Stability-Based Steering Control Methods and Systems

• US 20110054737A1
• Filed: 08/26/2009
• Published: 03/03/2011
• Est. Priority Date: 08/26/2009
• Status: Active Grant

• Current Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust), Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Hales, Michael K., Naik, Anand P.
• Granted Patent: US 8,473,158 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• 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

Abstract

A control system for controlling a steering system to maintain stability of the steering system is provided. The control system includes an operating conditions module that estimates at least one operating gain based on an operating condition of the steering system. A blend module estimates a blend value based on the at least one operating gain. A steering assist module generates a steering assist command based on the blend value.

Claims

1. A control system for controlling a steering system to maintain stability of the steering system, comprising:

an operating conditions module that estimates at least one operating gain based on an operating condition of the steering system; and

a blend module that estimates a blend value based on the at least one operating gain; and

a steering assist module that generates a steering assist command based on the blend value.

2. The control system of claim 1 wherein the at least one operating condition is based on driver initiated torque on the steering system.

3. The control system of claim 1 wherein the operating conditions module estimates the at least one operating gain further based on at least one operating condition of a vehicle that includes the steering system.

4. The control system of claim 3 wherein the at least one operating condition is based on a vehicle velocity.

5. The control system of claim 1 wherein the operating conditions module estimates a high frequency operating gain and a low frequency operating gain based on the at least one operating condition.

6. The control system of claim 1 wherein the blend module estimates the blend value based on an inverse function of at least one of a gain margin and a phase margin.

7. The control system of claim 1 wherein the blend module estimates the blend value based on coefficients of a polynomial.

8. The control system of claim 1 wherein the blend module estimates the blend value based on a maximum of a compensator blend that is based on phase margin and a compensator blend that is based on gain margin.

9. The control system of claim 1 wherein the at least one operating condition is based on motor velocity of the steering system.

10. The control system of claim 1 wherein the at least one operating condition is based on hand wheel velocity on the steering system.

11. A method of controlling a steering system to maintain stability of the steering system, comprising:

estimating at least one operating gain based on at least one operating condition of the steering system;

estimating a blend value based on the at least one operating gain; and

generating a steering assist command based on the blend value.

12. The method of claim 11 wherein the operating condition is based on driver initiated torque on the steering system.

13. The method of claim 11 wherein estimating the at least one operating gain is further based on at least one operating condition of a vehicle that includes the steering system.

14. The method of claim 13 wherein the at least one operating condition is based on a vehicle velocity.

15. The method of claim 11 wherein the estimating at least one operating gain further comprises estimating a high frequency operating gain and a low frequency operating gain based on the at least one operating condition.

16. The method of claim 11 wherein the estimating the blend value is based on an inverse function of at least one of a gain margin and a phase margin.

17. The method of claim 11 wherein the estimating the blend value is based on coefficients of a polynomial.

18. The method of claim 11 wherein the estimating the blend value is based on a maximum of a compensator blend that is based on phase margin and a compensator blend that is based on gain margin.

19. The method of claim 11 wherein the at least one operating condition is based on motor velocity of the steering system.

20. The method of claim 11 wherein the at least one operating condition is based on hand wheel velocity on the steering system.