Steering system for wheeled land vehicle

Abstract

A wheeled vehicle is steered by a yoke or other operator control the movement of which is limited so that the operator's hands need not change position on the control. The steering is under the control of a microprocessor responsive to an input from the control, the vehicle's speedometer, and to accelerometers responsive to forces acting on the vehicle laterally and perpendicular to the roadway. The relationship between the position of the steerable wheels and the displacement of, or force applied to, the operator control is a function that depends on the magnitude of the displacement or force, speed, and one or more time derivatives of the displacement of, or force on, the operator control. The relationship between the position of the steerable wheels and the displacement of, or force on, the control is overridden when the lateral force is such that the vehicle is in danger of rolling over.

What is claimed is: 
     
         1 . In a wheeled vehicle having a set of steered wheels, each of said wheels being steerable through any angle within a limited angular range about a steering axis, a steering system comprising actuator means connected to said steered wheels for steering each of said steered wheels, a yoke rotatable about an axis of rotation and having manually graspable areas on opposite sides of said axis of rotation, and wherein the rotation of said yoke is limited to a range of approximately 90° in both directions from a neutral position, an encoder connected to and operable by said yoke and providing an output which is a function of angular displacement of said yoke, a vehicle speed sensor for sensing speed of travel of the vehicle, a control unit connected to receive the output of said encoder and an output of said vehicle speed sensor, said control unit including a microprocessor and providing a driving output for driving said actuator means, wherein the relationship between said angle about which each of said steered wheels is steered about the steering axis of the last-mentioned one of said steered wheels by said actuator means to the magnitude of angular displacement of said yoke is a variable dependent upon at least one independent variable including the speed of travel of the vehicle as sensed by said vehicle speed sensor. 
     
     
         2 . In a wheeled vehicle having a set of steered wheels, each of said wheels being steerable through any angle within a limited angular range about a steering axis, a steering system comprising actuator means connected to said steered wheels for steering each of said steered wheels, a manual operator control configured to be graspable by at least one of an operator's left and right hands, an encoder connected to and operable by said manual operator control and providing an output which is a function of an input applied to said manual operator control, said input being the displacement of, or a force applied manually to, said manual operator control, and a control unit connected to receive said output of the encoder and arranged to provide a driving output for control of said actuator means, wherein the magnitude of said input applied to said manual operator control is able to change with time so that said magnitude has a time derivative, and wherein the relationship between said angle about which each of said steered wheels is steered about the steering axis of the last mentioned one of said steered wheels to the magnitude of the input applied to the manual operator control is a variable dependent, at least in part, upon the magnitude of said input, and upon said time derivative of the magnitude of said input. 
     
     
         3 . The wheeled vehicle according to  claim 2 , wherein said magnitude of said input applied to said manual operator control has both said time derivative and a second time derivative, and wherein the relationship between said angle about which each of said steered wheels is steered about the steering axis of the last mentioned one of said steered wheels to the magnitude of the input applied to the manual operator control is a variable dependent, at least in part, upon the magnitude of said input, upon said derivative of the magnitude of said input, and upon said second time derivative of the magnitude of said input. 
     
     
         4 . The vehicle according to  claim 2 , wherein said manual operator control is a yoke rotatable about an axis of rotation and having manually graspable areas on opposite sides of said axis of rotation. 
     
     
         5 . The vehicle according to  claim 2 , wherein said manual operator control is a yoke rotatable about an axis of rotation and having manually graspable areas on opposite sides of said axis of rotation, and wherein the rotation of said yoke is limited to a range of approximately 90° in both directions from a neutral position. 
     
     
         6 . The vehicle according to  claim 2 , wherein said manual operator control is a yoke rotatable about an axis of rotation and having areas configured to be grasped manually by an operator's hands, said areas being respectively on opposite sides of said axis of rotation, and wherein the rotation of the yoke is limited to a range such that when said areas of the yoke are respectively grasped by an operator's hands, said areas remain at all times substantially on respective opposite sides of an imaginary plane in which said axis of rotation lies. 
     
     
         7 . The vehicle according to  claim 2 , including means for measuring roll torque acting on said vehicle, and wherein said control unit includes a microprocessor programmed to override said driving output of the control unit when the magnitude of roll torque acting on said vehicle as a result of lateral acceleration of the vehicle exceeds a value that is below a rollover threshold by a predetermined amount. 
     
