Handwheel obstruction detection and inertia compensation
First Claim
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1. A vehicle steering system for a vehicle, comprising:
- a sensor sensing a handwheel angle;
an autonomous steering module generating an input torque signal, wherein the autonomous steering module includes a trailer backup assist controller for generating a steering command for guiding a trailer connected to the vehicle in reverse, wherein the trailer backup assist controller receives a hitch angle between the trailer and the vehicle sensed by a hitch angle sensor and generates the steering command based on the sensed hitch angle to generate the input torque signal to steer the vehicle when the vehicle is driving in reverse; and
a steering angle controller for determining a handwheel acceleration based on the handwheel angle, determining an offset torque based on the handwheel acceleration, and generating a compensated torque signal based on the offset torque and the input torque signal.
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Abstract
A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.
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Citations
18 Claims
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1. A vehicle steering system for a vehicle, comprising:
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a sensor sensing a handwheel angle; an autonomous steering module generating an input torque signal, wherein the autonomous steering module includes a trailer backup assist controller for generating a steering command for guiding a trailer connected to the vehicle in reverse, wherein the trailer backup assist controller receives a hitch angle between the trailer and the vehicle sensed by a hitch angle sensor and generates the steering command based on the sensed hitch angle to generate the input torque signal to steer the vehicle when the vehicle is driving in reverse; and a steering angle controller for determining a handwheel acceleration based on the handwheel angle, determining an offset torque based on the handwheel acceleration, and generating a compensated torque signal based on the offset torque and the input torque signal. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle steering system for a vehicle, comprising:
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a sensor sensing a handwheel angle; a trailer backup assist controller for generating a steering command for guiding a trailer connected to the vehicle in reverse, the steering command generating an input torque signal, wherein the steering command is based on a hitch angle between the vehicle and trailer as sensed by a hitch angle sensor to generate the input torque signal to steer the vehicle when the vehicle is driving in reverse; and a steering angle controller for determining a handwheel acceleration based on the handwheel angle, determining an offset torque based on the handwheel acceleration, and generating a compensated torque signal based on the offset torque and the input torque signal. - View Dependent Claims (8, 9, 10, 11)
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12. A method for steering a vehicle connected to the trailer in reverse, comprising:
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sensing an angle of a handwheel; sensing a hitch angle between a trailer and the vehicle; generating a steering command to steer the vehicle for guiding the trailer in reverse based on the sensed hitch angle, the steering command generating an input torque signal; determining a handwheel acceleration based on the angle; determining an offset torque based on the handwheel acceleration; and generating a compensated torque signal based on the offset torque and the input torque signal to compensate for inertia and off-center mass of the handwheel. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification