SE542744C2 - Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle - Google Patents

Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle

Info

Publication number
SE542744C2
SE542744C2 SE1851368A SE1851368A SE542744C2 SE 542744 C2 SE542744 C2 SE 542744C2 SE 1851368 A SE1851368 A SE 1851368A SE 1851368 A SE1851368 A SE 1851368A SE 542744 C2 SE542744 C2 SE 542744C2
Authority
SE
Sweden
Prior art keywords
steering
steerable wheels
electric power
vehicle
angle
Prior art date
Application number
SE1851368A
Other versions
SE1851368A1 (en
Inventor
Malte Rothhämel
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851368A priority Critical patent/SE542744C2/en
Priority to DE102019006855.6A priority patent/DE102019006855A1/en
Publication of SE1851368A1 publication Critical patent/SE1851368A1/en
Publication of SE542744C2 publication Critical patent/SE542744C2/en

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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
    • 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
    • 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
    • B62D15/021—Determination of steering angle
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/06—Steering behaviour; Rolling behaviour
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/023—Determination of steering angle by measuring on the king pin
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present invention relates to a method performed by a control device (100) for facilitating estimating the steering angle of the steerable wheels (LW, RW) of a vehicle (V). The vehicle (V) comprises a steering system (HSS) for steering the steerable wheels (LW, RW) of the vehicle (V). The steering system comprises a steering wheel (SW), an electric power steering arrangement (EPS) operably connected to the steering wheel (SW), a hydraulic power steering arrangement (HPS) operably connected to the electric power steering arrangement (EPS) and the steerable wheels (LW, RW) of the vehicle (V). The method comprises the steps of, during a calibration process: detecting the wheel angle of the steerable wheels (LW, RW) by means of one or more angle detectors (110) arranged in connection to the steerable wheels (LW, RW); collecting calibration information comprising: detecting the steering angle associated with the electric power steering arrangement (EPS); detecting the steering wheel torque; and detecting the torque associated with the electric power steering arrangement (EPS); and, by means of a model (M) for the steering system (HSS), correlating the thus collected calibration information with the actual detected wheel angels of the steerable wheels (LW, RW).The present invention also relates to a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle. The present invention also relates to a computer program and a computer readable medium.

Description

METHOD AND CONTROL DEVICE FOR FACILITATING ESTIMATING THE STEERING ANGLE OF THE STEERABLE WHEELS OF A VEHICLE TECHNICAL FIELD The invention relates to a method performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle. The invention also relates to a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle. The invention also relates to a vehicle. The invention in addition relates to a computer program and a computer readable medium.
BACKGROUND ART Hydraulic power steering arrangements (HPS) are state of the art in heavy vehicles such as trucks. In order to facilitate steering of the vehicle such as facilitating autonomous drive, i.e. the vehicle overtaking steering from the driver during certain periods/passages, steering systems in which such a hydraulic power steering arrangement is combined with an electric power steering arrangement (EPS) have been provided. Such a steering system may be denoted hybrid steering system or electro-hydraulic hybrid steering system.
A problem with such hybrid steering systems is that all electronics is situated on the driver side of the hydraulic power steering. This is an advantage for driver-controlled driving, influencing e.g. steering feel or assisting the driver. However, in autonomous controlled mode the important value for controlling steering of the vehicle is the steering angle of the steerable wheels. Utilizing angle sensors in connection to the steerable wheels would facilitate accurately detecting the steering angle of the steerable wheels. However, such a solution is not desired e.g. due to costs for such angle sensors and due to the environment in connection to the steerable wheels, which may be rough for such sensors depending on external conditions.
There is thus a need for improving estimation of the steering angle of the steerable wheels of a vehicle having such a hybrid steering system.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle, which facilitates accurate and cost efficient determination of the steering angle.
Another object of the present invention is to provide a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle, which facilitates accurate and cost efficient determination of the steering angle.
Another object of the present invention is to provide a vehicle comprising such a control device.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method, a control device, a vehicle, a computer program and a computer readable medium, as set out in the appended independent claims. Preferred embodiments of the method and the control device are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle. The vehicle comprises a steering system for steering the steerable wheels of the vehicle. The steering system comprises a steering wheel, an electric power steering arrangement operably connected to the steering wheel, a hydraulic power steering arrangement operably connected to the electric power steering arrangement and the steerable wheels of the vehicle. The method comprises the steps of, during a calibration process: detecting the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels; collecting calibration information comprising: detecting the steering angle associated with the electric power steering arrangement; detecting the steering wheel torque; and detecting the torque associated with the electric power steering arrangement; and, by means of a model for the steering system, correlating the thus collected calibration information with the actual detected wheel angels of the steerable wheels.
By thus correlating such collected calibration information with actual detected wheel angels of the steerable wheels utilizing a model such as an artificial neural network accurate and cost efficient determination of the steering angle is facilitated in that information corresponding to such collected calibration information may be detected during vehicle operation as a basis for estimating the wheel angle of the steerable wheels by means of the model. Thus, hereby no angle sensors in connection to the steerable wheels are required in order to accurately estimate the steering angle, wherein safe autonomous drive may be obtained in a cost efficient way.
According to an embodiment the method comprises the step of, during vehicle operation, detecting information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model. Hereby no angle sensors in connection to the steerable wheels are required in order to accurately estimate the steering angle, wherein safe autonomous drive may be obtained in a cost efficient way According to an embodiment of the method the step of collecting calibration information further comprises collecting information comprising one or more of: detecting vehicle speed; detecting the steering angle velocity associated with the electric power steering arrangement; and detecting the steering wheel angle. Hereby an even more accurate estimation of the steering angle of the steerable wheels is facilitated.
According to an embodiment of the method the electric power steering arrangement comprises a torsion bar for operable connection to the steering wheel.
According to an embodiment of the method the hydraulic power steering arrangement comprises a torsion bar for operable connection to the electric power steering arrangement.
Specifically an object of the invention is achieved by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle. The vehicle comprises a steering system for steering the steerable wheels of the vehicle. The steering system comprises a steering wheel, an electric power steering arrangement operably connected to the steering wheel, a hydraulic power steering arrangement operably connected to the electric power steering arrangement and the steerable wheels of the vehicle., The control device is configured to, during a calibration process: detect the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels; collect calibration information comprising: detect the steering angle associated with the electric power steering arrangement; detect the steering wheel torque; and detect the torque associated with the electric power steering arrangement; and, by means of a model for the steering system, correlate the thus collected calibration information with the actual detected wheel angels of the steerable wheels.
According to an embodiment the control device is configured to, during vehicle operation, detect information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model.
According to an embodiment the control device, when collecting calibration information, further is configured to collect information comprising one or more of: detect vehicle speed; detect the steering angle velocity associated with the electric power steering arrangement; and detect the steering wheel angle.
According to an embodiment of the control device the electric power steering arrangement comprises a torsion bar for operable connection to the steering wheel.
According to an embodiment of the control device the hydraulic power steering arrangement comprises a torsion bar for operable connection to the electric power steering arrangement.
Specifically an object of the invention is achieved by a vehicle comprising a control device as set out herein.
Specifically an object of the invention is achieved by a computer program for facilitating estimating the steering angle of the steerable wheels of a vehicle, said computer program comprising program code which, when run on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to perform the steps as set out herein.
Specifically an object of the invention is achieved by a computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a plan view of a vehicle according to an embodiment of the present disclosure; Fig. 2 schematically illustrates a steering system for a vehicle according to an embodiment of the present disclosure; Fig. 3 schematically illustrates a block diagram of a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle according to an embodiment of the present disclosure; Fig. 4 schematically illustrates a block diagram of a method performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle according to an embodiment of the present disclosure; and Fig. 5 schematically illustrates a computer according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.
Herein the term “detecting the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels” may refer to detecting the wheel angle of only one of the steerable wheels of a pair of steerable wheels as a basis for the wheel angle of both steerable wheels of the pair of steerable wheels. Herein the term “detecting the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels” may refer to detecting the wheel angle of both the steerable wheels of a pair of steerable wheels. Thus, the term “detecting the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels” refers to detecting the wheel angle of at least one of the steerable wheels.
Fig. 1 schematically illustrates a plan view of a vehicle V according to an embodiment of the present disclosure. The exemplified vehicle V is a commercial vehicle in the shape of a truck. The vehicle according to the present disclosure may be any suitable vehicle such as a bus or a car.
The vehicle V comprises an axle X1 with steerable wheels LW, RW. The axle X1 is a front axle X1 of the vehicle V. The steerable wheels LW, RW are the front wheels of the vehicle V. The vehicle V comprises a steering system HSS. The steering system HSS is a hybrid steering system comprising a steering wheel SW, an electric power steering arrangement operably connected to the steering wheel, a hydraulic power steering arrangement operably connected to the electric power steering arrangement and the steerable wheels LW, RW of the vehicle V. The hybrid steering system HSS is according to an embodiment a hybrid steering system HSS in accordance with the hybrid steering system described with reference to fig. 2.
The vehicle V may comprise a control device 100 for facilitating estimating the steering angle a of the steerable wheels LW, RW of a vehicle.
The vehicle V comprises, according to an embodiment, a control device 100 for facilitating estimating the steering angle of the steerable wheels LW, RW of corresponding to the control device 100 as described with reference to fig. 3.
The vehicle V comprises, according to an embodiment, a system I for facilitating estimating the steering angle of the steerable wheels of a vehicle, the control system according to an embodiment corresponding to the system I as described with reference to fig. 3.
The vehicle V is, according to an embodiment, arranged to be operated in accordance with a method M1 for facilitating estimating the steering angle of the steerable wheels of a vehicle according to fig. 4.
Fig. 2 schematically illustrates a steering system HSS for a vehicle according to an embodiment of the present disclosure.
The steering system HSS is a hybrid steering system. The steering system HSS comprises the steerable wheels LW, RW of the vehicle. The vehicle may be a vehicle in accordance with the vehicle V described with reference to fig. 1.
The steering system HSS comprises a steering wheel SW for steering the steerable wheels LW, RW. The steering system HSS comprises a steering column SC connected to the steering wheel SW.
The steering system HSS comprises an electric power steering arrangement EPS operably connected to the steering wheel SW via the steering column SC. The electric power steering arrangement EPS comprises a torsion bar TB1 for operable connection to the steering wheel SW. The torsion bar TB1 is operably connected to the steering wheel SW via the steering column SC.
The steering system HSS comprises a hydraulic power steering arrangement HPS. The hydraulic power steering arrangement HPS is operably connected to the electric power steering arrangement EPS. The hydraulic power steering arrangement HPS comprises a torsion bar TB2 for the operable connection to the electric power steering arrangement EPS.
The hydraulic power steering arrangement HPS comprises a steering gear G for providing speed and torque conversions to the steerable wheels LW, RW.
The steering system HSS comprises a link mechanism LM operably connected to the steerable wheels LW, RW of the vehicle. The link mechanism LM is operably connected to or comprised in the hydraulic power steering arrangement HPS. The link mechanism LM comprises the steering gear G. The steering gear G is configured to amplify torque transmitted from the steering wheel SW to the wheels RW, LW. For a heavy duty vehicle the steering gear SG is according to an embodiment arranged to amplify said torque at a ratio of about 20:1, e.g. in the range of 15:1 to 25:1.
