METHODS, SYSTEMS, AND COMPUTER PROGRAM PRODUCTS FOR CALCULATING A TORQUE OVERLAY COMMAND IN A STEERING CONTROL SYSTEM
First Claim
1. A method for calculating a torque overlay command in a steering control system, the method comprising:
- receiving a current hand wheel angle;
receiving a change in vehicle yaw moment command;
calculating a lateral force in response to the change in vehicle yaw moment command;
determining a new tire side slip angle from the lateral force;
calculating a commanded hand wheel angle from the new tire side slip angle;
calculating an error signal as a difference between the commanded hand wheel angle and the current hand wheel angle; and
generating the torque overlay command from the error signal.
9 Assignments
0 Petitions
Accused Products
Abstract
A method, system, and computer program product for calculating a torque overlay command in a steering control system is provided. The method includes receiving a current hand wheel angle, receiving a change in vehicle yaw moment command, and calculating a lateral force in response to the change in vehicle yaw moment command. The method also includes determining a new tire side slip angle from the lateral force and calculating a commanded hand wheel angle from the new tire side slip angle. The method further includes calculating an error signal as a difference between the commanded hand wheel angle and the current hand wheel angle, and generating a torque overlay command from the error signal.
47 Citations
20 Claims
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1. A method for calculating a torque overlay command in a steering control system, the method comprising:
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receiving a current hand wheel angle; receiving a change in vehicle yaw moment command; calculating a lateral force in response to the change in vehicle yaw moment command; determining a new tire side slip angle from the lateral force; calculating a commanded hand wheel angle from the new tire side slip angle; calculating an error signal as a difference between the commanded hand wheel angle and the current hand wheel angle; and generating the torque overlay command from the error signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for calculating a torque overlay command in a steering control system, the system comprising:
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a hand wheel angle sensor; a yaw rate sensor; a control system, the control system performing; receiving a current hand wheel angle from the hand wheel angle sensor; determining a change in vehicle yaw moment command; calculating a lateral force in response to the change in vehicle yaw moment command; determining a new tire side slip angle from the lateral force; calculating a commanded hand wheel angle from the new tire side slip angle; calculating an error signal as a difference between the commanded hand wheel angle and the current hand wheel angle; and generating the torque overlay command from the error signal. - View Dependent Claims (10, 12, 13)
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11. The system of 10, wherein the system further comprises:
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a vehicle speed sensor; and calculating a commanded road wheel angle further comprises; calculating an offset value as a product of a distance between a steering axle and a center of gravity of the vehicle times a yaw rate of the vehicle; dividing the offset value by a longitudinal velocity of the vehicle; and adding the offset value to the summation of the new tire side slip angle and the vehicle slip angle.
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14. A computer program product for calculating a torque overlay command in a steering control system, the computer program product including instructions for implementing a method, comprising:
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receiving a current hand wheel angle; receiving a change in vehicle yaw moment command; calculating a lateral force in response to the change in vehicle yaw moment command; determining a new tire side slip angle from the lateral force; calculating a commanded hand wheel angle from the new tire side slip angle; calculating an error signal as a difference between the commanded hand wheel angle and the current hand wheel angle; and generating the torque overlay command from the error signal. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification