TW200920635A - Power-assisted steering control system - Google Patents

Power-assisted steering control system Download PDF

Info

Publication number
TW200920635A
TW200920635A TW96141212A TW96141212A TW200920635A TW 200920635 A TW200920635 A TW 200920635A TW 96141212 A TW96141212 A TW 96141212A TW 96141212 A TW96141212 A TW 96141212A TW 200920635 A TW200920635 A TW 200920635A
Authority
TW
Taiwan
Prior art keywords
steering wheel
speed
module
steering
wheel
Prior art date
Application number
TW96141212A
Other languages
Chinese (zh)
Other versions
TWI314114B (en
Inventor
cong-xian Hu
zhi-rong Ye
shi-rong He
Original Assignee
Automotive Res & Testing Ct
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 Automotive Res & Testing Ct filed Critical Automotive Res & Testing Ct
Priority to TW96141212A priority Critical patent/TWI314114B/zh
Publication of TW200920635A publication Critical patent/TW200920635A/en
Application granted granted Critical
Publication of TWI314114B publication Critical patent/TWI314114B/zh

Links

Abstract

The present invention provides a power-assisted steering control system, which includes: a driving module, a processing module, and a road-condition detection module, in which the driving module is capable of driving a vehicle's steering wheel. The road-condition detection module is capable of detecting road condition parameters, e.g. the speed of the vehicle, the wheel speed, the turn angle of the steering wheel, etc., and transmitting the road condition parameters to the processing module so that the processing module uses the detected road condition to control the driving module. Therefore, the driving module can timely assist the handle to turn, thereby making a driver smoother in operating the handle.

