Method and apparatus for determining the center position of a vehicular steering system

• US 4,999,776 A
• Filed: 11/30/1989
• Issued: 03/12/1991
• Est. Priority Date: 11/30/1989
• Status: Expired due to Term

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Motor Company
• Inventors: Soltis, Michael W., Mackool, Sam M.
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/443,974
• Time in Patent Office: 467 Days
• Field of Search: 364/424.05, 364/424.01, 180/140-142, 180/79.1, 280/94
• US Class Current: 701/41
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/412 of steering wheel or column
• CPC Class Codes: B60G 2400/92 Travelling or driving time
• CPC Class Codes: B60G 2401/14 Photo or light sensitive means, e.g. Infrared
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2600/70 Computer memory; Data storage, e.g. maps for adaptive control
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids

Abstract

A method and apparatus for determining a center position of the vehicular steering system includes a steering sensor and a control unit. A variable threshold time strategy is employed with a fixed window of operation and a movable window of operation to determine a precise center for the steering system. As an option, the control algorithm may employ both a variable theshold time and a variable size for the movable window of operation.

Claims

1. An apparatus for determining the center position of a vehicular steering system, comprising:

steering sensor means for sensing the position of said steering system with reference to a predetermined, but adjustable, center position and for defining two windows of operation of said steering system, said windows comprising a first relatively movable window which generally tracks the instantaneous position of said steering system and a second relatively fixed window having a location which is resettable only after at least one time dependent condition has been satisfied;

first timer means for determining the amount of time said steering system has been operated within said movable window, with said first timer means including means for nulling the time accumulated by said first timer means whenever said steering system is operated outside of said movable window;

second timer means for determining the amount of time said steering system has been operated within said fixed window, with said second timer means including means for suspending the accumulation of time by said second timer means whenever said steering system is operated outside of said fixed window; and

processor means for directing the placement of said predetermined center according to the accumulation of time by either of said timer means, with said processor means comprising positioning means for relocating the position of said predetermined center in the event that either of said timer means has accumulated time equal to a threshold period.

2. An apparatus according to claim 1, wherein said processor means further comprises means for changing the value of said threshold period whenever the location of said predetermined center is adjusted.

3. An apparatus according to claim 1, wherein said processor means further comprises means for relocating said windows.

4. An apparatus according to claim 3, wherein said processor relocates said moving window whenever said first timer means is nulled.

5. An apparatus according to claim 4, wherein said processor relocates said moving window about the instantaneous location of said steering system whenever said first timer means is nulled.

6. An apparatus according to claim 3, wherein said processor relocates said fixed window whenever the time accumulated by either of said timer means is equal to said threshold period.

7. An apparatus according to claim 6, wherein said processor relocates said fixed window to coincide with the instantaneous position of said movable window.

8. An apparatus according to claim 6, wherein said processor relocates said fixed window such that said fixed window is centered about said instantaneous position of said steering system.

9. An apparatus according to claim 6 wherein said processor resets both of said timer means whenever the position of said fixed window is reset.

10. An apparatus according to claim 1 wherein said processor changes the value of said threshold period as a function of the magnitude of the correction of the location of said predetermined center.

11. An apparatus according to claim 10 wherein said processor:

(i) decreases the value of said threshold period in the event that the magnitude of said correction is greater than a preset magnitude and (ii) increases the value of said threshold period in the event that the magnitude of said correction is less than or equal to said preset magnitude.

12. An apparatus according to claim 1 wherein said processor relocates the position of said predetermined center by moving said center to a new position located between a previous position and said instantaneous position of the steering system.

13. An apparatus according to claim 12 wherein said processor relocates the position of said predetermined center by moving said center to a new position located halfway between the immediately previous position and the instantaneous position of the steering system.

14. An apparatus according to claim 1, further including a third timer means for determining the amount of time said steering system has been operated outside of said fixed window, said third timer means including means for incrementing the accumulation of time by said third timer means whenever said steering system is operated to one side of said fixed window and for decrementing the accumulation of time by said third timer means whenever said steering system is operated to the other side of said fixed window.

15. An apparatus according to claim 14, wherein said processor relocates the position of said predetermined center by moving said center a predetermined distance in a predetermined direction whenever said third timer means has accumulated time equal to a second threshold period.

16. An apparatus according to claim 14, wherein said processor resets said third timer means whenever the position of said predetermined center of said steering system is relocated.

