Method and apparatus for limiting an assist steering torque
First Claim
1. A method for limiting at least one assisting steering torque in a steering system having electronic power assisted steering, the method comprising:
- determining a steering angle change desired by a driver based on a driver manual torque applied at a steering wheel;
determining a desired trajectory of a vehicle based, at least in part, on the driver manual torque applied at a steering wheel;
estimating a range of steering angle changes as a magnitude of a lateral dynamic reaction of the steering angle change that substantially maintains the desired trajectory for a vehicle velocity;
selecting a subset of the estimated range of steering angle changes based upon a detected vehicle velocity;
subsequent to selecting the subset of steering angle changes, checking whether a current steering angle change is included in the subset of steering angle changes; and
limiting the assisting steering torque if the current steering angle change is not included in the subset of steering angle changes to prevent significant deviation from the desired trajectory.
1 Assignment
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Accused Products
Abstract
A method and apparatus for limiting assisting steering torque in a steering system having electronic power assisted steering is provided. In accordance with the method and apparatus, a steering angle change desired by the driver is determined and a range of valid steering angle changes dependent upon the steering angle change desired by the driver are defined. Subsequently it is determined whether a current steering angle change is included in the range of valid steering angle changes, and if the current steering angle change is not included in the range of the valid steering angle changes, the assisting steering torque is limited.
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Citations
24 Claims
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1. A method for limiting at least one assisting steering torque in a steering system having electronic power assisted steering, the method comprising:
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determining a steering angle change desired by a driver based on a driver manual torque applied at a steering wheel; determining a desired trajectory of a vehicle based, at least in part, on the driver manual torque applied at a steering wheel; estimating a range of steering angle changes as a magnitude of a lateral dynamic reaction of the steering angle change that substantially maintains the desired trajectory for a vehicle velocity; selecting a subset of the estimated range of steering angle changes based upon a detected vehicle velocity; subsequent to selecting the subset of steering angle changes, checking whether a current steering angle change is included in the subset of steering angle changes; and limiting the assisting steering torque if the current steering angle change is not included in the subset of steering angle changes to prevent significant deviation from the desired trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system for limiting at least one assisting steering torque of a steering system having electronic power assisted steering, comprising:
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a storage device configured to store a definition of a range of steering angle changes comprising steering angle changes at vehicle velocities that substantially maintain a desired trajectory; a device for determining a steering angle change that results from a driver manual steering torque and a summation of steering torques of all requested steering torques of the electronic power assisted steering, and for outputting a signal that represents the resulting steering angle change; a device for capturing a signal that represents the steering angle change desired by the driver; a checking device for checking whether the steering angle change resulting from the driver manual steering torque and the summation of the steering torques of all the requested steering torques based on the steering angle change desired by the driver is included in the range of steering angle changes, wherein the checking device is operatively connected to the device for determining the steering angle change that results from the driver manual steering torque and summation of the steering torques of all the requested steering torques, operatively connected to the device for capturing the signal that represents the steering angle change desired by the driver, and operatively connected to the storage device; a limiting device for limiting an assisting steering torque if the checking device indicates that a steering angle change resulting from the driver manual steering torque and the summation of the steering torques of all the requested steering torques based on the steering angle change that is desired by the driver is not included in the range of steering angle changes to prevent significant deviation from the desired trajectory; and a situation recognition device configured to detect at least one of a driving maneuver and a driving condition of a vehicle, wherein the system is configured to extend, restrict, or shift the range of steering angle changes based on at least one of a detected driving maneuver and a detected driving condition of the vehicle. - View Dependent Claims (16, 17, 18)
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19. A method for controlling steering torque assist in a steering system, comprising:
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determining a desired trajectory of a vehicle based on a driver manual torque applied at a steering wheel; estimating a range of steering angle changes that substantially maintain the desired trajectory; checking whether a current steering angle change is included in the estimated range; and controlling the assisting steering torque to prevent significant deviation from the desired trajectory. - View Dependent Claims (20)
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21. A system for controlling steering torque assist in a steering system, comprising:
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a storage device configured to store a range of steering angle changes that substantially maintain a desired vehicle trajectory for a vehicle parameter; a device for determining a steering angle change that results from a driver manual steering torque and a summation of steering torques of all requested steering torque assists, and for outputting a signal that represents the resulting steering angle change; a device for capturing a signal that represents the steering angle change desired by the driver; a checking device for checking whether the resulting steering angle change is included in the range of steering angle changes; and a device for controlling an amount of assisting steering torque applied such that an actual steering angle change is included in the range of steering angle changes in order to prevent significant deviation from the desired vehicle trajectory. - View Dependent Claims (22, 23, 24)
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Specification