GB2604690B - Electric power steering torque compensation - Google Patents

Electric power steering torque compensation Download PDF

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Publication number
GB2604690B
GB2604690B GB2115652.6A GB202115652A GB2604690B GB 2604690 B GB2604690 B GB 2604690B GB 202115652 A GB202115652 A GB 202115652A GB 2604690 B GB2604690 B GB 2604690B
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
GB2115652.6A
Other languages
English (en)
Other versions
GB202115652D0 (en
GB2604690A (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
Publication of GB202115652D0 publication Critical patent/GB202115652D0/en
Publication of GB2604690A publication Critical patent/GB2604690A/en
Application granted granted Critical
Publication of GB2604690B publication Critical patent/GB2604690B/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)
GB2115652.6A 2019-01-29 2020-01-29 Electric power steering torque compensation Active GB2604690B (en)

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

Publications (3)

Publication Number Publication Date
GB202115652D0 GB202115652D0 (en) 2021-12-15
GB2604690A GB2604690A (en) 2022-09-14
GB2604690B true GB2604690B (en) 2023-06-14

Family

ID=71898693

Family Applications (2)

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

Family Applications Before (1)

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

Country Status (5)

Country Link
KR (2) KR102223836B1 (ko)
CN (2) CN115071811A (ko)
DE (1) DE112020000572T5 (ko)
DK (1) DK180545B1 (ko)
GB (2) GB2585318B (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
CN116783033A (zh) 2022-01-18 2023-09-19 雅马哈智能机器控股株式会社 工件保持系统及工件保持装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6625530B1 (en) * 2000-11-06 2003-09-23 Delphi Technologies, Inc. Feed forward—feed back control for steer-by-wire system
US20040256171A1 (en) * 2003-06-18 2004-12-23 Honda Motor Co., Ltd. Steering apparatus for vehicle
GB2496299A (en) * 2011-10-27 2013-05-08 Jaguar Cars Improvements in closed loop EPAS systems
US20150344065A1 (en) * 2014-05-28 2015-12-03 Hyundai Mobis Co., Ltd. Device and method for compensating friction of a motor driven power 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

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
US7433768B2 (en) * 2002-07-31 2008-10-07 Daimler Ag Method for determining a steering-wheel torque
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
EP2374693B1 (en) * 2008-12-26 2015-08-26 Toyota Jidosha Kabushiki Kaisha Driving support system of vehicle
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
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
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
JP6504322B2 (ja) * 2016-11-07 2019-04-24 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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6625530B1 (en) * 2000-11-06 2003-09-23 Delphi Technologies, Inc. Feed forward—feed back control for steer-by-wire system
US20040256171A1 (en) * 2003-06-18 2004-12-23 Honda Motor Co., Ltd. Steering apparatus for vehicle
GB2496299A (en) * 2011-10-27 2013-05-08 Jaguar Cars Improvements in closed loop EPAS systems
US20150344065A1 (en) * 2014-05-28 2015-12-03 Hyundai Mobis Co., Ltd. Device and method for compensating friction of a motor driven power 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

Also Published As

Publication number Publication date
GB2585318A (en) 2021-01-06
KR20200133390A (ko) 2020-11-27
DE112020000572T5 (de) 2021-12-02
KR102619281B1 (ko) 2023-12-28
GB202115652D0 (en) 2021-12-15
GB2604690A (en) 2022-09-14
DK180545B1 (en) 2021-06-17
CN112166068A (zh) 2021-01-01
GB202017176D0 (en) 2020-12-16
DK201970163A1 (en) 2020-08-05
KR102223836B1 (ko) 2021-03-08
CN115071811A (zh) 2022-09-20
GB2585318B (en) 2021-12-15
CN112166068B (zh) 2022-06-14
KR20210110558A (ko) 2021-09-08

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