17. An apparatus for determining the center position of a vehicular steering system, comprising:

steering sensor means for sensing the position of said steering system with reference to a predetermined, but adjustable, center position and for defining two windows of operation of said steering system, said windows comprising a first relatively movable window which generally tracks the instantaneous position of said steering system and a second relatively fixed window having a location which is resettable only after at least one time dependent condition has been satisfied;

first timer means for determining the amount of time said steering system has been operated within said first movable window, with said first timer means including means for nulling the time accumulated by said first timer means whenever said steering system is operated outside of said movable window;

second timer means for determining the amount of time said steering system has been operated within said fixed window, said second timer means including means for suspending the accumulation of time by said second timer means whenever said steering system is operated outside of said fixed window;

third timer means for determining the amount of time said steering system has been operated outside of said fixed window, with said third timer means including means for incrementing the accumulation of time by said third timer means whenever said steering system is operated to one side of said fixed window and for decrementing the accumulation of time by said third timer means whenever said steering system is operated to the other side of said fixed window; and

processor means for directing the placement of said predetermined center and said windows according to the accumulation of time by each of said timer means, with said processor means comprising;

positioning means for relocating the position of said predetermined center in the event that either said first or second timer means has accumulated time equal to a first threshold period or said third timer means has accumulated time equal to a second threshold period;

means for changing the value of said first threshold period whenever the location of said predetermined center is adjusted;

means for relocating said moving window about the instantaneous location of said steering system whenever said first timer means is nulled; and

means for relocating said fixed window whenever the time accumulated by either of said first or second timer means is equal to said first threshold period.

18. An apparatus according to claim 17, wherein said processor relocates said fixed window to coincide with the instantaneous position of said movable window.

19. An apparatus according to claim 17 wherein said processor changes the value of said first threshold period as a function of the magnitude of the correction of the location of said predetermined center.

20. An apparatus as in claim 17, wherein said processor relocates the position of said predetermined center by moving said center a predetermined distance in a predetermined direction whenever said third timer means has accumulated time equal to a second threshold period.

21. A method for adjusting the center position of a vehicular steering system from a predetermined position to a new position, comprising the steps of:

defining two windows of operation of said steering system, said windows comprising a first relatively movable window having a location which generally tracks the instantaneous position of said steering system and a second relatively fixed window having a location which is resettable only after at least one time dependent condition has been satisfied;

recording the amount of time said steering system is operated within said movable window, but nulling the accumulated time whenever said steering system is operated outside of said movable window;

recording the amount of time said steering system is operated within said fixed window, but suspending the accumulation of time whenever said steering system is operated outside of said fixed window; and

adjusting the position of said predetermined center to a new position whenever either of the recorded time values is equal to a first threshold period.

22. A method according to claim 21, wherein said predetermined center is relocated by moving said center to a new position located between a previous position and the instantaneous position of said steering system.

23. A method according to claim 21, wherein the value of said first threshold period is changed whenever the position of said predetermined center is adjusted.

24. A method according to claim 21, wherein the location of said movable window is changed whenever said steering system is operated outside of said movable window.

25. A method according to claim 24, wherein the location of said movable window is reset so that said movable window extends generally about the instantaneous position of said steering system.

26. A method according to claim 21, wherein the location of said fixed window is changed whenever either of the recorded time values is equal to said first threshold period.

27. A method according to claim 21, further including the step of recording the amount of time said steering system is operated outside of said fixed window, and incrementing the accumulation of time when said steering system is operated to one side of said fixed window and decrementing the accumulation of time when the steering system is operated to the other side of said fixed window.

28. A method according to claim 27, wherein said predetermined center is relocated by moving said center a predetermined distance in a predetermined direction whenever the recorded time value that said steering system is operated outside of said fixed window exceeds a second threshold value.

29. In a vehicle including a multistable suspension unit having a plurality of predetermined operating states and a power assisted steering mechanism, a system for determining the center position of a vehicular steering system, comprising:

steering sensor means for sensing the position of said steering system with reference to a predetermined, but adjustable, center position and for defining two windows of operation of said steering system, said windows comprising a first relatively movable window which generally tracks the instantaneous position of said steering system and a second relatively fixed window having a location which is resettable only after at least one time dependent condition has been satisfied;

first timer means for determining the amount of time said steering system has been operated within said first movable window, with said first timer means including means for nulling the time accumulated by said first timer means whenever said steering system is operated outside of said movable window;

second timer means for determining the amount of time said steering system has been operated within said fixed window, said second timer means including means for suspending the accumulation of time by said second timer means whenever said steering system is operated outside of said fixed window;

third timer means for determining the amount of time said steering system has been operated outside of said fixed window, with said third timer means including means for incrementing the accumulation of time by said third timer means whenever said steering system is operated to one side of said fixed window and for decrementing the accumulation of time by said third timer means whenever said steering system is operated to the other side of said fixed window; and

processor means for directing the placement of said predetermined center and said windows according to the accumulation of time by each of said timer means, with said processor means comprising;

positioning means for relocating the position of said predetermined center in the event that either said first or second timer means has accumulated time equal to a first threshold period or said third timer means has accumulated time equal to a second threshold period;

means for changing the value of said first threshold period whenever the location of said predetermined center is adjusted;

means for relocating said moving window about the instantaneous location of said steering system whenever said first timer means is nulled; and

means for relocating said fixed window whenever the time accumulated by either of said first or second timer means is equal to said first threshold period.