STEER TORQUE MANAGER FOR AN ADVANCED DRIVER ASSISTANCE SYSTEM OF A ROAD VEHICLE
First Claim
1. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:
- a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and
a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality;
wherein the steer torque manager is configured to receive a steering wheel torsion bar torque related signal and to control the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal through filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz and modulating the overlay torque request to be provided by the wheel angle controller based on a plurality of measures of driver activity derived from the filtered torsion bar torque related signal using a time window of 0.5-3 seconds, where a more recent value of driver activity is weighted higher than an older value of driver activity.
1 Assignment
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Accused Products
Abstract
A steer torque manager for an advanced driver assistance system of a road vehicle and a method therefor. A driver-in-the-loop functionality determines when to hand over control to a driver. A wheel angle controller uses an advanced driver assistance system wheel angle request to produce an overlay torque request to be added to a torque request from an electrical power assisted steering. The steer torque manager controls the driver-in-the-loop functionality based on amplitude and frequency content of a torsion bar torque related signal which is filtered to attenuate an amplitude thereof at frequencies up to 2 Hz. The overlay torque request to be provided by the wheel angle controller is modulated based on a measure of driver activity derived from the filtered torsion bar torque related signal, where more recent values are weighted higher than older values, using a time window of 0.5-3 seconds.
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Citations
20 Claims
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1. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:
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a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality; wherein the steer torque manager is configured to receive a steering wheel torsion bar torque related signal and to control the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal through filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz and modulating the overlay torque request to be provided by the wheel angle controller based on a plurality of measures of driver activity derived from the filtered torsion bar torque related signal using a time window of 0.5-3 seconds, where a more recent value of driver activity is weighted higher than an older value of driver activity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method performed by a steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver, a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality, the steer torque manager configured to receive a steering wheel torsion bar torque related signal, the method comprising:
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controlling the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal; wherein controlling the driver-in-the-loop functionality comprises, filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz, and modulating the overlay torque request to be provided by the wheel angle controller based on a plurality of measures of driver activity derived from the filtered torsion bar torque related signal using a time window of 0.5-3 seconds, where a more recent value of driver activity is weighted higher than an older value of driver activity.
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14. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering functionality, the steer torque manager comprising:
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a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering functionality; wherein the steer torque manager is configured to receive a steering wheel torsion bar torque related signal and to control the driver-in-the-loop functionality based on amplitude and frequency content of the torsion bar torque related signal through filtering the torsion bar torque related signal to attenuate an amplitude thereof at frequencies up to 2 Hz and modulating the overlay torque request to be provided by the wheel angle controller based on a measure of driver activity derived from the filtered torsion bar torque related signal, where more recent values are weighted higher than older values, using a time window of 0.5-3 seconds. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification