WO2015115971A1 - System for the guidance of a vehicle - Google Patents
System for the guidance of a vehicle Download PDFInfo
- Publication number
- WO2015115971A1 WO2015115971A1 PCT/SE2015/050072 SE2015050072W WO2015115971A1 WO 2015115971 A1 WO2015115971 A1 WO 2015115971A1 SE 2015050072 W SE2015050072 W SE 2015050072W WO 2015115971 A1 WO2015115971 A1 WO 2015115971A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- wheels
- angular displacement
- designed
- arrangement
- Prior art date
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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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
- B62D7/142—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 specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—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 specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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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
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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
- B62D7/148—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
- B62D7/1581—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 comprising an electrical interconnecting system between the steering control means of the different axles
Definitions
- the present invention concerns a system for the guidance of a vehicle with at least one undriven support axle provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle of the vehicle according to the introduction of the attached patent claim 1 , and a method according to the introduction of the attached independent methods claims.
- Such a guided support axle may be arranged in any order of the axles that are provided with wheels in the ordinary direction of travel of a vehicle with the exception of first in order, and a vehicle may have also several such guided support axles.
- a guided support axle is normally arranged either in front of or behind, or both in front of and behind, one driving axle of the vehicle.
- the said control circuit of the system supports through what is known as "servosteering" the function of the control means that has the nature of a steering wheel by making it easier for the driver to achieve a desired angular displacement of the wheels of the front wheel axle, i.e. without requiring the application of unacceptably large muscular force for this.
- a normal condition of the vehicle with respect to the guidance system is when this system makes it possible for the driver to guide the vehicle in a defined manner with the application of forces that do not exceed a predetermined level. When this is not possible, a special condition of the vehicle is prevalent with respect to the said control system, in which guidance of the vehicle is more difficult.
- the purpose of the present invention is to provide a system of the type described in the introduction that has been improved in at least one respect relative to previously known such systems.
- control unit being designed to control in a said special condition of the vehicle the angular displacement of the wheels of the support wheel axle according to a relationship with a larger angular displacement relative to the angular displacement of the wheels of the front wheel axle than during the said normal condition, a larger angular displacement of the wheels of the front wheel axle relative to the longitudinal direction of the vehicle will be achieved when a certain torque is applied to the control means that has the nature of a steering wheel by the driver, due to the fact that the said changed relationship will support the function of the control means.
- the said changed relationship in addition to it being possible to achieve a larger angular displacement of the wheels of the front wheel axle in the event of failure of the servosteering, the said changed relationship, with a larger angular displacement of the wheels of the support axle at a given angular displacement of the wheels of the front wheel axle, means that a turn with a smaller radius can be achieved, such that a smaller angle of the wheels of the front wheel axle will be necessary in order to achieve a given radius of turning.
- the system comprises means designed to transmit information about the condition of the control circuit to the said arrangement, and the arrangement is designed to determine that a said special condition is prevalent in the event of failure of the function of the said control circuit. It is in this way ensured that the function of the control means that has been supported through the change of the said condition is achieved in the event of failure of the control circuit, and the driver is then able to control vehicle in the required manner.
- control circuit demonstrates means arranged to drive a flow of medium in order to support the said function of the control means, the control circuit furthermore demonstrates means arranged to determine the magnitude of the said flow of medium and to transmit information about this to the arrangement, and the arrangement is designed to determine that the said special condition is prevalent in the case in which the flow of medium determined by the said means is zero.
- the system comprises means designed to determine the torque that a driver applies to the said control means that has the nature of a steering wheel and to transmit information about this torque to the said arrangement, and the arrangement is designed to determine that a said special condition is prevalent in the event that the torque determined exceeds a predetermined value. It is possible in this way, in a driving situation in which the driver of the vehicle must apply a relatively large force on the steering wheel of the vehicle in order to guide the vehicle in the desired manner, that the driver can obtain additional support in the guidance of the wheels of the support axle, such that the torque that is required to achieve the requested guidance can be kept below the said predetermined value. This may be the case, for example, during extremely slow driving of the vehicle or when the vehicle wheels become partially bogged down in the surface on which the vehicle is being driven.
- the system comprises means designed that determine the speed of the vehicle and to transmit information about this to the arrangement, and the arrangement is designed to determine that a said special condition is prevalent in the event that the speed of the vehicle does not exceed a predetermined value. It is possible that such a greatly increased manoeuvrability of the vehicle is desired at low speeds that disproportionately large forces must be applied by the driver onto the control system that has the nature of a steering wheel in order to carry out the desired manoeuvring in the case in which the vehicle is in the said normal condition with respect to the control system, and in this case transfer of the control system to the function that it has in the said special condition of the vehicle may achieve such a desired manoeuvrability without requiring the application of large muscular forces from the driver.
- control unit is designed to increase, during the said special condition of the vehicle, at each given angular displacement of the wheels of the front wheel axle the said angular displacement of the wheels of the support axle by at least 50%, at least 75% or at least 100% relative to the angular displacement of the wheels of the support axle at the relevant angular displacement of the wheels of the front wheel axle in the said normal condition.
