WO2018203792A1 - Procédé et système de commande de direction d'un véhicule - Google Patents

Procédé et système de commande de direction d'un véhicule Download PDF

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Publication number
WO2018203792A1
WO2018203792A1 PCT/SE2018/050385 SE2018050385W WO2018203792A1 WO 2018203792 A1 WO2018203792 A1 WO 2018203792A1 SE 2018050385 W SE2018050385 W SE 2018050385W WO 2018203792 A1 WO2018203792 A1 WO 2018203792A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
determined
route
steering
determining
Prior art date
Application number
PCT/SE2018/050385
Other languages
English (en)
Inventor
Emil LUNDGREN
Tom NYSTRÖM
Original Assignee
Scania Cv Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to CN201880028316.8A priority Critical patent/CN110573409B/zh
Priority to EP18794785.8A priority patent/EP3619094A4/fr
Priority to KR1020197034764A priority patent/KR20200003392A/ko
Publication of WO2018203792A1 publication Critical patent/WO2018203792A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/10—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18091—Preparing for stopping

Definitions

  • the invention relates to a method for controlling steering of a vehicle according to the preamble of claim 1 .
  • the invention also relates to a system for controlling steering of a vehicle.
  • the invention also relates to a vehicle.
  • the invention in addition relates to a computer program and a computer readable medium.
  • the vehicles may have more than one axle with steerable wheels.
  • Vehicles with wheel axle with steerable wheels steerable by steering control means separated from the steering wheel mechanism actuated by the steering wheel of the vehicle are known.
  • US5562175A a steering system for tandem-type surface compacting machines, said system having simultaneously actuatable steering wheel control valve and joystick which activate electrically operated control valve.
  • US4175638A discloses electronically controlled four-wheel steering having single steering wheel and switches selecting different modes of rear wheel operation.
  • An object of the present invention is to provide a method for controlling steering of a vehicle during drive of the vehicle which improves manoeuvrability of the vehicle in a flexible and efficient way.
  • Another object of the present invention is to provide a system for controlling steering of a vehicle during drive of the vehicle which improves manoeuvrability of the vehicle in a flexible and efficient way.
  • an object of the invention is achieved by a method for controlling steering of a vehicle during drive of the vehicle.
  • Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.
  • the method comprises the step of, by means of operational situation determining means, determining the current operational situation during said drive of the vehicle.
  • the method further comprises the step of, by means of external condition determining means, determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions, weather conditions, obstacles along the route, extension of the route.
  • the method also comprises the step of taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.
  • Said steering control means may comprise a steering mechanism for steering said wheels of said at least one wheel axle with steerable wheels, said steering mechanism of the control means being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel.
  • Said operational situation may comprise intention to put the vehicle to a stop at a stop location along the route of the vehicle.
  • Said stop location may be a bus stop at which the vehicle, e.g.
  • the stop location may be any suitable stop location where the vehicle may be put to a stop during drive along the route and where said stop of the vehicle requires certain manoeuvring involving steering.
  • the stop location may be a bus stop, any kind of parking place, a tank station, a docking station for e.g. loading/unloading of the vehicle or the like.
  • Said external conditions may comprise one or more of: route conditions, e.g. route conditions, weather conditions, obstacles along the route, extension of the route.
  • Route conditions may be determined by means of any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact. Weather conditions may be determined by means of weather sensors comprising any suitable rain sensor e.g. arranged in connection to the windshield, any suitable temperature sensor, any suitable wind sensor. Weather conditions may be determined by means of external weather data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.
  • any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Route conditions may be
  • determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.
  • determined route conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other route conditions that may affect driving along the road.
  • Obstacles along the route may be determined by means of any suitable detector means comprising any suitable detector for detecting obstacles such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Extension of the route may be determined by means of any suitable detector means comprising any suitable detector for detecting extension of the route comprising curvature such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Extension of the route may be determined by means of a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle in during drive along said route and map data of the route, e.g. road, along which the vehicle is travelling.
  • GNSS Global Navigation satellite System
  • GPS Global Navigation satellite System
  • a suitable control of said steerable wheels of said at least one wheel axle is determined based on said determined operational situation and said determined external conditions.
  • said operational situation and said external conditions are analysed so as to determine whether said steerable wheels of said at least one wheel axle should be controlled and, if so, how they should be controlled.