The steering system HSS comprises or is operably connected to a control device 100 for facilitating estimating the steering angle of the steerable wheels LW, RW of the vehicle.
During a calibration process one or more angle detectors 110 are configured to be arranged in connection to the steerable wheels LW, RW. The one or more angle detectors 110 are configured to detect the wheel angle, i.e. steering angle, of the steerable wheels LW, RW of the vehicle during drive of the vehicle in connection to the calibration process. The calibration process thus relates to driving of the vehicle and is comprising turning of the vehicle for calibrating the vehicle. The calibration process may be performed during development of the vehicle.
The control device 100 is configured to be operably connected to the one or more angle detectors 110 during the calibration process so as to detect the wheel angle of the steerable wheels.
The steering system HSS comprises or is operably connected to an electric power steering arrangement steering angle detection device 121 for detecting the steering angle associated with the electric power steering arrangement.
The steering system HSS comprises or is operably connected to a steering wheel torque detection device 122 for detecting the torque associated with the steering wheel.
The steering system HSS comprises or is operably connected to an electric power steering arrangement torque detection device 123 for detecting the torque associated with the electric power steering arrangement.
The control device 100 is configured to, during the calibration process, by means of the detection devices 121, 122, 123, collect calibration information comprising: detect the steering angle associated with the electric power steering arrangement; detect the steering wheel torque; and detect the torque associated with the electric power steering arrangement.
The steering system HSS may comprise or be operably connected to a vehicle speed detection device 124 for detecting the vehicle speed.
The steering system HSS may comprise or be operably connected to an electric power steering arrangement steering angle velocity detection device 125 for detecting the steering angle velocity associated with the electric power steering arrangement.
The steering system HSS may comprise or be operably connected to a steering wheel angle detection device 126 for detecting the steering angle associated with the steering wheel.
The control device 100 may further be configured to, during the calibration process, collect calibration information comprising one or more of: detect the vehicle speed by means of the detection device 124; detect the steering angle velocity associated with the electric power steering arrangement by means of the detection device 125; and detect the steering wheel angle by means of the detection device 126.
The steering system HSS comprises or is operably connected to a model M. The model M may be any suitable model, which may be based on any suitable types of algorithms. The model M is according to an embodiment an artificial neural network.
The control device 100 may comprise or be operably connectable to the model M.
The control device 100 is configured to, during the calibration process, by means of the model M for the steering system HSS, correlate the thus collected calibration information with the actual detected wheel angels of the steerable wheels detected by means of the one or more angle detectors 110.
After the calibration process the one or more angle detectors 110 arranged in connection to the steerable wheels LW, RW are removed. Thus, during normal vehicle operation relating to driving of the vehicle comprising turning of the vehicle by means of changing the angle of the steerable wheels LW, RW there are no angle detectors in connection to the steerable wheels LW, RW.
According to an embodiment the control device 100 is configured to, during vehicle operation, detect information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels LW, RW by means of said model M.
The control device 100 is configured to, during vehicle operation, collect vehicle operation information comprising: detect the steering angle associated with the electric power steering arrangement by means of the detection device 121 ; detect the steering wheel torque by means of the detection device 122; and detect the torque associated with the electric power steering arrangement by means of the detection device 123.
The control device 100 may further be configured to, during vehicle operation, collect vehicle operation information comprising one or more of: detect the vehicle speed by means of the detection device 124; detect the steering angle velocity associated with the electric power steering arrangement by means of the detection device 125; and detect the steering wheel angle by means of the detection device 126.
The model M is then configured to estimate the wheel angle of the steerable wheels LW, RW by comparing the thus collected vehicle operation information with corresponding calibration information correlated with the actual detected wheel angles of the steerable wheels during the calibration process.
Fig. 3 schematically illustrates a block diagram of a control device 100 for facilitating estimating the steering angle of the steerable wheels of a vehicle according to an embodiment of the present disclosure.
The vehicle comprises a steering system for steering the steerable wheels of the vehicle. The steering system comprises a steering wheel, an electric power steering arrangement operably connected to the steering wheel, a hydraulic power steering arrangement operably connected to the electric power steering arrangement and the steerable wheels of the vehicle.
According to an embodiment the electric power steering arrangement comprises a torsion bar for operable connection to the steering wheel.
According to an embodiment the hydraulic power steering arrangement comprises a torsion bar for operable connection to the electric power steering arrangement.
Thus, for such a hybrid steering system the steering wheel is operably connected to the torsion bar of the electric power steering arrangement, preferably via a steering column. The torsion bar of the hydraulic power steering arrangement is operably connected to the torsion bar of the electric power steering arrangement and operably connected to the steerable wheels, preferably via a link arrangement comprising a steering gear.
The steering system may according to an embodiment be a hybrid steering system in accordance with the hybrid steering system HSS described with reference to fig. 2.
The control device 100 for facilitating estimating the steering angle of the steerable wheels of a vehicle may be comprised in a system I for facilitating estimating the steering angle of the steerable wheels of a vehicle.
The control device may be implemented as a separate entity or distributed in two or more physical entities. The control device may comprise one or more computers. The control device may thus be implemented or realised by the control device comprising a processor and a memory, the memory comprising instructions, which when executed by the processor causes the control device to perform the herein disclosed method.
The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like for facilitating estimating the steering angle of the steerable wheels of a vehicle. The control device 100 may comprise control device such as one or more electronic control units arranged on board a vehicle. The control device 100 may comprise one or more electronic control units of the at least one vehicle. The control device 100 may comprise one or more electronic control units, processing units, computers, server units or the like of an off-board system arranged externally to the vehicle and being operably connectable to the vehicle.
The control device 100 is configured to, during a calibration process: detect the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels.
The system I may comprise one or more angle detectors 110 configured to be arranged in connection to the steerable wheels during the calibration process.
The control device 100 is configured to be operably connected to the one or more angle detectors 110 during the calibration process so as to detect the wheel angle of the steerable wheels.
The control device 100 is configured to, during the calibration process, collect calibration information comprising: detect the steering angle associated with the electric power steering arrangement; detect the steering wheel torque; and detect the torque associated with the electric power steering arrangement.
The control device 100 is thus configured to, during the calibration process, detect the steering angle associated with the electric power steering arrangement.
The control device 100 is thus configured to, during the calibration process, detect the steering wheel torque.
The control device 100 is thus configured to, during the calibration process, detect the torque associated with the electric power steering arrangement.
The control device 100 may further be configured to, during the calibration process, collect calibration information comprising one or more of: detect the vehicle speed; detect the steering angle velocity associated with the electric power steering arrangement; and detect the steering wheel angle.
The control device 100 may thus be configured to, during the calibration process, detect the vehicle speed.
The control device 100 may thus be configured to, during the calibration process, detect the steering angle velocity associated with the electric power steering arrangement.
The control device 100 may thus be configured to, during the calibration process, detect the steering wheel angle.
The control device 100 may be configured to, during the calibration process, collect any information which may be relevant for estimation of wheel angles of the steerable wheels during vehicle operation. Vehicle speed, which may affect resistance when turning the steerable wheels, has been mentioned above. Also vehicle acceleration and deceleration may be relevant for estimation of wheel angles of the steerable wheels. Other aspects which may affect resistance when turning the steerable wheels are road conditions, weather conditions and the configuration of the tires of the steerable wheels. Road conditions and weather conditions may be determined by means of any suitable sensor such as one or more cameras or the like and/or by means of information extracted from other vehicles via e.g. a vehicle-to-vehicle communication arrangement and/or infrastructure via a vehicle-toinfrastructure communication arrangement. Information which, during the calibration process, may be collected and which may be relevant for estimation of wheel angles of the steerable wheels during vehicle operation is breaking force of breaking arrangement of the vehicle.
Information affecting the steering angle of the steerable wheels is of course the steering gear of the steering system, which is configured to amplify torque transmitted from the steering wheel. The amplification of the torque transmitted from the steering wheel to the steerable wheels is known and may be stored in the electronic control unit 100.
Information affecting the steering angle of the steerable wheels may be the stiffness of the steering system comprising the stiffness of the torsion bar of the hydraulic power steering arrangement. The stiffness of the torsion bar of the hydraulic power steering arrangement is known and may be stored in the electronic control unit 100.
Information affecting the steering angle of the steerable wheels may be the inertia of the steering system.
Information affecting the steering angle of the steerable wheels may be the chassis configuration of the vehicle.
Information such as amplification of torque transmitted form the steering wheel to the steerable wheels by means of the steering gear and stiffness of the steering system may be constant values or values from look-up tables or functions and may be input to the model and/or the control device. In a model based algorithm it may be an input variable which may be adapted to the specification and configuration of the vehicle. In a neural network such information may be used as input variables although it may be constant values.
The system I may comprise a calibration information collection device 120 configured to collect calibration information regarding the steering angle associated with the electric power steering arrangement; calibration information regarding steering wheel torque; and calibration information regarding the torque associated with the electric power steering arrangement.
The control device 100 may comprise or be operably connectable to the calibration information collection device 120.
The calibration information collection device 120 may further be configured to collect calibration information regarding one or more of vehicle speed, steering angle velocity associated with the electric power steering arrangement; steering angle associated with the steering wheel.
The system I may comprise an electric power steering arrangement steering angle detection device 121 for detecting the steering angle associated with the electric power steering arrangement. The electric power steering arrangement steering angle detection device 121 may comprise one or more angle detectors for detecting the steering angle associated with the electric power steering arrangement. The calibration information collection device 120 may comprise or be operably connectable to the electric power steering arrangement steering angle detection device 121. The control device 100 may comprise or be operably connectable to the electric power steering arrangement steering angle detection device 121.
The system I may comprise a steering wheel torque detection device 122 for detecting the torque associated with the steering wheel. The steering wheel torque detection device 122 may comprise one or more torque detectors for detecting the steering wheel torque. The calibration information collection device 120 may comprise or be operably connectable to the steering wheel torque detection device 122. The control device 100 may comprise or be operably connectable to the steering wheel torque detection device 122.
The system I may comprise an electric power steering arrangement torque detection device 123 for detecting the torque associated with the electric power steering arrangement. The electric power steering arrangement torque detection device 123 may comprise one or more torque detectors for detecting the electric power steering arrangement torque. The calibration information collection device 120 may comprise or be operably connectable to the electric power steering arrangement torque detection device 123. The control device 100 may comprise or be operably connectable to the electric power steering arrangement torque detection device 123.
The system I may comprise a vehicle speed detection device 124 for detecting the vehicle speed. The vehicle speed detection device 124 may comprise a speedometer of the vehicle. The vehicle speed detection device 124 may comprise a Global Navigation satellite System, GNSS, e.g. a global positioning system, GPS, for continuously determining the vehicle speed. The calibration information collection device 120 may comprise or be operably connectable to the vehicle speed detection device 124. The control device 100 may comprise or be operably connectable to the vehicle speed detection device 124.