Description

200920635 IX. Invention Description: [Technical field of invention] The auxiliary two kinds of auxiliary steering control systems are especially related to the kind of Kelvin σ, which allows the driver to obtain assistance in various driving situations. Han Xiang or Xingding Α In January, the brothers and sisters helped the control system of the steering wheel. [Prior Art] The steering force with the power-assisted steering wheel is used because it reduces the driver's ability to drive and turn. The standard steering system of the electric assisted turn & mother's condition, first (power steering) performance and characteristics They are slightly different/very eve'. They are similar. H丄-I, the principle and function of the application are the same as the driver's heart. The traditional electric auxiliary steering system is only by the fans/Marseille's output torque. , turn to mu, "the basis of the output, for the change of the steering angle ^ and the steering angle acceleration and the helmet repair, under certain conditions, the loyalty to the cylinder soil,", the order control is called "handle control" A heavy hand feel to the operator. For example, a patent for the damping and friction is only 73 () 7617, based on the driver's Fangbei Temple control logic as the auxiliary steering motor wheel operation experience = some specific operating conditions There will still be poor auxiliary steering systems. Although it can reach the steering device or the traditional electric motor, the following shortcomings: The steering assist performance to a glimpse is still 1. The compensation of the auxiliary steering is The #^ system signal is not perfect, which leads to some poor operation feelings of some special sales. 2 ·Moon 丨] The functions of compensation calculation, 軏 and detection signal are limited, and the electric assisted spine before 200920635姑>, + steering assist feedback, Yu 竿: According to: face state or driving state, through the raised position, two, for example, through the depression to assist and correct function. 纟 4 no driver for the turn [Summary of the Invention] In order to solve the above-mentioned electric-assisted rectification, it is possible to provide a specific situation and the driving test is not enough to make the judgment logic of the staff, and it is still impossible to provide a clear control for the steering wheel. The problem of feedback compensation, the present invention is a power assisted steering control system, which comprises: - a driving module, which outputs a specific ..., a steering wheel connection, and a special steering wheel, and a steering wheel to assist the steering wheel to rotate; a module connected to the driving mold and the steering wheel in a rotating state, and the driving module is configured according to the action module γ Μ t ^ s, so that the driving assists the steering wheel to rotate; — current sensing , 1 wheel in # — take the driver module's guard "the remote drive module is electrically connected, the reading module; and the pen flow and the operation current signal is transmitted to the position of the disk to rotate the group" Measuring the rotational torque of the steering wheel, the square output terminal and the processing module ί = the pick-up command and the four-wheel speed, the processing module; the electrical connection, the sub-sensing signal is transmitted to the 'the processing module The signal transmitted by the device is two - the brother sensing module and the current sensing D-direction steering angle acceleration computing unit, a direction 200920635 disk angular velocity computing unit, "Jian You & force computing unit, - basic auxiliary baffle , a positive compensation control logic, a ^ inertia compensation control logic, - 榭 试 π 』 f4 impact compensation control logic and a blast control logic operation results, and then * t 仏 unit to perform the total operation, and in the mountain system The movement outputting the gain to the moving steering wheel is rotated; cutting and supplying, and the vehicle condition sensing module comprises: the steering wheel torque sensing crying, the basin recognizing l, Gan, and °. The wheel end is connected to the processing module, and the ground is connected, and the steering wheel is sensed, and is also transmitted to the processing module and the group; the ugly torque is sensed and the torque signal 2 is sensed. The processing module is electrically connected, and the driving speed sensing module of the A car is sensed; the car speed signal is transmitted to a steering wheel angle sensor, the Gancheng, the Β, the eight output