  • said operational situation and said external conditions are analysed so as to determine whether a control means for automatically controlling said steerable wheels of said at least one wheel axle should be activated.
  • the step of taking measures based on said determined operational situation and said determined external conditions comprises the step of automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.
  • the step of taking measures based on said determined operational situation and said determined external conditions comprises the step of presenting, by means of presentation means, a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.
  • Said presentation means for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment visual means for visual presentation.
  • the visual means for visual presentation comprises according to an embodiment one or more display units/displays on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle.
  • Said presentation means for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment sound means for audible presentation.
  • Said sound means may comprise a voice message or the like for audibly presenting recommendation to the operator of the vehicle for steering of said steerable wheels.
  • Said sound means may comprise an alarm in order to get the attention of the operator of the vehicle.
  • Said presentation means comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the recommendation to the operator of the vehicle for steering of said steerable wheels.
  • the tactile means may be a complement to the visual means and/or the sound means in order to get the attention of the operator of the vehicle.
  • said determined current operational situation during said drive of the vehicle comprises determined intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle, and wherein the step of determining the external conditions along the route of the vehicle comprises determining the configuration of said stop location, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.
  • a stop location for example a bus stop
  • said determined current operational situation during said drive of the vehicle comprises determined intention to make a turn
  • the step of determining the external conditions along the route of the vehicle comprises determining a potential obstacle in connection to said intended turn
  • the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to avoid collision with said potential obstacle.
  • said determined external conditions along the route of the vehicle comprises determined route conditions affecting driveability and/or manoeuvrability
  • the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.
  • a system for controlling steering of a vehicle during drive of the vehicle Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.
  • the system comprises means for determining the operational situation; means for determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions, weather conditions, obstacles along the route, extension of the route.
  • the system further comprises means for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.
  • the means for taking measures based on said determined operational situation and said determined external conditions comprises means for automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.
  • the means for taking measures based on said determined operational situation and said determined external conditions comprises means for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.
  • said means for determining current operational situation during said drive of the vehicle comprises means for determining intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle, and wherein the means for determining the external conditions along the route of the vehicle comprises means for determining the configuration of said stop location, wherein the means for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.
  • said means for determining current operational situation during said drive of the vehicle comprises means for determining intention to make a turn
  • the means for determining the external conditions along the route of the vehicle comprises means for determining a potential obstacle in connection to said intended turn
  • the means for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means for controlling said steerable wheels so as to avoid collision with said potential obstacle.
  • said means for determining external conditions along the route of the vehicle comprises means for determining route conditions affecting driveability and/or manoeuvrability, wherein the means for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions is arranged to control said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or is arranged to control said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.
  • the system for determining connection between a leading vehicle unit and a trailing vehicle unit is adapted to perform the methods as set out herein.
  • the system according to the invention has the advantages according to the corresponding method claims.
  • an object of the invention is achieved by a vehicle comprising a system as set out herein.
  • a computer program for controlling steering of a vehicle during drive of the vehicle said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform methods as set out herein.
  • a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
  • Fig. 1 schematically illustrates a side view of a vehicle according to the present invention
  • Fig. 2a schematically illustrates a plan view of a vehicle driving on a road with a stop location according to prior art
  • Fig. 2b schematically illustrates a plan view of a vehicle driving on the road with a stop location in fig. 2a where steering of the vehicle is being controlled according to an embodiment of the present invention
  • Fig. 2c schematically illustrates a plan view of the vehicle in fig. 2b where steering of the vehicle is being controlled according to an embodiment of the present invention
  • Fig. 3 schematically illustrates a block diagram of a system for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention
  • Fig. 4 schematically illustrates a block diagram of a method for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention
  • Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
  • link refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a non- physical connector such as a wireless connection, for example a radio or microwave link.
  • route refers to any ground on which the vehicle may be driven and thus operated such as a road, a mine area, a loading/unloading area, a parking area or the like.
  • route may also refer to a trajectory.
  • route conditions refers to any conditions of the route on which the vehicle is travelling comprising any surface condition.
  • steering control means refers to any suitable mechanism for steering wheels, said steering control means being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel. Said steering control means thus comprises a steering mechanism being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel.
  • steering control means refers to a steering control means which is arranged to control those wheels taking other wheels/wheel shaft/wheel shafts of the vehicle into consideration.
  • steering control means refers to a steering control means which is arranged to take wheel angles of wheels controllable by the steering wheel and distances between wheel shaft/wheel shafts into consideration.
