Model based driver torque estimation

• US 10,464,594 B2
• Filed: 11/05/2015
• Issued: 11/05/2019
• Est. Priority Date: 09/03/2015
• 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: Yu, Bo, Champagne, Anthony J., Varunjikar, Tejas M., Kaufmann, Timothy W.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Thomas, Ana D
• Application Number:
  US14/933,461
• Publication Number:
  US 20170066473A1
• Time in Patent Office: 1,461 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 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0466 for returning the steering wheel to neutral position
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque

Abstract

A control system for a power steering system includes an error module that generates an error signal based on a difference of an estimated output vector and an output vector, a scaling module that calculates a feedback correction signal based on the error signal and an observer gain value, an extended state vector estimation module that determines an extended state vector estimate based on the feedback correction signal and a motor torque command, and a gain module that applies a gain to the extended state vector estimate to generate an estimated driver torque signal, the estimated driver torque signal is applied in control of the power steering system.

Claims

1. A control system for a power steering system, the system comprising:

a processor; and

a memory that includes instructions that, when executed by the processor, cause the processor to;

generate an error signal based on a difference of an estimated output vector and an output vector;

calculate a feedback correction signal based on the error signal and an observer gain value, the feedback correction signal reducing the difference of the estimated output vector and the output vector by driving the error signal to approach zero;

determine an extended state vector estimate based on the feedback correction signal and a motor torque command; and

apply a gain to the extended state vector estimate to generate an estimated driver torque signal, the estimated driver torque signal is applied in control of the power steering system, wherein the extended state vector approaches an actual state vector.

2. The system of claim 1, wherein the instructions further cause the processor to generate the estimated output vector based on the extended state vector estimate.

3. The system of claim 1, wherein the instructions further cause the processor to determine the extended state estimate based on an extended state-space equation.

4. The system of claim 3, wherein the state-space equation is based on a motor torque, a t-bar torque signal, a motor position signal, and a motor velocity signal.

5. The system of claim 1, wherein the output vector includes a motor torque, a handwheel position signal, a motor position signal, and a motor velocity signal.

6. The system of claim 5, wherein the motor torque, the handwheel position signal, the motor position signal, and the motor velocity signal are represented in handwheel coordinates.

7. The system of claim 1, wherein the observer gain value is a matrix determined by a Kalman filtering technique.

8. The system of claim 1, wherein the estimated driver torque signal assists a handwheel to a center position.

9. The system of claim 1, wherein the estimated driver torque signal is used to scale at least one of a lane-centering command and a lane assist command in a driver assistance system.

10. A method for controlling a power steering system, the method comprising:

receiving at least an output vector;

generating an error signal based on a difference of an estimated output vector and the output vector;

calculating a feedback correction signal based on the error signal and an observer gain value, the feedback correction signal reducing the difference of the estimated output vector and the output vector by driving the error signal to approach zero;

determining an extended state vector estimate based on the feedback correction signal and a motor torque command; and

applying a gain to the extended state vector estimate to generate an estimated driver torque signal, the estimated driver torque signal assists in control of the power steering system, wherein the extended state vector approaches an actual state vector.

11. The method of claim 10, wherein the extended state vector estimate is determined based on a state-space equation.

12. The method of claim 11, wherein the state-space equation is based on a motor torque, a handwheel position signal, a motor position signal, and a motor velocity signal.

13. The method of claim 10, wherein the output vector includes a motor torque, a handwheel position signal, a motor position signal, and a motor velocity signal.

14. The method of claim 13, wherein the motor torque, the handwheel position signal, the motor position signal, and the motor velocity signal are represented by handwheel coordinates.

15. The method of claim 10, wherein the observer gain value is a matrix based at least in part on a Kalman filtering technique.

16. The method of claim 10, wherein the estimated driver torque signal is used to assist a handwheel to a center position.

17. The method of claim 10, wherein the estimated driver torque signal is used to scale at least one of a lane-centering command and a lane assist command in a driver assistance system.