     
         8 . The vehicle according to  claim 2 , including a first accelerometer arranged to provide an accelerometer output representative of the magnitude of the force acting on the vehicle in a lateral direction, and a second accelerometer arranged to provide an accelerometer output representative of the magnitude of the force acting on the vehicle in a direction perpendicular to said lateral direction, both said accelerometers being connected to deliver their accelerometer outputs to said control unit, and wherein said control unit includes a microprocessor programmed to override said driving output of the control unit when the magnitudes of said forces are such that torque acting on said vehicle as a result of said forces exceeds a value that is below a rollover threshold by a predetermined amount. 
     
     
         9 . The vehicle according to  claim 2 , including an accelerometer arranged to measure roll torque acting on said vehicle, and wherein said control unit includes a microprocessor responsive to an output of said accelerometer and programmed to override said driving output of the control unit when the magnitude of roll torque acting on said vehicle as a result of lateral acceleration of the vehicle exceeds a value that is below a rollover threshold by a predetermined amount. 
     
     
         10 . In a wheeled vehicle having a set of steered wheels, each of said wheels being steerable through any angle within a limited angular range about a steering axis, a steering system comprising an actuator connected to said steered wheels for steering each of said steered wheels, a manual operator control configured to be graspable by at least one of an operator's left and right hands, an encoder connected to and operable by said manual operator control and providing an output which is a function of an input applied to said manual operator control, said input being the displacement of, or a force applied manually to, said manual operator control, and a control unit connected to receive said output of the encoder and arranged to provide a driving output for control of said actuator, wherein the magnitude of said input applied to said manual operator control is able to change with time so that said magnitude has a time derivative, and wherein the relationship between said angle about which each of said steered wheels is steered about the steering axis of the last mentioned one of said steered wheels to the magnitude of the input applied to the manual operator control is a variable dependent, at least in part, upon the magnitude of said input, and upon said time derivative of the magnitude of said input. 
     
     
         11 . The wheeled vehicle according to  claim 10 , wherein said magnitude of said input applied to said manual operator control has both said time derivative and a second time derivative, and wherein the relationship between said angle about which each of said steered wheels is steered about the steering axis of the last mentioned one of said steered wheels to the magnitude of the input applied to the manual operator control is a variable dependent, at least in part, upon the magnitude of said input, upon said derivative of the magnitude of said input, and upon said second time derivative of the magnitude of said input. 
     
     
         12 . The vehicle according to  claim 10 , wherein said manual operator control is a yoke rotatable about an axis of rotation and having manually graspable areas on opposite sides of said axis of rotation. 
     
     
         13 . The vehicle according to  claim 10 , wherein said manual operator control is a yoke rotatable about an axis of rotation and having manually graspable areas on opposite sides of said axis of rotation, and wherein the rotation of said yoke is limited to a range of approximately 90° in both directions from a neutral position. 
     
     
         14 . The vehicle according to  claim 10 , wherein said manual operator control is a yoke rotatable about an axis of rotation and having areas configured to be grasped manually by an operator's hands, said areas being respectively on opposite sides of said axis of rotation, and wherein the rotation of the yoke is limited to a range such that when said areas of the yoke are respectively grasped by an operator's hands, said areas remain at all times substantially on respective opposite sides of an imaginary plane in which said axis of rotation lies. 
     
     
         15 . The vehicle according to  claim 10 , including means for measuring roll torque acting on said vehicle, and wherein said control unit includes a microprocessor programmed to override said driving output of the control unit when the magnitude of roll torque acting on said vehicle as a result of lateral acceleration of the vehicle exceeds a value that is below a rollover threshold by a predetermined amount. 
     
     
         16 . The vehicle according to  claim 10 , including a first accelerometer arranged to provide an accelerometer output representative of the magnitude of the force acting on the vehicle in a lateral direction, and a second accelerometer arranged to provide an accelerometer output representative of the magnitude of the force acting on the vehicle in a direction perpendicular to said lateral direction, both said accelerometers being connected to deliver their accelerometer outputs to said control unit, and wherein said control unit includes a microprocessor programmed to override said driving output of the control unit when the magnitudes of said forces are such that torque acting on said vehicle as a result of said forces exceeds a value that is below a rollover threshold by a predetermined amount. 
     
     
         17 . The vehicle according to  claim 10 , including an accelerometer arranged to measure roll torque acting on said vehicle, and wherein said control unit includes a microprocessor responsive to an output of said accelerometer and programmed to override said driving output of the control unit when the magnitude of roll torque acting on said vehicle as a result of lateral acceleration of the vehicle exceeds a value that is below a rollover threshold by a predetermined amount.