side Connected to the processing module, which senses the power-receiving module of the steering wheel, and transmits the corner signal to the brake command sensor's output terminal 15 Measure the car's teaching vehicle, and, and the packaged... Command and transfer the brake command to the $兮老理 module, and the cognac v 1 to reach the Si Hai four-wheel speed sensor, And the salt test 4 * its output end and the processing module are electrically connected to each wheel of the rotation of the processing module; / / move 'continuous transmission to the: 4 drive group contains - motor drive and number one,轮The drive end of the motor drive is electrically connected to the d and 4 'the handle handle set'. The motor drive 2009206 The output end of the device is electrically connected to the motor, and the remote motor is configured to drive the steering wheel. The processing module outputs the signal according to the output signal of the vehicle sensing module and the current sensor. Gaining to the motor, causing the motor driver to drive the motor to assist in steering the steering wheel. The processing module of this ^ month can execute a plurality of kinds of compensation operation logics, and the input parameters and operation conditions of each compensation operation logic are different, so that even if the automobile is in a state of IU, the situation is not strong, It can make the drive module control the direction with appropriate torque, and divide, & add, & ^ to reduce the operator's operational discomfort and dangerous operation. [Embodiment] Referring to the first figure, Mehs WJ·. is a preferred embodiment of the present invention, which includes a processing module (10) and a sense of condition. a test module (2〇), a drive module (2) 0), and a current sensor (4 4 〇), wherein the X-ray output end of the vehicle condition sensing module is connected to the processing module (10), The input end of the driving mode is connected to the processing module (1 〇), and the current is forbearing. .轮) The wheel end and the wheel end are respectively connected to the driving module (30) and the processing module (1 〇). In May, reference to the second brother's picture, today's Kao Tian ^ 5 Hai treatment group (1 〇) can be based on one of the driving and steering wheel dry ^ ^, ^ ^ special motion control the drive module (3 〇) It can be used for one of the brakes to control the computer. ^ ^ ^ _ n Build... The 仃 仃 控制 control computer power, , '... 丁 and steering wheel rotation status includes - driving speed, a brake command, a The direction is..., the force, the steering wheel angle and the wheel of the four wheels 200920635 The driving state of the speed temple and the steering wheel related to the steering module (1 〇) is the best example of this. Auxiliary computer, which receives the output signal of the vehicle condition sensing module L-car control " (8), and according to the received = current sensor angular acceleration computing unit, - steering wheel angular velocity operation - steering wheel force computing unit, - basic Auxiliary control logic, one::, a reaction-damping compensation control logic, - inertia, ..., control logic, control logic, and a burst of blasting 'Bei two system avoidance, - impact compensation 铒 and puncture compensation The control logic was sent to A motor control operation ii ^, and then the transport of the heterogeneous " 3 private transport is different from the implementation of the total operation to generate benefits. The output gain wheel to the drive module (3 〇) 0 3 out of the sense of the car The test module (20) includes an output group (1m磕磕^ and the cutter is connected to the processing mode with a steering wheel torque sensor (sensor (24), a steering wheel angle sensor (2), One speed
Command sensor (28) and a four-wheel speed sensing brake, 兮 + ^ ^ ^ 9 ); JL: direction i torque sensor (2 2 ), the speed sensing:, 忒 steering wheel angle sensor (2 6 ), ; early 叩 感 sensor, (2 8 ) v four-wheel speed sensor (2 9 ) are respectively sensing the rotation; j soap locomotive steering wheel E, car driving speed, steering wheel The angle of rotation, the 煞Ai to the trigger, and the individual fast-moving speed sensing η of the four wheels of the car are not included, the ~, j is (2 4) can be the electronic field of a car driving speed - or, too Electric sampling 7L pieces, pumping fans: Γ: measuring methods, such as the use of wheel speed, gearbox output < and the speed of the car. . The driving module (30) includes a motor driver (32) and a motor (34), and the input of the motor driver (32) is connected to the module 8200920635, and (1 