and a rear axle and a vehicle (100) equipped with the system.Figure 2 for publication
    公开号:SE1550790A1
    申请号:SE1550790
    申请日:2015-06-11
    公开日:2016-12-12
    发明作者:Svensson Markus；Öman Christofer；BROANDER Lars；HAGERLIND Simon
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    A method and a system for steering a vehicle TECHNICAL FIELD The present inventíon relates to a method for steering a vehicle comprising a front axle anda rear axle. More particularly, the invention relates to a method for steering a vehiclecomprising a front axle and a rear tag axle. The inventíon relates also to a computer programproduct comprising program code for a computer for implementing a method according tothe invention. lt 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.
    BACKG ROUND Some vehicles of today are provided with a so called tag axle wheel steering functionality.Said vehicles may be a truck or lorry. Such vehicles may be arranged with steerable frontwheels being provided at a front wheel axle. Hereby an operator may steer said front wheelsduring propulsion by means of a steering wheel. Said vehicles are provided with a drive axlefor 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 ofboth 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 steeringwheel angle but is not providing sufficient or desired aid for manoeuvring said vehicle in alltraffic situations. The tag axle wheel steering functionality is today limited in various ways and also static to its nature.
    EPO845403 relates to a power assisted steering system for vehicles having more than one rear axle.
    SUMMARY OF THE INVENTION 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.
    Another object of the invention is to propose a novel and advantageous system and a novel and advantageous computer program 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 user friendly and reliable 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.
    Some of these objects are achieved with a method for steering a vehicle according to claim1. Other objects are achieved with a system according to claim 6. Advantageousembodiments are depicted in the dependent claims. Substantially the same advantages ofmethod steps of the innovative method hold true for corresponding means of the innovative system.
    According to an aspect of the invention there is provided a method for steering a vehiclecomprising 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;- determining if said vehicle is set for reverse propulsion or forward propulsion; - determining a function according to which the steering action is performed by means ofsaid rear axle wheels, said function providing a steering action different from the steeringaction provided by means of said rear axle wheels when said vehicle is set for forward propulsion; and - 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.
    Said rear axle of the vehicle may be a tag axle.
    Hereby is achieved a versatile method for steering the vehicle. Hereby is improvedmanoeuvrability of the vehicle during reverse propulsion. An operator of the vehicle may ina user friendly way drive the vehicle in a rearward direction more safely and smoothly. For example a process of parallel parking in a rearward direction is significantly facilitated.
    According to one embodiment two separate steering configurations are provided, one forcontrolling steering of wheels of one or more rear axles of the vehicle and one for controllingsteering of wheels of a front axle of the vehicle. These steering configurations may forexample be an electro-mechanical steering configuration or a hydraulic steering configuration.
    According to one embodiment an operator of the vehicle may manually activate a steeringfunctionality according to the invention for use during reverse propulsion of the vehicle.According to one embodiment 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 saidfront axle wheels and the steering action exerted by said rear axle wheels such that a certainsteering 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 amaximal rear axle wheel angle. Hereby an operator does not have to turn a steering wheel ofthe vehicle as many degrees, or turns, to achieve a desired steering of the vehicle during reverse propulsion.
    The method may comprise the step of: - determining said function based upon at least one of vehicle speed, front axle wheelsteering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
    Hereby an optimal function may be determined, which further enhance and simplifies steering of the vehicle during reverse propulsion.
    The method may comprise the step of: - determining said function such that a certain steering action of said front axle wheels isrequired before steering of said rear axle wheels is initiated. Hereby the steering is notresponsive to minor changes of a steering wheel angle which in turn provides a comfortable and smooth steering method according to an aspect of the invention.
    The method may comprise the step of: - determining said function such that the steering action of said rear axle wheels is initiatedsmoothly. This provides a comfortable steering method according to an aspect of the invention which naturally is experienced in a positive way of the operator of the vehicle.
    According to an aspect of the invention there is provided a system for steering a vehiclecomprising 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 controlling the steering action of said rear axle wheels based upon a steering action exerted by said front axle wheels; - 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 bymeans of said rear axle wheels, said function providing a steering action different from thesteering 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 wheelsaccording to said determined function when the vehicle is determined to be set for reverse propulsion.
    The system may comprise: - means for determining said function specifying a relation between the steering actionexerted by said front axle wheels and the steering action exerted by said rear axle wheelssuch that a certain steering action of said rear axle wheels is obtained for a relatively lowersteering action of said front wheels when the vehicle is determined to be set for reverse propulsion.
    The system may comprise: - means for determining said function based upon at least one of vehicle speed, front axlewheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
    The system may comprise: - means for determining said function such that a certain steering action of said front axle wheels is required before steering of said rear axle wheels is initiated The system may comprise: - means for determining said function such that the steering action of said rear axle wheels is initiated smoothly.
    According to an aspect of the invention there is provided a vehicle comprising the innovative system. The vehicle may be any from among a truck, bus or passenger car.
    According to an aspect of the invention there is provided a computer program for steering avehicle comprising a front axle and a rear axle, wherein said computer program comprisesprogram code for causing an electronic control unit or a computer connected to theelectronic control unit to perform the steps according to anyone of the claims 1-5, when run on said electronic control unit or said computer.
    According to an aspect of the invention there is provided a computer program for steering avehicle comprising a front axle and a rear axle, wherein said computer program comprisesprogram code stored on a computer-readable medium for causing an electronic control unitor a computer connected to the electronic control unit to perform the steps according to anyone of the claims 1-5.
    According to an aspect of the invention there is provided a computer program for steering avehicle comprising a front axle and a rear axle, wherein said computer program comprisesprogram code stored on a computer-readable medium for causing an electronic control unitor 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.
    According to an aspect of the invention there is provided a computer program productcontaining a program code stored on a computer-readable medium for performing methodsteps 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.
    According to an aspect of the invention there is provided a computer program productcontaining a program code stored non-volatile on a computer-readable medium forperforming 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.
    Further objects, advantages and novel features of the present invention will becomeapparent to one skilled in the art from the following details, and also by putting the invention into practice. Whereas the invention is described below, it should be noted that it is not confined to the specific details described. One skilled in the art having access to theteachings herein will recognise further applications, modifications and incorporations in other fields, which are within the scope of the invention.
    BRIEF DESCRIPTION OF THE DRAWINGS For fuller understanding of the present invention and its further objects and advantages, thedetailed description set out below should be read in conjunction with the accompanyingdrawings, in which the same reference notations denote similar items in the various diagrams, and in which: 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, accordingto an embodiment of the invention; Figure 3 schematically illustrates a diagram presenting a rear axle wheel angle as a functionof 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 theinvention; Figure 4b is a more detailed schematic flowchart of a method according to an embodimentof the invention; and Figure 5 schematically illustrates a computer according to an embodiment of the invention.
    DETAILED DESCRIPTION OF THE DRAWINGS Figure 1 depicts a side view of a vehicle 100. The exemplified vehicle 100 is hereby a tractorunit to which a trailer unit (not shown) may be connected. The vehicle may be a heavy vehicle, e.g. a truck or a bus. lt may alternatively be a car.
    Herein said vehicle is provided with a front wheel axle FA, a driving first rear axle RA1 and asecond rear axle RA2. Said first rear axle RA1 is hereby a driving axle being arranged forpropelling said vehicle 100. Said second rear axle RA2 is a steerable tag axle of the vehicle 100. lt should be noted that the inventive system for steering a vehicle is applicable to variousvehicles having a front axle and at least one rear axle, wheels being arranged for steeringsaid vehicle being provided for said front axle and said at least one rear axle, such as e.g. amining machine, tractor, dumper, wheel loader, platform comprising an industrial robot,forest machine, earth mover, road construction vehicle or emergency vehicle. The vehiclemay according to an example be an autonomous vehicle. The inventive method is applicableto vehicles comprising a front axle and at least one rear axle, wheels being arranged forsteering 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.
    The term ”link” refers herein to a communication link which may be a physical connectionsuch as an opto-electronic communication line, or a non-physical connection such as a wireless connection, e.g. a radio link or microwave link.
