US20020185328A1 - Disable control for four wheel steer vehicle - Google Patents
Disable control for four wheel steer vehicle Download PDFInfo
- Publication number
- US20020185328A1 US20020185328A1 US09/875,302 US87530201A US2002185328A1 US 20020185328 A1 US20020185328 A1 US 20020185328A1 US 87530201 A US87530201 A US 87530201A US 2002185328 A1 US2002185328 A1 US 2002185328A1
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- US
- United States
- Prior art keywords
- steering
- vehicle
- algorithm
- wheel
- wheel steering
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
-
- 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
- B62D7/148—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 provided with safety devices
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- 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
Definitions
- This invention relates to control of rear wheel steering in a four-wheel steer vehicle, and in particular to a method for automatically disabling rear wheel steering upon certain limited conditions.
- an electronically controlled rear wheel steering system typically permits the rear wheels to be steered a proportional amount of front wheel steering in response to front wheel steering inputs.
- Normally rear wheel steering is strictly a user-selectable function permitting switching between four-wheel steering and front-wheel steering-only modes.
- One notable difference between four-wheel steer trucks and four-wheel steer cars is the use of a wider track width for rear wheels in some of the larger pickup trucks.
- Track width is herein defined as the measured distance between the outside of the left tire to the outside of the right tire on a given axle.
- This invention provides an algorithm control solution to avoid the binding of four-wheel steerable vehicle wheels against the rails of a car wash mechanism, irrespective of active steering mode.
- the four-wheel steerable system Upon selection of a neutral gear, with four-wheel steering enabled, and at low vehicle speeds, the four-wheel steerable system will automatically switch into a two-wheel steering, or front steering only, mode.
- An algorithm control unit will disable the rear-wheel steering function, returning the rear wheels to their centered, non-angled, positions to eliminate binding of the rear wheels against the car wash rails as the vehicle is being pulled forward in a car wash assembly.
- the algorithm control unit of the present invention provides that in the event that the vehicle enters a car wash in the four-wheel steering mode, the four-wheel mode will be automatically switched to the two-wheel mode, thus avoiding potential binding of the rear wheels.
- the invention also contemplates a solution to an increased likelihood of a wide rear track vehicle having its rear wheels bind between car wash rails, during the condition that the rear wheels of such vehicle are being steered; i.e. in a four-wheel steer mode.
- the vehicle will automatically enter into the two-wheel steering mode whenever the neutral gear of the transmission is selected, and the vehicle speed is less than five miles per hour, conditions likely to be encountered while a vehicle is being pulled through an automatic car wash assembly.
- FIG. 1 is an elevation view of a four-wheel steerable truck vehicle of the type that includes a set of rear wheels having a wider track than the track of the front wheels of same vehicle.
- FIG. 2 is a schematic diagram of the four-wheel steerable system showing the master algorithm control unit for determining relative rear wheel positions.
- FIG. 3 is a schematic diagram of the system of FIG. 2, shown representing a vehicle positioned between parallel rails of a car wash assembly.
- FIG. 4 displays an algorithm control sequence for disabling rear wheel steering in a four-wheel steer vehicle.
- a vehicle 10 is of a four-wheel steerable design.
- the vehicle includes a prime mover or motor 12 , a transmission 14 coupled to the motor at one end and engageable with a drive shaft 16 at its opposite end.
- the drive shaft 16 operates rear driving wheels 18 through a rear drive axle 32 .
- a set of front wheels 20 (shown as left and right wheels 20 a and 20 b ) of vehicle 10 is normally full-time steering capable in both user selectable steering modes described herein.
- the front wheel steering capability is fully mechanical, wherein inputs from the vehicle's steering hand wheel are carried out by way of recirculating ball or rack and pinion units as will be appreciated by those skilled in the art.
- rear wheels 18 (again, left and right wheels 18 a and 18 b ) are selectably part-time steerable, and such selectability is effective for switching between two-wheel and four-wheel steering modes by the operator of the vehicle.
