CN115071811A - 计算机实现的方法、运载工具和非暂时性计算机可读介质 - Google Patents

计算机实现的方法、运载工具和非暂时性计算机可读介质 Download PDF

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Publication number
CN115071811A
CN115071811A CN202210603800.7A CN202210603800A CN115071811A CN 115071811 A CN115071811 A CN 115071811A CN 202210603800 A CN202210603800 A CN 202210603800A CN 115071811 A CN115071811 A CN 115071811A
Authority
CN
China
Prior art keywords
vehicle
torque signal
steering angle
data
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210603800.7A
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English (en)
Chinese (zh)
Inventor
乌宁
H·安德森
F·塞卡蒙特
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Motional AD LLC
Original Assignee
Motional AD LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Motional AD LLC filed Critical Motional AD LLC
Priority claimed from PCT/IB2020/050714 external-priority patent/WO2020157683A1/en
Publication of CN115071811A publication Critical patent/CN115071811A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0024—Variable gains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN202210603800.7A 2019-01-29 2020-01-29 计算机实现的方法、运载工具和非暂时性计算机可读介质 Pending CN115071811A (zh)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US201962798419P 2019-01-29 2019-01-29
US62/798,419 2019-01-29
DKPA201970163 2019-03-14
DKPA201970163A DK180545B1 (en) 2019-01-29 2019-03-14 Electric power steering torque compensation
CN202080002941.2A CN112166068B (zh) 2019-01-29 2020-01-29 电动助力转向扭矩补偿
PCT/IB2020/050714 WO2020157683A1 (en) 2019-01-29 2020-01-29 Electric power steering torque compensation

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN202080002941.2A Division CN112166068B (zh) 2019-01-29 2020-01-29 电动助力转向扭矩补偿

Publications (1)

Publication Number Publication Date
CN115071811A true CN115071811A (zh) 2022-09-20

Family

ID=71898693

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202210603800.7A Pending CN115071811A (zh) 2019-01-29 2020-01-29 计算机实现的方法、运载工具和非暂时性计算机可读介质
CN202080002941.2A Active CN112166068B (zh) 2019-01-29 2020-01-29 电动助力转向扭矩补偿

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CN202080002941.2A Active CN112166068B (zh) 2019-01-29 2020-01-29 电动助力转向扭矩补偿

Country Status (5)

Country Link
KR (2) KR102223836B1 (de)
CN (2) CN115071811A (de)
DE (1) DE112020000572T5 (de)
DK (1) DK180545B1 (de)
GB (2) GB2585318B (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230192036A1 (en) * 2021-12-22 2023-06-22 Motional Ad Llc Acoustic emission based device control
JPWO2023139633A1 (de) 2022-01-18 2023-07-27

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JP2005225421A (ja) * 2004-02-16 2005-08-25 Koyo Seiko Co Ltd 電動パワーステアリング装置
CN101134471A (zh) * 2006-08-28 2008-03-05 丰田自动车株式会社 电动转向设备及其控制方法
JP2012101677A (ja) * 2010-11-10 2012-05-31 Toyota Motor Corp 操舵装置
CN106494497A (zh) * 2015-09-08 2017-03-15 丰田自动车株式会社 车辆的操舵反力控制装置
KR20170093493A (ko) * 2016-02-05 2017-08-16 주식회사 만도 횡풍을 보상하는 조향장치 및 조향제어방법
US20180346021A1 (en) * 2017-05-31 2018-12-06 Ford Global Technologies, Llc Methods and apparatus for virtual torsion bar steering controls

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JP3580860B2 (ja) * 1994-07-18 2004-10-27 富士重工業株式会社 自動操舵装置
US6625530B1 (en) * 2000-11-06 2003-09-23 Delphi Technologies, Inc. Feed forward—feed back control for steer-by-wire system
ES2314251T3 (es) * 2002-07-31 2009-03-16 Daimler Ag Procedimiento para la determinacion del par de fuerza de un volante de direccion.
JP4294389B2 (ja) * 2003-06-18 2009-07-08 本田技研工業株式会社 車両用操舵装置
JP2007326499A (ja) * 2006-06-08 2007-12-20 Toyota Motor Corp 操舵装置
WO2010073400A1 (ja) * 2008-12-26 2010-07-01 トヨタ自動車株式会社 車両の走行支援装置
KR101604093B1 (ko) * 2009-11-11 2016-03-16 엘지이노텍 주식회사 차량의 조향인식을 위한 센서 보정장치
KR101924497B1 (ko) * 2011-09-06 2018-12-04 현대모비스 주식회사 차선 유지 장치 및 방법
GB201118620D0 (en) * 2011-10-27 2011-12-07 Jaguar Cars Improvements in closed loop EPAS system
JP2013193490A (ja) * 2012-03-16 2013-09-30 Nsk Ltd 電動パワーステアリング装置
KR101954058B1 (ko) * 2012-09-03 2019-03-05 현대모비스 주식회사 보상토크 산출 장치 및 방법
KR101539081B1 (ko) * 2014-05-28 2015-07-24 현대모비스 주식회사 전동식 파워 스티어링 시스템의 프릭션 보상 장치 및 방법
JP6578143B2 (ja) * 2015-06-30 2019-09-18 日立オートモティブシステムズ株式会社 パワーステアリング装置の制御装置及びパワーステアリング装置
GB2549328A (en) * 2016-04-15 2017-10-18 Jaguar Land Rover Ltd Vehicle steering system
CN109641618A (zh) * 2016-08-26 2019-04-16 日本精工株式会社 电动助力转向装置的控制装置
EP3489114B1 (de) * 2016-11-07 2020-10-21 NSK Ltd. Elektrische servolenkvorrichtung
JP2018081002A (ja) * 2016-11-16 2018-05-24 トヨタ自動車株式会社 操舵シミュレーション装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005225421A (ja) * 2004-02-16 2005-08-25 Koyo Seiko Co Ltd 電動パワーステアリング装置
CN101134471A (zh) * 2006-08-28 2008-03-05 丰田自动车株式会社 电动转向设备及其控制方法
JP2012101677A (ja) * 2010-11-10 2012-05-31 Toyota Motor Corp 操舵装置
CN106494497A (zh) * 2015-09-08 2017-03-15 丰田自动车株式会社 车辆的操舵反力控制装置
KR20170093493A (ko) * 2016-02-05 2017-08-16 주식회사 만도 횡풍을 보상하는 조향장치 및 조향제어방법
US20180346021A1 (en) * 2017-05-31 2018-12-06 Ford Global Technologies, Llc Methods and apparatus for virtual torsion bar steering controls

Also Published As

Publication number Publication date
CN112166068B (zh) 2022-06-14
GB2585318A (en) 2021-01-06
GB202017176D0 (en) 2020-12-16
KR20210110558A (ko) 2021-09-08
KR102223836B1 (ko) 2021-03-08
KR20200133390A (ko) 2020-11-27
KR102619281B1 (ko) 2023-12-28
GB2604690A (en) 2022-09-14
DK201970163A1 (en) 2020-08-05
CN112166068A (zh) 2021-01-01
DE112020000572T5 (de) 2021-12-02
DK180545B1 (en) 2021-06-17
GB202115652D0 (en) 2021-12-15
GB2585318B (en) 2021-12-15
GB2604690B (en) 2023-06-14

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