MODIFIED STATIC TIRE MODEL FOR PROVIDING ASSIST WITHOUT A TORQUE SENSOR FOR ZERO TO LOW VEHICLE SPEEDS
First Claim
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1. A method of controlling an electric power steering system, the method comprising:
- determining a steering rack force to apply a torque to the electric power steering system, wherein determining the steering rack force comprises generating a friction factor based on a motor velocity of a motor of the electric power steering system, the friction factor indicative of a friction between a tire and a surface of a ground with which the tire is in contact;
generating a steering assist torque command based on the steering rack force; and
controlling the electric power steering system using the steering assist torque command.
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Abstract
A method of controlling an electric power steering system is provided. The method estimates steering rack force to be caused by a tire and a surface of a ground with which the tire is in contact in response to determining that one or more hand wheel torque sensors are not enabled. The method generates a steering assist torque command based on the estimated steering rack force. The method controls the electric power steering system using the steering assist torque command.
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Citations
21 Claims
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1. A method of controlling an electric power steering system, the method comprising:
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determining a steering rack force to apply a torque to the electric power steering system, wherein determining the steering rack force comprises generating a friction factor based on a motor velocity of a motor of the electric power steering system, the friction factor indicative of a friction between a tire and a surface of a ground with which the tire is in contact; generating a steering assist torque command based on the steering rack force; and controlling the electric power steering system using the steering assist torque command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising:
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a power steering system that includes one or more hand wheel torque sensors; and a control module configured to; determine a steering rack force to apply a torque to a steering wheel, wherein determining the steering rack force comprises generating a friction factor based on a motor velocity of a motor of the power steering system, the friction factor indicative of a friction between a tire and a surface of a ground with which the tire is in contact; generate a steering assist torque command based on the steering rack force; and control the power steering system using the steering assist torque command. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A power steering system comprising:
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a steering assist unit; and a control module coupled with the steering assist unit, the control module configured to; determine a steering rack force to apply a torque to a steering wheel, wherein determination of the steering rack force comprises generation of a friction factor based on a motor velocity of a motor of the steering assist unit, the friction factor indicative of a friction between a tire and a surface of a ground with which the tire is in contact; generate a steering assist torque command based on the steering rack force; and control the power steering system using the steering assist torque command. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification