Device for controlling steering force in power steering apparatus

• US 4,858,134 A
• Filed: 09/18/1987
• Issued: 08/15/1989
• Est. Priority Date: 09/24/1986
• Status: Expired due to Fees

• Current Assignee: Toyoda Koki Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyoda Koki Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Takeuchi, Shiro, Matsumoto, Tsutomu, Mori, Yutaka, Kodama, Kazumasa, Eto, Kunihiko, Tanooka, Shigeo
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/098,185
• Time in Patent Office: 697 Days
• Field of Search: 364/424.05, 74/388 PS, 180/79.1, 180/141-143
• US Class Current: 701/41
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

There is disclosed a device for controlling steering force in a power steering apparatus having an electromagnetic control valve according to road and driving conditions. The device includes a car speed sensor, a steering angle sensor, first arithmetic means, second arithmetic means, correcting means, control current arithmetic means and controlling means. The first arithmetic means computes a driving condition index by using car speed information. The second arithmetic means computes a road condition index by using steering angle signals. The correcting means converts the driving condition index into a correction driving condition index which takes any one of several stepwise-varied values. The control current arithmetic means computes an output control current value applied to electromagnetic control valve by the controlling means. The device further includes means for detecting lateral acceleration utilized for controlling the steering force.

Claims

1. A device for controlling steering force in a power steering apparatus including an electromagnetic control valve for varying characteristics between manual steering torque and steering output torque by changing an amount of opening thereof in accordance with a control current to be applied,

said device comprising:

a car speed sensor means for detecting a car speed or information varying in connection with said car speed;

a steering angle sensor for detecting a steering angle;

first arithmetic means for calculating a driving condition index corresponding to a driving condition determined by a driver on the basis of said information transmitted from said car speed sensor;

second arithmetic means for calculating a road condition index corresponding to a road condition on the basis of said steering angle transmitted from said steering angle sensor;

correcting means for modifying said driving condition index to form a correction driving condition index which takes any one of a plurality of discrete values which change stepwise depending upon the particular range of values to which said driving index belongs;

control current arithmetic means for calculating an output current value on the basis of said correction driving condition index and said road condition index; and

controlling means for applying said output control current having a value computed by said control current arithmetic means to said electromagnetic valve.

2. A device for controlling steering force in a power steering apparatus according to claim 1, said device further comprising a indicating means for indicating to said driver when a change has occurred from one of said plurality of discrete values of said correction driving index to another of said plurality of discrete values.

3. A device for controlling steering force in a power steering apparatus as set forth in claim 1, wherein said correcting means is composed of first correcting means for converting said driving condition index onto an intermediate correction index which takes any one of said plurality of discrete values in accordance with said particular range of values and second correcting means for converting said intermediate correction index into said correction driving condition index which takes a value equal to said intermediate correction index when an arithmetic result arithmetically obtained by employing variable including said steering angle falls within a predetermined range and also takes a value which is at least one level higher than said intermediate correction index when said arithmetic result goes beyond said predetermined range.

4. A device for controlling steering force in a power steering apparatus as set forth in claim 1, wherein said correcting means is composed of first correcting means for converting said driving condition index into an intermediate correction index which takes any one of said plurality of discrete values in accordance with a value of said driving condition index and second correcting means for converting said intermediate correction index into said correction driving condition index which takes a value equal to said intermediate correction index when an absolute value of lateral acceleration is smaller than a predetermined value and also takes a value which is at least one level higher than said intermediate correction index when said absolute value of said lateral acceleration is greater than said predetermined value.

5. A device for controlling steering force in a power steering apparatus as set forth in claim 1, wherein said control current arithmetic means comprises:

storage means for storing at least four control current characteristics which define a variety of control current values so as to correspond to various car speed with respect to at least four travelling conditions so that a first driving condition, a second driving condition, a first road condition and a second road condition are combined;

control current fetching means for fetching one of said control current values corresponding to said signal transmitted from said car speed sensor in accordance with each of at least said four control current characteristics; and

third arithmetic means for computing said output control current value on the basis of at least said four control current values which have been fetched in accordance with each of said control current characteristics, said road condition index computed by said second arithmetic means and said correction driving condition index computed by said correcting means.