- An increase in the angular displacement of the wheels of the support axle by a factor of at least 1 .5, at least 1 .75 or at least 2 makes it possible for the driver of the vehicle to achieve, by the application of a determined torque on the control means that has the nature of a steering wheel, a clearly larger angular displacement of the wheels of the front wheel axle than in the said normal condition by a factor of 1 .
- a tighter radius of turning is achieved solely by a larger angular displacement of the wheels of the support axle at a given angular displacement of the wheels of the front wheel axle, i.e. a given rotation of the steering wheel of the vehicle.
- the arrangement is designed to determine that a said special condition is prevalent in the case in which the said torque that has been determined exceeds a predetermined value located within the interval 30-80 Nm, 40-70 Nm or 45-55 Nm, or that the predetermined value is 50 Nm.
- the said predetermined value of the speed of the vehicle is lower than 20 km/h, lower than 15 km/h, 5-15 km/h, 8-1 2 km/h or 10 km/h.
- the invention concerns a method for the guidance of a vehicle with at least one undriven support axle provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle of the vehicle according to the attached independent methods claims.
- the invention concerns also a computer program that demonstrates the features listed in claim 1 1 , a computer program product that demonstrates the features listed in claim 12, an electronic control unit that demonstrates the features listed in claim 1 3, and a vehicle according to claim 14.
- Figure 1 is a simplified view that illustrates a system for the guidance of a vehicle according to one embodiment of the present invention
- Figures 2a and 2 bare highly simplified views that illustrate two possible appearances of sets of wheels of vehicles on which the control system according to the invention can be applied
- Figure 3 is a flow diagram that illustrates a method according to one embodiment of the invention.
- Figure 4 is a sketch in principle of an electronic control unit for the implementation of the method according to the invention.
- Figure 1 illustrates highly schematically a system for the guidance of a vehicle 1 in the form of a lorry with an undriven support axle 2 that is provided with wheels, a front wheel axle 3 and a driven rear axle 4 arranged in front of the support axle in the normal direction of travel of the vehicle. It is schematically illustrated how the front wheel axle 3 can be guided in conventional manner through the steering wheel 5 of the vehicle being mechanically connected to the front wheel axle 3 for the guidance of the alignment of the wheels 6 of the front wheel axle relative to the longitudinal direction L of the vehicle.
- a control circuit 7 is arranged to support the function of the steering wheel, i.e. the achievement of servosteering that facilitates rotation of the steering wheel and the guidance of the wheels of the front wheel axle.
- the vehicle demonstrates an electronic control unit E that is designed to send to a control unit 8 that is a component of 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 demonstrates a force arrangement 9 with an electric motor 10 designed to drive a hydraulic pump 1 1 in order to transfer through a force-transfer cylinder 12 force onto the support axle 2 in order to guide the alignment of its wheels 13 relative to the longitudinal direction of the vehicle.
- the control unit 8 is designed to control the force arrangement for the guidance of the 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 wheel axle relative to the longitudinal direction of the vehicle according to a predetermined relationship between the angular displacement of the wheels of the support axle and the angular displacement of the wheels of the front wheel axle relative to the longitudinal direction of the vehicle in a normal condition of the vehicle as far as the system is concerned. Control systems with the parts that have been described so far are previously known.
- FIGS 2a and 2b illustrate two of several possible vehicle configurations on which a control system of this type can be applied, whereby the arrow L shows the normal direction of travel of the vehicle, D shows the drive axle and A the axle separation. It is the axle separation A that determines the radius of turning of the vehicle at given angular displacements ⁇ , ⁇ of the wheels of the front wheel axle and the wheels of the support axle, respectively.
- the control circuit 7 such as after rupture of the line 14, as is indicated by B
- B the application of a torque of a predetermined value onto steering wheel, in order for the vehicle to be allowed to be marketed with only one said control circuit.
- the circuit according to the invention demonstrates an arrangement 15 designed to determine whether the vehicle is currently in a said normal condition or in a special condition with respect to the system, with an increased requirement for support of the function of the control means relative to the normal condition of the vehicle.
- This arrangement 15 is shown schematically integrated with the control unit 8.
- the control unit 8 is in turn designed to control, when a special condition of the vehicle has been determined by the arrangement 15, the force arrangement 9 that transfers force in order to guide the angular displacement of the wheels 13 of the support axle according to a relationship with a larger angular displacement relative to the angular displacement of the wheels 6 of the front wheel axle than during the said normal condition.
- the system comprises means in the form of the electronic control unit E of the vehicle designed to transmit information about the condition of the control circuit to the arrangement 15, and the arrangement is designed to determine that a said special condition is prevalent in the event of failure of the function of the control circuit 7.
- a failure can be determined through, for example, the arrangement of a means to measure the flow of a medium in the form of a flow gauge 18 in the circuit 14 of the medium that the control circuit demonstrates, here between the pump 19 of the circuit and a control unit 20 of the control circuit 7.
- the flow gauge transmits information about the magnitude of the flow in the circuit to the electronic control unit E of the vehicle, which in turn transmits it onwards to the arrangement 15, which determines that a said special condition is prevalent when zero flow has been detected by the flow gauge.
- the control means in this case does not receive any support from the control circuit and aid is obtained from the changed guidance of the wheels of the support axle. It is shown also how the system demonstrates a means 16 designed to determine the torque that a driver applies to the steering wheel 5 and to transmit information about this torque to the arrangement 15, which is designed to determine that a said special condition is prevalent in the event that the torque determined exceeds a predetermined value, which is appropriately of the order of magnitude of 50 Nm, when there may be a requirement to support the function of the steering wheel by increasing the angular displacement of the wheels 1 3 of the support axle at a given angular displacement of the wheels 6 of the front wheel axle.
- the system demonstrates also means 17, suggested schematically, designed to determine the speed of the vehicle and to transmit information about this to the arrangement 15, which is designed to determine that a said special condition is prevalent in the event that the speed of the vehicle does not exceed a predetermined value, which is appropriately of the order of magnitude of 1 0 km/h.
- the arrangement 15 determines that a said special condition is prevalent at the vehicle, it ensures, as a consequence of this, that the relationship that the angular displacement of the wheels 13 of the support axle have relative to the angular displacement of the wheels 6 of the front wheel axle, i.e. the angular displacement of the steering wheel, is changed.
- This change may mean, for example, multiplication of the angular displacement that the wheels of the support axle should have had at a given angular displacement of the wheels of the front wheel axle by a factor of 1 .5 or 2. It is in this way possible, for example, that a significantly extended axle separation can be allowed for a vehicle with only one said control circuit for the system.
- Figure 3 shows a flow diagram that illustrates a method according to one embodiment of the invention for the guidance of a vehicle, with at least one undriven support axle provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle of the vehicle.
- the wheels of the front wheel axle are guided mechanically in a first step Si by a driver of the vehicle for guidance of the vehicle.
- a step S 2 the question is subsequently asked whether the vehicle is in the normal condition with respect to its manoeuvrability, and if the answer to this question is "Yes", the angular displacement of the wheels of the support axle is controlled in a step S 3 in a first predetermined relationship to the angular displacement of the wheels of the front wheel axle, while if the answer to this question is "No", the angular displacement of the wheels of the support axle is controlled in a step S 4 in a second predetermined relationship to the angular displacement of the wheels of the front wheel axle.
- Step S 2 is continuously returned to during the complete execution of the method in order to determine whether guidance of the vehicle is to take place according to step S 3 or step S 4 .
- computer program code for the implementation of the method according to the invention be included in a computer program that can be read into the internal memory of a computer, such as the internal memory of an electronic control unit of a motor. It is appropriate that such a computer program be provided through a computer program product comprising a computer storage medium that can be read by an electronic control unit, which computer storage medium has the computer program stored in it.
- the said computer storage medium is, for example, an optical computer storage medium in the form of a CD-ROM disk, a DVD disk etc., a magnetic computer storage medium in the form of a harddisk, a diskette, a cassette tape, etc., or a flash memory, or a memory of ROM, PROM, EPROM or EEPROM type.
- FIG 4 illustrates highly schematically an electronic control unit E comprising an execution means 18, such as a central processing unit (CPU), for the execution of software.
- the execution means 18 communicates with a memory 19, of, for example, RAM type, over a data bus 20.
- the control unit E comprises also a computer storage medium 21 , in the form of, for example, a flash memory or a memory of ROM, PROM, EPROM or EEPROM type.
- the execution means 18 communicates with the computer storage medium 21 over the data bus 20.
- a computer program comprising computer code for the implementation of a method according to the invention, in accordance with, for example, the embodiment illustrated in Figure 3, is stored on the computer storage medium 21 .
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A system for the guidance of a vehicle (1 ) with at least one undriven support axle (2) provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle (3) of the vehicle comprises a control circuit (7) for the support of the function of a control means (5) that has the nature of a steering wheel, a force arrangement (9) designed to transfer force onto the support axle in order to guide the alignment of its wheels (13), and a control unit (8) designed that control the force arrangement. An arrangement (15) is designed to determine whether the vehicle is in a normal condition with respect to the system or in a special condition with respect to the system with an increased need for support of the function of the control means relative to the normal condition of the vehicle. The control unit (15) is designed to control, when the special condition of the vehicle has been determined, the force arrangement to transfer force to guide the angular displacement of the wheels (13) of the support axle according to a relationship with larger angular displacement relative to the angular displacement of the wheels (6) of the front wheel axle than during the said normal condition.
Description
System for the guidance of a vehicle
TECHNICAL FIELD AND THE PRIOR ART The present invention concerns a system for the guidance of a vehicle with at least one undriven support axle provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle of the vehicle according to the introduction of the attached patent claim 1 , and a method according to the introduction of the attached independent methods claims.
Such a guided support axle may be arranged in any order of the axles that are provided with wheels in the ordinary direction of travel of a vehicle with the exception of first in order, and a vehicle may have also several such guided support axles. In this way, a guided support axle is normally arranged either in front of or behind, or both in front of and behind, one driving axle of the vehicle.
It is normally heavy vehicles, such as lorries and buses, that are equipped with guided support axles, and for this reason this application of the invention will be described below principally for the purpose of illustrating the invention and in no way limiting it. It may be interesting and advantageous to have such a said support axle that can be guided at low speeds of the vehicle in order to increase the manoeuvrability of the vehicle, such as, for example, when a milk carrier is to enter a farm or similar, or, for example, when buses are to carry out delicate manoeuvring in city traffic in, for example, narrow streets. The said control circuit of the system supports through what is known as "servosteering" the function of the control means that has the nature of a
steering wheel by making it easier for the driver to achieve a desired angular displacement of the wheels of the front wheel axle, i.e. without requiring the application of unacceptably large muscular force for this. A normal condition of the vehicle with respect to the guidance system is when this system makes it possible for the driver to guide the vehicle in a defined manner with the application of forces that do not exceed a predetermined level. When this is not possible, a special condition of the vehicle is prevalent with respect to the said control system, in which guidance of the vehicle is more difficult. This may be a result of, for example, that the control circuit has failed and for this reason the function of the control means with the nature of a steering wheel does not receive any support from the control circuit, or that the speed of the vehicle is so low that guidance is made more difficult even when the said control circuit is intact.
With respect to the first said cause of the occurrence of a said special condition, the problem can be solved by equipping a control system of this type with two said control circuits, i.e. a back-up control circuit in addition to the said control circuit. Such a further control circuit leads, however, to increased costs, such that there is a need to avoid the arrangement of such. Requirements have for this reason been posed on what a control system according to the above is to be able to achieve in order for it to be allowed to be marketed with solely a single control circuit. This requirement has been posed such that vehicles of the said type may be sold with one control circuit only if they can achieve, in the event of the failure of this control circuit, within a certain time (t) to make a turn with a certain radius of curvature (r) without the driver applying a torque (M) on the steering wheel of the vehicle that exceeds a certain level. In this case the following, for example, may apply: that t = 6 s, r =
20 m and M = 1 01 .25 Nm. The greater that the axle distance of the said vehicle is, the greater will be the angular displacement of the wheels of the front wheel axle that must be achieved within the specified time (t). This means in turn that a higher torque (M) is necessary, such that a given known vehicle must have two control circuits in the case in which the said axle distance exceeds a given length.
SUMMARY OF THE INVENTION The purpose of the present invention is to provide a system of the type described in the introduction that has been improved in at least one respect relative to previously known such systems.
This purpose is achieved, according to the invention, by providing a system according to the attached patent claim 1 .
By the control unit being designed to control in a said special condition of the vehicle the angular displacement of the wheels of the support wheel axle according to a relationship with a larger angular displacement relative to the angular displacement of the wheels of the front wheel axle than during the said normal condition, a larger angular displacement of the wheels of the front wheel axle relative to the longitudinal direction of the vehicle will be achieved when a certain torque is applied to the control means that has the nature of a steering wheel by the driver, due to the fact that the said changed relationship will support the function of the control means. In addition to it being possible to achieve a larger angular displacement of the wheels of the front wheel axle in the event of failure of the servosteering, the said changed relationship, with a larger angular displacement of the wheels of the support axle at a given angular displacement of the wheels of the front wheel axle, means that a turn with
a smaller radius can be achieved, such that a smaller angle of the wheels of the front wheel axle will be necessary in order to achieve a given radius of turning. This leads to an increase in the maximum axle separation of a vehicle equipped with the control system, such that a long vehicle that previously required the arrangement of two control circuits can instead be allowed to have only one control circuit, and costs can in this way be reduced.
According to one embodiment of the invention, the system comprises means designed to transmit information about the condition of the control circuit to the said arrangement, and the arrangement is designed to determine that a said special condition is prevalent in the event of failure of the function of the said control circuit. It is in this way ensured that the function of the control means that has been supported through the change of the said condition is achieved in the event of failure of the control circuit, and the driver is then able to control vehicle in the required manner.
According to another embodiment of the invention, the control circuit demonstrates means arranged to drive a flow of medium in order to support the said function of the control means, the control circuit furthermore demonstrates means arranged to determine the magnitude of the said flow of medium and to transmit information about this to the arrangement, and the arrangement is designed to determine that the said special condition is prevalent in the case in which the flow of medium determined by the said means is zero.
According to one embodiment of the invention, the system comprises means designed to determine the torque that a driver applies to the said control means that has the nature of a steering wheel and to transmit
information about this torque to the said arrangement, and the arrangement is designed to determine that a said special condition is prevalent in the event that the torque determined exceeds a predetermined value. It is possible in this way, in a driving situation in which the driver of the vehicle must apply a relatively large force on the steering wheel of the vehicle in order to guide the vehicle in the desired manner, that the driver can obtain additional support in the guidance of the wheels of the support axle, such that the torque that is required to achieve the requested guidance can be kept below the said predetermined value. This may be the case, for example, during extremely slow driving of the vehicle or when the vehicle wheels become partially bogged down in the surface on which the vehicle is being driven.
