Method and system for improving motor vehicle stability incorporating an electric power steering system

• US 6,499,559 B2
• Filed: 12/29/2000
• Issued: 12/31/2002
• Est. Priority Date: 12/29/1999
• Status: Expired due to Term

• Current Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust), Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Badawy, Aly Ahmed, Mc Cann, Roy Alan
• Primary Examiner(s): DePumpo, Daniel G.
• Assistant Examiner(s): YEAGLEY, DANIEL S
• Application Number:
  US09/752,299
• Publication Number:
  US 20010041957A1
• Time in Patent Office: 732 Days
• Field of Search: 180/443, 180/444, 180/446, 701/41, 701/42, 700/44, 700/45, 700/46, 700/63
• US Class Current: 180/446
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Abstract

A method and system for stabilizing a vehicle employing an electric power steering system is disclosed. The method includes receiving as inputs, a desired torque command representative of a steering wheel torque and a vehicle speed signal. The method also includes acquiring an acceleration signal representative of vehicle acceleration. The method further comprises generating an assist torque command, which is a combination of the desired torque command and a compensating torque command where the compensating torque command is responsive to the vehicle speed signal and the acceleration signal.

Claims

1. A stabilizing system for a vehicle employing an electric power steering system which generates a desired torque command, the system comprising:

a vehicle speed sensor, wherein said vehicle speed sensor measures a vehicle speed and transmits a vehicle speed signal representative of said vehicle speed;

an assist mechanism configured apply an assist torque to said electric power steering system, wherein said assist torque is responsive to an assist torque command;

an acceleration sensor, wherein said acceleration sensor measures vehicle acceleration and transmits an acceleration signal representative of said vehicle acceleration;

a controller configured to receive signals including;

a steering wheel torque signal from a torque sensor;

a steering wheel position signal from a steering wheel position sensor;

said vehicle speed signal from said vehicle speed sensor;

said acceleration signal from said acceleration sensor;

said controller further configured to generate said assist torque command comprising a combination of said desired torque command with a compensating torque command; and

wherein said acceleration sensor measures vehicle yaw acceleration and transmits a yaw acceleration signal.

2. The electric power steering system of claim 1 further including a second acceleration sensor, which measures a second vehicle acceleration.

3. The electric power steering system of claim 2 wherein:

said second acceleration sensor generates a second acceleration signal representative of said second vehicle acceleration;

said second acceleration signal is a lateral acceleration signal representative of vehicle lateral acceleration; and

said compensating torque command is responsive to said vehicle speed signal, said yaw acceleration, and said lateral acceleration signal.

4. A stabilizing system for a vehicle employing an electric power steering system which generates a desired torque command, the system comprising:

a vehicle speed sensor, wherein said vehicle speed sensor measures a vehicle speed and transmits a vehicle speed signal representative of said vehicle speed;

an assist mechanism configured apply an assist torque to said electric power steering system, wherein said assist torque is responsive to an assist torque command;

an acceleration sensor, wherein said acceleration sensor measures vehicle acceleration and transmits an acceleration signal representative of said vehicle acceleration;

a controller configured to receive signals including;

a steering wheel torque signal from a torque sensor;

a steering wheel position signal from a steering wheel position sensor;

said vehicle speed signal from said vehicle speed sensor;

said acceleration signal from said acceleration sensor;

said controller further configured to generate said assist torque command comprising a combination of said desired torque command with a compensating torque command;

wherein said acceleration sensor measures vehicle yaw acceleration and transmits a yaw acceleration signal; and

wherein said compensating torque command is the resultant of frequency based compensation applied via a yaw acceleration compensator to said yaw acceleration signal.

5. The electric power steering system of claim 4 wherein said yaw acceleration compensator modifies and shapes the spectral content of said yaw acceleration signal to maintain the stability of said vehicle.

6. The electric power steering system of claim 5 wherein said yaw acceleration compensator is characterized by a second order band pass filter arrangement with a pass band between about 0.15 Hz and about 15.0 Hz.

7. A stabilizing system for a vehicle employing an electric power steering system which generates a desired torque command, the system comprising:

a vehicle speed sensor, wherein said vehicle speed sensor measures a vehicle speed and transmits a vehicle speed signal representative of said vehicle speed;

an assist mechanism configured apply an assist torque to said electric power steering system, wherein said torque is responsive to an assist torque command;

an acceleration sensor, wherein said acceleration sensor measures vehicle acceleration and transmits an acceleration signal representative of said vehicle acceleration;

a controller configured to receive signals including;

a steering wheel torque signal from a torque sensor;

a steering wheel position signal from a steering wheel position sensor;

said vehicle speed signal from said vehicle speed sensor;

said acceleration signal from said acceleration sensor;

said controller further configured to generate said assist torque command comprising a combination of said desired torque command with a compensating torque command;

wherein said acceleration signal is a lateral acceleration signal; and

wherein said compensating torque command is the resultant of frequency based compensation applied via a lateral acceleration compensator to said lateral acceleration signal.

