Steering wheel angle determination

• US 6,775,604 B2
• Filed: 12/11/2002
• Issued: 08/10/2004
• Est. Priority Date: 12/11/2002
• Status: Expired due to Fees

• Current Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Original Assignee: Continental Teves Incorporated (Continental AG)
• Inventors: Dilger, Fritz P. E.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US10/316,649
• Publication Number:
  US 20040117088A1
• Time in Patent Office: 608 Days
• Field of Search: 701/41, 180/6.2, 180/7.1, 340/426.31, 477/1
• US Class Current: 701/41
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids

Abstract

A method is disclosed for determining the steering center of a vehicle. The algorithm involves supplying power to a controller after ignition-off to save the steering wheel angle value that is stored in the controller'"'"'s non-volatile memory. At ignition-on, the steering wheel angle value that was stored in the controller'"'"'s non-volatile memory is retrieved and compared to a recently calculated probable steering wheel angle value. The recently calculated probable steering wheel angle value is calculated based on an offset compensated value of the vehicle'"'"'s yaw rate and offset compensated value of the vehicle'"'"'s lateral acceleration. If the difference between the value stored in the volatile memory and the recently calculated probable steering wheel angle value are within a predetermined range, the value stored in the non-volatile memory will continue to be used.

Claims

1. A method for determining a steering wheel angle value of a vehicle'"'"'s steering mechanism, comprising the steps of:

supplying power to a controller after ignition-off to save the steering wheel angle value stored in the controllers'"'"' volatile memory;

retrieving the steering wheel angle value stored in the controller'"'"'s volatile memory at ignition-on;

determining a first vehicle parameter;

determining a second vehicle parameter;

offset compensating the first vehicle parameter;

offset compensating the second vehicle parameter;

determining a probable steering wheel angle value using a Find Center Algorithm relying on the offset compensated first vehicle parameter and the offset compensated second vehicle parameter as input;

determining the difference between the stored steering wheel angle value and the calculated probable steering wheel angle value;

determining whether the difference between the stored steering wheel angle value and the calculated probable steering wheel angle value falls within a predetermined range; and

continuing to use the steering wheel angle value that was stored in the controller'"'"'s volatile memory if the difference between the stored steering wheel angle value and the calculated probable steering wheel angle value falls within the predetermined range.

2. The method of claim 1 wherein power is supplied to the controller so long as the vehicle is moving.

3. The method of claim 1 wherein power is supplied to the controller after ignition off for a predetermined period of time.

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

determining the yaw rate signal of the vehicle at ignition-off;

determining the amount of disturbance in the yaw rate signal;

supplying power to the controller after ignition-off if the amount of disturbance in the yaw rate signal exceeds a predetermined amount.

5. The method of claim 1 wherein the first vehicle parameter is the yaw rate of the vehicle and the second vehicle parameter is the lateral acceleration of the vehicle.

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

determining whether the vehicle is moving or in a resting position; and

postponing offset compensating the first vehicle parameter and the second vehicle parameter if the vehicle is moving until the vehicle comes to a resting position.

7. The method of claim 6 wherein determining whether the vehicle is resting comprises the steps of:

determining at least two wheel speeds in the vehicle;

determining brake pressure in the vehicle;

determining if the wheel speeds equal zero; and

determining if the brake pressure is greater than zero.

8. The method of claim 1 wherein the first vehicle parameter is the yaw rate, and the wheel base of the vehicle, the gravitational acceleration constant and the understeer gradient of the vehicle are stored in the controller'"'"'s non-volatile memory, the method further comprising the steps of:

determining when the yaw rate (r) is not equal to zero;

determining the speed (ν

) of the vehicle;

retrieving the wheel base (L) of the vehicle;

retrieving the gravitational acceleration constant (g);

retrieving the understeer gradient (K) of the vehicle; and

determining the steering angle based on the vehicle'"'"'s yaw rate (δ

(r)) wherein $\mathrm{\delta <br><br>}<br><br>\left(r\right)=r<br><br>\left[\frac{1+\frac{{\mathrm{Kv}}^2}{57.3<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Lg}}}{\frac{v}{L}}\right].$

