Steer torque manager for an advanced driver assistance system of a road vehicle

• US 10,464,603 B2
• Filed: 02/05/2018
• Issued: 11/05/2019
• Est. Priority Date: 02/10/2017
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Mardh, Lars Johannesson, Haglund, Malin
• Primary Examiner(s): Badii, Behrang
• Application Number:
  US15/888,717
• Publication Number:
  US 20180229769A1
• Time in Patent Office: 638 Days
• CPC Class Codes: B60L 1/00 Supplying electric power to auxiliary equipment of vehicles circuit arrangements for charging batteries H02J7/00
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/04 Monitoring the functioning of the control system
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• 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 5/04 electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• 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: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque

Abstract

A steer torque manager for an advanced driver assistance system of a road vehicle and a method therefor. A driver-in-the-loop functionality determines when to hand over control to a driver. A wheel angle controller uses an advanced driver assistance system wheel angle request to produce an overlay torque request to be added to a torque request from an electrical power assisted steering. The steer torque manager controls the driver-in-the-loop functionality based on amplitude and frequency content of a torsion bar torque related signal which is filtered to attenuate an amplitude thereof at frequencies up to 2 Hz. The overlay torque request to be provided by the wheel angle controller is modulated based on a measure of driver activity derived from the filtered torsion bar torque related signal, where more recent values are weighted higher than older values, using a time window of 0.5-3 seconds.

Claims

1. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:

a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and

a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality;

wherein the steer torque manager is configured to receive a steering wheel torsion bar torque related signal and to control the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal through filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz and modulating the overlay torque request to be provided by the wheel angle controller based on a plurality of measures of driver activity derived from the filtered torsion bar torque related signal using a time window of 0.5-3 seconds, where a more recent value of driver activity is weighted higher than an older value of driver activity.

2. The steer torque manager of claim 1 further configured to receive a torsion bar torque related signal provided as an electrical power assisted steering assistance torque signal comprising a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

3. The steer torque manager of claim 1 further configured to filter the torsion bar torque related signal using two lead filters connected in series and having a high frequency gain of one.

4. The steer torque manager of claim 1 further configured to blend the filtered torsion bar torque related signal with the unfiltered torsion bar torque related signal based on a driver-in-the-loop factor being a measure of driver activity over a previous time window, and to modulate the overlay torque request to be provided by the wheel angle controller based on a measure of driver activity derived from the blended filtered torsion bar torque related signal, where more recent values are weighted higher than older values, using the time window of 0.5-3 seconds.

5. The steer torque manager according to claim 4 further configured to calculate the driver-in-the-loop factor as a normalized version of a driver-in-the-loop impulse which the steer torque manager is configured to calculate as a measure of driver activity over a time window by multiplying the duration of the time window with the average torque over the time window such that the driver-in-the-loop factor spans between indicating an inactive driver and a fully active driver.

6. The steer torque manager according to claim 4 wherein the driver-in-the-loop factor is arranged to span from 1 to 0, where 1 indicates an inactive driver and 0 indicates a fully active driver for whom the overlay torque request from an advanced driver assist functionality should be faded out and control handed over from an advanced driver assistance system to a driver.

7. The steer torque manager of claim 5 further configured to calculate the driver-in-the-loop impulse, driver-in-the-loop factor, and torque limits for the wheel angle controller based on the blended filtered torsion bar torque related signal.

8. The steer torque manager of claim 6 further configured to blend the filtered torsion bar torque related signal with the unfiltered torsion bar torque related signal in proportions between a signal essentially corresponding to the unfiltered torsion bar torque related signal for a low driver-in-the-loop factor and essentially corresponding to the filtered torsion bar torque related signal for a high driver-in-the-loop factor.

9. The steer torque manager of claim 7 wherein the driver-in-the-loop factor is rate limited.

10. A power steering control module comprising a steer torque manager according to claim 1.

11. An advanced driver assistance system comprising a steer torque manager according to claim 1.

12. A road vehicle comprising an advanced driver assistance system according to claim 11.

13. A method performed by a steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver, a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality, the steer torque manager configured to receive a steering wheel torsion bar torque related signal, the method comprising:

controlling the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal;

wherein controlling the driver-in-the-loop functionality comprises,

filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz, and

modulating the overlay torque request to be provided by the wheel angle controller based on a plurality of measures of driver activity derived from the filtered torsion bar torque related signal using a time window of 0.5-3 seconds, where a more recent value of driver activity is weighted higher than an older value of driver activity.

14. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:

a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and

a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality;

wherein the steer torque manager is configured to receive a steering wheel torsion bar torque related signal and to control the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal through filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz and modulating the overlay torque request to be provided by the wheel angle controller based on a measure of driver activity derived from the filtered torsion bar torque related signal, where more recent values are weighted higher than older values, using a time window of 0.5-3 seconds.

15. The steer torque manager of claim 14 further configured to receive a torsion bar torque related signal provided as an electrical power assisted steering assistance torque signal comprising a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

16. The steer torque manager of claim 14 further configured to filter the torsion bar torque related signal using two lead filters connected in series and having a high frequency gain of one.

17. The steer torque manager of claim 14 further configured to blend the filtered torsion bar torque related signal with the unfiltered torsion bar torque related signal based on a driver-in-the-loop factor being a measure of driver activity over a previous time window, and to modulate the overlay torque request to be provided by the wheel angle controller based on a measure of driver activity derived from the blended filtered torsion bar torque related signal, where more recent values are weighted higher than older values, using the time window of 0.5-3 seconds.

18. The steer torque manager according to claim 17 further configured to calculate the driver-in-the-loop factor as a normalized version of a driver-in-the-loop impulse which the steer torque manager is configured to calculate as a measure of driver activity over a time window by multiplying the duration of the time window with the average torque over the time window such that the driver-in-the-loop factor spans between indicating an inactive driver and a fully active driver.

19. The steer torque manager according to claim 17 wherein the driver-in-the-loop factor is arranged to span from 1 to 0, where 1 indicates an inactive driver and 0 indicates a fully active driver for whom the overlay torque request from an advanced driver assist functionality should be faded out and control handed over from an advanced driver assistance system to a driver.

20. The steer torque manager of claim 18 further configured to calculate the driver-in-the-loop impulse, driver-in-the-loop factor, and torque limits for the wheel angle controller based on the blended filtered torsion bar torque related signal.