8. The electric power steering system of claim 7 wherein said lateral acceleration compensator modifies the spectral content of said lateral acceleration signal to maintain the stability of said electric power steering system.

9. The electric power steering system of claim 8 wherein said lateral acceleration compensator is characterized by a second order band pass filter arrangement with a pass band between about 0.25 Hz and about 6.25 Hz.

10. A stabilizing system for a vehicle employing an electric power steering system which generates a desired torque command, the system comprising:

a vehicle speed sensor, wherein said vehicle speed sensor measures a vehicle speed and transmits a vehicle speed signal representative of said vehicle speed;

an assist mechanism configured apply an assist torque to said electric power steering system, wherein said assist torque is responsive to an assist torque command;

an acceleration sensor, wherein said acceleration sensor measures vehicle acceleration and transmits an acceleration signal representative of said vehicle acceleration;

a controller configured to receive signals including;

a steering wheel torque signal from a torque sensor;

a steering wheel position signal from a steering wheel position sensor;

said vehicle speed signal from said vehicle speed sensor;

said acceleration signal from said acceleration sensor;

said controller further configured to generate said assist torque command comprising a combination of said desired torque command with a compensating torque command; and

wherein said compensating torque command is characterized by a scheduling of an acceleration scale factor which is the resultant of a speed stability look up table indexed by vehicle speed.

11. A stabilizing system for a vehicle employing an electric power steering system which generates a desired torque command, the system comprising:

a vehicle speed sensor, wherein said vehicle speed sensor measures a vehicle speed and transmits a vehicle speed signal representative of said vehicle speed;

an assist mechanism configured apply an assist torque to said electric power steering system, wherein said assist torque is responsive to an assist torque command;

an acceleration sensor, wherein said acceleration sensor measures vehicle acceleration and transmits an acceleration signal representative of said vehicle acceleration;

a controller configured to receive signals including;

a steering wheel torque signal from a torque sensor;

a steering wheel position signal from a steering wheel position sensor;

said vehicle speed signal from said vehicle speed sensor;

said acceleration signal from said acceleration sensor;

said controller further configured to generate said assist torque command comprising a combination of said desired torque command with a compensating torque command;

wherein said compensating torque command is the resultant of application of a compensating torque limit function to a composite feedback signal; and

said compensating torque limit function is responsive to limiting established by a compensating torque limit look up table which is indexed by vehicle speed to generate a limit value for said compensating torque limit function.

12. The electric power steering system of claim 11 wherein said compensating torque limit function limits the compensating torque command magnitude to decreasing values of said composite feedback signal as said vehicle speed increases.

13. The electric power steering system of claim 11 wherein said composite feedback signal is generated as a result of a combination of one or more feed back signals.

14. The electric power steering system of claim 13 wherein said one or more feed back signals includes a yaw feed back signal and a lateral feed back signal.

15. The electric power steering system of claim 13 wherein said one or more feed back signals is characterized by the scheduling of a compensated acceleration signal by an acceleration scale factor.

16. The electric power steering system of claim 15 wherein said acceleration scale factor is the resultant of a speed stability look up table indexed by vehicle speed.

17. The electric power steering system of claim 15 wherein said compensated acceleration signal is the resultant of frequency based compensation applied via an acceleration compensator to said acceleration signal.

18. The electric power steering system of claim 17 wherein said acceleration compensator modifies the spectral content of said acceleration signal to maintain the stability of said electric power steering system.

19. The electric power steering system of claim 18 wherein said acceleration compensator is characterized by a second order band pass filter.

20. A method of stabilizing a vehicle employing an electric power steering system comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering system;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of desired torque command with a compensating torque command;

applying said assist torque command to an assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal; and

wherein said acceleration signal is a yaw acceleration signal.

21. The method of claim 20 further including acquiring a second acceleration signal representative of a second vehicle acceleration.

22. The method of claim 21 wherein:

said second acceleration signal is generated by a second acceleration sensor that measures said second vehicle acceleration;

said second acceleration signal is a lateral acceleration signal representative of vehicle lateral acceleration; and

wherein said compensating torque command is responsive to said vehicle speed signal, said yaw acceleration, and said lateral acceleration signal.

