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 system, 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;
wherein the steer torque manager is configured to receive an assistance torque related signal and, when driver assistance is provided by the advanced driver assistance system, to feed forward and subtract from the overlay torque request provided by the wheel angle controller a feed forward signal scaled in a feed forward functionality to be a scaled version of the assistance torque related signal using a scale factor in the range from 0 to 1, the scale factor assuming a lower value if a measure of driver activity indicates a high driver activity and assuming a higher value if the measure of driver activity indicates a low driver activity that is less than the high driver activity.
1 Assignment
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Accused Products
Abstract
A steer torque manager (STM) for an advanced driver assistance system (ADAS) 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 ADAS wheel angle request to produce an overlay torque request to be added to a torque request from an electrical power assisted steering. The STM is arranged to receive an assistance torque related signal. When driver assistance is provided by the ADAS, the STM is arranged to feed forward and subtract from the overlay torque request a feed forward signal scaled to be a scaled version of the assistance torque related signal, using a scale factor in the range from 0 to 1 that assumes a lower value if a measure of driver activity indicates high driver activity and a higher value if the measure indicates low driver activity.
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Citations
13 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 system, 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; wherein the steer torque manager is configured to receive an assistance torque related signal and, when driver assistance is provided by the advanced driver assistance system, to feed forward and subtract from the overlay torque request provided by the wheel angle controller a feed forward signal scaled in a feed forward functionality to be a scaled version of the assistance torque related signal using a scale factor in the range from 0 to 1, the scale factor assuming a lower value if a measure of driver activity indicates a high driver activity and assuming a higher value if the measure of driver activity indicates a low driver activity that is less than the high driver activity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for a steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering system, the steer torque manager comprising a driver-in-the-loop functionality for determining when and how to hand over control from an 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, wherein the steer torque manager is configured to receive an assistance torque related signal, the method comprising:
if driver assistance is provided by the advanced driver assistance system, having the steer torque manager feed forward and subtract from the overlay torque request provided by the wheel angle controller a feed forward signal scaled to be a scaled version of the assistance torque related signal, using a scale factor in the range from 0 to 1, the scale factor assuming a lower value if a measure of driver activity indicates a high driver activity and assuming a higher value if the measure of driver activity indicates a low driver activity that is less than the high driver activity.
Specification