The system I may comprise an electric power steering arrangement steering angle velocity detection device 125 for detecting the steering angle velocity associated with the electric power steering arrangement. The electric power steering arrangement steering angle velocity detection device 125 may comprise any suitable steering angle velocity detection device. The electric power steering arrangement steering angle velocity detection device 125 may comprise one or more steering angle detectors as a basis for detecting the steering angle velocity associated with the electric power steering arrangement. The calibration information collection device 120 may comprise or be operably connectable to electric power steering arrangement steering angle velocity detection device 125. The control device 100 may comprise or be operably connectable to the electric power steering arrangement steering angle velocity detection device 125.
The system I may comprise a steering wheel angle detection device 126 for detecting the steering angle associated with the steering wheel. The steering wheel angle detection device 126 may comprise one or more angle detectors for detecting the angle of the steering wheel. The one or more angle detectors for detecting the angle of the steering wheel may be arranged in connection to the steering column to which the steering wheel is operably connected. The calibration information collection device 120 may comprise or be operably connectable to the steering wheel angle detection device 126. The control device 100 may comprise or be operably connectable to the steering wheel angle detection device 126.
The control device 100 is configured to, during the calibration process, by means of a model M for the steering system, correlate the thus collected calibration information with the actual detected wheel angels of the steerable wheels.
According to an embodiment the system I comprises the model M. The control device 100 may comprise or be operably connectable to the model M.
The model M may be any suitable model, which may be based on any suitable types of algorithms. The model M is according to an embodiment an artificial neural network. The model may be a traditional model based on traditional algorithms. The model may be a mathematical model. The model may be a statistical model based on statistical algorithms.
The calibration information collection device 120 may be operably connected directly to the model M and/or via the electronic control device 100.
The one or more angle detectors 110 may, during the calibration process, be operably connected directly to the model M and/or via the electronic control device 100.
The calibration information collection device 120 may be operably connected directly to the model M and/or via the electronic control device 100.
The electric power steering arrangement steering angle detection device 121 may be operably connected directly to the model M and/or via the electronic control device 100.
The steering wheel torque detection device 122 may be operably connected directly to the model M and/or via the electronic control device 100.
The electric power steering arrangement torque detection device 123 may be operably connected directly to the model M and/or via the electronic control device 100.
The vehicle speed detection device 124 may be operably connected directly to the model M and/or via the electronic control device 100.
The electric power steering arrangement steering angle velocity detection device 125 may be operably connected directly to the model M and/or via the electronic control device 100.
The steering wheel angle detection device 126 may be operably connected directly to the model M and/or via the electronic control device 100.
According to an embodiment of the disclosure, the control device 100 is, via a link 10a, during a calibration process, operably connected to the one or more angle detectors 110. According to an embodiment of the disclosure, the control device 100 is via the link 10a arranged to receive signals from the one or more angle detectors 110 representing data about the wheel angle of the steerable wheels. The control device 100 may be configured to process the data.
According to an embodiment of the disclosure, the control device 100 is, via a link M10, during a calibration process, operably connected to the model M. According to an embodiment of the disclosure, the control device 100 is via the link M10 arranged to send signals to the model M representing data about the wheel angle of the steerable wheels.
According to an embodiment of the disclosure, the model M is, via a link 10b, during a calibration process, operably connected to the one or more angle detectors 110. According to an embodiment of the disclosure, the model M is via the link 10b arranged to receive signals from the one or more angle detectors 110 representing data about the wheel angle of the steerable wheels.
According to an embodiment of the disclosure, the control device 100 is, via a link 20a, during a calibration process, operably connected to the calibration information collection device 120. According to an embodiment of the disclosure, the control device 100 is via the link 20a arranged to receive signals from the calibration information collection device 120 representing data about collected calibration information. The data about collected calibration information comprises data about steering angle associated with the electric power steering arrangement, data about steering wheel torque and data about the torque associated with the electric power steering arrangement. The data about collected calibration information may comprise data about vehicle speed, data about steering angle velocity associated with the electric power steering arrangement and/or data about steering angle associated with the steering wheel. The control device 100 may be configured to process the data.
According to an embodiment of the disclosure, the control device 100 is, via a link M20a, during the calibration process, operably connected to the model M. According to an embodiment of the disclosure, the control device 100 is via the link M20a arranged to send signals to the model M representing data about collected calibration information. The data about collected calibration information comprises data about steering angle associated with the electric power steering arrangement, data about steering wheel torque and data about the torque associated with the electric power steering arrangement. The data about collected calibration information may comprise data about vehicle speed, data about steering angle velocity associated with the electric power steering arrangement and/or data about steering angle associated with the steering wheel.
According to an embodiment of the disclosure, the model M is, via a link 20b, during a calibration process, operably connected to the calibration information collection device 120. According to an embodiment of the disclosure, the model M is via the link 20b arranged to receive signals from the calibration information collection device 120 representing data about collected calibration information. The data about collected calibration information comprises data about steering angle associated with the electric power steering arrangement, data about steering wheel torque and data about the torque associated with the electric power steering arrangement. The data about collected calibration information may comprise data about vehicle speed, data about steering angle velocity associated with the electric power steering arrangement and/or data about steering angle associated with the steering wheel.
The model M is configured to correlate the data about the collected calibration information with the data about the actual detected wheel angels of the steerable wheels.
The model M is according to an embodiment configured to store the correlation of the data about the collected calibration information with the data about the actual detected wheel angels of the steerable wheels.
According to an embodiment the control device 100 is configured to, during vehicle operation, detect information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model.
The one or more angle detectors 110 configured to be arranged in connection to the steerable wheels during the calibration process are configured to be removed after the calibration process. The calibration process may be performed during development of the vehicle. During vehicle operation the one or more angle detectors 110 have thus been removed.