According to another embodiment of the invention, the system comprises means designed that determine the speed of the vehicle and to transmit information about this to the arrangement, and the arrangement is designed to determine that a said special condition is prevalent in the event that the speed of the vehicle does not exceed a predetermined value. It is possible that such a greatly increased manoeuvrability of the vehicle is desired at low speeds that disproportionately large forces must be applied by the driver onto the control system that has the nature of a steering wheel in order to carry out the desired manoeuvring in the case in which the vehicle is in the said normal condition with respect to the control system, and in this case transfer of the control system to the function that it has in the said special condition of the vehicle may achieve such a desired manoeuvrability without requiring the application of large muscular forces from the driver.
According to another embodiment of the invention, the control unit is designed to increase, during the said special condition of the vehicle, at
each given angular displacement of the wheels of the front wheel axle the said angular displacement of the wheels of the support axle by at least 50%, at least 75% or at least 100% relative to the angular displacement of the wheels of the support axle at the relevant angular displacement of the wheels of the front wheel axle in the said normal condition. An increase in the angular displacement of the wheels of the support axle by a factor of at least 1 .5, at least 1 .75 or at least 2 makes it possible for the driver of the vehicle to achieve, by the application of a determined torque on the control means that has the nature of a steering wheel, a clearly larger angular displacement of the wheels of the front wheel axle than in the said normal condition by a factor of 1 . At the same time, a tighter radius of turning is achieved solely by a larger angular displacement of the wheels of the support axle at a given angular displacement of the wheels of the front wheel axle, i.e. a given rotation of the steering wheel of the vehicle.
According to another embodiment of the invention, the arrangement is designed to determine that a said special condition is prevalent in the case in which the said torque that has been determined exceeds a predetermined value located within the interval 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, the said predetermined value of the speed of the vehicle is lower than 20 km/h, lower than 15 km/h, 5-15 km/h, 8-1 2 km/h or 10 km/h. These limiting values for torque and speed are appropriate for transfer of the vehicle in the said special condition with a different relationship between the angular displacement of the wheels of the front wheel axle and of the wheels of the support axle than in the normal condition of the vehicle.
The invention concerns a method for the guidance of a vehicle with at least one undriven support axle provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle of the vehicle according to the attached independent methods claims. The result of the execution of such a method and the advantages of it are made clear with all desirable clarity by the description above of the system according to the invention.
The invention concerns also a computer program that demonstrates the features listed in claim 1 1 , a computer program product that demonstrates the features listed in claim 12, an electronic control unit that demonstrates the features listed in claim 1 3, and a vehicle according to claim 14. Other advantageous features and advantages of the invention are made clear by the description given below.
BRIEF DESCRIPTION OF DRAWINGS Embodiments of the invention are described as presented examples below with reference to the attached drawings, of which:
Figure 1 is a simplified view that illustrates a system for the guidance of a vehicle according to one embodiment of the present invention,
Figures 2a and 2bare highly simplified views that illustrate two possible appearances of sets of wheels of vehicles on which the control system according to the invention can be applied,
Figure 3 is a flow diagram that illustrates a method according to one embodiment of the invention, and
Figure 4 is a sketch in principle of an electronic control unit for the implementation of the method according to the invention.
DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION
Figure 1 illustrates highly schematically a system for the guidance of a vehicle 1 in the form of a lorry with an undriven support axle 2 that is provided with wheels, a front wheel axle 3 and a driven rear axle 4 arranged in front of the support axle in the normal direction of travel of the vehicle. It is schematically illustrated how the front wheel axle 3 can be guided in conventional manner through the steering wheel 5 of the vehicle being mechanically connected to the front wheel axle 3 for the guidance of the alignment of the wheels 6 of the front wheel axle relative to the longitudinal direction L of the vehicle. A control circuit 7 is arranged to support the function of the steering wheel, i.e. the achievement of servosteering that facilitates rotation of the steering wheel and the guidance of the wheels of the front wheel axle. The vehicle demonstrates an electronic control unit E that is designed to send to a control unit 8 that is a component of 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 demonstrates a force arrangement 9 with an electric motor 10 designed to drive a hydraulic pump 1 1 in order to transfer through a force-transfer cylinder 12 force onto the support axle 2 in order to guide the alignment of its wheels 13 relative to the longitudinal direction of the vehicle.
The control unit 8 is designed to control the force arrangement for the guidance of the 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 wheel axle relative to the longitudinal direction of the vehicle according to a predetermined relationship between the angular displacement of the wheels of the support axle and the angular displacement of the wheels of the front wheel axle relative to the longitudinal direction of the vehicle in a normal condition of the vehicle as far as the system is concerned. Control systems with the parts that have been described so far are previously known.