- An electronically responsive master algorithm control unit 22 is employed to steer the rear wheels by means of rear wheel sub-control unit or motor 26 .
- the master control unit 22 reads input data from a separate front wheel steering sensor module (not shown) fixed to the vehicle steering column (not shown). The module calculates an appropriate proportion of rear wheel steering based on the front wheel steering wheel input data.
- the master control unit 22 in turn provides output to the motor 26 , which is connected to the master control unit by means of an electrical connector 28 , as shown.
- FIG. 3 it will be noted that the wheels of the vehicle are represented as being trapped between and in effect, controlled by parallel rails of an automatic car wash assembly, as the vehicle 10 is being pulled forward in direction of the arrow.
- front wheels 20 which are steerable on axle 30
- rear wheels 18 which are steerable on axle 32
- left and right car wash rails 40 and 42 respectively.
- the inside edge of the left car rail 40 defines a two dimensional tire engaging barrier 44 , which operates to restrict steerability, and hence steer angle, of the left side vehicle wheels 20 a and 18 a as shown in FIG. 3.
- the tire-engaging barrier 46 of the right car wash rail 42 serves the same function with respect to the right side tires 20 b and 18 b.
- a center rail (not shown) is also often employed in some car wash assemblies.
- this invention facilitates avoidance of tire scrubbing action with respect to any such center rail, in addition to the avoidance of such action with respect to conventional outside left and right rails 40 and 42 .
- on-board computer software algorithms may be suitable for the purpose of electronically and selectively disabling the described rear wheel steering function.
- disablement may be effected at the rear wheel sub control unit 26 , or alternatively the disablement may be effected at the main or master control unit 22 .
- the preferred primary inputs are as represented in FIG. 4: (a) status of vehicle steering mode (i.e. two-wheel or four-wheel), (b) transmission gear position; and (c) vehicle speed.
- an initial decisional command is made to determine whether to disable rear wheel steering.
- a decision tree is then entered to establish whether (a) the four-wheel mode is active, (b) the transmission is in neutral, or (c) the vehicle speed is less than a particular threshold, e.g. five miles per hour.
Abstract
Description
- This invention relates to control of rear wheel steering in a four-wheel steer vehicle, and in particular to a method for automatically disabling rear wheel steering upon certain limited conditions.
- In four-wheel steering capable vehicles, an electronically controlled rear wheel steering system typically permits the rear wheels to be steered a proportional amount of front wheel steering in response to front wheel steering inputs. Normally rear wheel steering is strictly a user-selectable function permitting switching between four-wheel steering and front-wheel steering-only modes. One notable difference between four-wheel steer trucks and four-wheel steer cars is the use of a wider track width for rear wheels in some of the larger pickup trucks. Thus in a given truck, the rear track can be considerably wider than the front track width. Track width is herein defined as the measured distance between the outside of the left tire to the outside of the right tire on a given axle.
- The use of larger track widths has given rise to the exacerbation of a problem with four-wheel steerable vehicles when used in automatic car wash assemblies. When the four-wheel steering mode is active and front steering inputs are induced via car wash rails, the rear wheels are indirectly steered for proper tracking between the car wash rails. When this occurs, particularly in the case of larger rear track widths, it has been noted that the rear tires of the vehicle have greater tendency to scrub, or even to occasionally become bound, against the rails of the car wash mechanism, temporarily disrupting car wash operations.
- Unfortunately, it is not always feasible to rely upon the vehicle user to remember to deactivate the four-wheel steering mode to avoid the issue.
- This invention provides an algorithm control solution to avoid the binding of four-wheel steerable vehicle wheels against the rails of a car wash mechanism, irrespective of active steering mode. Upon selection of a neutral gear, with four-wheel steering enabled, and at low vehicle speeds, the four-wheel steerable system will automatically switch into a two-wheel steering, or front steering only, mode. An algorithm control unit will disable the rear-wheel steering function, returning the rear wheels to their centered, non-angled, positions to eliminate binding of the rear wheels against the car wash rails as the vehicle is being pulled forward in a car wash assembly.