6. A device for controlling steering force in a power steering apparatus as set forth in claim 5, wherein said at least four control current characteristics stored in said storage means comprises:

a first characteristic control map which describes a variety of control current values corresponding to various car speed information, said first characteristic control map being used when performing moderate driving on roads having less curvatures as in the cities;

a second characteristic control map which describes said variety of control current values corresponding to said various car speed information, said second characteristic control map being used when performing aggressive driving on the roads having less curvatures as in the cities;

a third characteristic control map which describes said variety of control current values corresponding to said various car speed information, said fourth characteristic control map being used when performing the moderate driving on the roads having many curvatures as in the mountains; and

a fourth characteristic control map which describes said variety of control current values corresponding to said various car speed information, said third characteristic control map being used when performing the aggressive driving on the roads having many curvatures as in the mountains.

7. A device for controlling steering force in a power steering apparatus as set forth in claim 6, wherein said third arithmetic means comprises:

first current computing means for obtaining a first intermediate current value on the basis of said correction driving condition index computed by said correcting means and a first and second of said control current values read from said first and second characteristic control maps;

second intermediate current computing means for obtaining a second intermediate current value on the basis of said correction driving condition index computed by said correcting means and a third and fourth of said control current values read from said third and fourth characteristic control maps; and

output current computing means for computing said output current value on the basis of said road condition index computed by said second arithmetic means and said first and second intermediate current values.

8. A device for controlling steering force in a power steering apparatus as set forth in claim 6, wherein said third arithmetic means comprises:

first current computing means for obtaining a first intermediate current value on the basis of said road condition index computed by said second arithmetic means and a first and third of said control current values read from said first and third characteristic control maps;

said current computing means for obtaining a second intermediate current value on the basis of said road condition index computed by said second arithmetic means and a second and fourth of said control current values read from said second and fourth characteristic control maps; and

output current computing means for computing said output current value on the basis of said correction driving condition index computed by said first arithmetic means and said first and second intermediate current values.

9. A device for controlling steering force in a power steering apparatus as set forth in claim 6, wherein said variety of control current values are defined so as to correspond to not only said various car speed information but also various steering angles provided in each of said first, second, third and fourth characteristic control maps stored in said storage means, and wherein said control current fetching means operates to fetch one of said control current values corresponding to said car speed information and to said steering angle signal from each of said first, second, third and fourth characteristic control maps.

10. A device for controlling steering force in a power steering apparatus as set forth in claim 1, wherein said first arithmetic means comprises:

reading means for reading information outputted from said car speed sensor at a predetermined interval;

acceleration computing means for obtaining acceleration by differentiating said information read by said reading means;

absolute value computing means for obtaining a absolute value of said acceleration obtained by said acceleration computing means;

storage updating means for storing a predetermined number of update absolute values of said acceleration in an updating manner which are obtained by said absolute value computing means; and

index computing means for obtaining said driving condition index by integrating said predetermined number of absolute values of said acceleration stored in said storage updating means.

11. A device for controlling steering force in a power steering apparatus as set forth in claim 1, wherein said second arithmetic means comprises:

reading means for reading said steering angle signal outputted from said steering angle sensor at a predetermined interval;

absolute value computing means for obtaining an absolute value of said steering angle signal read by said another reading means;

storage updating means for storing a predetermined number of update absolute values of said steering angle signals in an updating manner which are obtained by said absolute value computing means;

count means for obtaining the number of said absolute values which fall within a predetermined range among said predetermined number of absolute values stored in said another storage updating means; and

index computing means for obtaining said road condition index on the basis of said number of said absolute values obtained by said count means and said predetermined number of said absolute values of said steering angle signals stored in said storage updating means.