Method for determining steering position of automotive steering mechanism

• US 5,790,966 A
• Filed: 04/01/1996
• Issued: 08/04/1998
• Est. Priority Date: 04/01/1996
• Status: Expired due to Term

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Madau, Dinu Petre, Ashrafi, Behrouz
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/625,966
• Time in Patent Office: 855 Days
• Field of Search: 701/41, 701/42, 701/43, 180/400, 180/408-415, 180/421-423, 180/443, 180/446, 280/707
• 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 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/412 of steering wheel or column
• CPC Class Codes: B60G 2401/00 Indexing codes relating to the type of sensors based on the principle of their operation
• CPC Class Codes: B60G 2600/187 Digital Controller Details and Signal Treatment
• CPC Class Codes: B60G 2600/70 Computer memory; Data storage, e.g. maps for adaptive control
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/246 Understeer
• CPC Class Codes: B60G 2800/248 Neutral steering behaviour
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/9122 ARS - Anti-Roll System Control
• CPC Class Codes: B60G 2800/914 Height Control System
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/96 ASC - Assisted or power Steering control
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids

Abstract

A method for determining a steering wheel angle of a vehicular steering system includes determining a center position for the steering sensor output every time the vehicle is started. The method employs the use of a yaw sensor for computing an estimate of the actual steering position so that a center position may be back computed to provide immediate and accurate steering position data using the steering sensor signal for controlling an automotive device. The accuracy of the initial estimates may be improved upon by implementing interim and final center algorithms as vehicle operating characteristics permit.

Claims

1. A method for determining a steering wheel angle of an automotive steering mechanism and controlling an automotive device, comprising the steps of:

counting steering position data from a steering angle sensor and generating a first signal therefrom representing rotational motion of the steering mechanism;

measuring a yaw rate from a yaw rate sensor and producing a second signal therefrom representing a steering wheel angle computed from said yaw rate;

determining a center position estimate from said first signal and said second signal and generating a center position signal therefrom;

estimating an actual steering wheel angle from said first signal and said center position signal and generating an estimated steering wheel angle signal therefrom; and

controlling the automotive device using said estimated steering wheel angle signal.

2. A method according to claim 1, whereby said step of producing a second signal representing a steering wheel angle includes obtaining said second signal by the following relationship:

space="preserve" listing-type="equation">SWAFromYAW=C* KSteer2SWA* δ

where;

SWAFromYAW=the second signal representing the calculated steering wheel angle;

C=conversion constant from radians to degrees;

KSteer2SWA=steering ratio which is a constant dependent on the steering mechanism and steering geometry; and

δ

=the steered angle of the steerable tires as determined from the yaw rate.

3. A method according to claim 1, whereby said step of generating a center position signal includes evaluating the following relationship:

space="preserve" listing-type="equation">SWACENTER=SWADynamic-SWAFromYAW

where;

SWACENTER=generated center position signal;

SWADynamic=a signal generated from the steering angle sensor output;

SWAFromYAW=a calculated steering wheel angle computed using the yaw rate.

4. A method according to claim 1, whereby said step of generating an estimated steering wheel angle signal includes evaluating the following relationship:

space="preserve" listing-type="equation">SWAEST=SWA-SWACENTER

where;

SWAEST=estimated steering wheel angle;

SWA=the signal generated by the steering angle sensor;

SWACENTER=generated center position signal.

5. A method for determining a steering wheel angle of an automotive steering mechanism and controlling an automotive device, comprising the steps of:

counting steering position data from a steering angle sensor and generating a first signal therefrom representing rotational motion of the steering mechanism;

measuring a yaw rate from a yaw rate sensor and producing a second signal therefrom representing a steering wheel angle computed from said yaw rate;

determining a center position estimate from said first signal and said second signal in accordance with a first predetermined algorithm when said second signal is outside of a predetermined boundary and in accordance with a second predetermined algorithm when said second signal is within said predetermined boundary and generating a center position signal therefrom;

estimating an actual steering wheel angle from said first signal and said center position signal and generating an estimated steering wheel angle signal therefrom; and

controlling the automotive device using said steering wheel angle signal.

