Control system and control method for controlling power steering apparatus

• US 5,487,007 A
• Filed: 06/01/1994
• Issued: 01/23/1996
• Est. Priority Date: 06/01/1993
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Original Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Inventors: Suzuki, Hidekazu, Tanaka, Tadao, Harara, Mitsuhiko
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US08/251,951
• Time in Patent Office: 601 Days
• Field of Search: 364/424.05, 180/140, 180/141, 180/142, 180/143, 180/79.1
• US Class Current: 701/44
• 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

In a control system for a power steering apparatus, in which a steering assist amount in a steering mechanism of a vehicle is controlled to a target assist amount, a vehicle speed sensor 41 for detecting a running speed V of the vehicle and a steering angle sensor 52 for detecting a steering angle ha of the vehicle are provided. A lateral acceleration calculation unit calculates a lateral acceleration GY from the vehicle speed V and the steering angle ha and further determines the product V.GY of the vehicle speed V and the lateral acceleration GY. A fuzzy logic calculation unit then sets the target assist amount in accordance with a fuzzy logic rule using the vehicle speed V and the product V.GY as input conditions (membership functions). This thereby provides a control system and control method for controlling a power steering apparatus which presents an optimum steering characteristic in response to the running condition of the vehicle.

Claims

1. A control system for a power steering apparatus which controls a steering assist amount of a steering mechanism of a vehicle to coincide with a target steering assist amount, comprising:

vehicle speed detection means for detecting a vehicle speed;

lateral acceleration detection means for determining a lateral acceleration acting upon-the vehicle; and

a controller for receiving the detected vehicle speed as a first input factor and setting a first target amount which is decreased according to an increase in the detected vehicle speed, for receiving a product of the detected vehicle speed and the determined lateral acceleration as a second input factor and setting a second target amount which is decreased according to an increase in the product, and for setting the target steering assist amount according to the first target amount and the second target amount.

2. The control system for a power steering apparatus of claim 1, wherein said controller sets the second target amount to a fixed value, irrespective of a change in the received product, when the received product is not less than a predetermined value.

3. The control system for a power steering apparatus of claim 1, wherein said controller sets the target steering assist amount using the first target amount and the second target amount as input variables in accordance with a fuzzy logic rule.

4. The control system for a power steering apparatus of claim 3, wherein said controller sets the target steering assist amount in accordance with a first fuzzy logic rule using a first membership function for evaluation of the speed of the vehicle and a second fuzzy logic rule using a second membership function for evaluation of the product of the speed of the vehicle and the lateral acceleration of the vehicle, so that the first target amount is decreased in response to an increase in the received detected speed of the vehicle in accordance with the first fuzzy logic rule and the second target amount is decreased in response to an increase in the received product of the detected vehicle speed and the determined lateral acceleration in accordance with the second fuzzy logic rule, and the target steering assist amount is set according to the first target amount and the second target amount.

5. The control system for a power steering apparatus of claim 1, wherein said lateral acceleration detection means determines the lateral acceleration from the detected vehicle speed of a vehicle speed sensor and detected steering angle of a steering angle sensor, each of the vehicle speed and steering angle sensors being provided on the vehicle.

6. The control system for a power steering apparatus of claim 1, wherein said lateral acceleration detection means is a lateral acceleration sensor provided on the vehicle for determining the lateral acceleration by directly detecting the lateral acceleration acting upon the vehicle.

7. A control method for controlling a power steering apparatus for controlling a steering assist amount in a steering mechanism of a vehicle to coincide with a target steering assist amount, comprising the steps of:

(a) detecting a vehicle speed;

(b) determining a lateral acceleration acting upon the vehicle;

(c) setting a first target amount, which is decreased according to an increase in the detected vehicle speed, the detected vehicle speed being received as a first input factor;

(d) setting a second target amount, which is decreased according to an increase in a product of the detected vehicle speed and the determined lateral acceleration, the product being received as a second input factor; and

(e) setting a target steering assist amount according to the first target amount and the second target amount.

8. The control method for controlling a power steering apparatus of claim 7, wherein step (d) includes the substep of,

setting the second target amount to a fixed value irrespective of a change in the received product when the received product is not less than a predetermined value.

9. The control method for controlling a power steering apparatus of claim 7, wherein step (e) includes the substep of,

setting the target steering assist amount using the the first target amount and the second target amount as input variables in accordance with a fuzzy logic rule.

10. The control method for controlling a power steering apparatus of claim 9, wherein step (e) further includes the substep of,

setting the target steering assist amount in accordance with a first fuzzy logic rule using a first membership function for evaluation of the speed of the vehicle and a second fuzzy logic rule using a second membership function for evaluation of the product of the speed of the vehicle and the lateral acceleration of the vehicle, so that the first target amount is decreased in response to an increase in the received detected speed of the vehicle in accordance with the first fuzzy logic rule and the second target amount is decreased in response to an increase in the received product of the detected speed and the determined lateral acceleration in accordance with the second fuzzy logic rule, the target steering assist amount being set in accordance with the first target amount and the second target amount.

11. The control method for controlling a power steering apparatus of claim 7, wherein step (b) includes the substep of,

determining the lateral acceleration in accordance with the detected vehicle speed and a detected steering angle of the steering wheel.

12. The control method for controlling a power steering apparatus of claim 7, wherein step (b) includes the substep of,

determining the lateral acceleration by directly detecting the lateral acceleration acting upon the vehicle.