The control device 100 is configured to, during vehicle operation, collect vehicle operation information comprising: detect the steering angle associated with the electric power steering arrangement; detect the steering wheel torque; and detect the torque associated with the electric power steering arrangement.
The control device 100 is thus configured to, during vehicle operation, detect the steering angle associated with the electric power steering arrangement.
The control device 100 is thus configured to, during vehicle operation, detect the steering wheel torque.
The control device 100 is thus configured to, during vehicle operation, detect the torque associated with the electric power steering arrangement.
The control device 100 may further be configured to, during vehicle operation, collect vehicle operation information comprising one or more of: detect the vehicle speed; detect the steering angle velocity associated with the electric power steering arrangement; and detect the steering wheel angle.
The control device 100 may thus be configured to, during vehicle operation, detect the vehicle speed.
The control device 100 may thus be configured to, during vehicle operation, detect the steering angle velocity associated with the electric power steering arrangement.
The control device 100 may thus be configured to, during vehicle operation, detect the steering wheel angle.
The system I may comprise a vehicle operation information collection device 120A configured to collect vehicle operation information regarding the steering angle associated with the electric power steering arrangement; calibration information regarding steering wheel torque; and calibration information regarding the torque associated with the electric power steering arrangement.
The control device 100 may comprise or be operably connectable to the vehicle operation information collection device 120A.
The vehicle operation information collection device 120 may further be configured to collect calibration information regarding one or more of vehicle speed, steering angle velocity associated with the electric power steering arrangement; steering angle associated with the steering wheel.
The vehicle operation information collection device 120A corresponds to the calibration information collection device 120, i.e. corresponding information is collected.
The vehicle operation information collection device 120A may thus comprise or be operably connectable to the electric power steering arrangement steering angle detection device 121. The vehicle operation information collection device 120A may thus comprise or be operably connectable to the steering wheel torque detection device 122. The vehicle operation information collection device 120A may comprise or be operably connectable to the electric power steering arrangement torque detection device 123. The vehicle operation information collection device 120A may comprise or be operably connectable to the vehicle speed detection device 124. The vehicle operation information collection device 120A may comprise or be operably connectable to electric power steering arrangement steering angle velocity detection device 125. The vehicle operation information collection device 120A may comprise or be operably connectable to the steering wheel angle detection device 126.
According to an embodiment of the disclosure, the control device 100 is, via a link 20c, during vehicle operation, operably connected to the vehicle operation information collection device 120A. According to an embodiment of the disclosure, the control device 100 is via the link 20c arranged to receive signals from the vehicle operation information collection device 120A representing data about collected vehicle operation information. The data about collected vehicle operation information comprises data about steering angle associated with the electric power steering arrangement, data about steering wheel torque and data about the torque associated with the electric power steering arrangement. The data about collected vehicle operation information may comprise data about vehicle speed, data about steering angle velocity associated with the electric power steering arrangement and/or data about steering angle associated with the steering wheel. The control device 100 may be configured to process the data.
According to an embodiment of the disclosure, the control device 100 is, via a link M20c, during the vehicle operation process, operably connected to the model M. According to an embodiment of the disclosure, the control device 100 is via the link M20c arranged to send signals to the model M representing data about collected vehicle operation information. The data about collected vehicle operation information comprises data about steering angle associated with the electric power steering arrangement, data about steering wheel torque and data about the torque associated with the electric power steering arrangement. The data about collected vehicle operation information may comprise data about vehicle speed, data about steering angle velocity associated with the electric power steering arrangement and/or data about steering angle associated with the steering wheel.
According to an embodiment of the disclosure, the model M is, via a link 20d, during a vehicle operation process, operably connected to the vehicle operation information collection device 120A. According to an embodiment of the disclosure, the model M is via the link 20d arranged to receive signals from the vehicle operation information collection device 120A representing data about collected vehicle operation information. The data about collected vehicle operation information comprises data about steering angle associated with the electric power steering arrangement, data about steering wheel torque and data about the torque associated with the electric power steering arrangement. The data about collected vehicle operation information may comprise data about vehicle speed, data about steering angle velocity associated with the electric power steering arrangement and/or data about steering angle associated with the steering wheel.
The model M is, during vehicle operation, configured to compare the data about the collected vehicle operation information with corresponding data about the collected calibration information which has been correlated with the data about the actual detected wheel angels of the steerable wheels so as to estimate the wheel angle of the steerable wheels.
According to an embodiment of the disclosure, the control device 100 is, during vehicle operation, via a link M1 arranged to receive signals from the model M representing data about estimated wheel angle of the steerable wheels.
The control device 100 for facilitating estimating the steering angle of the steerable wheels of a vehicle is, according to an embodiment, adapted to perform the method M1 described below with reference to fig. 4.
Fig. 4 schematically illustrates a block diagram of a method M1 performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle according to an embodiment of the present disclosure.
The vehicle comprises a steering system for steering the steerable wheels of the vehicle. The steering system comprises a steering wheel, an electric power steering arrangement operably connected to the steering wheel, a hydraulic power steering arrangement operably connected to the electric power steering arrangement and the steerable wheels of the vehicle.
According to the embodiment the method comprises a step S1 performed during a calibration process. In this step the wheel angle of the steerable wheels is detected by means of one or more angle detectors arranged in connection to the steerable wheels.
