Vehicle steering system and method for controlling a steering angle of a vehicle wheel
The invention relates to a vehicle steering system comprising a steering wheel, a first and a second steering assembly. The steering assemblies each comprise a steering linkage mechanically connected to a road wheel and a support motor. The steering wheel is configured to control a steering angle of a first road wheel via a first support motor actuating a first steering linkage. A processing circuitry is configured to receive, from the first steering assembly, input signals comprising one or more steering parameter values measured for the first steering assembly. Based on the received first input signals, the processing circuitry is configured to calculate a desired steering angle of a second road wheel and to send control signals to a second support motor so as to actuate a second steering linkage such that the desired steering angle of the second road wheel is obtained. A method is also disclosed.
1. A vehicle steering system, comprising:
a steering wheel,
a first steering assembly, comprising:
a first steering linkage mechanically connected to a first road wheel at a first end of a wheel axle, and
a first support motor operatively connected to the steering wheel and the first steering linkage,
wherein the steering wheel is configured to control a steering angle of the first road wheel via the first support motor actuating the first steering linkage,
a second steering assembly, comprising:
a second steering linkage mechanically connected to a second road wheel at a second end of the wheel axle, and
a second support motor operatively connected to the second steering linkage,
wherein each of the first road wheel and the second road wheel is mechanically independent of the other such that an adjustment of a steering angle of the second road wheel does not affect the steering angle of the first road wheel,
a connecting member assembly, comprising:
a central joint,
a first connecting member extending from the first steering assembly to one side of the central joint, and
a second connecting member extending from the second steering assembly to another side of the central joint,
wherein:
the first connecting member and the second connecting member are movable relative to each other in the central joint, and
the central joint is a rotation joint for enabling relative rotational movement in the central joint between the first connecting member and the second connecting member when a relative angle between a first steering angle and a second steering angle changes, and
a processing circuitry configured to adjust a relative steering angle between the first road wheel and the second road wheel by being configured to:
receive, from the first steering assembly, first input signals, the first input signals comprising one or more steering parameter values measured for the first steering assembly,
based on the received first input signals and a vehicle speed, calculate a desired steering angle of the second road wheel, and
send control signals to the second support motor so as to actuate the second steering linkage such that the desired steering angle of the second road wheel is obtained.
2. The vehicle steering system of claim 1 , wherein the processing circuitry is configured to also base its calculations of the desired steering angle on a current or a desired vehicle operating condition other than the vehicle speed.
3. The vehicle steering system of claim 1 , wherein the processing circuitry comprises or has communicative access to an electronic memory in which a set of rules is stored, wherein each rule is associated with one or more predefined vehicle operating conditions,
wherein, for a certain current or desired vehicle operating condition, the processing circuitry is configured to also base its calculations of the desired steering angle on a rule associated with the certain current or desired vehicle operating condition.
4. The vehicle steering system of claim 1 , wherein the processing circuitry is configured to:
receive from the second steering assembly second input signals, the second input signals comprising one or more current steering parameter values measured for the second steering assembly, and
control the second support motor, by the control signals, also based on the received second input signals.
5. The vehicle steering system of claim 4 , wherein the one or more current steering parameter values measured for the second steering assembly are at least one of:
a steering gear angle of a gear of the second support motor directly or indirectly engaged with the second steering linkage,
a steering torque provided by the second support motor to the second steering linkage, and
a force measured in the second steering linkage.
6. The vehicle steering system of claim 1 , wherein the one or more steering parameter values measured for the first steering assembly are at least one of:
a steering gear angle of a gear of the first support motor directly or indirectly engaged with the first steering linkage,
a steering torque provided by the first support motor to the first steering linkage, and
a force measured in the first steering linkage.
7. The vehicle steering system of claim 1 , wherein the first support motor is an electric or hydraulic support motor, and wherein the second support motor is an electric or hydraulic support motor.
8. The vehicle steering system of claim 1 , wherein the processing circuitry is configured to calculate the desired steering angle so as to allow adaptation for at least one of:
shunting,
cornering,
bump and brake steer compensation,
toe in or toe out compensation, and
Ackerman angle control.
9. A vehicle comprising:
a vehicle steering system, comprising:
a steering wheel,
a first steering assembly, comprising:
a first steering linkage mechanically connected to a first road wheel at a first end of a wheel axle, and
a first support motor operatively connected to the steering wheel and the first steering linkage,
wherein the steering wheel is configured to control a steering angle of the first road wheel via the first support motor actuating the first steering linkage,
a second steering assembly, comprising:
a second steering linkage mechanically connected to a second road wheel at a second end of the wheel axle, and
a second support motor operatively connected to the second steering linkage,
wherein each of the first road wheel and the second road wheel is mechanically independent of the other such that an adjustment of a steering angle of the second road wheel does not affect the steering angle of the first road wheel,
a connecting member assembly, comprising:
a central joint,
a first connecting member extending from the first steering assembly to one side of the central joint, and
a second connecting member extending from the second steering assembly to another side of the central joint,
wherein:
the first connecting member and the second connecting member are movable relative to each other in the central joint, and
the central joint is a rotation joint for enabling relative rotational movement in the central joint between the first connecting member and the second connecting member when a relative angle between a first steering angle and a second steering angle changes, and
a processing circuitry configured to adjust a relative steering angle between the first road wheel and the second road wheel by being configured to:
receive, from the first steering assembly, first input signals, the first input signals comprising one or more steering parameter values measured for the first steering assembly,
based on the received first input signals and a vehicle speed, calculate a desired steering angle of the second road wheel, and
send control signals to the second support motor so as to actuate the second steering linkage such that the desired steering angle of the second road wheel is obtained.
10. A method for controlling a steering angle of a vehicle wheel, the method being implemented in a vehicle steering system which comprises:
a first steering assembly, comprising:
a first steering linkage mechanically connected to a first road wheel at a first end of a wheel axle, and
a first support motor operatively connected to a steering wheel and the first steering linkage,
wherein the steering wheel is configured to control a steering angle of the first road wheel via the first support motor actuating the first steering linkage,
a second steering assembly, comprising:
a second steering linkage mechanically connected to a second road wheel at a second end of the wheel axle, and
a second support motor operatively connected to the second steering linkage,
wherein each of the first road wheel and the second road wheel is mechanically independent of the other such that an adjustment of a steering angle of the second road wheel does not affect the steering angle of the first road wheel, and
a connecting member assembly, comprising:
a central joint,
a first connecting member extending from the first steering assembly to one side of the central joint, and
a second connecting member extending from the second steering assembly to another side of the central joint,
wherein:
the first connecting member and the second connecting member are movable relative to each other in the central joint, and
the central joint is a rotation joint for enabling relative rotational movement in the central joint between the first connecting member and the second connecting member when a relative angle between a first steering angle and a second steering angle changes,
the method comprising adjusting a relative steering angle between the first road wheel and the second road wheel by:
receiving from the first steering assembly first input signals, the first input signals comprising one or more steering parameter values measured for the first steering assembly,
calculating, based on the received first input signals and a vehicle speed, a desired steering angle of the second road wheel, and
sending control signals to the second support motor so as to actuate the second steering linkage such that the desired steering angle of the second road wheel is obtained.