0). The input of the motor (3 $ ) is coupled to the motor driver (32). The motor (34) is coupled to the steering wheel of the vehicle, which imparts a specific torque to the steering wheel to assist in steering the steering wheel. In this way, the processing module (10) can be adjusted to the output of the motor driver (32) according to the driving state of the driving and steering wheel, and the motor (34) can be further adjusted to provide the steering wheel output. The input of the current sensor (40) is connected to the motor (which is connected to the motor, and the motor is sensed), and the sensing module (") is sensed. Wherein, the r2' of the motor (34) is associated with the rotation state of the steering wheel, so that the g±) of the processing module can obtain the motor (34) and the direction according to the operating current, and the working state is When the steering wheel or: Make-up ▲ "Shift conditions (such as puncture, impact ..., etc.) and change the work group (ι〇) can be changed according to this, the purpose of processing the mold to further 稃 ... capture H The output of the Hai driving module (30) is stable and the state of the car is running. For further progress, the processing module is explained and (Ί n, ^ module (2 0) and the electric: receiving the driving condition sensing dynamic mode The group (3 n 1 (4 〇) signal and the transmission to the drive (10) 2: single 疋, reaction force shipped. _ steering wheel angle capture calculation single logic, damping :: ': basic auxiliary control logic Positive compensation control
Compensation control logic and ::::, inertia compensation control logic, impact compensation and explosion... control logic and other different operations J 9 200920635 Please refer to the third to fifteenth diagram, where: the operation of the basic auxiliary control logic, The processing module (work = steering torque sensor (22) and the vehicle speed sensor ("); the different output of the non-linear transformation relationship to convert the output i tiger into a gain (Gain). This is the steering wheel torque sensor (2 2) knife slamming * 曰: 舁 δ 玄方 and the speed sensor (2 4) output heart-to-hu relationship such as the third circle and the fourth The figure shows the positive compensation control logic, which is the handle of the steering wheel angle sensor (26) of the processing module. According to the speed calculation unit, the driver of the steering wheel is added to the steering wheel angle. 4τι丄, y with 5 s Hai direction of the people to go to the torque and the speed of the operation to calculate the operation, #$ 4 motor control arithmetic unit fq π, ^ ^ shipped to the main operation of the operation ..., the positive compensation control logic And change the m # person back to d* dynamic to the essay. The stability of the body in the process of returning The moment and the speed of the vehicle are used as the steering wheel torque of the next day. The torque and the speed of the vehicle satisfy the following formula (1), (two basis, when the upper group () Π) Η丨丨 blood] 7 7 'the processing module performs the positive compensation control logic operation. ,
Td,.iVer &lt; Tre ( η j/ , ' chicle &lt; ( 2 ) where τ d ri v er is the steering wheel torque; veh, 'C|e is the vehicle speed; ^ is the torque of the positive compensation control logic start The moment threshold value; κ is the vehicle speed threshold value of the positive compensation compensation logic. 10 200920635 The relationship between the gain and the square angle acceleration, the steering wheel angle and the vehicle speed of the positive compensation compensation logic operation are as shown in the fifth and seventh figures, respectively. The operation of the steering wheel angular acceleration is as follows: g = + θ (female 2) Τ 2 where valley is the steering wheel angular acceleration; Θ is the steering wheel angle; τ is the sampling time; k is The time step; the horizontal axis of the fifth figure represents the angular acceleration of the steering wheel, and the vertical axis represents the preferred embodiment as an example, the first and second quadrants represent the reverse I to the counterclockwise direction), the third and fourth The quadrant represents a positive turn. Gain, (direction 琢 damping compensation control logic, the output signal of the steering wheel angle sensor (2 6 ) is converted by the steering angle angle calculation unit to obtain the angular velocity of the steering wheel, and then the torque sensor is matched with the direction ( 2 2 ), the output signal of the vehicle speed sensor (2 4 ) and the square two corner sensor (2 6 ) forms the gain. When the vehicle catch and torque respectively satisfy the following formulas (4), (5) When the control is performed, the damping compensation control logic operates to generate the gain: drivp_r<丁(4 ^ vehicle &gt; Vd(l ( 5 ) where 11 200920635 is the torque torque threshold for the damping compensation control logic; Vda is the speed threshold of the damping compensation control logic. The direction of the damping compensation control logic is as follows: 角 Λ The angular velocity of the universal disk can be obtained by the formula (6) θ (ki) = ( e (k)-e (ki))/T where one is the steering wheel angular velocity; θ is the steering wheel angle; τ is the sampling time; k is the time step. Edit the 'damper compensation control logic timing nonlinearity when the steering wheel angle is larger Force increase" the damping compensation control logic Movement: ==large_fixed value (U, and steering wheel torque value control. Tda) 蚪 'only enters the damper compensation control logic operation and the inertia compensation control logic, when the system speed is faster, it generates a heavy problem. Because the value: the steering wheel is only based on the traditional inertia compensation logic value, this two-angle wide acceleration adjusts the inertia compensation output gain parameter 2ΓΓΓ, as the inertia compensation control logic operation wheel 匕 3 steering wheel angle and vehicle speed signal , 1 middle group (1 η, v μ γ γ edge processing wedge) according to the steering wheel angular acceleration calculation single, the speed sensor r 9 Dan early 兀 results, and with ^ σ 2 4) and the steering wheel angle sensing The output gain of the device (Ρ R, output and shape 认 'recognition, J 2 6 ), where the gain is related to the speed plate. Chu h early speed and steering wheel angle ~ as shown in Figure 10 and Figure 11 12 200920635. Xuan Chong 4 compensation control logic _ 4), 嗲 讯 包含 包含 包含 Γ Γ Γ Γ Γ Γ Γ Γ Γ Γ η η η η ^ ^ α α α α α α α α α α α α α α α α α α α α α α α α α α α Speed burst Results :: compensation control logic of the outputs of the gain. Sensor...), the sense of speed = including the steering wheel torque: the detector (2 6 ) 'the brake command sense; the steering wheel angle sensor (2 9 ) to . (2 8) In the four wheel, the impact compensation control logic and the rounding of the :/ 0). Some of the sensors _ out 1 yx * 〇 j j 控制 control logic system to make the processing module (work 0) drink: Ding on the road in various conditions, group (3 (different driving conditions control Driving mode d 0 }, assisting the driver to effectively protect, and &amp; the nature of the ^: "The driving safety of the car and the comfort of the road I am mainly aiming at the car on the road due to =: raised or sunken The tire is disturbed and the impact force is directly transmitted to: the car is turning or turning the driver feels uncomfortable; the impact is compensated 1 _ to be driven when the vehicle is running at a low speed, and the guarding condition is as shown in formula (7)
The corpse is not: JV &lt; y vehicle - v\ ( 7 ) KTR(k)-TR(kl))/t| ^ i (8) where V ve li ic 1 e is the car far, and V 1 is the speed One of the critical set values; TR is the reaction force of a steering column to which the steering wheel is applied; I is the critical set value of the time-varying rate of the steering column reaction force; t is the sampling time; 13 200920635 k is the time step; When the Vvehicle is lower than the -critical set value (V)), as shown in the formula (7), the road surface is applied to the control = force (TR) and the time-varying rate satisfies the formula (8), the impact compensation is performed; ^Plus is calculated according to the relationship of the twelfth figure and turns out the gain; for example, the twelfth figure is the reaction of the simulated embodiment when the car is driving on the road, and the left side is bumped or sunken on the road surface. Force (Tr) * Vehicle speed (variation of v. Among them, reaction force ( /, V6hic, e)
Dn (TR) is calculated from the reaction force by the steering wheel torsion torque, the direction of the steering wheel 隹 ★, ± ώ; the first door 1 angular acceleration and the auxiliary torque, etc. 2 ', ' ' ' ' the auxiliary torque can be used by the current sensor The signal is calculated and served. As shown in the following formula (9):
Tdnver + Tassist + 丁尺=j ·谷(9) where Ding driver is the torque of the steering wheel;
