Uncommanded steering detection
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United States of America Patent
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Feb 7, 2017
Grant Date -
Jan 5, 2017
app pub date -
Jun 30, 2015
filing date -
Jun 30, 2015
priority date (Note) -
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status (Latency Note)
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Abstract
Uncommanded steering detection in a machine can be performed by comparing commanded and actual steering positions of an electro-hydraulic steering cylinder along with a velocity of movement of the cylinder to understand a steering error and whether the actual steering position is moving toward the commanded steering position. A steering error, when above a predetermined threshold, may be cumulatively summed and, if the cumulative sum exceeds a predetermined limit, an alarm may be triggered and the machine may be forced to a safe state (slowed or stopped). The steering error for the actual steering position may be increased if the velocity of movement is not toward the commanded steering position so that the alarm will be triggered sooner. In either case, the response of the machine to steering uncommanded motion will be swifter when the uncommanded motion is more severe (greater error and/or steering in the wrong direction).
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