Providing assist torque without hand wheel torque sensor
First Claim
Patent Images
1. A method of controlling an electric power steering system, the method comprising:
- determining that one or more of a plurality of hand wheel torque sensors are not enabled;
generating an assist torque command by;
estimating a lateral acceleration based on a hand wheel angle from a hand wheel angle sensor and a vehicle velocity signal;
determining an amount of assist torque as a first assist torque command based on the estimated lateral acceleration;
determining whether at least one of the hand wheel torque sensors is enabled;
generating a second assist torque command using a hand wheel torque measured by the at least one of the hand wheel torque sensors that is enabled;
comparing the first assist torque command and the second assist torque command for a same instance of time;
selecting a smaller of the first assist torque command and the second assist torque command as the generated assist torque command based on determining that at least one of the hand wheel torque sensors is enabled; and
selecting the first assist torque command as the generated assist torque command based on determining that none of the hand wheel torque sensors is enabled; and
controlling the electric power steering system using the generated assist torque command.
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Abstract
A method of controlling an electric power steering system of a vehicle is provided. The method determines that one or more hand wheel torque sensors of the vehicle are not enabled. The method generates an assist torque command by estimating a lateral acceleration of the vehicle based on a hand wheel angle and determining an amount of assist torque based on the estimated lateral acceleration. The method controls the electric power steering system using the generated assist torque command.
129 Citations
19 Claims
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1. A method of controlling an electric power steering system, the method comprising:
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determining that one or more of a plurality of hand wheel torque sensors are not enabled; generating an assist torque command by; estimating a lateral acceleration based on a hand wheel angle from a hand wheel angle sensor and a vehicle velocity signal; determining an amount of assist torque as a first assist torque command based on the estimated lateral acceleration; determining whether at least one of the hand wheel torque sensors is enabled; generating a second assist torque command using a hand wheel torque measured by the at least one of the hand wheel torque sensors that is enabled; comparing the first assist torque command and the second assist torque command for a same instance of time; selecting a smaller of the first assist torque command and the second assist torque command as the generated assist torque command based on determining that at least one of the hand wheel torque sensors is enabled; and selecting the first assist torque command as the generated assist torque command based on determining that none of the hand wheel torque sensors is enabled; and controlling the electric power steering system using the generated assist torque command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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an electric power steering system that includes a plurality of hand wheel torque sensors and a hand wheel angle sensor; and a control module configured to; determine that one or more of the hand wheel torque sensors are not enabled; generate an assist torque command by; estimating a lateral acceleration based on a hand wheel angle from the hand wheel angle sensor and a vehicle velocity signal; determining an amount of assist torque as a first assist torque command based on the estimated lateral acceleration; determining whether at least one of the hand wheel torque sensors is enabled; generating a second assist torque command using a hand wheel torque measured by the at least one of the hand wheel torque sensors that is enabled; comparing the first assist torque command and the second assist torque command for a same instance of time; selecting a smaller of the first assist torque command and the second assist torque command as the generated assist torque command based on determining that at least one of the hand wheel torque sensors is enabled; and selecting the first assist torque command as the generated assist torque command based on determining that none of the hand wheel torque sensors is enabled; and control the electric power steering system using the generated assist torque command. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method of controlling an electric power steering system, the method comprising:
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determining that one or more of a plurality of hand wheel torque sensors is not enabled; generating an assist torque command by; estimating a non-straight movement rate based on a hand wheel angle from a hand wheel angle sensor and a vehicle velocity signal; determining an amount of assist torque as a first assist torque command based on the estimated non-straight movement rate; determining whether at least one of the hand wheel torque sensors is enabled; generating a second assist torque command using a hand wheel torque measured by the at least one of the hand wheel torque sensors that is enabled; comparing the first assist torque command and the second assist torque command for a same instance of time; selecting a smaller of the first assist torque command and the second assist torque command as the generated assist torque command based on determining that at least one of the hand wheel torque sensors is enabled; and selecting the first assist torque command as the generated assist torque command based on determining that none of the hand wheel torque sensors is enabled; and controlling the electric power steering system using the generated assist torque command. - View Dependent Claims (18, 19)
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Specification