6. A method according to claim 5, whereby said step of producing a second signal representing a steering wheel angle includes obtaining said second signal by the following relationship:

space="preserve" listing-type="equation">SWAFromYAW=C* KSteerSWA* δ

where;

SWAFromYAW=the second signal representing the calculated steering wheel angle;

C=conversion constant from radians to degrees;

KSteer2SWA=steering ratio which is a constant dependent on the steering mechanism and steering geometry; and

δ

=the steered angle of the steerable tires as determined from the yaw rate.

7. A method according to claim 5, whereby said step of generating a center position signal according to a first algorithm includes evaluating the following relationship:

space="preserve" listing-type="equation">SWACENTER=SWADynamic-SWAFromYAW

where;

SWACENTER=generated center position signal;

SWADynamic=a signal from the steering angle sensor having been passed through a second order filter;

SWAFromYAW=a calculated steering wheel angle computed using the yaw rate.

8. A method according to claim 5, whereby said step of generating an estimated steering wheel angle signal includes evaluating the following relationship:

space="preserve" listing-type="equation">SWAEST=SWA-SWACENTER

where;

SWAEST=estimated steering wheel angle;

SWA=the signal generated by the steering wheel angle sensor;

SWACENTER=generated center position signal.

9. A method according to claim 5, wherein said step of determining a center position estimate in accordance with a first predetermined algorithm further comprises the following steps:

calculating said center position signal using a first range of data when said second signal exceeds a predetermined limit; and

recalculating said center position signal using a second range of data only after said second signal is less than said predetermined limit.

10. A method according to claim 5, wherein said step of determining a center position estimate in accordance with a second predetermined algorithm further comprises updating said center position signal only if said second signal is within said predetermined boundary.

11. A method for determining a steering wheel angle of an automotive steering mechanism and controlling an automotive device, comprising the steps of:

counting steering position data from a steering angle sensor and generating a first signal therefrom representing rotational motion of the steering mechanism;

measuring a yaw rate from a yaw rate sensor and producing a second signal therefrom representing a steering wheel angle computed from said yaw rate;

updating a straight path indicator using one of two formulas selected based on an evaluation of a predetermined group of vehicle operating characteristics;

determining a center position estimate in accordance with a first predetermined algorithm when said second signal is outside of a predetermined limit and in accordance with a second predetermined algorithm when said second signal is within said predetermined limit and in accordance to a third predetermined algorithm when said updated straight path indicator exceeds a predetermined value and generating a center position signal therefrom;

estimating an actual steering wheel angle from said first signal and said center position signal and generating an estimated steering wheel angle signal therefrom; and

controlling the automotive device using said steering wheel angle signal.

12. A method according to claim 11, whereby said step of producing a second signal representing a steering wheel angle includes obtaining said second signal by the following relationship:

space="preserve" listing-type="equation">SWAFromYAW=C* KSteer2SWA* δ

where;

SWAFromYAW=the second signal representing the calculated steering wheel angle;

C=conversion constant from radians to degrees;

KSteer2SWA=steering ratio which is a constant dependent on the steering mechanism and steering geometry; and

δ

=the steered angle of the steerable tires as determined from the yaw rate.

13. A method according to claim 11, whereby said step of generating an estimated steering wheel angle signal includes evaluating the following relationship:

space="preserve" listing-type="equation">SWAEST=SWA-SWACENTER

where;

SWAEST=estimated steering wheel angle;

SWA=the signal generated by the steering angle sensor;

SWACENTER=generated center position signal.

14. A method according to claim 11, wherein said step of determining a center position estimate in accordance with a first predetermined algorithm further comprises the following steps:

calculating said center position signal using a first range of data when said second signal exceeds said predetermined limit; and

recalculating said center position signal using a second range of data only after said second signal is less than said predetermined limit.

15. A method according to claim 11, wherein said step of determining a center position estimate in accordance with a second predetermined algorithm further comprises updating said center position signal only if said second signal is within said predetermined limit.

16. A method according to claim 11, wherein said step of determining a center position estimate in accordance with a third predetermined algorithm further comprises only updating said center position signal when said updated straight path indicator exceeds said predetermined value once said predetermined value has been exceeded a first time.

17. A method according to claim 11, wherein said vehicle operating characteristics include vehicle longitudinal velocity, said yaw rate and said rate acceleration.

18. A method according to claim 11, wherein said step of updating a straight path indicator further comprises the following steps:

reducing said straight path indicator when any one of said vehicle operating characteristics does not exceed a predetermined minimum; and

increasing said straight path indicator when said vehicle operating characteristics equal or exceed said predetermined minimum.