  • steering control means refers to a steering control means which is arranged to process information of wheel angles of wheels controllable by the steering wheel and distances between wheel shaft/wheel shafts into consideration.
  • Fig. 1 schematically illustrates a side view of a vehicle V1 according to the present invention.
  • the exemplified vehicle V1 is a commercial vehicle in the shape of a truck.
  • the vehicle according to the present invention could be any suitable vehicle such as a bus or a car.
  • the vehicle according to the present invention could be an autonomous vehicle.
  • Said vehicle V1 has a front wheel axle X1 with front wheels steerable by means of the steering wheel of the vehicle V1 .
  • Said vehicle has a rear wheel axle X2 with steerable wheels steerable by steering control means separated from the steering wheel mechanism actuated by the steering wheel of the vehicle V1 .
  • the vehicle V1 comprises a system I for controlling steering of a vehicle during drive of the vehicle along a route R according to the present invention.
  • the system I or at least parts of the system is arranged on board the vehicle V1 .
  • Fig. 2a schematically illustrates a plan view of a vehicle VP driving on a route R, e.g. road, with a stop location H according to prior art.
  • Said vehicle VP has a front wheel axle X1 P with front wheels steerable by means of the steering wheel of the vehicle VP and a rear wheel axle X2P with non-steerable wheels.
  • the vehicle has a front side 1 P and a rear side 2P.
  • the vehicle has a front overhang extending forwardly from the front wheel axle X1 P and a rear overhang extending rearwardly from the rear wheel axle X2P.
  • the vehicle VP is moving forwardly, i.e. in the direction of the arrow A.
  • the stop location H is according to an embodiment a bus stop and the vehicle VP a bus.
  • the vehicle VP In order to put the vehicle VP to a stop at the stop location H the vehicle VP is required to make a turn, said turn resulting in a portion 1 a of the front overhang of the vehicle VP extending over the side of the stop location H where an obstacle, e.g. a vulnerable road user such as a potential passenger for the vehicle VP may be located/stand.
  • Fig. 2b schematically illustrates a plan view of a vehicle V2 driving on the road with a stop location H in fig. 2a where steering of the vehicle V2 is being controlled according to an embodiment of the present invention.
  • Said vehicle V2 has a front wheel axle X1 with front left and right wheels W1 R, W1 L steerable by means of the steering wheel of the vehicle V2.
  • Said vehicle V2 has a rear wheel axle X2 with steerable rear left and right wheels W2R, W2L steerable by steering control means SC separated from the steering wheel mechanism actuated by the steering wheel of the vehicle V1 .
  • Said steering control means SC thus comprises a steering mechanism for steering said rear left and right wheels W2R, W2L, said steering mechanism of the control means SC being separated from the steering wheel mechanism actuated by the steering wheel of the vehicle for steering the wheels coupled to the steering wheel.
  • the steering control means SC may comprise any suitable mechanism for steering the wheels W2R, W2L.
  • the steering control means SC is according to an embodiment arranged to control said based on information regarding angle of said front left and right wheels W1 R, W1 L steerable by means of the steering wheel of the vehicle V2 and distance between front axle X1 and rear axle X2.
  • the angle of said front left and right wheels W1 R, W1 L may be determined by means of detecting the steering wheel angle.
  • the steering control means SC is operably connected to one or more detectors configured to detect steering angle of the steering wheel.
  • the vehicle V2 comprises a system I for controlling steering of a vehicle during drive of the vehicle along a route R, e.g. road, according to the present invention.
  • the system I or at least parts of the system is arranged on board the vehicle V1 .
  • the stop location H is according to an embodiment a bus stop and the vehicle V2 a bus.
  • the system I comprises means for determining the operational situation involving intention to put the vehicle V2 to a stop at said stop location H.
  • the system I comprises means, e.g. any suitable detector such as one or more cameras and/or one or more laser scanners and/or one or more radars, for determining external conditions along the route of the vehicle comprising determining the configuration of said stop location H.
  • the system I further comprises means for taking measures based on said determined intention to put the vehicle V2 at a stop as said stop location H and the configuration of said stop location H so as to facilitate controlling steering of said steerable wheels W2R, W2L of said rear wheel axle X2.
