US 9,809,249 B2
Device for the steering assistance of a vehicle combination
Barbara Boehm, Heidelberg (DE); Rainer Gugel, Plankstadt (DE); Norbert Fritz, Ilvesheim (DE); and Marco Reinards, Gruenstadt (DE)
Assigned to DEERE & COMPANY, Moline, IL (US)
Filed by DEERE & COMPANY, Moline, IL (US)
Filed on Mar. 29, 2016, as Appl. No. 15/83,739.
Claims priority of application No. 10 2015 204 892 (DE), filed on Mar. 18, 2015.
Prior Publication US 2016/0339951 A1, Nov. 24, 2016
Int. Cl. B62D 6/00 (2006.01); B62D 13/00 (2006.01); A01B 59/00 (2006.01); B60D 1/00 (2006.01); B62D 11/00 (2006.01); B62D 6/02 (2006.01); B62D 11/02 (2006.01); B62D 12/02 (2006.01)
CPC B62D 6/005 (2013.01) [B62D 6/02 (2013.01); B62D 11/00 (2013.01); B62D 11/02 (2013.01); B62D 12/02 (2013.01); B62D 13/005 (2013.01); B60Y 2200/221 (2013.01); B60Y 2300/28 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A device for the steering assistance of a vehicle combination having a towing vehicle and an attached implement which swivels on the towing vehicle at a rear coupling point, wherein the implement has wheels that are arranged on opposite sides and that can be acted on by the control of corresponding individual wheel drives independent of one another and with a driving torque comprising:
an electronic control unit configured to apply a yawing moment to the implement by the asymmetrical control of the individual wheel drives in such a way that a transverse force exerted on the towing vehicle via the rear coupling point builds up in the sense of the attainment of a pre-specified steering behavior of the vehicle combination,
wherein proceeding from a real value of a steering angle magnitude, which gives a wheel steering angle, assumed on steerable wheels of the towing vehicle, the electronic control unit determines a theoretical course of a curve path to be traversed, and
wherein the application of the yawing moment takes place by the asymmetrical control of the individual wheel drives in accordance with the determined theoretical course.