A vehicle steering arrangement (1) for a vehicle (3) is provided, comprising a rack (5) a position sensor (7), a steering column (9), a steering wheel (11), a torque sensor (15) arranged to sense a torque applied onto the steering wheel (11) and arranged to provide a torque signal representative thereof, an electronic control unit (17) provided with a virtual steering model, a rack-mounted electromechanical actuator (19), and a force obtaining arrangement (22) configured to obtain forces of steered wheels (13) acting on the rack (5). The electronic control unit (17) is configured to provide a virtual rack position based on the virtual steering model and at least a combination of the obtained forces and the torque signal, and arranged to control the rack-mounted electromechanical actuator (19) such that the current position of the rack (5) is controlled towards the virtual rack position. The present disclosure also relates to an autonomous vehicle steering arrangement (29), a vehicle (3) and a method (100) of steering a vehicle (3).
VEHICLE STEERING ARRANGEMENT, AUTONOMOUS VEHICLE STEERING ARRANGEMENT, A VEHICLE, AND A METHOD OF STEERING A VEHICLE
FAHRZEUGLENKANORDNUNG, AUTONOME FAHRZEUGLENKANORDNUNG, FAHRZEUG UND VERFAHREN ZUM LENKEN EINES FAHRZEUGS
DISPOSITIF DE DIRECTION DE VÉHICULE, DISPOSITIF DE DIRECTION DE VÉHICULE AUTONOME, VÉHICULE ET PROCÉDÉ DE DIRECTION D'UN VÉHICULE
2018-10-24
Patent
Electronic Resource
English
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