Control system for a road vehicle and relative control method
Control system for a road vehicle comprising a first joystick provided with a first lever and with first sensor elements to detect a kinematic value or a force imparted by the driver along a first direction and a second direction; and/or a second joystick provided with a second lever and with second sensor elements to detect the kinematic value or the force imparted along the first direction and the second direction; a control unit configured to control the steering of the road vehicle as a function of the kinematic value or of the force detected by the first lever and/or by the second lever along the first direction; and the attitude of the road vehicle as a function of the kinematic value or of the force detected by the first sensor elements and/or the second sensor elements along the second direction.
1 . Control system ( 12 ) for a road vehicle ( 1 ); the system comprises:
a first joystick ( 13 ), which in turn comprises a first lever ( 14 ) configured to be grasped by the right hand of a driver of the road vehicle ( 1 ); wherein the first joystick ( 13 ) comprises first sensor elements ( 15 ) for detecting a kinematic value or a force imparted by the driver to the first lever ( 14 ) along at least a first direction (TD) and a second direction (LD); or
a second joystick ( 16 ), which in turn comprises a second lever ( 17 ) configured to be grasped by the left hand of the driver of the road vehicle ( 1 ); wherein the second joystick ( 16 ) comprises second sensor elements ( 18 ) for detecting the kinematic value or the force imparted by the driver to the second lever ( 17 ) along at least the first direction (TD) and the second direction (LD); or the combination of first joystick ( 13 ) and second joystick ( 16 );
a control unit ( 19 ) configured to adjust a motion of the road vehicle ( 1 ) according to the kinematic value or the force imparted by the driver to the first lever ( 14 ) or the second lever ( 17 ); or the combination of first lever ( 14 ) and second lever ( 17 );
the control system ( 12 ) wherein: the control unit ( 19 ) is configured to control:
the steering of the road vehicle ( 1 ) as a function of the kinematic value or the force detected by the first sensor elements ( 15 ) or the second sensor elements ( 18 ) or the combination of first sensor elements ( 15 ) and second sensor elements ( 18 ) in the first direction (TD); and
the attitude or the yaw of the road vehicle ( 1 ) as a function of the kinematic value or the force detected by the first sensor elements ( 15 ) or the second sensor elements ( 18 ) or combination of first sensor elements ( 15 ) and second sensor elements ( 18 ) along the second direction (LD).
2 . System ( 12 ) according to claim 1 , wherein the first direction (TD) extends along a transverse axis (Y) of the road vehicle ( 1 ) and the second direction (LD) extends along a longitudinal axis (X) of the road vehicle ( 1 ); in particular, wherein the first direction (TD) and the second direction (LD) are perpendicular to each other.
3 . System ( 12 ) according to claim 1 , wherein the kinematic value is the angular position of the first lever ( 14 ) or second lever ( 17 ) or combination of first lever ( 14 ) and second lever ( 17 ) about a spherical node (K).
4 . System ( 12 ) according to claim 1 , wherein the first joystick ( 13 ) and the second joystick ( 16 ) comprise actuator systems ( 20 ) configured to impart to one between the first and second levers ( 17 ) a command corresponding to that imparted by the driver on the other between the second lever ( 17 ) and first lever ( 14 ).
5 . System ( 12 ) according to claim 1 , wherein the first lever ( 14 ) and the second lever ( 17 ) are configured to be actuated with analogous verse along the first direction (TD).
6 . System ( 12 ) according to claim 1 , wherein the first lever ( 14 ) and the second lever ( 17 ) are configured to be actuated with opposite verse along the second direction (LD).
7 . System ( 12 ) according to claim 1 , wherein the control unit ( 19 ) is configured to control the motion of the road vehicle ( 1 ) to correspond a steering angle (δ) of to an angular position or a value of force impressed by the driver on the first lever ( 14 ) or the second lever ( 17 ) or combination of first lever ( 14 ) and second lever ( 17 ) along the first direction (TD).
