VEHICLE WITH STEER-BY-WIRE SYSTEM AND STEER-BY-WIRE SYSTEM FOR CONTROLLING VEHICLE OPERATION

摘要

PROBLEM TO BE SOLVED: To provide a control method by which the steering wheel is linked to the angle of the vehicle angle to solve the problem that in semi-autonomous driving of a vehicle with a steer-by-wire system, the wheels angle is controlled independently of the steering angle and thus the steering wheel is decoupled from vehicle wheels.;SOLUTION: A method for semi-autonomous driving of a vehicle determines values for the steering angle 343 and the wheels angle tracking a target value of the wheels angle 333 received from a semi-autonomous driving planning (SADP) system. The method determines the values for the steering angle and the wheels angle subject to constraints, including a constraint on a motion of the vehicle wheels 113, a constraint on a motion of the steering wheel 103, a constraint on an actuation of the steering wheel and the vehicle wheels, and a constraint on a relative motion of the steering wheel with respect to the motion of the vehicle wheels. The control commands to the column motor and the rack motor are generated according to the values for the steering angle and the wheels angle.;COPYRIGHT: (C)2016,JPO&INPIT