Figures 2a and 2b illustrate two of several possible vehicle configurations on which a control system of this type can be applied, whereby the arrow L shows the normal direction of travel of the vehicle, D shows the drive axle and A the axle separation. It is the axle separation A that determines the radius of turning of the vehicle at given angular displacements α, β of the wheels of the front wheel axle and the wheels of the support axle, respectively. As has been mentioned above, there are requirements on how rapidly it is to be possible to achieve a certain radius of turning for the vehicle in the event of failure of the control circuit 7, such as after rupture of the line 14, as is indicated by B, on the application of a torque of a predetermined value onto steering wheel, in order for the vehicle to be allowed to be marketed with only one said control circuit. In order to reduce the torque that must be applied to the steering wheel of the vehicle to achieve a certain radius of turning of the vehicle in conditions in which the vehicle is particularly difficult to guide, such as in the event of failure of the control circuit 7, low speed of the vehicle, or the driving of the vehicle on a certain type of surface, the circuit according to the invention demonstrates an arrangement 15 designed to determine
whether the vehicle is currently in a said normal condition or in a special condition with respect to the system, with an increased requirement for support of the function of the control means relative to the normal condition of the vehicle. This arrangement 15 is shown schematically integrated with the control unit 8. The control unit 8 is in turn designed to control, when a special condition of the vehicle has been determined by the arrangement 15, the force arrangement 9 that transfers force in order to guide the angular displacement of the wheels 13 of the support axle according to a relationship with a larger angular displacement relative to the angular displacement of the wheels 6 of the front wheel axle than during the said normal condition.
The system comprises means in the form of the electronic control unit E of the vehicle designed to transmit information about the condition of the control circuit to the arrangement 15, and the arrangement is designed to determine that a said special condition is prevalent in the event of failure of the function of the control circuit 7. Such a failure can be determined through, for example, the arrangement of a means to measure the flow of a medium in the form of a flow gauge 18 in the circuit 14 of the medium that the control circuit demonstrates, here between the pump 19 of the circuit and a control unit 20 of the control circuit 7. The flow gauge transmits information about the magnitude of the flow in the circuit to the electronic control unit E of the vehicle, which in turn transmits it onwards to the arrangement 15, which determines that a said special condition is prevalent when zero flow has been detected by the flow gauge. The control means in this case does not receive any support from the control circuit and aid is obtained from the changed guidance of the wheels of the support axle.
It is shown also how the system demonstrates a means 16 designed to determine the torque that a driver applies to the steering wheel 5 and to transmit information about this torque to the arrangement 15, which is designed to determine that a said special condition is prevalent in the event that the torque determined exceeds a predetermined value, which is appropriately of the order of magnitude of 50 Nm, when there may be a requirement to support the function of the steering wheel by increasing the angular displacement of the wheels 1 3 of the support axle at a given angular displacement of the wheels 6 of the front wheel axle.
The system demonstrates also means 17, suggested schematically, designed to determine the speed of the vehicle and to transmit information about this to the arrangement 15, which is designed to determine that a said special condition is prevalent in the event that the speed of the vehicle does not exceed a predetermined value, which is appropriately of the order of magnitude of 1 0 km/h.
When the arrangement 15 determines that a said special condition is prevalent at the vehicle, it ensures, as a consequence of this, that the relationship that the angular displacement of the wheels 13 of the support axle have relative to the angular displacement of the wheels 6 of the front wheel axle, i.e. the angular displacement of the steering wheel, is changed. This change may mean, for example, multiplication of the angular displacement that the wheels of the support axle should have had at a given angular displacement of the wheels of the front wheel axle by a factor of 1 .5 or 2. It is in this way possible, for example, that a significantly extended axle separation can be allowed for a vehicle with only one said control circuit for the system.
Figure 3 shows a flow diagram that illustrates a method according to one embodiment of the invention for the guidance of a vehicle, with at least one undriven support axle provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle of the vehicle. The wheels of the front wheel axle are guided mechanically in a first step Si by a driver of the vehicle for guidance of the vehicle. In a step S2, the question is subsequently asked whether the vehicle is in the normal condition with respect to its manoeuvrability, and if the answer to this question is "Yes", the angular displacement of the wheels of the support axle is controlled in a step S3 in a first predetermined relationship to the angular displacement of the wheels of the front wheel axle, while if the answer to this question is "No", the angular displacement of the wheels of the support axle is controlled in a step S4 in a second predetermined relationship to the angular displacement of the wheels of the front wheel axle. In this way, as has been mentioned above, the angular displacement of the wheels of the support axle in the second predetermined relationship will be larger for a given angular displacement of the wheels of the front wheel axle than is the case in the first relationship. Step S2 is continuously returned to during the complete execution of the method in order to determine whether guidance of the vehicle is to take place according to step S3 or step S4.
It is appropriate that computer program code for the implementation of the method according to the invention be included in a computer program that can be read into the internal memory of a computer, such as the internal memory of an electronic control unit of a motor. It is appropriate that such a computer program be provided through a computer program product comprising a computer storage medium that can be read by an electronic control unit, which computer storage medium has the computer program stored in it. The said computer storage medium is, for example, an optical
computer storage medium in the form of a CD-ROM disk, a DVD disk etc., a magnetic computer storage medium in the form of a harddisk, a diskette, a cassette tape, etc., or a flash memory, or a memory of ROM, PROM, EPROM or EEPROM type.