8 . System ( 12 ) according to claim 1 , wherein the control unit ( 19 ) is configured to control the motion of the road vehicle ( 1 ) to correspond an attitude angle (β) or a yaw angle to an angular position or a value of force impressed by the driver on the first lever ( 14 ) or the second lever ( 17 ) or combination of first lever ( 14 ) and second lever ( 17 ) along the second direction (LD).
9 . Road vehicle ( 1 ) comprising
four wheels ( 2 , 3 ), at least two of which are drive wheels;
a power train system ( 4 ) configured to deliver torque to the drive wheels ( 2 , 3 );
the road vehicle ( 1 ) comprising a control system ( 12 ) according to claim 1 .
10 . Control method for a road vehicle ( 1 ) comprising the steps of:
detecting, by means of first sensor elements ( 15 ) or second sensor elements ( 18 ) or combination of first sensor elements ( 15 ) and second sensor elements ( 18 ), a kinematic value or a force imparted by the driver along at least a first direction (TD) and a second direction (LD) to a first lever ( 14 ) of a first joystick ( 13 ) or to a second lever ( 17 ) of a second joystick ( 16 ) or combination of first lever ( 14 ) of first joystick ( 13 ) and second lever ( 17 ) of second joystick ( 16 ); wherein the first lever ( 14 ) is grasped by the right hand of a driver of the road vehicle ( 1 ) or the second lever ( 17 ) is grasped by the left hand of the driver; or combination of the first lever ( 14 ) is grasped by the right hand of a driver of the road vehicle ( 1 ) and the second lever ( 17 ) is grasped by the left hand of the driver;
adjusting the motion of the road vehicle ( 1 ) according to the kinematic value or the force imparted by the driver to the first lever ( 14 ) or the second lever ( 17 ) or combination of first lever ( 14 ) and second lever ( 17 );
the method of control comprises the further steps of:
controlling the steering of the road vehicle ( 1 ) according to the kinematic value or the force detected by the first sensor elements ( 15 ) or the second sensor elements ( 18 ) or combination of first sensor elements ( 15 ) and second sensor elements ( 18 ) along the first direction (TD); and
controlling the attitude or the yaw of the road vehicle ( 1 ) according to the kinematic value or the force detected by the first sensor elements ( 15 ) or the second sensor elements ( 18 ) or combination of first sensor elements ( 15 ) and second sensor elements ( 18 ) along the second direction (LD).
11 . Method according to claim 10 wherein, as a function of the kinematic value or the force imparted by the driver along the first direction (TD), a steering angle (δ) of the vehicle ( 1 ) is controlled.
12 . Method according to claim 10 wherein, depending on the kinematic value or the force imparted by the driver along the second direction (LD), an attitude angle (β) of the road vehicle ( 1 ) is controlled while driving, such that the angle (β) of attitude is a function of the kinematic value or the force imparted to the first lever ( 14 ) or the second lever ( 17 ) or combination of first lever ( 14 ) and second lever ( 17 ) along the second direction (LD).
13 . Method according to claim 12 and comprising the further steps of:
determining a desired attitude angle (β) as a function of the kinematic value or the force imparted to the first lever or second lever ( 17 ) or combination of first lever ( 14 ) and second lever ( 17 ) along the second direction (LD); and
piloting the generation of the driving or braking torque to at least one of the driving wheels ( 2 , 3 ) in order to impart the desired attitude angle (β) to the road vehicle ( 1 ) during cornering.
14 . A method according to claim 10 , and comprising the further step of imparting, to one between the first lever ( 14 ) and the second lever ( 17 ), a command corresponding to the command imparted by the driver on the other between the second lever ( 17 ) and the first lever ( 14 ).
15 . Method according to claim 10 , wherein the first lever ( 14 ) and the second lever ( 17 ) are actuated with analogous verse along the first direction (TD); and wherein the first lever ( 14 ) and the second lever ( 17 ) are actuated with opposite verse along the second direction (LD).