CONTINUOUS CORRECTION FOR STEERING WHEEL ANGLE OFFSET
First Claim
1. A device for continuously updating a steering wheel angle offset value of a vehicle steering system to adapt to changing road conditions, the device comprising one or more processors, the one or more processors configured toreceive a plurality of vehicle parameter values, each from a different vehicle sensor;
- calculate a plurality of observed steering angle values, each using a different calculation method based on one or more of the plurality of vehicle parameter values;
calculate a vehicle steering angle based on the plurality of observed steering angle values;
calculate a steering wheel angle offset value based on the difference between a steering wheel angle and the calculated vehicle steering angle;
generate a command signal to control a vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value; and
repeatedly calculate subsequent steering wheel angle offset values based on subsequent pluralities of observed steering angle values throughout continuous operation of the vehicle.
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Abstract
A system and method of continuously updating a steering wheel angle offset value to adapt to changing road conditions. A vehicle control system receives a plurality of vehicle parameter values each from a different vehicle sensor. The system then calculates a plurality of observed steering angle values, each using a different calculation method based on one or more of the plurality of vehicle parameter values. The plurality of observed steering angle values are then used to calculate a vehicle steering angle. A steering wheel angle offset value is then calculated based on the steering wheel angle and the calculated vehicle steering angle. The steering wheel angle offset value and the steering wheel angle are used to control the vehicle'"'"'s steering system.
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Citations
13 Claims
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1. A device for continuously updating a steering wheel angle offset value of a vehicle steering system to adapt to changing road conditions, the device comprising one or more processors, the one or more processors configured to
receive a plurality of vehicle parameter values, each from a different vehicle sensor; -
calculate a plurality of observed steering angle values, each using a different calculation method based on one or more of the plurality of vehicle parameter values; calculate a vehicle steering angle based on the plurality of observed steering angle values; calculate a steering wheel angle offset value based on the difference between a steering wheel angle and the calculated vehicle steering angle; generate a command signal to control a vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value; and repeatedly calculate subsequent steering wheel angle offset values based on subsequent pluralities of observed steering angle values throughout continuous operation of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of continuously updating a steering wheel angle offset value to adapt to changing road conditions, the method comprising:
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receiving a plurality of vehicle parameter values, each from a different vehicle sensor; calculating an actual vehicle steering angle based on one or more of the vehicle parameter values; calculating a steering wheel angle offset value based on the difference between the actual vehicle steering angle and a steer wheel angle detected by a steer wheel angle sensor; comparing a second one or more of the vehicle parameter values to one or more filter condition thresholds each corresponding to one of the vehicle parameter values; controlling a vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value only when each of the second one or more vehicle parameter values satisfies the corresponding filter condition threshold; and repeatedly calculating subsequent steering wheel angle offset values based on subsequent pluralities of observed steering angle values throughout continuous operation of the vehicle.
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Specification