23. A method of stabilizing a vehicle employing an electric power steering system comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering power;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of said desired torque command with a compensating torque command;

applying said assist torque command to an assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal;

wherein said acceleration signal is a yaw acceleration signal; and

wherein said compensating torque command is the resultant of frequency based compensation applied via a yaw acceleration compensator to said yaw acceleration signal.

24. The method of claim 23 wherein said yaw acceleration compensator modifies and shapes the spectral content of said yaw acceleration signal to maintain the stability of said vehicle.

25. The method of claim 24 wherein said yaw acceleration compensator is characterized by a second order band pass filter arrangement with a pass band between about 0.15 Hz and about 15.0 Hz.

26. A method of stabilizing a vehicle employing an electric power steering system comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering system;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of said desired torque command with a compensating torque command;

applying said assist torque command to an assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal;

wherein said acceleration signal is a lateral acceleration signal; and

wherein said compensating torque command is the resultant of frequency based compensation applied via a lateral acceleration compensator to said lateral acceleration signal.

27. The method of claim 26 wherein said lateral acceleration compensator modifies the spectral content of said lateral acceleration signal to maintain the stability of said vehicle.

28. The method of claim 27 wherein said lateral acceleration compensator is characterized by a second order band pass filter arrangement with a pass band between about 0.25 Hz. and about 6.25 Hz.

29. A method of stabilizing a vehicle employing an electric power steering system comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering system;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of said desired torque command with a compensating torque command;

applying said assist torque command to an assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal; and

wherein said compensating torque command is characterized by the scheduling of said acceleration signal by acceleration scale factor which is the resultant of a speed stability look up table indexed by vehicle speed.

30. A method of stabilizing a vehicle employing an electric power steering system comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering system;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of said desired torque command with a compensating torque command;

applying said assist torque command to an assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal; and

wherein said compensating torque command is the resultant of application of a compensating torque limit function to a composite feedback signal; and

said compensating torque limit function is responsive to limiting established by a compensating torque limit look up table which is indexed by vehicle speed to generate a limit value for said compensating torque limit function.

31. The method of claim 30 wherein said compensating torque limit function limits the compensating torque command magnitude to decreasing values of said composite feedback signal as said vehicle speed increases.

32. The method of claim 30 wherein said composite feedback signal is generated as a result of a combination of one or more feed back signals.

33. The method of claim 32 wherein said one or more feed back signals includes a yaw feed back signal and lateral feed back signal.

34. The method of claim 32 wherein said one or more feed back signals is characterized by the scheduling of a compensated acceleration signal by an acceleration scale factor.

35. The method of claim 34 wherein said acceleration scale factor is the resultant of a speed stability look up table indexed by vehicle speed.

36. The method of claim 34 wherein said compensated acceleration signal is the resultant of frequency based compensation applied via an acceleration compensator to said acceleration signal.

37. The method of claim 36 wherein said acceleration compensator modifies the spectral content of said acceleration signal to maintain the stability of said electric power steering system.

38. The method of claim 37 wherein said acceleration compensator is characterized by a second order band pass filter.

39. A storage medium encoded with a machine-readable computer program code for stabilizing a vehicle employing an electric power steering system said storage medium including instruction for causing a computer to implement a method comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering system;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of said desired torque command with a compensating torque command;

applying said assist torque command to an assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal; and

wherein said compensating torque command is the resultant of application of a compensating torque limit function to a composite feedback signal; and

said compensating torque limit function is responsive to limiting established by a compensating torque limit look up table which is indexed by vehicle speed to generate a limit value for said compensating torque limit function.

40. A computer data signal for stabilizing a vehicle employing an electric power steering system said computer data signal comprising code for causing a computer to implement a method comprising:

receiving a desired torque command representative of a steering wheel torque desired in said electric power steering system;

receiving a vehicle speed signal representative of a forward speed of said vehicle;

acquiring an acceleration signal representative of vehicle acceleration;

generating an assist torque command comprising a combination of said desired torque command with a compensating torque command;

applying said assist torque command to assist mechanism;

wherein said acceleration signal is generated by an acceleration sensor that measures said vehicle acceleration and transmit said acceleration signal;

wherein said compensating torque command is responsive to said vehicle speed signal and said acceleration signal; and

wherein said compensating torque command is the resultant of application of a compensating torque limit function to a composite feedback signal; and

said compensating torque limit function is responsive to limiting established by a compensating torque limit look up table which is indexed by vehicle speed to generate a limit value for said compensating torque limit function.