Method of determining a set value of the assisting force in a power steering system

• US 5,418,723 A
• Filed: 11/29/1993
• Issued: 05/23/1995
• Est. Priority Date: 06/06/1990
• Status: Expired due to Fees

• Current Assignee: Daimler-Benz AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler-Benz AG (Mercedes-Benz Group AG)
• Inventors: Frank, Peter, Reichelt, Werner
• Primary Examiner(s): Trans, Vincent N.
• Application Number:
  US08/158,359
• Time in Patent Office: 540 Days
• Field of Search: 364/424.01, 364/424.05, 180/79, 180/79.1, 180/140, 180/141, 180/142, 180/143
• 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

A method of determining a set value of the assisting force in a power steering system reduces the assisting force in the power steering system as a function of the steering angular velocity (LWG). An estimate of the general driving situation with respect to the cornering force taking place by a variable representing a set value (a_yset) of the lateral acceleration is derived from the steering angle (LW), by determining a variable representing the lateral acceleration (a_y) and by deriving a critical driving state from a deviation of the variable representing the lateral acceleration (a_y) from the variable representing the set value (a_yset) of the lateral acceleration above a threshold value. The reduction of the assisting force in the power steering system as a function of the steering angular velocity LWG takes place only as long as the critical driving state is detected.

Claims

1. A method of determining a set value of the assisting force in a power steering system of a vehicle, comprising the steps of:

(a) estimating a general driving situation with respect to cornering force taking place by deriving a variable representing a set value of lateral acceleration from a steering angle, deriving a variable representing said lateral acceleration and thereby deriving a critical driving state during vehicle cornering by a reduction in correlation of the lateral acceleration and steering angle variables when a steering wheel of the power steering system has moved away from a neutral position by a driver of the vehicle from a deviation of said variable representing said lateral acceleration from said set value of said lateral acceleration exceeding a threshold value; and

(b) reducing an assisting force in the power steering system experienced by the vehicle driver during turning and returning movements of the steering wheel as a function of steering angular velocity only during the critical driving state to reduce instabilities induced by the vehicle driver in critical driving situations.

2. The method according to claim 1, wherein said variable representing said set value of said lateral acceleration is derived from said steering angle and vehicle speed.

3. The method according to claim 1, wherein said variable representing said set value of said lateral acceleration is directly correlated with said steering angle.

4. The method according to claim 1, wherein said variable representing said lateral acceleration is at least one of said lateral acceleration directly, a difference in speed of vehicle front wheels, a yawing moment about a vehicle vertical axis, a yawing angular velocity about said vehicle vertical axis, and a torsional moment in the power steering system.

5. The method according to claim 4, wherein said variable representing said set value of said lateral acceleration is derived from said steering angle and vehicle speed.

6. The method according to claim 4, wherein said variable representing said set value of said lateral acceleration being directly correlated with said steering angle.

7. The method according to claim 1, wherein the step of estimating includes determining cross-correlation between said variable representing said set value of said lateral acceleration and said variable representing said lateral acceleration, and deriving the beginning of the critical driving situation when a maximum value of said cross-correlation drops below a certain threshold value.

8. The method according to claim 7, wherein said variable representing said set value of said lateral acceleration is derived from said steering angle and vehicle speed.

9. The method according to claim 7, wherein said variable representing said set value of said lateral acceleration is directly correlated with said steering angle.

10. The method according to claim 7, wherein said variable representing said lateral acceleration is at least one of said lateral acceleration directly, a difference in speed of vehicle front wheels, a yawing moment about a vehicle vertical axis, a yawing angular velocity about said vehicle vertical axis, and a torsional moment in the steering system.

11. The method according to claim 1, wherein an end of the critical driving situation is detected when a deviation of said steering angle from a steady value is within range of a threshold value.

12. The method according to claim 11, wherein said variable representing said set value of said lateral acceleration is derived from said steering angle and vehicle speed.

13. The method according to claim 11, wherein said variable representing said set value of said lateral acceleration is directly correlated with said steering angle.

14. The method according to claim 11, wherein said variable representing said lateral acceleration is at least one of said lateral acceleration directly, a difference in speed of vehicle front wheels, a yawing moment about a vehicle vertical axis, a yawing angular velocity about said vehicle vertical axis, and a torsional moment in the power steering system.

15. The method according to claim 11, wherein the step of estimating includes determining cross-correlation between said variable representing said set value of said lateral acceleration and said variable representing said lateral acceleration, and deriving a beginning of the critical driving situation when a maximum value of the cross-correlation drops below a certain threshold value.

16. The method according to claim 1, wherein an end of the critical driving situation is detected when averaging of a maximum value of a cross-correlation over a time period exceeds a determined threshold value over a defined period of time.

17. The method according to claim 16, wherein said variable representing said set value of said lateral acceleration is derived from said steering angle and vehicle speed.

18. The method according to claim 16, wherein said variable representing said set value of said lateral acceleration is directly correlated with said steering angle.

19. The method according to claim 16, wherein said variable representing said lateral acceleration is at least one of said lateral acceleration directly, a difference in speed of vehicle front wheels, a yawing moment about a vehicle vertical axis, a yawing angular velocity about said vehicle vertical axis, and a torsional moment in the steering system.

20. The method according to claim 16, wherein the step of estimating includes determining cross-correlation between said variable representing said set value of said lateral acceleration and said variable representing said lateral acceleration, and deriving a beginning of the critical driving situation when a maximum value of said cross-correlation drops below a certain threshold value.

21. The method according to claim 7, wherein at least one of an acoustic and optical signal indicates to a vehicle driver when the maximum value of the cross-correlation drops below the threshold value.

22. The method according to claim 11, wherein at least one of an acoustic and optical signal indicates to a vehicle driver when the maximum value of the cross-correlation drops below the threshold value.

23. The method according to claim 16, wherein at least one of an acoustic and optical signal indicates to a vehicle driver when the maximum value of the cross-correlation drops below the threshold value.

24. The method according to claim 1, wherein at least one of an acoustic and optical signal indicates to a vehicle driver when the value of a time shift at which the maximum value of a cross-correlation is reached exceeds a predetermined order amount.

25. The method according to claim 1, wherein the step of reduction of the assisting force in the power steering system takes place as a function of said steering angular velocity by an additional moment being applied to the power steering system, said additional moment being determined proportionally to said steering angular velocity and having to be overcome by a vehicle driver by a manual moment exerted on a vehicle steering wheel.

26. The method according to claim 25, wherein said variable representing said set value of said lateral acceleration is derived from said steering angle and vehicle speed.

27. The method according to claim 25, wherein said variable representing said set value of said lateral acceleration is directly correlated with said steering angle.

28. The method according to claim 25, wherein said variable representing said lateral acceleration is at least one of said lateral acceleration directly, a difference in speed of vehicle front wheels, a yawing moment about a vehicle vertical axis, a yawing angular velocity about said vehicle vertical axis, and a torsional moment in the steering system.

29. The method according to claim 25, wherein the step of estimating includes determining cross-correlation between said variable representing said set value of said lateral acceleration and said variable representing said lateral acceleration, and deriving a beginning of the critical driving situation when the maximum value of the cross-correlation drops below a certain threshold value.

30. The method according to claim 25, wherein an end of the critical driving situation is detected when a deviation of said steering angle from a steady value is within a range of a threshold value.

31. The method according to claim 25, wherein an end of the critical driving situation is detected when averaging of said maximum value of a cross-correlation over a time period exceeds a determined threshold value over a defined period of time.

32. The method according to claim 25, wherein said additional moment is determined proportionally to said steering angular velocity and proportionally to vehicle speed.