Methods and systems for controlling steering systems of vehicles

• US 10,183,696 B2
• Filed: 09/03/2015
• Issued: 01/22/2019
• Est. Priority Date: 01/22/2013
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Oblizajek, Kenneth L., Pastor, Stephen R., Caldwell, David M., Sopoci, John D.
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US14/844,964
• Publication Number:
  US 20150375785A1
• Time in Patent Office: 1,237 Days
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G01S 19/13 Receivers

Abstract

Methods and systems are provided for controlling a steering system of a vehicle is provided. A detection unit is configured to obtain a compass heading, a global positioning system (GPS) heading, or both. A processor is coupled to the detection unit, and is configured to determine whether a vehicle is on a straight line path using the compass heading, the GPS heading, or both, and to selectively implement a feature of the steering system based on whether it is determined that the vehicle is not on a straight line path.

Claims

1. A method of controlling a steering system of a vehicle, the method comprising:

obtaining a heading for the vehicle via a detection unit comprising a source for heading information for the vehicle;

generating sensor data for the vehicle via a sensor array;

determining a velocity of the vehicle using the sensor data;

determining whether the vehicle is on a straight line path, via a processor, based on the heading; and

selectively implementing a lead/pull feature of the steering system, via the processor, based on the velocity of the vehicle and whether it is determined that the vehicle is on a straight line path, by;

activating the lead/pull feature of the steering system if it is determined that the vehicle is on a straight line path and the velocity of the vehicle is greater than a non-zero predetermined threshold; and

disabling the lead/pull feature of the steering system if it is determined that the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both.

2. The method of claim 1 further comprising:

providing learning for long term compensation of steering torque when the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold; and

not providing learning for the long term compensation of the compensating steering torque when the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both;

such that the learning for the long term compensation of the steering torque is based on conditions when the vehicle is on a straight line path and the velocity is greater than the non-zero predetermined threshold, but is not based on conditions when the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both.

3. The method of claim 1, wherein the step of determining whether the vehicle is on a straight line path comprises determining whether the vehicle is not making a turn.

4. The method of claim 1, wherein the step of disabling the feature of the steering system comprises:

maintaining a level of lead/pull compensation torque based on previous learning when the vehicle is not on a straight line path.

5. The method of claim 1, wherein the step of determining whether the vehicle is on a straight path comprises:

determining whether the vehicle is on a straight line path based on the compass heading.

6. The method of claim 5, wherein the step of determining whether the vehicle is on a straight line path comprises:

obtaining a first compass heading value at a first time;

obtaining a second compass heading value at a second time; and

determining that the vehicle is on a straight line path if a difference between the first and second compass heading values is less than a predetermined threshold.

7. The method of claim 1, wherein the step of determining whether the vehicle is on a straight path comprises:

determining whether the vehicle is on a straight line path based on a global positioning system (GPS) heading.

8. The method of claim 7, wherein the step of determining whether the vehicle is on a straight line path comprises:

obtaining a first GPS heading value at a first time;

obtaining a second GPS heading value at a second time; and

determining that the vehicle is on a straight line path if a difference between the first and second GPS heading values is less than a predetermined threshold.

9. A system for controlling the steering system of a vehicle, the system comprising:

a detection unit comprising a source for heading information for the vehicle, the source for heading information configured to obtain a heading for the vehicle; and

a sensor array configured to generate sensor data for the vehicle;

a processor coupled to the detection unit and configured to;

determine a velocity of the vehicle using the sensor data;

determine whether the vehicle is on a straight line path using the heading; and

selectively implement a lead/pull feature of the steering system based on the velocity of the vehicle and whether it is determined that the vehicle is on a straight line path, by;

activating the lead/pull feature of the steering system if it is determined that the vehicle is on a straight line path and the velocity of the vehicle is greater than a non-zero predetermined threshold; and

disabling the lead/pull feature of the steering system if it is determined that the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both.

10. The system of claim 9, wherein the processor is configured to:

provide learning for long term compensation of steering torque when the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold; and

not providing learning for the long term compensation of the steering torque when the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both;

such that the learning for the long term compensation of the steering torque is based on conditions when the vehicle is on a straight line path and the velocity is greater than the non-zero predetermined threshold, but is not based on conditions when the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both.