Figure 4 illustrates highly schematically an electronic control unit E comprising an execution means 18, such as a central processing unit (CPU), for the execution of software. The execution means 18 communicates with a memory 19, of, for example, RAM type, over a data bus 20. The control unit E comprises also a computer storage medium 21 , in the form of, for example, a flash memory or a memory of ROM, PROM, EPROM or EEPROM type. The execution means 18 communicates with the computer storage medium 21 over the data bus 20. A computer program comprising computer code for the implementation of a method according to the invention, in accordance with, for example, the embodiment illustrated in Figure 3, is stored on the computer storage medium 21 .
The invention is, naturally, not in any way limited to the embodiments described above: a number of possibilities for modifications of it should be obvious for one skilled in the arts, without it for this reason deviating from the scope of the invention as it has been defined in the attached claims.
Claims
A system for the guidance of a vehicle (1 ) with at least one undriven support axle (2) provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle (3) of the vehicle, comprising:
• a control means (5) with the nature of a steering wheel designed to be mechanically influenced by a driver of the vehicle for the guidance of the alignment of the wheels (6) of the front wheel axle relative to the longitudinal direction (L) of the vehicle,
• a control circuit (7) for the support of the function of the said control means,
• a force arrangement (9) designed to transfer force onto the support axle (2) in order to guide the alignment of its wheels (13) relative to the longitudinal direction of the vehicle, and
• a control unit (8) designed to control the force arrangement for the guidance of the said alignment of the wheels (1 3) of the support axle on the basis of information about the alignment of the wheels (6) of the front wheel axle relative to the longitudinal direction (L) of the vehicle according to a predetermined relationship between the angular displacement of the wheels of the support axle and the angular displacement of the wheels of the front wheel axle relative to the longitudinal direction of the vehicle in a normal condition of the vehicle as far as the system is concerned,
characterised in that the system comprises an arrangement (15) designed to determine whether the vehicle is in a said normal condition or in a special condition with respect to the system with an
increased need for support of the function of the control means (5) relative to the normal condition of the vehicle, and to inform the control unit (8) the result of this determination, and in that the control unit (8) is designed to control, when a special condition of the vehicle has been determined by the arrangement, the said force arrangement (9) to transfer force in order to guide the angular displacement of the wheels (1 3) of the support axle according to a relationship with a larger angular displacement relative to the angular displacement of the wheels (6) of the front wheel axle than during the said normal condition.
The system according to claim 1 , characterised in that it comprises means (E) designed to transmit information about the condition of the control circuit (7) to the said arrangement (15), and that the arrangement is designed to determine that a said special condition is prevalent in the event of failure of the function of the said control circuit.
The system according to claim 2, characterised in that the said control circuit demonstrates means (1 9) arranged to drive a flow of medium in order to support the said function of the control means (5), that the control circuit (7) furthermore demonstrates means (18) arranged to determine the magnitude of the said flow of medium and to transmit information about this to the arrangement (15), and that the arrangement is designed to determine that the said special condition is prevalent in the case in which the flow of medium determined by the said means (18) is zero.
The system according to any one of the preceding claims, characterised in that it comprises means (1 6) designed to
determine the torque that a driver applies to the said control means (5) that has the nature of a steering wheel and to transmit information about this torque to the said arrangement (15), and that the arrangement is designed to determine that a said special condition is prevalent in the event that the torque determined exceeds a predetermined value.
The system according to any one of the preceding claims, characterised in that it comprises means (17) designed that determine the speed of the vehicle and to transmit information about this to the arrangement (15), and that the arrangement is designed to determine that a said special condition is prevalent in the event that the speed of the vehicle does not exceed a predetermined value.
The system according to any one of the preceding claims, characterised in that the control unit (8) is designed to increase, during the said special condition of the vehicle, at each given angular displacement of the wheels (6) of the front wheel axle the said angular displacement of the wheels (13) of the support axle by at least 50%, at least 75% or at least 100% relative to the angular displacement of the wheels of the support axle at the relevant angular displacement of the wheels of the front wheel axle in the said normal condition.
The system according to claim 4, characterised in that the arrangement (15) is designed to determine that a said special condition is prevalent in the case in which the said torque that has been determined exceeds a predetermined value located within the
interval 30-80 Nm, 40-70 Nm or 45-55 Nm, or that the predetermined value is 50 Nm.
The system according to claim 5, characterised in that the said predetermined value of the speed of the vehicle is lower than 20 km/h, lower than 15 km/h, 5-15 km/h, 8-12 km/h or 10 km/h.
