DK180545B1 - Electric power steering torque compensation - Google Patents

Electric power steering torque compensation Download PDF

Info

Publication number
DK180545B1
DK180545B1 DKPA201970163A DKPA201970163A DK180545B1 DK 180545 B1 DK180545 B1 DK 180545B1 DK PA201970163 A DKPA201970163 A DK PA201970163A DK PA201970163 A DKPA201970163 A DK PA201970163A DK 180545 B1 DK180545 B1 DK 180545B1
Authority
DK
Denmark
Prior art keywords
vehicle
torque signal
steering angle
steering
data
Prior art date
Application number
DKPA201970163A
Other languages
Danish (da)
English (en)
Inventor
Wu Ning
Andersen Hans
SECCAMONTE Francesco
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 to CN202080002941.2A priority Critical patent/CN112166068B/zh
Priority to KR1020217006172A priority patent/KR102619281B1/ko
Priority to KR1020207032609A priority patent/KR102223836B1/ko
Priority to DE112020000572.0T priority patent/DE112020000572T5/de
Priority to GB2017176.5A priority patent/GB2585318B/en
Priority to PCT/IB2020/050714 priority patent/WO2020157683A1/en
Priority to CN202210603800.7A priority patent/CN115071811A/zh
Priority to US16/776,422 priority patent/US11014606B2/en
Priority to GB2115652.6A priority patent/GB2604690B/en
Publication of DK201970163A1 publication Critical patent/DK201970163A1/en
Priority to US17/328,905 priority patent/US20210347408A1/en
Application granted granted Critical
Publication of DK180545B1 publication Critical patent/DK180545B1/en

Links

Classifications

    • 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

Landscapes

  • 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)
DKPA201970163A 2019-01-29 2019-03-14 Electric power steering torque compensation DK180545B1 (en)

Priority Applications (10)

Application Number Priority Date Filing Date Title
KR1020217006172A KR102619281B1 (ko) 2019-01-29 2020-01-29 전동 조향 토크 보상
KR1020207032609A KR102223836B1 (ko) 2019-01-29 2020-01-29 전동 조향 토크 보상
DE112020000572.0T DE112020000572T5 (de) 2019-01-29 2020-01-29 Drehmomentkompensation einer elektrischen servolenkung
GB2017176.5A GB2585318B (en) 2019-01-29 2020-01-29 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
CN202210603800.7A 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
US16/776,422 US11014606B2 (en) 2019-01-29 2020-01-29 Electric power steering torque compensation
GB2115652.6A GB2604690B (en) 2019-01-29 2020-01-29 Electric power steering torque compensation
US17/328,905 US20210347408A1 (en) 2019-01-29 2021-05-24 Electric power steering torque compensation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201962798419P 2019-01-29 2019-01-29

Publications (2)

Publication Number Publication Date
DK201970163A1 DK201970163A1 (en) 2020-08-05
DK180545B1 true DK180545B1 (en) 2021-06-17

Family

ID=71898693

Family Applications (1)

Application Number Title Priority Date Filing Date
DKPA201970163A DK180545B1 (en) 2019-01-29 2019-03-14 Electric power steering torque compensation

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

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP4483330B2 (ja) * 2004-02-16 2010-06-16 株式会社ジェイテクト 電動パワーステアリング装置
JP2007326499A (ja) * 2006-06-08 2007-12-20 Toyota Motor Corp 操舵装置
JP4419997B2 (ja) * 2006-08-28 2010-02-24 トヨタ自動車株式会社 電動パワーステアリング装置
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
JP5365607B2 (ja) * 2010-11-10 2013-12-11 トヨタ自動車株式会社 操舵装置
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
JP6515754B2 (ja) * 2015-09-08 2019-05-22 トヨタ自動車株式会社 車両の操舵反力制御装置
KR20170093493A (ko) * 2016-02-05 2017-08-16 주식회사 만도 횡풍을 보상하는 조향장치 및 조향제어방법
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
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
CN115071811A (zh) 2022-09-20
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
GB202115652D0 (en) 2021-12-15
GB2585318B (en) 2021-12-15
GB2604690B (en) 2023-06-14

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Date Code Title Description
PAT Application published

Effective date: 20200730

PME Patent granted

Effective date: 20210617