  • the steerable wheels W2R, W2L are controlled such that the vehicle is put to a stop at said stop location H avoiding the front overhang of the vehicle V2 extending over the side of the stop location H and thus avoiding the risk of colliding with an obstacle, e.g. a vulnerable road user such as a potential passenger for the vehicle V2 being located/stand at the side of said stop location H.
  • the steerable rear wheels W2R, W2L are controlled such that they are turned relative to the vehicle essentially corresponding how the front wheels W1 R, W1 L steerable by means of the steering wheel of the vehicle V2 are turned relative to the vehicle V2.
  • Fig. 2c schematically illustrates a plan view of the vehicle V2 in fig. 2b where steering of the vehicle V2 is being controlled according to an embodiment of the present invention.
  • the steerable rear wheels W2R, W2L are controlled so that they are essentially following the same track as the front wheels W1 R, W1 L steerable by means of the steering wheel of the vehicle V2.
  • the system I is according to this embodiment arranged to determine external conditions along the route of the vehicle affecting driveability and/or manoeuvrability.
  • the system I is arranged to control said steerable rear wheels W2R, W2L so that they are essentially following the same track as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive based on said determined route conditions.
  • the vehicle according to the present invention may have any suitable number of wheel axles with steerable wheels steerable by steering control means separated from a steering wheel mechanism.
  • One or more of said at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism may be drive axle for propelling the thus steerable wheels of the vehicle.
  • the vehicle according to the present invention may have one or more front axles, one or more rear axles operating as drive axles in combination with non-driving support axles arranged in front and/or behind driving axel/axles.
  • the vehicle according to the present invention may be any wheeled articulated vehicle such as an articulated bus having certain wheel configuration.
  • Fig. 3 schematically illustrates a block diagram of a system I for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention.
  • Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.
  • the system I or at least parts of the system is configured to be arranged on board the vehicle.
  • the system I comprises an electronic control unit 100.
  • the system I comprises means 1 10 for determining the operational situation of said vehicle.
  • the means 1 10 may be arranged on board the vehicle.
  • said means 1 10 for determining current operational situation during said drive of the vehicle comprises means 1 12 for determining intention to put the vehicle to a stop at a stop location along the route of the vehicle.
  • the stop location may be any suitable stop location where the vehicle may be put to a stop during drive along the route and where said stop of the vehicle requires certain manoeuvring involving steering.
  • the stop location may be a bus stop, any kind of parking place, a tank station, a docking station for e.g. loading/unloading of the vehicle or the like.
  • the means 1 12 for determining intention to put the vehicle to a stop at a stop location along the route of the vehicle map data of the route comprising map data of said intended stop location along which the vehicle is travelling and a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle.
  • GNSS Global Navigation satellite System
  • GPS global positioning system
  • said means 1 12 for determining intention of vehicle to stop at said bus stop may comprise means for determining intention of passenger to enter bus, e.g. any suitable detection means such as camera or the like and means for determining intention of passenger to leave bus, e.g. indicators such as buttons on the bus which when pressed indicates intention of passenger to leave the bus at an upcoming bus stop.
  • the vehicle may be a distribution vehicle and the route along which the vehicle is travelling may comprise a stop location where the distribution vehicle is intended to drive to a certain position for loading and/or unloading.
  • said means 1 10 for determining current operational situation during said drive of the vehicle comprises means 1 14 for determining intention to make a turn.
  • the means 1 14 for determining intention to make a turn may comprise means for determining activation of a blinker indicating intention to turn and in which direction to turn.
  • the means 1 14 for determining intention to make a turn may comprise stored information regarding planned route, map data of the route, e.g. road, along which the vehicle is travelling and a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle.
  • GNSS Global Navigation satellite System
  • the system I comprises means 120 for determining external conditions along the route of the vehicle.
  • the means 120 may be arranged on board the vehicle. Parts of the means 120 may be arranged externally to the vehicle.
  • Said external conditions may comprise one or more of: route conditions, e.g. route conditions, weather conditions, obstacles along the route, extension of the route.
  • Route conditions may be determined by means of any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact. Weather conditions may be determined by means of weather sensors comprising any suitable rain sensor e.g. arranged in connection to the windshield, any suitable temperature sensor, any suitable wind sensor. Weather conditions may be determined by means of external weather data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.
  • any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Route conditions may be
  • determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.
  • determined route conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other route conditions that may affect driving along the road.
  • Obstacles along the route may be determined by means of any suitable detector means comprising any suitable detector for detecting obstacles such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Extension of the route may be determined by means of any suitable detector means comprising any suitable detector for detecting extension of the route comprising curvature such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Extension of the route may be determined by means of a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle in during drive along said route and map data of the route, e.g. road, along which the vehicle is travelling.
  • GNSS Global Navigation satellite System
  • GPS Global Navigation satellite System
  • said means 120 for determining the external conditions along the route of the vehicle comprises means 122 for determining the configuration of said stop location.
  • Said means 122 for determining the configuration of said stop location may comprise any suitable detector means comprising any suitable detector for detecting the configuration of the stop location such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • said means 120 for determining the external conditions along the route of the vehicle comprises means 124 for determining a potential obstacle in connection to an intended turn.
  • Said means 124 for determining a potential obstacle in connection to an intended turn may comprise any suitable detector means comprising any suitable detector for detecting the obstacle such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • said means 120 for determining external conditions along the route of the vehicle comprises means 126 for determining route conditions affecting driveability and/or manoeuvrability.
  • the means 126 for determining route conditions may comprise any suitable detector means comprising any suitable detector for detecting the surface of the route, e.g.
  • Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.
  • the system I further comprises means 130 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.
  • the means 130 is arranged on board the vehicle. According to an embodiment of the system I the means 130 for taking measures based on said determined operational situation and said determined external conditions comprises means 132 for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.
  • Said means 132 for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle is arranged to automatically control steering of said steerable wheels by means of the steering control means of the vehicle.
  • said means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means 132a for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.
  • the steerable wheels are according to an embodiment arranged to be controlled by said means 132a such that the vehicle is put to a stop at said stop location avoiding the front overhang of the vehicle extending over the stop location so as to avoid the risk of colliding with an obstacle, e.g.
  • said means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises means 132b for controlling said steerable wheels so as to avoid collision with said potential obstacle.
  • the means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions is arranged to control said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or is arranged to control said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.
  • Said means 132 automatically controlling said steerable wheels is according to an embodiment arranged to be automatically activated based on said determined operational situation and said determined external conditions.
  • Said means 132 automatically controlling said steerable wheels is according to an embodiment arranged to be activated during drive of the vehicle.
  • the means 130 for taking measures based on said determined operational situation and said determined external conditions comprises means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.
  • Said means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment visual means for visual presentation.
  • the visual means for visual presentation comprises according to an embodiment one or more display units/displays on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said recommendation to the operator of the vehicle for steering of said steerable wheels.
  • Said means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels comprises according to an embodiment sound means for audible presentation.
  • Said sound means may comprise a voice message or the like for audibly presenting recommendation to the operator of the vehicle for steering of said steerable wheels.
  • Said sound means may comprise an alarm in order to get the attention of the operator of the vehicle.
  • Said presentation means comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the recommendation to the operator of the vehicle for steering of said steerable wheels.
  • the tactile means may be a complement to the visual means and/or the sound means in order to get the attention of the operator of the vehicle.
  • the system I comprises activation means 140 for activating said means 132 for automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions.
  • Said means 140 for activating said means 132 for automatically controlling said steerable wheels may comprise any suitable activation member accessible for the operator of the vehicle such as a switch or the like. The operator of the vehicle may then, based on said presented recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means, activate said means 132 for automatically controlling said steerable wheels by means of said activation means 140.
  • Said means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels may comprise a recommendation to activate said means 132 automatically controlling said steerable wheels.
  • the electronic control unit 100 is operably connected to the means 1 10 for determining the operational situation of said vehicle via a link 10.
  • the electronic control unit 100 is via the link 10 arranged to receive a signal from said means 1 10 representing data about operational situation of said vehicle during drive of the vehicle.
  • the electronic control unit 100 is operably connected to the means 1 12 for determining intention to put the vehicle to a stop at a stop location along the route of the vehicle via a link 12.
  • the electronic control unit 100 is via the link 12 arranged to receive a signal from said means 1 12 representing data about intention to put the vehicle to a stop at a stop location along the route of the vehicle.
  • the electronic control unit 100 is operably connected to the means 1 14 for determining intention to make a turn via a link 14.
  • the electronic control unit 100 is via the link 14 arranged to receive a signal from said means 1 14 representing data about intention to make a turn.
  • the electronic control unit 100 is operably connected to the means 120 for determining the external conditions along the route of the vehicle via a link 20.