According to the embodiment the method comprises a step S2 performed during the calibration process. In this step calibration information is collected, the collection of calibration information comprising: detecting the steering angle associated with the electric power steering arrangement; detecting the steering wheel torque; and detecting the torque associated with the electric power steering arrangement. The calibration information is according to an embodiment arranged to be collected by means of a calibration information collection device, e.g. a calibration information collection device 120 described with reference to according to fig. 3. The steering angle associated with the electric power steering arrangement is according to an embodiment arranged to be detected by means of an electric power steering arrangement steering angle detection device, e.g. an electric power steering arrangement steering angle detection device 121 described with reference to fig. 2 and/or 3. The steering angle associated with the electric power steering arrangement is according to an embodiment arranged to be detected by means of a steering wheel torque detection device, e.g. a steering wheel torque detection device 122 described with reference to fig. 2 and/or 3. The steering angle associated with the electric power steering arrangement is according to an embodiment arranged to be detected by means of an electric power steering arrangement torque detection device, e.g. an electric power steering arrangement torque detection device 123 described with reference to fig. 2 and/or 3.
According to the embodiment the method comprises a step S3 performed during the calibration process. In this step the thus collected calibration information is correlated with the actual detected wheel angels of the steerable wheels by means of a model for the steering system. The model may be any suitable model, which may be based on any suitable types of algorithms. The model is according to an embodiment an artificial neural network. The model may be a model M described with reference to fig. 2 and/or 3.
According to an embodiment the method comprises the step of, during vehicle operation, detecting information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model. The method according to an embodiment comprises the step of, during vehicle operation, collecting vehicle operation information comprising: detecting the steering angle associated with the electric power steering arrangement; detecting the steering wheel torque; and detecting the torque associated with the electric power steering arrangement. According to an embodiment the same detection devices used when collecting calibration information during the calibration process are also used when collecting vehicle operation information during vehicle operation.
According to an embodiment of the method the step of collecting calibration information further comprises collecting information comprising one or more of: detecting vehicle speed; detecting the steering angle velocity associated with the electric power steering arrangement; and detecting the steering wheel angle. The vehicle speed is according to an embodiment arranged to be detected by means of a vehicle speed detection device, e.g. a vehicle speed detection device 124 described with reference to fig. 2 and/or 3. The steering angle velocity associated with the electric power steering arrangement is according to an embodiment arranged to be detected by means of an electric power steering arrangement steering angle velocity detection device, e.g. an electric power steering arrangement steering angle velocity detection device 125 described with reference to fig. 2 and/or 3. The steering wheel angle is according to an embodiment arranged to be detected by means of a steering wheel angle detection device, e.g. a steering wheel angle detection device 126 described with reference to fig. 2 and/or 3.
According to an embodiment of the method the electric power steering arrangement comprises a torsion bar for operable connection to the steering wheel.
According to an embodiment of the method the hydraulic power steering arrangement comprises a torsion bar for operable connection to the electric power steering arrangement.
The method M1 performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle is according to an embodiment adapted to be performed by the control device 100 described above with reference to fig. 3.
The method M1 performed by a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle is according to an embodiment adapted to be performed by the system I described above with reference to fig. 3.
With reference to fig. 5, a diagram of a computer 500/apparatus 500 is shown. The control device 100 described with reference to fig. 3 may according to an embodiment comprise apparatus 500. Apparatus 500 comprises a non-volatile memory 520, a data processing device 510 and a read/write memory 550. Non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for controlling the function of apparatus 500. Further, apparatus 500 comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time date entry and transmission unit, an event counter and an interrupt controller (not shown). Non-volatile memory 520 also has a second memory portion 540.
A computer program P is provided comprising routines for facilitating estimating the steering angle of the steerable wheels of a vehicle.
The vehicle comprises a steering system for steering the steerable wheels of the vehicle. The steering system comprises a steering wheel, an electric power steering arrangement operably connected to the steering wheel, a hydraulic power steering arrangement operably connected to the electric power steering arrangement and the steerable wheels of the vehicle.
The program P comprises routines for, during a calibration process, detecting the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels. The program P comprises routines for, during the calibration process, collecting calibration information comprising: collecting detection information about the steering angle associated with the electric power steering arrangement; collecting detection information about the steering wheel torque; and collecting detection information about the torque associated with the electric power steering arrangement. The program P comprises routines for, during a calibration process, by means of a model for the steering system, correlating the thus collected calibration information with the actual detected wheel angels of the steerable wheels.
The program P comprises routines for, during vehicle operation, detecting information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model.
The routines for collecting calibration information further comprises routines for collecting information comprising one or more of: detecting vehicle speed; detecting the steering angle velocity associated with the electric power steering arrangement; and detecting the steering wheel angle.
According to an embodiment the electric power steering arrangement comprises a torsion bar for operable connection to the steering wheel.
According to an embodiment the hydraulic power steering arrangement comprises a torsion bar for operable connection to the electric power steering arrangement.
The computer program P may be stored in an executable manner or in a compressed condition in a separate memory 560 and/or in read/write memory 550.
When it is stated that data processing device 510 performs a certain function it should be understood that data processing device 510 performs a certain part of the program which is stored in separate memory 560, or a certain part of the program which is stored in read/write memory 550.
Data processing device 510 may communicate with a data communications port 599 by means of a data bus 515. Non-volatile memory 520 is adapted for communication with data processing device 510 via a data bus 512. Separate memory 560 is adapted for communication with data processing device 510 via a data bus 511. Read/write memory 550 is adapted for communication with data processing device 510 via a data bus 514. To the data communications port 599 e.g. the links connected to the control unit 100 may be connected.
