fahrzeuglenksteuersystem without mechanical linkages between the steering wheel and steered wheels

摘要

Control system for a land vehicle, all the wheels are steerable (1), said steering system comprising at least one actuator (3av) in order to act on the angle of deflection of the at least one steering wheel before and at least one actuator (3ar) in order to act on the angle of deflection of the at least one rear steerable wheel, said steering system comprising a controller (4) using as the input variables at least the speed of the vehicle (v) and the signal of deflection required (theta) in order to determine for each of the control actuators an angle (alpha) in which the actuator is controlled to the deflection, the system comprising a control module of the behavior (5) in the deflection of the vehicle, which makes it possible to determine the longitudinal coordinate (xr) of the instantaneous center of rotation of the vehicle from the speed of the vehicle (v) and a characteristic of the dynamic equilibrium of the vehicle is the choice of a value of the transverse acceleration (gamma y max) at a maximum of the vehicle, and a block (433) of determining the steering angle (alpha) of each of the steerable wheels from the coordinates (xr, yr) longitudinal and transverse to the instantaneous center of rotation.