  • the electronic control unit 100 is via the link 20 arranged to receive a signal from said means 120 representing data about the external conditions along the route of the vehicle.
  • the electronic control unit 100 is operably connected to the means 122 for determining the configuration of a stop location at which the vehicle intends to stop via a link 22.
  • the electronic control unit 100 is via the link 22 arranged to receive a signal from said means 122 representing data about configuration of stop location.
  • the electronic control unit 100 is operably connected to the means 124 for determining a potential obstacle in connection to an intended turn via a link 24.
  • the electronic control unit 100 is via the link 24 arranged to receive a signal from said means 124 representing data about an obstacle in connection to an intended turn.
  • the electronic control unit 100 is operably connected to the means 126 for determining route conditions affecting driveability and/or manoeuvrability via a link 26.
  • the electronic control unit 100 is via the link 26 arranged to receive a signal from said means 126 representing data about determining route conditions affecting driveability and/or manoeuvrability.
  • the electronic control unit 100 is operably connected to the means 130 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle via a link 30a.
  • the electronic control unit 100 is via the link 30a arranged to send a signal to said means 130 representing data about determined operational situation.
  • the electronic control unit 100 is operably connected to the means 130 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle via a link 30b.
  • the electronic control unit 100 is via the link 30b arranged to send a signal to said means 130 representing data about determined external conditions.
  • the electronic control unit 100 is operably connected to the means 132 for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle via a link 32.
  • the electronic control unit 100 is via the link 32 arranged to send a signal to said means 132 representing data about automatically controlling steering of said steerable wheels.
  • the electronic control unit 100 is operably connected to the means 134 for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle via a link 34.
  • the electronic control unit 100 is via the link 34 arranged to send a signal to said means 134 representing data about recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means.
  • the electronic control unit 100 is operably connected to the means 140 for activating said means 132 for automatically controlling said steerable wheels via a link 40.
  • the electronic control unit 100 is via the link 40 arranged to receive a signal from said means 140 representing data about activating said means 132 for automatically controlling said steerable wheels.
  • Fig. 4 schematically illustrates a block diagram of a method for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention.
  • Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.
  • the method for controlling steering of a vehicle during drive of the vehicle comprises a step S1 .
  • the current operational situation during said drive of the vehicle is determined by means of operational situation determining means.
  • the method for controlling steering of a vehicle during drive of the vehicle comprises a step S2.
  • external conditions along the route of the vehicle are determined by means of external condition determining means.
  • Said external conditions comprise one or more of: route conditions, weather conditions, obstacles along the route, extension of the route.
  • the method for controlling steering of a vehicle during drive of the vehicle comprises a step S3.
  • measures are taken based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.
  • the stop location may be any suitable stop location where the vehicle may be put to a stop during drive along the route and where said stop of the vehicle requires certain manoeuvring involving steering.
  • the stop location may be a bus stop, any kind of parking place, a tank station, a docking station for e.g. loading/unloading of the vehicle or the like.
  • Said external conditions may comprise one or more of: route conditions, e.g. route conditions, weather conditions, obstacles along the route, extension of the route.
  • route conditions e.g. route conditions, weather conditions, obstacles along the route, extension of the route.
  • Route conditions may be determined by means of any suitable detector means on board the vehicle comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars. Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.
  • any suitable detector means on board the vehicle comprising any suitable detector for detecting the surface of the route, e.g. road, along which the vehicle is travelling such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Route conditions may be determined by means of external data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.
  • Weather conditions may be determined by means of weather sensors on board the vehicle comprising any suitable rain sensor e.g. arranged in connection to the windshield, any suitable temperature sensor, any suitable wind sensor. Weather conditions may be determined by means of external weather data from any external provider/server with which the vehicle, i.e. a control unit/server unit or the like of the vehicle, may establish contact.
  • determined weather conditions may comprise rain and extent of rain, snow and extent of snow, current temperature, wind conditions or the like.
  • determined route conditions may comprise slippery road due to e.g. ice on the road, snow on the road, oil on the road, gravel on the road, water on the road, curves of the road or other route conditions that may affect driving along the route and thus steering of said steerable wheels.
  • Obstacles along the route may be determined by means of any suitable detector means on board the vehicle comprising any suitable detector for detecting obstacles such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Extension of the route may be determined by means of any suitable detector means comprising any suitable detector for detecting extension of the route comprising curvature such as one or more cameras and/or one or more laser scanners and/or one or more radars.