Ta coffee is the auxiliary torque for the motor (3 4 ); J is the rotational inertia of the steering column; and the angular acceleration of the steering wheel. + "One w #科土罟 wants to solve the problem of steam soap in the high-speed driving, due to the car's round of the moon. The pressure of rapid leakage causes the car to have abnormal action and evil changes' and the driver's mouth I scare and quickly operate the steering wheel and other conditions The problem of 5 Xuan Puncture Tire Compensation: Also, the second division of the shouting series first judges whether the reaction force TR is full of soldiers. _ The formula (10) and the following formula (11 Guang Bu 4 burst key compensation control logic mainly to solve The car is at high speed, because 讳.鱼^导&gt; y vehicle — r 2 ( 1 〇) 14 (11 200920635
-)&gt;B .TR(k)-TR(k~})_ where V2 is the puncture patch $ ku decorated with the control logic car - formula (1 0 ), (1丨)岣满科&lt; The speed critical threshold value; if the comparison is as shown in the following formula (12), the wheel speed and the speed of each tire ^vehicle V'vhee!, i &gt; F, where 12:1, 2, 3, 4 V whee 1,i is the wheel speed of a certain person and the tires of the tires; F is the critical setting of the difference between the speed of the vehicle and the specific tires; or, the average of the four #w speeds The value is shown in the formula (13): 徂 /, valley speed comparison is as follows ((4) (L) 乂, -) &gt; G, Ι 2λ4 f 卜 1, 2, 3, 4 ( π) where ave ( Vwheel) is the average wheel speed of four tires; G is the critical set value of wheel speed difference; n. If the formula '(12) or formula ((1) is established, then the processing module (f A puncture occurs, which immediately detects the speed of the vehicle, the command of the brake, the angle of the steering wheel, the operating current of the motor, and the four-wheel speed by the current sensing module 4) and the current sensor (40). And perform =...complement control logic operation (as shown in Figure 14) ), to generate a gain, 2 U ° Hai motor control arithmetic unit and output and control the drive module to prevent the driver from panning over the steering wheel due to a puncture. As shown in the figure, the figure is Variation of four wheel fans, vehicle speed and reaction force when a car bursts or air pressure leaks quickly. 15 200920635 [Simplified description of the drawings] Fig. 2 is a block diagram of a preferred embodiment of the present invention.私 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 The blue figure of the gain. The fourth figure is the relationship between the vehicle speed and the gain of the basic auxiliary control logic of the preferred embodiment of the private day μ ^ μ month. One of the best examples is the compensation compensation control logic = the relationship between acceleration and gain. The sixth figure is the relationship between the square _ special angle and the gain of the return compensation control logic of the invention &amp; parent embodiment. The seventh figure is the invention, ^ 1ίό.. Compared with the vehicle speed and gain increase of the positive compensation control logic of the embodiment, the diagram is a diagram of the steering wheel (four) and the increase of the resistance of the preferred embodiment of the present invention. (6): The ninth diagram of the logic is the relationship between the vehicle speed and the gain of the present invention. The tenth diagram of the compensation logic is the smoke ^ _ *月车乂&lt;one of the examples of inertia supplements&gt; 4丨The relationship between the vehicle speed and the gain of r ± The system of the hexadecimal system is the accustomed to the preferred embodiment of the invention: the relationship between the disk angle and the gain. "The logic tenth ίτ, for the direction of the compensation control logic of the present invention, is the relationship between the complement and the puncture π angle continuity and gain. 16 200920635 The thirteenth figure is the preferred embodiment of the present invention. FIG. 14 is a schematic diagram showing the relationship between the steering wheel angular acceleration and the gain of the impact compensation and the puncture compensation control logic of the preferred embodiment of the present invention. Figure 15 is a schematic diagram showing changes in wheel speed, vehicle speed and reaction force of a car puncture or tire pressure rapid leakage according to a preferred embodiment of the present invention. [Main component symbol description] (1 〇) processing mode Group (2 0) vehicle condition sensing module (2 2 ) steering wheel torque sensor (2 4 ) vehicle speed sensor (2 6 ) steering wheel angle sensor (2 8 ) brake command sensor (2 9 ) 4 Wheel speed sensor (30) drive module (3 2 ) motor driver (3 4 ) motor (40) current sensor 17