    The term ”steering action” refers herein to a steering action of wheels of said front axle andsteering action of steerable rear wheels of a rear axle, such as said tag axle RA2. The steeringactions of the vehicle correspond to wheel angles of said steera ble front wheels and saidsteerable rear wheels, respectively. Even though the invention herein is depicted withreference to a vehicle comprising a front axle with steerable wheels, a driving rear axle withnon-steerable wheels and a rear tag axle with steera ble wheels the invention is applicable tovarious vehicle wheel axle configurations. The vehicle may be arranged with any suitablewheel axle configuration comprising two or more rear axles having steera ble wheels. Herebycontrolling the steering action of wheels of each of said rear axles may be based upon asteering action exerted by said front axle wheels. Hereby a respective function according towhich the steering action is performed by means of wheels of each of said rear axles isdetermined, said functions providing a steering action different from the steering actionprovided by means of said rear axle wheels when said vehicle is set for forward propulsion.Thus, steerable wheels of each of said rear axles may be controlled mutually different and/orindependently 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 isarranged to hold a number of wheel axles. According to this example embodiment saidvehicle 100 is arranged with three wheel axles. A front wheel axle FA is arranged with a rightfront wheel FW1 and a left front wheel FW2. A first rear wheel axle RA1 is arranged with aright rear wheel RW11 and a left rear wheel RW12. Said first rear wheel axle RAl is arrangedto propel said vehicle 100 by means of said right rear wheel RW11 and said left rear wheelRW12. An engine (not shown) is arranged to provide torque to said first rear wheel axle RA1via a transmission (not shown) for propelling said vehicle 100. Said right rear wheel RW11and said left rear wheel RW12 are according to this example not steerable. A second rearwheel axle RA2 is arranged with a right rear wheel RW21 and a left rear wheel RW22. Saidright 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 controlunit 200 via a link L230. Said first sensor configuration 230 is arranged to continuously orintermittently determine a steering action performed by an operator of the vehicle 100. Saidfirst sensor configuration 230 is arranged to determine a front wheel angle al. Said frontwheel angle oil is defined relative a longitudinal axle of said vehicle 100, corresponding to astraight propulsion direction of said vehicle 100 (forward or reverse). Said front wheel angleal is present at said right front wheel FW1 and said left front wheel FW2. Herein said frontwheel angle oil is only illustrated at said left front wheel FW2 for sake of clarity. Said firstsensor configuration 230 may comprise a front wheel angle sensor. Said first sensorconfiguration 230 may be arranged at one of said right front wheel FW1 and said left frontwheel FW2, or at both of said right front wheel FW1 and said left front wheel FW2. Said firstsensor configuration 230 is arranged to continuously or intermittently send signals S230comprising 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 electroniccontrol unit 200 via a link L240. Said second sensor configuration 240 is arranged tocontinuously or intermittently determine a steering action performed by the operator of thevehicle 100. Said second sensor configuration 240 is arranged to determine a steering wheel angle (12. Said steering wheel angle (12 is defined relative a reference steering wheel angle corresponding to a straight propulsion direction of said vehicle 100. Said steering wheelangle 012 corresponds to said front wheel angle al being present at said right front wheelFWl and said left front wheel FW2. Said second sensor configuration 240 may comprise asteering wheel angle sensor. Said first sensor configuration 230 may be arranged at asteering wheel arrangement (not shown) of the vehicle 100. Said second sensorconfiguration 240 is arranged to continuously or intermittently send signals S240 comprisinginformation about said detected steering wheel angle (12 to the first control unit 200 via said link L240.
    Said front wheel angle al and said steering wheel angle oi2 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 forwardpropulsion or reverse propulsion. This may be performed in any suitable way. According toan example said first control unit 200 is arranged to determine a prevailing gear state of agearbox of a transmission of the vehicle 100. According to an example said first control unit200 is arranged to determine if an operator manually has requested a particular gear state ofsaid gearbox. According to one example said first control unit 200 is arranged to determine apropulsion 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 alink L210. Said second control unit and said first control unit is arranged to communicate bymeans of signals S210. lt may be adapted to conducting the innovative method stepsaccording to the invention. The second control unit 210 may be arranged to perform theinventive method steps according to the invention. lt may be used to cross-load software tothe first control unit 200, particularly software for conducting the innovative method. lt mayalternatively be arranged for communication with the first control unit 200 via an internalnetwork on board the vehicle 100. lt may be adapted to performing substantially the samefunctions as the first control unit 200, such as controlling the steering action exerted bymeans 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 11 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 wheelsRW21 and RW22 according to an aspect of the invention. The second control unit 210 isarranged to continuously send control signals S250 to a steering configuration 250 via a linkL250. Said steering configuration 250 is arranged to control steering of said second rear axlewheels RW21 and RW22 based on said control signals S250. Said steering arrangement 250may 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 saidsecond control unit 210 so as to present a desired rear axle wheel angle oL3. Said rear axlewheel angle ot3 is defined relative a longitudinal axle of said vehicle 100, corresponding to astraight propulsion direction of said vehicle 100 (forward or reverse). Said rear axle wheelangle 013 is present at said right rear axle wheel RW21 and said left rear axle wheel RW22.Herein said rear axle wheel angle 013 is only illustrated at said left rear axle wheel RW22 for sake of clarity.