11. The system of claim 9, wherein:

the detection unit comprises a sensor configured to measure a torque provided by a driver of the vehicle to a steering column of the vehicle; and

the processor is configured to;

use the torque for calculating a compensating steering torque when the vehicle is on a straight line path; and

not use the torque for calculating the compensating steering torque when the vehicle is not on a straight line path.

12. The system of claim 9, wherein:

the detection unit comprises a compass configured to provide;

a first compass heading value at a first time; and

a second compass heading value at a second time; and

the processor is configured to determine that the vehicle is on a straight line path if a difference between the first and second compass heading values is less than a predetermined threshold.

13. The system of claim 9, wherein:

the detection unit comprises a GPS system component configured to provide;

a first GPS heading value at a first time; and

a second GPS heading value at a second time; and

the processor is configured to determine that the vehicle is on a straight line path if a difference between the first and second GPS heading values is less than a predetermined threshold.

14. The system of claim 10, further comprising:

a sensor configured to measure a torque applied by the driver against the steering system when the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold; and

a memory configured to store, for use in future driving cycles, the measured torque applied by the driver against the steering system when, and only when, the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold, based on the vehicle being on the straight line path and the velocity of the vehicle being greater than the non-zero predetermined threshold;

wherein the processor is configured to;

perform the learning for the long term compensation of the steering torque based on the measured torque applied by the driver against the steering system when, and only when, the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold; and

provide instructions for providing compensation of the steering torque, based on the stored measured torque values, for use by the vehicle in subsequent driving cycles in which the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold.

15. The system of claim 9, wherein the non-zero predetermined threshold is equal to approximately thirty miles per hour.

16. The system of claim 9, wherein the non-zero predetermined threshold is equal to thirty miles per hour.

17. The system of claim 9, wherein then processor is configured to:

determine whether the vehicle is on a straight line path using the heading for at least a first non-zero predetermined amount of time;

determine whether the vehicle is on a straight line path using the heading for at least a second non-zero predetermined amount of time, the second non-zero amount of time being greater than the first non-zero amount of time;

determine whether the velocity of the vehicle is less than or equal to the non-zero predetermined threshold for at least the first non-zero predetermined amount of time;

determine whether the velocity of the vehicle is less than or equal to the non-zero predetermined threshold for at least the second non-zero predetermined amount of time;

activate short term compensation for the lead/pull feature of the steering system if it is determined that the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold for at least the first predetermined amount of time;

disable short term compensation for the lead/pull feature of the steering system if it is determined that the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both, for at least the first predetermined amount of time;

activate long term learning for the lead/pull feature of the steering system, for learning between different vehicle ignition cycles, if it is determined that the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold for at least the second predetermined amount of time; and

disable long term learning for the lead/pull feature of the steering system, between different ignition cycles, if it is determined that the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both, for at least the second predetermined amount of time.

18. The system of claim 9, wherein the processor is configured to:

provide instructions for providing a first level of lead/pull compensation when the vehicle is on a straight line path and the velocity of the vehicle is greater than a non-zero predetermined threshold; and

provide instructions for maintaining a second level of lead/pull compensation torque, different from the first level, when the vehicle is not on the straight line path, the velocity of the vehicle is greater than the non-zero predetermined threshold, or both.

19. The system of claim 18, wherein the processor is configured to:

provide instructions for providing the first level of lead/pull compensation based on current conditions when the vehicle is on a straight line path and the velocity of the vehicle is greater than a non-zero predetermined threshold; and

provide instructions for maintaining the second level of lead/pull compensation torque, based on previous learning from prior to the current conditions, when the vehicle is not on the straight line path, the velocity of the vehicle is greater than the non-zero predetermined threshold, or both.

20. The system of claim 10, wherein the processor is configured to:

provide the learning, across multiple ignition cycles, for the long term compensation of steering torque when the vehicle is on a straight line path and the velocity of the vehicle is greater than the non-zero predetermined threshold; and

not provide learning, across multiple ignition cycles, for the long term compensation of the steering torque when the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both;

such that the learning, across multiple ignition cycles, for the long term compensation of the steering torque is based on conditions when the vehicle is on a straight line path and the velocity is greater than the non-zero predetermined threshold, but is not based on conditions when the vehicle is not on a straight line path, or the velocity of the vehicle is less than or equal to the non-zero predetermined threshold, or both.