Driver intent estimation without using torque sensor signal

• US 10,155,534 B2
• Filed: 06/14/2016
• Issued: 12/18/2018
• Est. Priority Date: 06/14/2016
• Status: Active Grant

• Current Assignee: Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Original Assignee: Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Inventors: Varunjikar, Tejas M., Champagne, Anthony J.
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/181,482
• Publication Number:
  US 20170355396A1
• Time in Patent Office: 917 Days
• Field of Search: 701 41
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0481 monitoring the steering system, e.g. failures
• CPC Class Codes: B62D 5/049 detecting sensor failures
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 6/006 using a measured or estimated road friction coefficient
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A system for determining driver torque includes a rack torque estimator module that determines an estimated rack torque value based on a motor angle, and a motor velocity. The system further includes a driver intent detection module that computes a disturbance torque scaling factor based on the estimated rack torque value. The system further includes a blend module that generates a motor torque assist command based on a scaled value of the estimated rack torque value using the disturbance torque scaling factor.

Claims

1. A power steering system for providing a motor torque assist command, the power steering system comprising:

a rack torque estimator module that determines an estimated rack torque value based on a motor angle, and a motor velocity;

a driver intent detection module that computes a disturbance torque scaling factor based on the estimated rack torque value by computing a disturbance torque signal based on the estimated rack torque value; and

a blend module that generates the motor torque assist command based on a scaled value of the estimated rack torque value using the disturbance torque scaling factor, the scaling comprising multiplying the estimated rack torque value by the disturbance torque scaling factor.

2. The power steering system of claim 1, wherein the blend module generates the motor torque command based on said scaled value in response to a vehicle speed being below a predetermined threshold.

3. The power steering system of claim 2, wherein the rack torque estimation module is a static tire torque estimation module.

4. The power steering system of claim 1, wherein the driver intent detection module computes the disturbance torque scaling factor by:

computing a disturbance torque signal further based on the motor angle and the motor velocity;

computing a change in the disturbance torque signal; and

implementing a selector to choose between a low value and a default high value for the disturbance torque scaling factor.

5. The power steering system of claim 4, wherein the change in the disturbance torque signal is computed by computing a difference between successive values of the disturbance torque signal.

6. The power steering system of claim 4, wherein the driver intent detection module includes a scaling module that outputs the disturbance torque scaling factor based on the change in the disturbance torque signal and a previous motor torque command.

7. The power steering system of claim 4, wherein the disturbance torque scaling factor scales the motor torque command in response to a value of the change in the disturbance torque signal having a sign opposite to a value of a previous motor torque command.

8. The power steering system of claim 7, wherein the disturbance torque scaling factor scales the motor torque command in response to the value of the change in the disturbance torque signal having a magnitude greater than a predetermined threshold.

9. The power steering system of claim 4, wherein the computation of the disturbance torque scaling factor by the driver intent detection module further comprises eliminating a constant rack force component from the disturbance torque signal using a predetermined band-pass filter.

10. The power steering system of claim 4, wherein the driver intent detection module computes the disturbance torque signal using an extended state observer, which is expressed by:

{circumflex over ({dot over (x)})}_obs=A_obs{circumflex over (x)}_obs+B_obsu+L(y−

ŷ

) ,

wherein {circumflex over (x)}_obs refers to a calculated state of the steering system, {circumflex over ({dot over (x)})}_obs represents a state change, u is system input, y is system output, A_obs is a system matrix, B_obs is a control matrix, L is an observer gain matrix, and ŷ

is a calculated system output.

11. The power steering system of claim 1, wherein the disturbance torque scaling factor has a value from a predetermined range.

12. The power steering system of claim 1, further comprising a torque sensor configured to detect a driver torque signal from a handwheel of the power steering system, and wherein the blend module generates the motor torque assist command based on said scaled value in response to the torque sensor being in a failure or a disabled state.

13. A method for providing a motor torque assist command by a power steering system, the method comprising:

determining an estimated rack torque value based on a motor angle, and a motor velocity;

computing a disturbance torque scaling factor based on the estimated rack torque value by computing a disturbance torque signal based on the estimated rack torque value; and

generating the motor torque command based on a scaled value of the estimated rack torque value using the disturbance torque scaling factor, the scaling comprising multiplying the estimated rack torque value by the disturbance torque scaling factor.

14. The method of claim 13, wherein the motor torque command is generated based on said scaled value in response to a vehicle speed being below a predetermined threshold.

15. The method of claim 14, wherein the motor torque is estimated based on a static tire torque estimation module.

16. The method of claim 13, wherein computing the disturbance torque scaling factor further comprises:

computing the disturbance torque signal further based on the motor angle and the motor velocity;

computing a change in the disturbance torque signal; and

implementing a selector to choose between a low value and a default high value for the disturbance torque scaling factor.

17. The method of claim 16, wherein the change in the disturbance torque signal is computed by computing a difference between successive values of the disturbance torque signal.

18. The method of claim 16, further comprising outputting the disturbance torque scaling factor based on the change in the disturbance torque signal and a previous motor torque command.

19. The method of claim 16, wherein the disturbance torque scaling factor scales the motor torque assist command in response to a value of the change in the disturbance torque signal having a sign opposite to a value of a previous motor torque command.

20. The method of claim 19, wherein the disturbance torque scaling factor scales the motor torque assist command in response to the value of the change in the disturbance torque signal having a magnitude greater than a predetermined threshold.

21. The method of claim 13, wherein the disturbance torque scaling factor cancels the motor torque assist command.

22. A power steering system for providing motor torque assist command, the power steering system comprising:

a torque sensor configured to detect a driver torque signal from a handwheel of the power steering system; and

a control module configured to;

in response to the torque sensor operating without a failure;

determine a first estimated rack torque value based on a motor angle, a motor velocity, and the driver torque signal; and

generate a first motor torque assist command based on the first estimated rack torque value; and

in response to detecting a failure of the torque sensor;

determine a second estimated rack torque value based on the motor angle, and the motor velocity;

compute a disturbance torque scaling factor based on the second estimated rack torque value; and

generate a second motor torque assist command based on a scaled value of the second estimated rack torque value using the disturbance toque scaling factor, the scaling comprising multiplying the second estimated rack torque value by the disturbance torque scaling factor.