    With reference to Figure 3 there is schematically illustrated a diagram according to an embodiment of the invention.
    Hereby is presented a first function Fl depicting the relation between a rear axle wheelangle (13 and a front wheel angle oil for a reverse propulsion of the vehicle 100. Hereby isalso presented a second function F2 depicting the relation between a rear axle wheel angleoL3 and a front wheel angle al for a forward propulsion of the vehicle 100. The rear axlewheel angle 013 is presented in degrees [Deg]. The front wheel angle otl is presented indegrees [Deg]. lt should be noted that the herein depicted steering wheel angle oL2corresponds to said front wheel angle al and the first function Fl and the second functionF2 of the diagram of Figure 3 could thus alternatively be presented for the rear axle wheelangle 013 and the steering wheel angle 012 for reverse propulsion of the vehicle 100 and forward propulsion of the vehicle 100, respectively. Herein is with other words said first 12 function Fl and said second function F2 presented as a relation between said rear wheel angle 013 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, onereferring to turning the front wheels to the right relative a longitudinal axis ofthe vehiclel00 and one referring to turning the front wheels to the left relative a longitudinal axis of thevehicle l00. Said two sections of said first function Fl are substantially symmetrical. Said two sections of said second function F2 are substantially symmetrical.
    Herein the first function Fl and said second function F2 differ from each other. The firstfunction Fl is determined so as to reach a maximum rear wheel angle oßmax (or -a3max) ata relatively lower front wheel angle oLl when the vehicle 100 is set to reverse propulsioncompared to when the vehicle l00 is set to forward propulsion. This means in practice thatsaid 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.
    According to this embodiment said first function Fl is equal to zero within an intervaldefined by [-oLlinit, ozlinit]. An initial first part of said first function Fl may be smoothlycurved for improved vehicle operator comfort. A second part of said first function Fl may bea linearfunction presenting any suitable slope. Said second function F2 is set to be zero forrelatively small steering action values (al, 012). Said second function F2 may be equal to zerowithin said interval defined by [-oLlinit, oL1init], or within a suitable larger interval of saidsteering action. Herein is presented that said second function is zero within an interval which is slightly larger than said interval [-ozlinit, ozlinit].
    Said interval l-otlinit, otlinit] may be defined as [l0, -l0], [20, -20], [30, -30] or any suitable interval.
    Herein a difference between front wheel angle values oal at a maximum rear wheel angleoL3max 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 13 degrees. Hereby any suitable difference Diff may be determined or even chosen by saidoperator ofthe vehicle. Said operator may according to an embodiment actively chose anysuitable first function Fl and/or second function F2 and/or difference Diffand 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 100comprising a front axle FA and a rear axle RA2, wheels being arranged for steering saidvehicle 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;- determining if said vehicle 100 is set for reverse propulsion or forward propulsion; - determining a function Fl according to which the steering action is performed by means ofsaid rear axle wheels RW21 and RW22, said function Fl providing a steering action differentfrom the steering action provided by means of said rear axle wheels when said vehicle is set for forward propulsion; and - controlling the steering action exerted by means of said rear axle wheels RW21 and RW22according to said determined function Fl when the vehicle is determined to be set for reverse propulsion.
    After the method step s40l the method is returned or is ended.
    Figure 4b schematically illustrates a flow chart of a method for steering a vehicle 100comprising a front axle FA and a rear axle RA2, wheels being arranged for steering saidvehicle 100 being provided for said front axle FA and said rear axle RA2. The method comprises the method step s4l0. 14 The method step s4l0 comprises the step of determining if said vehicle 100 is set for reversepropulsion 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 whichthe steering action is performed by means of said rear axle wheels RW21 and RW22, saidfunction Fl providing a steering action different from the steering action provided by meansof said rear axle wheels RW21 and RW22 when said vehicle l00 is set for forwardpropulsion. This step may be performed by means of said first control unit 200 and/or bymeans of the second control unit 210. Said determined function Fl may be stored in a memory ofthe 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 arelation between the steering action, e.g. represented by the front wheel angle oil and/orthe steering wheel angle 012, exerted by said front axle wheels FW1, FW2 and the steeringaction 0:3 exerted by said rear axle wheels RW21, RW22 such that a certain steering action,e.g. said maximal rear wheel angles -ot3max or oi3max of said rear axle wheels RW21, RW22is obtained for a relatively lower steering action (oil, oL2) of said front wheels (FW1, FW2)when the vehicle 100 is determined to be set for reverse propulsion. This step may beperformed 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 atleast one of vehicle speed, front axle wheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
    Hereby said function Fl may be determined so as to provide a smaller difference Diff forrelatively high vehicle speeds when the vehicle 100 is set to reverse propulsion. Hereby saidfunction Fl may be determined so as to provide a greater difference Diff for relatively lowvehicle speeds when the vehicle 100 is set to reverse propulsion. Hereby said function Flmay be determined so as to provide a lesser slope of said function Fl for relatively highvehicle speeds. Hereby said function Fl may be determined so as to provide a greater slope of said function Fl for relatively low vehicle speeds.
    Hereby said function Fl may be determined so as to provide a smaller difference Diff forrelatively high front axle wheel steering action speeds (time derivative of steering wheelangle or time derivative of front wheel angle) when the vehicle 100 is set to reversepropulsion. Hereby said function Fl may be determined so as to provide a greater differenceDiff for relatively low front axle wheel steeríng action speeds when the vehicle 100 is set toreverse propulsion. Hereby said function Fl may be determined so as to provide a lesserslope of said function Fl for relatively high front axle wheel steering action speeds (timederivative of steering wheel angle or time derivative of front wheel angle). Hereby saidfunction Fl may be determined so as to provide a steeper slope of said function Fl for relatively low front axle wheel steering action speeds.
    Hereby said function Fl may be determined so as to provide a smaller difference Diff forrelatively high vehicle masses when the vehicle 100 is set to reverse propulsion. Hereby saidfunction Fl may be determined so as to provide a greater difference Diff for relatively smallvehicle masses when the vehicle lOO is set to reverse propulsion. Hereby said function Flmay be determined so as to provide a lesser slope of said function Fl for relatively highvehicle masses. Hereby said function Fl may be determined so as to provide a steeper slope of said function Fl for relatively small vehicle masses.
    Hereby said function Fl may be determined so as to provide a smaller difference Diff forrelatively long vehicles having a vehicle axle configuration wherein said front axle FA isrelatively remotely arranged from said rear axle RA2 when the vehicle lOO is set to reversepropulsion. Hereby said function Fl may be determined so as to provide a greater differenceDiff for relatively short vehicles having a vehicle axle configuration wherein said front axle FAis relatively closely arranged from said rear axle RA2 when the vehicle lOO is set to reversepropulsion. Hereby said function Fl may be determined so as to provide a lesser slope ofsaid function Fl for relatively long vehicles having a vehicle axle configuration wherein saidfront axle FA is relatively remotely arranged from said rear axle RA2. Hereby said function Flmay be determined so as to provide a steeper slope of said function Fl for relatively shortvehicles having a vehicle axle configuration wherein said front axle FA is relatively closely arranged from said rear axle RA2. 16 Hereby said function Fl may be determined on the basis ofa surrounding configuration. Thevehicle 100 may be arranged with sensors, such as a video camera or radar unit, so as todetermine a surrounding configuration of the vehicle. Hereby said first control unit may bearranged to determine said function Fl on the basis of detected movable or fixed objects in the surrounding of the vehicle.
    The method step s42O may comprise the step of determining said function Fl such that acertain steering action (-otlinit, cxlinit) of said front axle wheels FW1, FW2 is required before steering of said rear axle wheels RW21, RW22 is initiated The method step s42O may comprise the step of determining said function Fl such that the steering action 013 of said rear axle wheels RW21, RW22 is initiated smoothly.
    After the method step s42O a subsequent method step s430 is performed.
    The method step s430 comprises the step of controlling the steering action exerted bymeans of said rear axle wheels RW2l and RW22 according to said determined function Flwhen the vehicle 100 is determined to be set for reverse propulsion. This may be performedby means of said second control unit 210 and/or said first control unit 200. Said secondcontrol unit 210 may hereby control operation of said steering configuration 250 so as tocontrol steering of said rear axle wheels RW2l 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.
    Figure 5 is a diagram of one version of a device 500. The control units 200 and 210 describedwith reference to Figure 2 may in one version comprise the device 500. The device 500comprises a non-volatile memory 520, a data processing unit 510 and a read/write memory550. The non-volatile memory 520 has a first memory element 530 in which a computerprogram, 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 17 interruption controller (not depicted). The non-volatile memory 520 has also a second memory element 540.
    There is provided a computer program P for steering a vehicle 100 comprising a front axle FAand a rear axle RA2, wheels being arranged for steering said vehicle 100 being provided forsaid front axle FA and said rear axle RA2. The computer program P comprises routines forcontrolling the steering action of said rear axle wheels RW21 and RW22 based upon asteering action exerted by said front axle wheels FW1 and FW2. The computer program Pcomprises routines for determining if said vehicle 100 is set for reverse propulsion orforward propulsion. The computer program P comprises routines for determining a functionFl according to which the steering action is performed by means of said rear axle wheelsRW21 and RW22, said function Fl providing a steering action different from the steeringaction provided by means of said rear axle wheels RW21 and RW22 when said vehicle 100 isset for forward propulsion. The computer program P comprises routines for controlling thesteering 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 specifyinga relation between the steering action exerted by said front axle wheels FW1 and FW2 andthe steering action exerted by said rear axle wheels RW21 and RW22 such that a certain, e.g.a maximum (oßmax, -cx3max), steering action of said rear axle wheels RW21 and RW22 isobtained 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 basedupon 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 acertain steering action of said front axle wheels is required before steering of said rear axle wheels RW21 and RW22 is initiated 18 The computer program P may comprise routines for determining said function F1 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.
    Where it is stated that the data processing unit 510 performs a certain function, it meansthat 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 unit510 via a data bus 512. The separate memory 560 is intended to communicate with the dataprocessing unit via a data bus 511. The read/write memory 550 is arranged to communicatewith 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).
    When data are received on the data port 599, they are stored temporarily in the secondmemory element 540. When input data received have been temporarily stored, the data processing unit 510 will be prepared to conduct code execution as described above.
    Parts of the methods herein described may be conducted by the device 500 by means of thedata processing unit 510 which runs the program stored in the memory 560 or theread/write memory 550. When the device 500 runs the program, methods herein described are executed.
    The foregoing description of the preferred em bodiments of the present invention isprovided for illustrative and descriptive purposes. lt is not intended to be exhaustive, nor tolimit the invention to the variants described. Many modifications and variations willobviously suggest themselves to one skilled in the art. The embodiments have been chosenand described in order to best explain the principles of the invention and their practical applications and thereby make it possible for one skilled in the art to understand the 19 invention for different embodiments and with the various modifications appropriate to the intended use.
    权利要求:
    Claims (14)
    [1] 1. l. A method for steering a vehicle (100) comprising a front axle (FA) and a rear axle (RA2),wheels (FW1, FW2; RW21, RW22) being arranged for steering said vehicle (100) being provided for said front axle (FA) and said rear axle (RA2), comprising the step of: - controlling (s40l) the steering action (c13) of said rear axle wheels (RW21, RW22) basedupon a steering action (oil; 012) exerted by said front axle wheels (FW1, FW2), characterized by the steps of: - determining (s4l0) if said vehicle (100) is set for reverse propulsion or forward propulsion; - determining (s420) a function (Fl) according to which the steering action is performed bymeans of said rear axle wheels (RW21, RW22), said function (Fl) providing a steering action((13) different from the steering action provided by means of said rear axle wheels (RW21, RW22) when said vehicle (100) is set for forward propulsion; and - controlling (s430) the steering action (oi3) exerted by means of said rear axle wheels(RW21, RW22) according to said determined function (Fl) when the vehicle (100) is determined to be set for reverse propulsion.
    [2] 2. The method according to claim l, comprising the step of: - determining (s420) said function (Fl) specifying a relation between the steering action (oLl;oL2) exerted by said front axle wheels (FW1, FW2) and the steering action (oi3) exerted bysaid rear axle wheels (RW21, RW22) such that a certain steering action (-ot3max; oßmax) ofsaid rear axle wheels (RW21, RW22) is obtained for a relatively lower steering action (oLl; 0:2)of said front wheels (FW1, FW2) when the vehicle (100) is determined to be set for reverse propulsion.
    [3] 3. The method according to claim l or 2, comprising the step of: 21 - determining (s420) said function (Fl) based upon at least one of vehicle speed, front axlewheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration..
    [4] 4. The method according to anyone of the claíms l-3, comprising the step of: - determining (s420) said function (Fl) such that a certain steering action (-otlinit; oLlinit) ofsaid front axle wheels (FW1, FW2) is required before steering of said rear axle wheels (RW21, RW22) is initíated
    [5] 5. The method according to anyone of the claíms 1-4, comprising the step of: - determining (s420) said function (Fl) such that the steering action (013) of said rear axle wheels (RW21, RW22) is initíated smoothly.
    [6] 6. A system for steering a vehicle (lOO) comprising a front axle (FA) and a rear axle (RA2),wheels (FW1, FW2; RW2l, RW22) being arranged for steering said vehicle (100) being provided for said front axle (FA) and said rear axle (RA2), comprising: - means (200; 210; 500) for controlling the steering action ((13) of said rear axle wheels(RW21, RW22) based upon a steering action (oL1; ot2) exerted by said front axle wheels (FW1,FW2), characterized by: - means (200; 210; 500) for determining if said vehicle (lOO) is set for reverse propulsion or forward propulsion; - means (200; 210; 500) for determining a function (Fl) according to which the steeringaction ((13) is performed by means of said rear axle wheels (RW21, RW22), said function (Fl)providing a steering action (ot3) different from the steering action provided by means of said rear axle wheels (RW21, RW22) when said vehicle (lOO) is set for forward propulsion; and 22 - means (200; 210; 500; 250) for controlling the steering action (0i3) exerted by means of saidrear axle wheels (RW21, RW22) according to said determined function (Fl) when the vehicle (100) is determined to be set for reverse propulsion.
    [7] 7. The system according to claim 6, comprising: - means (200; 210; 500) for determining said function (Fl) specifying a relation between thesteering action (0Ll; 012) exerted by said front axle wheels (FW1, FW2) and the steering action (03) exerted by said rear axle wheels (RW21, RW22) such that a certain steering action (-0L3max; 0t3max) of said rear axle wheels (RW21, RW22) is obtained for a relatively lowersteering action (0Ll; 012) of said front wheels (FW1, FW2) when the vehicle (100) is determined to be set for reverse propulsion.
    [8] 8. The system according to claim 6 or 7, comprising: - means (200; 210; 500) for determining said function (Fl) based upon at least one of vehiclespeed, front axle wheel steering action speed, vehicle mass, surrounding configuration and vehicle axle configuration.
    [9] 9. The system according to anyone of the claims 6-8, comprising: - means (200; 210; 500) for determining said function (Fl) such that a certain steering action(-0ilinit; 0clinit) of said front axle wheels (FW1, FW2) is required before steering of said rear axle wheels (RW21, RW22) is initiated
    [10] 10. The system according to anyone of the claims 6-9, comprising: - means (200; 210; 500) for determining said function (Fl) such that the steering action (013) of said rear axle wheels (RW21, RW22) is initiated smoothly. 23
    [11] 11. A vehicle (100) comprising a system according to any one of claims 6-10.
    [12] 12. The vehicle (100) according to claim 11, which vehicle is any from among a truck, bus or passenger car.
    [13] 13. A computer program (P) for steering a vehicle (100) comprising a front axle (FA) and arear axle (RW2), wherein said computer program (P) comprises program code for causing anelectronic control unit (200; 500) or a computer (210; 500) connected to the electronic control unit (200; 500) to perform the steps according to anyone of the claims 1-5.
    [14] 14. A computer program product containing a program code stored on a computer-readablemedium for performing method steps according to anyone of claims 1-5, when saidcomputer program is run on an electronic control unit (200; 500) or a computer (210; 500) connected to the electronic control unit (200; 500).
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    同族专利:
    公开号 | 公开日
    EP3307605A4|2019-03-13|
    BR112017024112A2|2018-07-31|
    WO2016200311A1|2016-12-15|
    SE541254C2|2019-05-14|
    EP3307605A1|2018-04-18|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1550790A|SE541254C2|2015-06-11|2015-06-11|A method and a system for steering a vehicle|SE1550790A| SE541254C2|2015-06-11|2015-06-11|A method and a system for steering a vehicle|
    PCT/SE2016/050506| WO2016200311A1|2015-06-11|2016-05-31|A method and a system for steering a vehicle|
    EP16807909.3A| EP3307605A4|2015-06-11|2016-05-31|A method and a system for steering a vehicle|
    BR112017024112A| BR112017024112A2|2015-06-11|2016-05-31|method and system for driving a vehicle|
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