Relative steering angle sensor diagnostic for momentary signal dropout

• US 6,502,025 B1
• Filed: 10/02/2001
• Issued: 12/31/2002
• Est. Priority Date: 10/02/2001
• Status: Expired due to Fees

• Current Assignee: Kelsey-Hayes Co. (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: Kelsey-Hayes Co. (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Kempen, Gary M.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/968,256
• Time in Patent Office: 455 Days
• Field of Search: 701/41, 701/42, 701/44, 180/6.2, 180/6.24, 180/6.58, 180/6.6
• US Class Current: 701/41
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2600/08 Failure or malfunction detecting means
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/80 Detection or control after a system or component failure
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B62D 15/0215 by measuring on the steering column
• CPC Class Codes: B62D 5/049 detecting sensor failures

Abstract

Diagnostic monitoring of electrical signals from a quadrature sensor used for vehicle steering angle detection includes comparing the signals with a fault threshold (i.e., out-of-range voltages). A controller distinguishes between events of short enough duration that they do not cause loss of position accuracy and those where signal transitions were potentially missed.

Claims

1. A method of detecting faults of a relative position offset steering angle sensor in a vehicle, said method comprising the steps of:

iteratively adjusting said relative position offset in response to predetermined vehicle parameters;

comparing a voltage from said angle sensor to a fault threshold;

measuring a duration of time that said comparing step indicates a fault;

if a fault is indicated for A duration of time greater that a first predetermined duration then suspending said adjusting step;

if said fault ceases to be indicated prior to reaching a second predetermined duration then resuming said adjusting step; and

if said fault continues to be indicated until reaching said second predetermined duration then generating a faulted sensor signal.

2. The method of claim 1 further comprising the steps of:

counting a number of occurrences when said fault is indicated; and

generating said faulted sensor signal if said number equals a predetermined number.

3. The method of claim 1 further comprising the steps of:

integrating a total time that said fault is indicated during all occurrences; and

generating said faulted sensor signal if said total time exceeds a predetermined time.

4. The method of claim 1 wherein said iteratively adjusting step is comprised of:

a fast zeroing sequence wherein said relative position offset can change value at a first rate; and

a fine-tuning sequence wherein said relative position offset can change value at a second rate slower than said first rate.

5. The method of claim 4 further comprising the steps of:

determining a difference between a value of said relative offset when said adjusting step is suspended and a value of said relative offset after said fast zeroing sequence when said adjusting step is resumed; and

generating said faulted sensor signal if said difference exceeds a predetermined difference.

6. The method of claim 1 wherein said adjusting step is suspended after said faulted sensor signal is generated.

7. Apparatus for a vehicle comprising:

a steering shaft rotation sensor for producing pulses in response to rotation of a steering shaft of said vehicle;

a controller; and

a wire connection between said steering shaft rotation sensor and said controller;

wherein said controller counts said pulses to track a position of said steering shaft and maintains a relative position offset from a center position of said steering shaft, said controller determining said center position and iteratively adjusting said relative position offset in response to predetermined vehicle parameters;

wherein said controller comprises a voltage comparator for comparing a voltage from said wire connection to a fault threshold, and further comprises a timer for measuring a duration of time that said voltage comparator indicates a fault;

wherein said controller suspends said iterative adjustment of said relative position offset when said duration of time reaches a first predetermined duration;

wherein said controller resumes said iterative adjustment of said relative position offset if said voltage comparator ceases to indicate a fault prior to reaching a second predetermined duration; and

wherein said controller generates a faulted sensor signal if said voltage comparator continues to indicate a fault when said duration of time reaches said second predetermined duration.

8. The apparatus of claim 7 wherein said controller counts a number of occurrences when said voltage comparator indicates a fault and generates said faulted sensor signal if said number of occurrences equals a predetermined number.

9. The apparatus of claim 7 wherein said controller integrates a total time that said voltage comparator indicates a fault over all occurrences and generates said faulted sensor signal if said total time exceeds a predetermined time.

10. The apparatus of claim 7 wherein said controller determines a difference between a value of said relative offset when said adjusting step is suspended and a value of said relative offset after said adjusting step is resumed and generates said faulted sensor signal if said difference exceeds a predetermined difference.

11. A controller for a vehicle control system, said control system including a steering angle sensor and a wire connection between said controller and said steering angle sensor, said controller comparing a voltage at said wire connection with a fault threshold, said controller having operational states comprising:

a recovery state wherein a relative position offset is iteratively adjusted at a fast rate in response to predetermined vehicle parameters until a criteria for a valid relative position offset is satisfied;

a valid state entered from said recovery state when said criteria for a valid relative position offset is satisfied and wherein said relative position offset is iteratively adjusted at a slow rate in response to said predetermined vehicle parameters;

a tentative state entered when said comparison indicates a fault, wherein a duration of said fault is measured, wherein said iterative adjustment of said relative position offset is suspended, wherein a transition to said valid state is made if said duration is less than a first predetermined duration, and wherein a transition to said recovery state is made if said duration is between said first predetermined duration and a second predetermined duration; and

a faulted state entered if said duration is greater than said second predetermined duration and wherein a faulted sensor signal is generated.

12. The controller of claim 11 wherein said tentative state counts a number of entries into said tentative state and a transition is made to said faulted state if said number of entries equals a predetermined number.

13. The controller of claim 11 wherein said tentative state integrates a total time that said controller is in said tentative state and a transition is made to said faulted state if said total time exceeds a predetermined time.

14. The controller of claim 11 wherein said recovery state compares a current value of said relative position offset when said criteria for a valid relative position offset is satisfied with a previous value of said relative position offset when said criteria for a valid relative position offset was satisfied from a previous entry into said recovery state, and wherein a transition is made to said faulted state if a difference between said current value and said previous value is greater than a predetermined difference.

15. The controller of claim 11 wherein said vehicle control system is comprised of a yaw stability control system and wherein operation of said yaw stability control system is suspended in said faulted state.

16. The controller of claim 15 wherein said operation of said yaw stability control system is suspended in said tentative state.