Claims (1)

  1. 200920635 X. Patent application scope: 1. A kind of power-assisted steering control system. A drive module, which is a one-way, 匕3. A specific moment steering wheel connection is output at a specific time, and the steering wheel is rotated. The module is electrically connected to the driving module and the steering wheel is rotated. The gain can be assisted by the steering module according to a motion module; 1 the driving module enables the drive-current sensor to input The operating module of the driving module is electrically connected to the 'reading module; and...the operating current signal is transmitted to the vehicle-sensing module, and the steering angle of the steering wheel, the driving speed, and the I Vehicle 2: Rotating torque, square output and the processing module are electrically connected to the second and fourth wheel speeds, and the processing module; 'sensing signal is transmitted to the crying pass' 5 Hai processing module According to the vehicle condition sensing module and the current into a 洌: transmitted ... number execution - steering wheel angular acceleration, unit disk angular velocity operation I 罝; early 兀, one direction: #早兀, a reaction force computing unit, _A system logic , - positive compensation control logic H basic auxiliary control inertia compensation control logic and shell air avoidance, - ^ ^ impact compensation control logic; g calculation and then send the operation result to - motor control transport steering wheel. The W... drive module is assisted by the power assisted steering control described in item 1 of the second profit range. The vehicle sense sensing module comprises: 18 200920635 A steering wheel torque sensor, connected, sensing the steering wheel rotation: two The J and the 6-hai processing die are electrically transmitted to the processing module; the torque is twisted and the torque signal is a vehicle speed sensor, and the dragon wheel senses the driving speed of the car and = the processing mode The electrical connection, the management module; the driving speed siL number is transmitted to the steering wheel angle sensor, and the connection is sensed, the sensing of the steering wheel is turned "2" and the 14 π hai processing pulls the electrical module And transmitting the corner signal to a brake command sensor at the location, t is connected, and sensing the motor vehicle/outer of the automobile and the electrical connection module of the processing module; and,,,,, The commander transmits the brake command to a four-wheel speed sensor at the same location, and multiplexes the sensing core of the sensing wheel of each wheel of the automobile and the processing module. Transmitting the wheel speed and transmitting the rotating wheel speed to the 3. As in the patent application system, the driving module comprises a power assisted steering control motor driver as described in a horse mussel and a horse, the input end of the driver and the processing The module with ^ output @Y @, electrical connection, the motor driver runs out of i and is electrically connected to the motor, φ ^ Da can drive the steering wheel, straight, when the processing module is based on the car - ^ . The ordinary sensing nuclear group and the current sensing crying output signal operation, output the Yuxing electric. . The dish to the S Hai motor drive to cry, so that the continued g drive drives the motor while _ $. . Turn the Hehai motor to the S steering wheel. 4 · For example, the patent control scope control system, wherein the power assisted steering described in the third item is 19 200920635. The steering wheel angular acceleration computing unit calculates the angular acceleration of the steering wheel rotation according to the output of the device; angle sensing: steering wheel angular velocity calculation The unit calculates the angular velocity of the steering wheel rotation according to the rotation of the steering wheel; the &amp;-corner sensing-the reaction force calculation 00 疋 is based on the direction of the ★, the result of the stroke and the steering wheel torque sensor and The calculation is performed to calculate the reaction force of the steering wheel when the vehicle is subjected to a puncture, a tire-sensing wheel, or a depression. ..., the basic auxiliary control logic of the power assisted steering control described in Item 4 of the bulge system 5, according to the fourth person A "the output of the vehicle speed sensor is calculated, the: °" torque sensing And the gain is nonlinearly proportional to /, medium, the steering wheel torque and 6. As in the fourth system of the patent application scope, the basic auxiliary control logic is "inverse" (four) steering control inverse ratio. The speed of the Ding Zhuo and the gain are nonlinear. 7. As in the fourth system of the patent application, the positive compensation control _ (four) steering control is lower than the critical setting of a torsional moment and the torque is determined by the ~, , ' ^ After the moment critical set value, the gain is determined according to whether the speed of the vehicle is lower than the speed of the vehicle, the steering wheel angle sensor and the second ugly sensor, the speed sensing result and the result are output; wherein: The wheel of the angular acceleration computing unit is nonlinearly inversely proportional; the steering wheel angle Π:. : The absolute value of the speed ratio; the driving catch and the s| negative of the gain are non-linear positive 8. As in the patent application, the fourth nonlinear inverse ratio. The power-assisted steering control of the above-mentioned item 4 200920635 system, the damping compensation control logic system (4) the vehicle speed sensor, the steering wheel angle sensor, and the output of the sensor, the operation unit, and the result of the operation change The n. Disc angular velocity The disc rotation angle is nonlinearly proportional to the negative of the gain:: In the second middle direction, after a critical speed setting value, the negative of the gain is proportional to the second speed two f. K degree king nonlinear 9. According to the system of claim 4, the inertia compensation control logic assist steering controller, the steering wheel angle sensor, the vehicle speed sensing = output and the result of the operation 'change the gain two : The degree of the transport unit is nonlinearly proportional; the gain is the same as the direction = the speed and the speed of the vehicle are 1 〇. For example, the “fecal brake” is proportional to the nonlinearity. H specializes in the power-assisted sleeves mentioned in Item 4 fortunately. Fortunately, the impact compensation logic force assists the steering control and the time-varying rate of the reaction force is greater than:: she is at the speed limit and is affected by the speed. When the detector, 兮, &amp; constant value, the processing module is connected to the arithmetic unit and the inverse two:;: the steering wheel, the steering wheel angular velocity gain; the steering wheel angular velocity heart: the output of the early 70 and the result, change the 11 · The patent application norm is non-linear proportional. System, the puncture compensation (4) The power-assisted steering control set value U 5 π described in 4 items is based on the driving speed higher than a vehicle speed heart value and reaction force When the early L-module accepts the vehicle speed sensing crying ik rate is greater than a set value, the processing causes the sensor, the four-wheeled wheel to turn the disc angle sensor, the braking factor, and the reaction force The sensor, the steering wheel angular acceleration calculation unit, wherein the direction is like A π early rotation and the result, the gain is changed; - the angular acceleration is nonlinearly proportional to the negative of the gain. 21 200920635 1 2. If the patent application scope is controlled by 丄1, the puncture compensation control logic 廿::: The difference between the power-assisted steering speed of the kg is determined by the difference between the 父' 4 parent speed and the per-wheel force. "To change the gain and the hi: 3. The power-assisted light-weight system as described in claim 11 of the patent application, the puncture compensation h assists the steering and the round-robin of each round of the wheel = 35 ear system Comparing the average wheel speed of all wheels and the specific torque production to determine the tire that has a flat tire to change the gain
    Such as the next page. twenty two
TW96141212A 2007-11-01 2007-11-01 TWI314114B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW96141212A TWI314114B (en) 2007-11-01 2007-11-01