  • Extension of the route may be determined by means of a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for determining the position of the vehicle in during drive along said route and map data of the route, e.g. road, along which the vehicle is travelling.
  • GNSS Global Navigation satellite System
  • GPS Global Navigation satellite System
  • a suitable control of said steerable wheels of said at least one wheel axle is determined based on said determined operational situation and said determined external conditions.
  • said operational situation and said external conditions are analysed so as to determine whether said steerable wheels of said at least one wheel axle should be controlled and, if so, how they should be controlled.
  • said operational situation and said external conditions are analysed so as to determine whether a control means for automatically controlling said steerable wheels of said at least one wheel axle should be activated.
  • the step S3 of taking measures based on said determined operational situation and said determined external conditions comprises the step of automatically controlling, by means of said steering control means, steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.
  • the step S3 of taking measures based on said determined operational situation and said determined external conditions comprises the step of presenting, by means of presentation means, a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.
  • Said presentation means comprises according to an embodiment visual means for visual presentation such as one or more display units/displays on e.g. the instrument panel, a head-up-display on the windshield or the like, for displaying said recommendation to the operator of the vehicle for steering of said steerable wheels.
  • Said presentation means comprises according to an embodiment sound means for audible presentation such as a voice message or the like for audibly presenting recommendation to the operator of the vehicle for steering of said steerable wheels, an alarm in order to get the attention of the operator of the vehicle or the like.
  • Said presentation means comprises according to an embodiment tactile means such as vibrating/moving the seat of the operator, the steering wheel, the gas pedal, the brake pedal or the like so as to draw attention to the operator of the recommendation to the operator of the vehicle for steering of said steerable wheels.
  • said determined current operational situation during said drive of the vehicle comprises determined intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle
  • the step S2 of determining the external conditions along the route of the vehicle comprises determining the configuration of said stop location
  • the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.
  • said determined current operational situation during said drive of the vehicle comprises determined intention to make a turn
  • the step S2 of determining the external conditions along the route of the vehicle comprises determining a potential obstacle in connection to said intended turn
  • the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so as to avoid collision with said potential obstacle.
  • said determined external conditions along the route of the vehicle comprises determined route conditions affecting driveability and/or manoeuvrability, wherein the step of automatically controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprises controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.
  • Apparatus 500 comprises a non- volatile memory 520, a data processing device 510 and a read/write memory 550.
  • Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500.
  • apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown).
  • Non-volatile memory 520 also has a second memory portion 540.
  • a computer program P comprising routines for controlling steering of a vehicle during drive of the vehicle according to an embodiment of the present invention.
  • Said vehicle has at least one wheel axle with steerable wheels steerable by steering control means separated from a steering wheel mechanism actuated by the steering wheel of the vehicle.
  • the program P comprises routines for determining the current operational situation during said drive of the vehicle.
  • the program P comprises routines for determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions, weather conditions, obstacles along the route, extension of the route.
  • the program P comprises routines for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.
  • the routines for taking measures based on said determined operational situation and said determined external conditions comprises routines for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.
  • the routines for taking measures based on said determined operational situation and said determined external conditions comprises routines for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.
  • the routines for determining current operational situation during said drive of the vehicle comprise routines for determining intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle.
  • the routines for determining external conditions along the route of the vehicle comprise routines for determining the configuration of said stop location.
  • the routines for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.
  • the routines for determining current operational situation during said drive of the vehicle comprise routines for determining intention to make a turn.
  • the routines for determining external conditions along the route of the vehicle comprise routines for determining a potential obstacle in connection to said intended turn.
  • the routines for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so as to avoid collision with said potential obstacle.
  • the routines for determining external conditions along the route of the vehicle comprise routines for determining route conditions affecting driveability and/or manoeuvrability.
  • the routines for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.
  • the computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
  • Data processing device 510 may communicate with a data communications port 599 by means of a data bus 516.
  • Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 513.
  • Separate memory 560 is adapted for communication with data processing device 510 via a data bus 51 1 .
  • Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 515. To the data communications port 599 e.g. the links connected to the control units 100 may be connected.
  • data processing device 510 When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above.
  • the signals received on data port 599 can be used by apparatus 500 for determining the current operational situation during said drive of the vehicle.
