SYSTEM FOR PROVIDING STEERING ASSIST TORQUE BASED ON A PROPORTIONAL GAIN VALUE
First Claim
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1. A steering system providing an assist torque to a handwheel, the control system comprising:
- a proportional gain module for determining a proportional gain value, the proportional gain value scheduled as a function of a lateral position error and at least one of the following;
a near field heading angle, a far field heading angle, a curvature of a lane, and a lateral position of the vehicle; and
a torque command module that determines the torque assist based on the proportional gain value.
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Abstract
A steering system providing an assist torque to a handwheel is provided, and includes a proportional gain module and a torque command module. The proportional gain module determines a proportional gain value. The proportional gain value is scheduled as a function of a lateral position error and at least one of the following: a near field heading angle, a far field heading angle, a curvature of the lane, and a lateral position of the vehicle. The torque command module determines the torque assist based on the proportional gain value.
50 Citations
20 Claims
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1. A steering system providing an assist torque to a handwheel, the control system comprising:
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a proportional gain module for determining a proportional gain value, the proportional gain value scheduled as a function of a lateral position error and at least one of the following;
a near field heading angle, a far field heading angle, a curvature of a lane, and a lateral position of the vehicle; anda torque command module that determines the torque assist based on the proportional gain value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of determining an assist torque to a handwheel, comprising:
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determining a proportional gain value, the proportional gain value scheduled as a function of a lateral position error and at least one of the following;
a near field heading angle, a far field heading angle, a curvature of a lane, and a lateral position of the vehicle; anddetermining a torque assist based on the proportional gain value. - View Dependent Claims (18, 19, 20)
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Specification