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
TW96141212A TWI314114B (en) 2007-11-01 2007-11-01

Publications (2)

Publication Number Publication Date
TW200920635A true TW200920635A (en) 2009-05-16
TWI314114B TWI314114B (en) 2009-09-01

Family

ID=44727564

Family Applications (1)

Application Number Title Priority Date Filing Date
TW96141212A TWI314114B (en) 2007-11-01 2007-11-01

Country Status (1)

Country Link
TW (1) TWI314114B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102431553A (en) * 2011-10-18 2012-05-02 奇瑞汽车股份有限公司 Active safety system and method of vehicle
TWI688504B (en) * 2018-10-30 2020-03-21 財團法人車輛研究測試中心 Active steering control system and method with automatic superimposed compensation

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI625260B (en) * 2012-11-20 2018-06-01 Method and system for detecting lane curvature by using body signal
JP6274139B2 (en) 2015-03-21 2018-02-07 トヨタ自動車株式会社 Vehicle vibration suppression control device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102431553A (en) * 2011-10-18 2012-05-02 奇瑞汽车股份有限公司 Active safety system and method of vehicle
TWI688504B (en) * 2018-10-30 2020-03-21 財團法人車輛研究測試中心 Active steering control system and method with automatic superimposed compensation

Also Published As

Publication number Publication date
TWI314114B (en) 2009-09-01

Similar Documents

Publication Publication Date Title
JP2017186009A (en) Steering and control systems for three-wheeled vehicle
US9187124B2 (en) Steering input apparatus for trailer backup assist system
US9988076B2 (en) Steering control apparatus
JP6477938B2 (en) Electric power steering device
US9381939B2 (en) Vehicle steering control device and vehicle steering control method
US20160075371A1 (en) Providing assist torque without hand wheel torque sensor for zero to low vehicle speeds
CN103979010B (en) Method and apparatus for limiting the assisted diversion moment of torsion in electric auxiliary steering system
KR101621747B1 (en) Electric Steering Apparatus and Controlling Method of the Same
US8594892B2 (en) Electric power steering apparatus for vehicle
US4708220A (en) Power steering control apparatus
DE102006035422B4 (en) Vehicle steering control device and vehicle steering control method
US8521414B2 (en) Vehicle safety driving apparatus
EP2328055B1 (en) Fall prevention controller and computer program
EP1862374B1 (en) Steering control device for vehicles
US6655490B2 (en) Steer-by-wire system with steering feedback
US9545949B2 (en) Steering control apparatus and a steering apparatus using the same
JP4884056B2 (en) Vehicle steering control device
EP2380798B1 (en) Steering apparatus for vehicle
JP3493568B2 (en) Car steering system
US7174987B2 (en) End of travel feature for steer by wire vehicle
US9463836B2 (en) Mobile body
US9457668B2 (en) Regenerative brake control system of electric vehicle
EP2546122B1 (en) Steering support device
CN102549632B (en) For supported method and apparatus vehicle being moored out parking position
US10481602B2 (en) Sensor fusion for autonomous driving transition control