- Since rear steering capability of a four-wheel steer vehicle is generally user-selectable between the modes of two-wheel steering and four-wheel steering, the algorithm control unit of the present invention provides that in the event that the vehicle enters a car wash in the four-wheel steering mode, the four-wheel mode will be automatically switched to the two-wheel mode, thus avoiding potential binding of the rear wheels. The invention also contemplates a solution to an increased likelihood of a wide rear track vehicle having its rear wheels bind between car wash rails, during the condition that the rear wheels of such vehicle are being steered; i.e. in a four-wheel steer mode.
- In one preferred embodiment of the present invention, the vehicle will automatically enter into the two-wheel steering mode whenever the neutral gear of the transmission is selected, and the vehicle speed is less than five miles per hour, conditions likely to be encountered while a vehicle is being pulled through an automatic car wash assembly.
- FIG. 1 is an elevation view of a four-wheel steerable truck vehicle of the type that includes a set of rear wheels having a wider track than the track of the front wheels of same vehicle.
- FIG. 2 is a schematic diagram of the four-wheel steerable system showing the master algorithm control unit for determining relative rear wheel positions.
- FIG. 3 is a schematic diagram of the system of FIG. 2, shown representing a vehicle positioned between parallel rails of a car wash assembly.
- FIG. 4 displays an algorithm control sequence for disabling rear wheel steering in a four-wheel steer vehicle.
- Referring to FIGS. 1 and 2, a
vehicle 10 is of a four-wheel steerable design. The vehicle includes a prime mover ormotor 12, atransmission 14 coupled to the motor at one end and engageable with adrive shaft 16 at its opposite end. Thedrive shaft 16 operatesrear driving wheels 18 through arear drive axle 32. - Referring now particularly to FIG. 2, a set of front wheels20 (shown as left and
right wheels vehicle 10 is normally full-time steering capable in both user selectable steering modes described herein. Indeed, the front wheel steering capability is fully mechanical, wherein inputs from the vehicle's steering hand wheel are carried out by way of recirculating ball or rack and pinion units as will be appreciated by those skilled in the art. In the embodiment described, however, rear wheels 18 (again, left andright wheels - An electronically responsive master
algorithm control unit 22 is employed to steer the rear wheels by means of rear wheel sub-control unit ormotor 26. In one preferred embodiment, themaster control unit 22 reads input data from a separate front wheel steering sensor module (not shown) fixed to the vehicle steering column (not shown). The module calculates an appropriate proportion of rear wheel steering based on the front wheel steering wheel input data. Themaster control unit 22 in turn provides output to themotor 26, which is connected to the master control unit by means of anelectrical connector 28, as shown. - Referring now to FIG. 3, it will be noted that the wheels of the vehicle are represented as being trapped between and in effect, controlled by parallel rails of an automatic car wash assembly, as the
vehicle 10 is being pulled forward in direction of the arrow. Thus,front wheels 20 which are steerable onaxle 30, andrear wheels 18 which are steerable onaxle 32, in their free wheeling states are indirectly steered by left and rightcar wash rails left car rail 40 defines a two dimensionaltire engaging barrier 44, which operates to restrict steerability, and hence steer angle, of the leftside vehicle wheels barrier 46 of the rightcar wash rail 42 serves the same function with respect to theright side tires right rails right rails - It will be appreciated by those skilled in the art that several embodiments of on-board computer software algorithms may be suitable for the purpose of electronically and selectively disabling the described rear wheel steering function. For example, such disablement may be effected at the rear wheel
sub control unit 26, or alternatively the disablement may be effected at the main ormaster control unit 22. In any event, the preferred primary inputs are as represented in FIG. 4: (a) status of vehicle steering mode (i.e. two-wheel or four-wheel), (b) transmission gear position; and (c) vehicle speed. - Referring now to the start of the algorithm sequence, an initial decisional command is made to determine whether to disable rear wheel steering. As depicted, a decision tree is then entered to establish whether (a) the four-wheel mode is active, (b) the transmission is in neutral, or (c) the vehicle speed is less than a particular threshold, e.g. five miles per hour.