When data is received on data port 599 it is temporarily stored in second memory portion 540. When the received input data has been temporarily stored, data processing device 510 is set up to perform execution of code in a manner described above. The signals received on data port 599 may be used by apparatus 500 for, during a calibration process, detecting the wheel angle of the steerable wheels by means of one or more angle detectors arranged in connection to the steerable wheels. The signals received on data port 599 may be used by apparatus 500 routines for, during the calibration process, collecting calibration information comprising: collecting detection information about the steering angle associated with the electric power steering arrangement; collecting detection information about the steering wheel torque; and collecting detection information about the torque associated with the electric power steering arrangement. The signals received on data port 599 may be used by apparatus 500 for, during a calibration process, by means of a model for the steering system, correlating the thus collected calibration information with the actual detected wheel angels of the steerable wheels.
The signals received on data port 599 may be used by apparatus 500 for, during vehicle operation, detecting information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model.
The signals used by apparatus 500 for collecting calibration information is further used for collecting information comprising one or more of: detecting vehicle speed; detecting the steering angle velocity associated with the electric power steering arrangement; and detecting the steering wheel angle.
According to an embodiment the electric power steering arrangement comprises a torsion bar for operable connection to the steering wheel.
According to an embodiment the hydraulic power steering arrangement comprises a torsion bar for operable connection to the electric power steering arrangement.
Parts of the methods described herein may be performed by apparatus 500 by means of data processing device 510 running the program stored in separate memory 560 or read/write memory 550. When apparatus 500 runs the program, parts of the methods described herein are executed.
The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.

Claims (13)

1. A method (M1) performed by a control device (100) for facilitating estimating the steering angle (a) of the steerable wheels of a vehicle (V), the vehicle comprising a steering system (HSS) for steering the steerable wheels (LW, RW) of the vehicle (V), the steering system comprising a steering wheel (SW), an electric power steering arrangement (EPS) operably connected to the steering wheel (SW), a hydraulic power steering arrangement (HPS) operably connected to the electric power steering arrangement (EPS) and the steerable wheels (LW, RW) of the vehicle (V), the method comprising the steps of, during a calibration process: - detecting (S1) the wheel angle (a) of the steerable wheels (LW, RW) by means of one or more angle detectors arranged in connection to the steerable wheels; - collecting (S2) calibration information comprising: detecting the steering angle associated with the electric power steering arrangement (EPS); detecting the steering wheel torque; and detecting the torque associated with the electric power steering arrangement (EPS); and, - by means of a model (M) for the steering system (HSS), correlating (S3) the thus collected calibration information with the actual detected wheel angels of the steerable wheels (LW, RW).
2. A method according to claim 1, comprising the step of, during vehicle operation, detecting information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels (LW, RW) by means of said model (M).
3. A method according to claim 1 or 2, wherein the step of collecting calibration information further comprises collecting information comprising one or more of: detecting vehicle speed; detecting the steering angle velocity associated with the electric power steering arrangement; and detecting the steering wheel angle.
4. A method according to any of claims 1-3, wherein the electric power steering arrangement (EPS) comprises a torsion bar (TB1) for operable connection to the steering wheel (SW).
5. A method according to any of claims 1-4, wherein the hydraulic power steering arrangement (HPS) comprises a torsion bar (TB2) for operable connection to the electric power steering arrangement (EPS).
6. A control device (100) for facilitating estimating the steering angle (a) of the steerable wheels of a vehicle (V), the vehicle comprising a steering system (HSS) for steering the steerable wheels (LW, RW) of the vehicle (V), the steering system comprising a steering wheel (SW), an electric power steering arrangement (EPS) operably connected to the steering wheel (SW), a hydraulic power steering arrangement (HPS) operably connected to the electric power steering arrangement (EPS) and the steerable wheels (LW, RW) of the vehicle (V), the control device (100) being configured to, during a calibration process: - detect the wheel angle (a) of the steerable wheels (LW, RW) by means of one or more angle detectors (110) arranged in connection to the steerable wheels (LW, RW); - collect calibration information comprising: detect the steering angle associated with the electric power steering arrangement (EPS); detect the steering wheel torque; and detect the torque associated with the electric power steering arrangement (EPS); and, - by means of a model for the steering system (HSS), correlate the thus collected calibration information with the actual detected wheel angels of the steerable wheels (LW, RW).
7. A control device according to claim 6, the control device (100) being configured to, during vehicle operation, detect information corresponding to the collected calibration information for estimating the wheel angle of the steerable wheels by means of said model.
8. A control device according to claim 6 or 7, wherein the control device (100), when collecting calibration information, further is configured to collect information comprising one or more of: detect vehicle speed; detect the steering angle velocity associated with the electric power steering arrangement; and detect the steering wheel angle.
9. A control device according to any of claims 6-8, wherein the electric power steering arrangement (EPS) comprises a torsion bar (TB1) for operable connection to the steering wheel (SW).
10. A control device according to any of claims 6-9, wherein the hydraulic power steering arrangement (HPS) comprises a torsion bar (TB2) for operable connection to the electric power steering arrangement (EPS).
11. A vehicle (V1) comprising a control device (100) according to any of claims 6-10.
12. A computer program (P) for facilitating estimating the steering angle of the steerable wheels of a vehicle, said computer program (P) comprising program code which, when run on an electronic control unit (100) or another computer (500) connected to the electronic control unit (100), causes the electronic control unit to perform the method according to any one of claims 1-5.
13. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to anyone of claims 1-5.
SE1851368A 2018-11-02 2018-11-02 Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle SE542744C2 (en)

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SE1851368A SE542744C2 (en) 2018-11-02 2018-11-02 Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle
DE102019006855.6A DE102019006855A1 (en) 2018-11-02 2019-10-01 Method and control device for facilitating the estimation of the steering angle of the steerable wheels of a vehicle

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