A method for the guidance of a vehicle (1 ) with at least one undriven support axle (2) provided with wheels following in the normal direction of travel of the vehicle after the front wheel axle (3) of the vehicle, comprising the steps:
• to guide the alignment of the wheels (6) of the front wheel axle by mechanical influence on a control means (5) that has the nature of a steering wheel at the vehicle,
• to detect whether the vehicle is in a normal condition or a special condition with respect to the manoeuvrability of the vehicle, whereby the said special condition is defined as a condition in which there is an increased requirement of support of the said influence on the control means, relative to the requirement in the normal condition of the vehicle,
• to guide the alignment of the wheels (13) of the support axle according to a predetermined relationship between the angular displacement of these wheels and the angular displacement of the wheels (6) of the front wheel axle relative to the longitudinal direction (L) of the vehicle in the event of the detection of a said normal condition of the vehicle, and
• to control the angular displacement of the wheels (13) of the support axle according to a relationship with larger angular displacement relative to the angular displacement of the wheels (6) of the front wheel axle in the event of the detection
of a said special condition of the vehicle than during the said normal condition.
10. The method according to claim 9, characterised in that it is carried out at a vehicle with a control circuit (7) for the support of the function of the said control means (5), and that the prevalence of a said special condition of the vehicle is detected by the detection of a failure of the function at the said control circuit (7). 1 1 . A computer program that can be loaded into the internal memory at a computer, which computer program comprises computer program code to cause the computer to control the steps according to any one of claims 9 and 1 0 when the said computer program is run on the computer.
12. A computer program product comprising a permanent computer storage medium that can be read by a computer, whereby the computer program code of a computer program according to claim 1 1 is stored on the computer storage medium.
13. An electronic control unit for a system for the guidance of the direction of travel at a vehicle comprising an execution means (1 8), a memory (19) connected to the execution means, and a permanent computer storage medium (21 ) connected to the execution means, whereby the computer program code of a computer program according to claim 1 1 is stored on the said computer storage medium (21 ).
14. A wheeled vehicle, in particular a motor vehicle, and in particular a lorry or bus, characterised in that it comprises a system according to any one of claims 1 -8.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1450115A SE538627C2 (en) | 2014-02-03 | 2014-02-03 | System for steering a vehicle |
| SE1450115-9 | 2014-02-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015115971A1 true WO2015115971A1 (en) | 2015-08-06 |
Family
ID=53757419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/SE2015/050072 WO2015115971A1 (en) | 2014-02-03 | 2015-01-26 | System for the guidance of a vehicle |
Country Status (2)
| Country | Link |
|---|---|
| SE (1) | SE538627C2 (en) |
| WO (1) | WO2015115971A1 (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991006463A1 (en) * | 1989-11-03 | 1991-05-16 | A.E. Bishop & Associates Pty. Limited | Four wheel steering system |
| EP0678439A1 (en) * | 1994-04-18 | 1995-10-25 | Mercedes-Benz Ag | Vehicle, not track bound, with arbitrarily operated front wheel steering and self actuating rear wheel steering |
| EP0786394A1 (en) * | 1996-01-24 | 1997-07-30 | R.C.D. S.r.l. | Improvement to a power-assisted steering system for the steerable wheels of one or more rear axles of a vehicle such as a truck or semitrailer |
| EP1574418A1 (en) * | 2004-03-11 | 2005-09-14 | Isuzu Motors Limited | Power steering system for a vehicle |
| US20090292421A1 (en) * | 2005-12-02 | 2009-11-26 | Trw Automotive U.S. Llc | Steering apparatus |
| WO2012080774A1 (en) * | 2010-12-17 | 2012-06-21 | Renault Trucks | A power steering system for a vehicle having two steered axles |
| WO2014102562A1 (en) * | 2012-12-27 | 2014-07-03 | Renault Trucks | A control method of a power steering system for a vehicle having two steered axles |
-
2014
- 2014-02-03 SE SE1450115A patent/SE538627C2/en not_active IP Right Cessation
-
2015
- 2015-01-26 WO PCT/SE2015/050072 patent/WO2015115971A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991006463A1 (en) * | 1989-11-03 | 1991-05-16 | A.E. Bishop & Associates Pty. Limited | Four wheel steering system |
| EP0678439A1 (en) * | 1994-04-18 | 1995-10-25 | Mercedes-Benz Ag | Vehicle, not track bound, with arbitrarily operated front wheel steering and self actuating rear wheel steering |
| EP0786394A1 (en) * | 1996-01-24 | 1997-07-30 | R.C.D. S.r.l. | Improvement to a power-assisted steering system for the steerable wheels of one or more rear axles of a vehicle such as a truck or semitrailer |
| EP1574418A1 (en) * | 2004-03-11 | 2005-09-14 | Isuzu Motors Limited | Power steering system for a vehicle |
| US20090292421A1 (en) * | 2005-12-02 | 2009-11-26 | Trw Automotive U.S. Llc | Steering apparatus |
| WO2012080774A1 (en) * | 2010-12-17 | 2012-06-21 | Renault Trucks | A power steering system for a vehicle having two steered axles |
| WO2014102562A1 (en) * | 2012-12-27 | 2014-07-03 | Renault Trucks | A control method of a power steering system for a vehicle having two steered axles |
Also Published As
| Publication number | Publication date |
|---|---|
| SE538627C2 (en) | 2016-10-04 |
| SE1450115A1 (en) | 2015-08-04 |
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