  • the signals received on data port 599 can be used by apparatus 500 for determining external conditions along the route of the vehicle, said external conditions comprising one or more of: route conditions, weather conditions, obstacles along the route, extension of the route.
  • the signals received on data port 599 can be used by apparatus 500 for taking measures based on said determined operational situation and said determined external conditions so as to facilitate controlling steering of said steerable wheels of said at least one wheel axle.
  • the signals used for taking measures based on said determined operational situation and said determined external conditions comprises signals for automatically controlling steering of said steerable wheels of said at least one wheel axle so as to facilitate manoeuvring of the vehicle.
  • the signals used for taking measures based on said determined operational situation and said determined external conditions comprises signals for presenting a recommendation to the operator of the vehicle for steering of said steerable wheels of said at least one wheel axle by means of said steering control means so as to facilitate manoeuvring of the vehicle.
  • the signals used for determining current operational situation during said drive of the vehicle comprise signals for determining intention to put the vehicle to a stop at a stop location, for example a bus stop, along the route of the vehicle.
  • the signals used for determining external conditions along the route of the vehicle comprise signals for determining the configuration of said stop location.
  • the signals used for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise signals for controlling said steerable wheels so as to facilitate putting the vehicle to a stop at said stop location.
  • the signals used for determining current operational situation during said drive of the vehicle comprise signals for determining intention to make a turn.
  • the signals used for determining external conditions along the route of the vehicle comprise signals for determining a potential obstacle in connection to said intended turn.
  • the signals used for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise signals for controlling said steerable wheels so as to avoid collision with said potential obstacle.
  • the signals used for determining external conditions along the route of the vehicle comprise routines for determining route conditions affecting driveability and/or manoeuvrability.
  • the signals used for controlling said steerable wheels of said at least one wheel axle based on said determined operational situation and said determined external conditions comprise routines for controlling said steerable wheels so that they are essentially following the same track as wheels of other wheel axle of the vehicle or controlling said steerable wheels so that they are not following the same wheel tracks as wheels of other wheel axle of the vehicle so as to distribute the vehicle weight during drive depending on said determined route conditions.
  • Parts of the methods described herein can be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

La présente invention concerne un procédé de commande de direction d'un véhicule (V2) lors de la conduite du véhicule, ledit véhicule ayant au moins un essieu de roue (X2) avec des roues directrices (W2L, W2R) orientables par des moyens de commande de direction (SC) séparés d'un mécanisme de volant actionné par le volant du véhicule. Le procédé comprend l'étape consistant à: déterminer la situation de fonctionnement actuelle pendant ladite conduite du véhicule; déterminer des conditions externes le long de l'itinéraire (R) du véhicule; et prendre des mesures sur la base de ladite situation de fonctionnement déterminée et desdites conditions externes déterminées de manière à faciliter la commande de direction desdites roues directrices (W2L, W2R) dudit au moins un essieu de roue (X2). La présente invention concerne également un système de commande de direction d'un véhicule (V1; V2) pendant la conduite du véhicule. La présente invention porte également sur un programme informatique et sur un support lisible par ordinateur.
PCT/SE2018/050385 2017-05-04 2018-04-17 Procédé et système de commande de direction d'un véhicule WO2018203792A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201880028316.8A CN110573409B (zh) 2017-05-04 2018-04-17 用于控制车辆的转向的方法和系统
EP18794785.8A EP3619094A4 (fr) 2017-05-04 2018-04-17 Procédé et système de commande de direction d'un véhicule
KR1020197034764A KR20200003392A (ko) 2017-05-04 2018-04-17 차량의 조향 제어 방법 및 시스템

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1750541-3 2017-05-04
SE1750541A SE541566C2 (en) 2017-05-04 2017-05-04 Method and system for controlling steering of a vehicle

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WO2018203792A1 true WO2018203792A1 (fr) 2018-11-08

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JPS5926366A (ja) * 1982-08-02 1984-02-10 Honda Motor Co Ltd 車両の操舵装置
JPS59220459A (ja) * 1983-05-27 1984-12-11 Mazda Motor Corp ４輪操舵の操舵角表示装置
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SE1750541A1 (en) 2018-11-05
CN110573409B (zh) 2022-08-02
SE541566C2 (en) 2019-11-05
KR20200003392A (ko) 2020-01-09
CN110573409A (zh) 2019-12-13
EP3619094A1 (fr) 2020-03-11
EP3619094A4 (fr) 2021-01-20

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