- Only if and when all listed conditions are met is the operational system command accepted. Thus, only when all of these conditions are positively met will the rear wheel steering function be disabled, and the rear wheels then be centered to a non-angled or zero steer angle. A “no” answer to any one of the queries will return the algorithm sequence back to its initial decisional command position for a successive loop through the decision tree.
- While this invention has been described in reference to illustrated embodiments, it will be understood that the scope of the present invention is not so limited. Various modifications of the illustrated embodiments may occur to those skilled in the art. It should also be understood that systems incorporating such modifications might fall within the scope of this invention, as defined by the appended claims.
- The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/875,302 US6488113B1 (en) | 2001-06-07 | 2001-06-07 | Disable control for four wheel steer vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/875,302 US6488113B1 (en) | 2001-06-07 | 2001-06-07 | Disable control for four wheel steer vehicle |
Publications (2)
Publication Number | Publication Date |
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US6488113B1 US6488113B1 (en) | 2002-12-03 |
US20020185328A1 true US20020185328A1 (en) | 2002-12-12 |
Family
ID=25365556
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US09/875,302 Expired - Fee Related US6488113B1 (en) | 2001-06-07 | 2001-06-07 | Disable control for four wheel steer vehicle |
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US (1) | US6488113B1 (en) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7073620B2 (en) | 2003-06-06 | 2006-07-11 | Oshkosh Truck Corporation | Vehicle steering system having a rear steering control mechanism |
US8583330B2 (en) * | 2011-09-27 | 2013-11-12 | GM Global Technology Operations LLC | Vehicle car wash mode |
US20140262583A1 (en) * | 2013-03-15 | 2014-09-18 | Dale Url | Modular Off-Road Vehicle |
CN103640623B (en) * | 2013-12-24 | 2016-11-16 | 威海广泰空港设备股份有限公司 | Vehicle high-speed four-wheel steering stabilising arrangement and control method thereof |
US9550527B2 (en) | 2015-04-29 | 2017-01-24 | Cnh Industrial America Llc | Four-wheel steering adjustable to sensitivity of operator controls |
CN107010108A (en) * | 2017-05-02 | 2017-08-04 | 山东五征集团有限公司 | Electric-controlled hydraulic four-wheel steering system and forward method |
US10625770B2 (en) | 2017-09-05 | 2020-04-21 | Cnh Industrial America Llc | Automatic steering with selective engagement of four-wheel steering |
US11370481B2 (en) * | 2019-11-07 | 2022-06-28 | Cnh Industrial America Llc | Steering system for an agricultural vehicle |
CN111762261B (en) * | 2020-07-01 | 2021-11-12 | 中国第一汽车股份有限公司 | Vehicle steering control method, device and system |
CN111959604B (en) * | 2020-07-27 | 2021-10-29 | 农业农村部南京农业机械化研究所 | Multi-mode steering system |
CN113335011A (en) * | 2021-07-21 | 2021-09-03 | 中国第一汽车股份有限公司 | Control method for vehicle getting rid of poverty, vehicle and storage medium |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0499027A3 (en) * | 1991-01-10 | 1993-03-17 | Nsk Ltd | Four-wheel steering apparatus |
US5948029A (en) * | 1997-02-05 | 1999-09-07 | Deere & Company | Steering control system for tracked vehicle |
US5921335A (en) * | 1997-05-22 | 1999-07-13 | Deere & Company | Steering control system for tracked vehicle |
-
2001
- 2001-06-07 US US09/875,302 patent/US6488113B1/en not_active Expired - Fee Related
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US6488113B1 (en) | 2002-12-03 |
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