Secondary steering system unit, secondary steering system, vehicle and a method for secondary steering
View Patent ↗A vehicle, a method, a secondary steering system unit and a secondary steering system are provided. The secondary steering system unit comprises: a fault determination arrangement arranged to determine the presence of a fault in the main steering system and a path controller arranged to generate an upcoming path for the host vehicle. The secondary steering system unit is arranged to steer the host vehicle along the path by differential braking upon determination that a fault is present in the main steering system. Furthermore, the secondary steering system is arranged to control the differential braking in dependence of both a yaw torque acting on the host vehicle as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by the associated wheel suspension scrub radius.
1. A secondary steering system unit for a host vehicle having autonomous steering capabilities including a main steering system having a steering actuator for providing an overlay torque to the main steering system to steer at least one pair of host vehicle steerable wheels, the host vehicle further having a brake system including a respective wheel brake associated with a respective vehicle wheel that is suspended by a respective wheel suspension, the host vehicle further including one or more sensors and a communication arrangement for acquiring vehicle surrounding information, the secondary steering system unit comprising:
a fault determination arrangement to determine a presence of a fault in the main steering system; and
a path controller to generate an upcoming path for the host vehicle based on at least one of information received from the one or more sensors and information received via the communication arrangement;
wherein the secondary steering system unit is operable to steer the host vehicle along the upcoming path by activation of differential braking of at least one wheel brake upon determination that a fault is present in the main steering system, and wherein the secondary steering system unit is operable to control the differential braking in dependence of both:
a yaw torque acting on the host vehicle as a result of the differential braking and
a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by an associated wheel suspension scrub radius.
2. A secondary steering system comprising host vehicle wheels, wheel suspension, wheel brakes, and the secondary steering system unit according to claim 1 .
3. The secondary steering system according to claim 2 wherein the scrub radius is positive.
4. The secondary steering system according to claim 3 wherein the scrub radius is at least 10 millimeters.
5. The secondary steering system according to claim 3 wherein the scrub radius is at least 20 millimeters.
6. The secondary steering system according to claim 3 wherein the scrub radius is at least 30 millimeters.
7. The secondary steering system according to claim 3 wherein the scrub radius is selected to cause a toe-out effect on a host vehicle wheel that is differentially braked.
8. The secondary steering system according to claim 2 wherein the wheel suspension comprises double wishbones.
9. The secondary steering system according to claim 2 wherein the scrub radius is negative or approximately zero.
10. The secondary steering system according to claim 9 further comprising a steering angle control arrangement configured to keep a current steering wheel angle during differential braking.
11. The secondary steering system according to claim 8 wherein the steering angle control arrangement comprises at least one of a friction element and a spring configured to keep the current steering wheel angle during differential braking.
12. A vehicle comprising a secondary steering system unit according to claim 1 .
13. A vehicle comprising a secondary steering system according to claim 2 .
14. A method for secondary steering of a host vehicle by a secondary steering system, wherein the host vehicle has autonomous steering capabilities and includes a main steering system with a steering actuator for providing an overlay torque to the main steering system to steer at least one pair of host vehicle steerable wheels, the host vehicle further having a brake system including a respective wheel brake associated with a respective vehicle wheel that is suspended by a respective wheel suspension, the host vehicle further including one or more sensors and a communication arrangement for acquiring vehicle surrounding information, the secondary steering system including a fault determination arrangement configured to determine a presence of a fault in the main steering system and a path controller configured to generate an upcoming path for the host vehicle based on at least one of information received from the one or more sensors and information received via the communication arrangement, the secondary steering system being operable to steer the host vehicle along the upcoming path by activation of differential braking of at least one wheel brake upon determination that a fault is present in the main steering system, the method comprising:
controlling, by the secondary steering system, the differential braking in dependence of a yaw torque acting on the host vehicle as a result of the differential braking; and
simultaneously controlling, by the secondary steering system, the differential braking in dependence of a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by an associated wheel suspension scrub radius.
15. A method for secondary steering of a host vehicle by a secondary steering system, wherein the host vehicle has autonomous steering capabilities and includes a main steering system with a steering actuator for providing an overlay torque to the main steering system to steer at least one pair of host vehicle steerable wheels, the host vehicle further having a brake system including a respective wheel brake associated with a respective vehicle wheel that is suspended by a respective wheel suspension, the host vehicle further including one or more sensors and a communication arrangement for acquiring vehicle surrounding information, the method comprising:
determining, by a fault determination arrangement of the secondary steering system, a presence of a fault in the main steering system;
generating, by a path controller of the secondary steering system, an upcoming path for the host vehicle based on at least one of information received from the one or more sensors and information received via the communication arrangement;
steering, by the secondary steering system, the host vehicle along the upcoming path by activation of differential braking of at least one wheel brake upon determination that a fault is present in the main steering system; and
controlling, by the secondary steering system, the differential braking based on: 1) a yaw torque acting on the host vehicle as a result of the differential braking and 2) a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by an associated wheel suspension scrub radius.