GB2585318B - Electric power steering torque compensation - Google Patents

Electric power steering torque compensation Download PDF

Info

Publication number
GB2585318B
GB2585318B GB2017176.5A GB202017176A GB2585318B GB 2585318 B GB2585318 B GB 2585318B GB 202017176 A GB202017176 A GB 202017176A GB 2585318 B GB2585318 B GB 2585318B
Authority
GB
United Kingdom
Prior art keywords
electric power
power steering
steering torque
torque compensation
compensation
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.)
Active
Application number
GB2017176.5A
Other languages
English (en)
Other versions
GB202017176D0 (en
GB2585318A (en
Inventor
Andersen Hans
Wu Ning
SECCAMONTE Francesco
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 to GB2115652.6A priority Critical patent/GB2604690B/en
Priority claimed from PCT/IB2020/050714 external-priority patent/WO2020157683A1/en
Publication of GB202017176D0 publication Critical patent/GB202017176D0/en
Publication of GB2585318A publication Critical patent/GB2585318A/en
Application granted granted Critical
Publication of GB2585318B publication Critical patent/GB2585318B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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)
GB2017176.5A 2019-01-29 2020-01-29 Electric power steering torque compensation Active GB2585318B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2115652.6A GB2604690B (en) 2019-01-29 2020-01-29 Electric power steering torque compensation

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962798419P 2019-01-29 2019-01-29
DKPA201970163A DK180545B1 (en) 2019-01-29 2019-03-14 Electric power steering torque compensation
PCT/IB2020/050714 WO2020157683A1 (en) 2019-01-29 2020-01-29 Electric power steering torque compensation

Publications (3)

Publication Number Publication Date
GB202017176D0 GB202017176D0 (en) 2020-12-16
GB2585318A GB2585318A (en) 2021-01-06
GB2585318B true GB2585318B (en) 2021-12-15

Family

ID=71898693

Family Applications (2)

Application Number Title Priority Date Filing Date
GB2115652.6A Active GB2604690B (en) 2019-01-29 2020-01-29 Electric power steering torque compensation
GB2017176.5A Active GB2585318B (en) 2019-01-29 2020-01-29 Electric power steering torque compensation

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB2115652.6A Active GB2604690B (en) 2019-01-29 2020-01-29 Electric power steering torque compensation

Country Status (5)

Country Link
KR (2) KR102619281B1 (ko)
CN (2) CN115071811A (ko)
DE (1) DE112020000572T5 (ko)
DK (1) DK180545B1 (ko)
GB (2) GB2604690B (ko)

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
KR20230155571A (ko) 2022-01-18 2023-11-10 야마하 로보틱스 홀딩스 가부시키가이샤 피가공물 홀딩 시스템 및 피가공물 홀딩 장치

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080047775A1 (en) * 2006-08-28 2008-02-28 Toyota Jidosha Kabushiki Kaisha Electric power steering device, and control method thereof
WO2018038108A1 (ja) * 2016-08-26 2018-03-01 日本精工株式会社 電動パワーステアリング装置の制御装置
WO2018084190A1 (ja) * 2016-11-07 2018-05-11 日本精工株式会社 電動パワーステアリング装置
US20180186406A1 (en) * 2015-06-30 2018-07-05 Hitachi Automotive Systems, Ltd. Power steering apparatus control device and power steering apparatus
US20180346021A1 (en) * 2017-05-31 2018-12-06 Ford Global Technologies, Llc Methods and apparatus for virtual torsion bar steering controls

Family Cites Families (18)

* 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
JP2006501094A (ja) * 2002-07-31 2006-01-12 ダイムラークライスラー・アクチェンゲゼルシャフト 操舵トルクを決定する方法
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
KR101285052B1 (ko) * 2008-12-26 2013-07-10 도요타 지도샤（주） 차량의 주행 지원 장치
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
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
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 (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080047775A1 (en) * 2006-08-28 2008-02-28 Toyota Jidosha Kabushiki Kaisha Electric power steering device, and control method thereof
US20180186406A1 (en) * 2015-06-30 2018-07-05 Hitachi Automotive Systems, Ltd. Power steering apparatus control device and power steering apparatus
WO2018038108A1 (ja) * 2016-08-26 2018-03-01 日本精工株式会社 電動パワーステアリング装置の制御装置
WO2018084190A1 (ja) * 2016-11-07 2018-05-11 日本精工株式会社 電動パワーステアリング装置
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
KR20200133390A (ko) 2020-11-27
CN112166068B (zh) 2022-06-14
KR20210110558A (ko) 2021-09-08
CN115071811A (zh) 2022-09-20
KR102619281B1 (ko) 2023-12-28
CN112166068A (zh) 2021-01-01
GB202115652D0 (en) 2021-12-15
GB202017176D0 (en) 2020-12-16
GB2585318A (en) 2021-01-06
GB2604690B (en) 2023-06-14
DK201970163A1 (en) 2020-08-05
DE112020000572T5 (de) 2021-12-02
DK180545B1 (en) 2021-06-17
GB2604690A (en) 2022-09-14
KR102223836B1 (ko) 2021-03-08

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