9. The method of claim 8 wherein the second vehicle parameter is the lateral acceleration (a_y), the method further comprising the step of determining the steering angle based on the vehicle'"'"'s lateral acceleration (δ

(a_y)) wherein $\mathrm{\delta <br><br>}<br><br>\left(a_y\right)=a_y<br><br>\left[\frac{1+\frac{{\mathrm{Kv}}^2}{57.3<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Lg}}}{\frac{v^2}{57.3<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Lg}}}\right].$

10. The method of claim 9 wherein the calculated probable steering angle value (δ

) is the average of the steering angle based on the vehicle'"'"'s yaw rate (δ

(r)) and the steering angle based on the vehicle'"'"'s lateral acceleration (δ

(a_y)), δ

=[δ

(r)+δ

(a_y)]/2.

11. The method of claim 10 further comprising determining a probable steering wheel angle where the function is a ratio between the probable steering angle value and a steering wheel angle.

12. The method of claim 1 further comprising the step of continuously monitoring the first and second vehicle parameters.

13. The method of claim 1 wherein the controller is the vehicle'"'"'s active yaw controller.

14. A method for determining a steering wheel angle value of a vehicle'"'"'s steering mechanism, comprising the steps of:

supplying power to a controller after ignition-off to save the steering wheel angle value stored in the controllers'"'"' volatile memory;

retrieving the stored steering wheel angle value stored in the controller'"'"'s volatile memory at ignition-on;

retrieving the stored steering wheel angle value stored in the controller'"'"'s non-volatile memory at ignition-on if there is no stored value in the controller'"'"'s volatile memory;

determining the relative steering wheel angle from the vehicle'"'"'s relative steering wheel angle sensor;

determining the vehicle'"'"'s yaw rate;

determining whether the relative steering wheel angle value falls within a predetermined range of the stored steering wheel angle when the vehicle'"'"'s yaw rate is zero;

saving the relative steering wheel angle in the vehicle'"'"'s volatile memory when the relative steering wheel angle is within the predetermined range of the stored steering wheel angle;

determining the vehicle'"'"'s lateral acceleration;

offset compensating the yaw rate;

offset compensating the lateral acceleration;

determining a probable steering wheel angle value when the yaw rate is not equal to zero using a Find Center Algorithm relying on the offset compensated yaw rate and the offset compensated lateral acceleration as input;

determining the difference between the stored steering wheel angle value and the calculated probable steering wheel angle value;

determining whether the difference between the stored steering wheel angle value and the calculated probable steering wheel angle value falls within a predetermined range; and

continuing to use the steering wheel angle value that was stored in the controller'"'"'s non-volatile memory if the difference between the stored steering wheel angle value and the calculated probable steering wheel angle value falls within the predetermined range.

15. The method of claim 14 wherein the Find Center Algorithm includes:

determining when the yaw rate (r) is not equal to zero;

determining the speed (ν

) of the vehicle;

retrieving the wheel base (L) of the vehicle;

retrieving the gravitational acceleration constant (g);

retrieving the understeer gradient (K) of the vehicle;

determining the steering angle based on the vehicle'"'"'s yaw rate (δ

(r)) wherein $\mathrm{\delta <br><br>}<br><br>\left(r\right)=r<br><br>\left[\frac{1+\frac{{\mathrm{Kv}}^2}{57.3<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Lg}}}{\frac{v}{L}}\right];<br><br>$

determining the steering angle based on the vehicle'"'"'s lateral acceleration (δ

(a_y)) wherein $\mathrm{\delta <br><br>}<br><br>\left(a_y\right)=a_y<br><br>\left[\frac{1+\frac{{\mathrm{Kv}}^2}{57.3<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Lg}}}{\frac{v^2}{57.3<br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{Lg}}}\right];<br><br>$

determining the probable steering angle value (δ

) wherein δ

=[δ

(r)+δ

(a_y)]/2; and

determining a probable steering wheel angle where the function is a ratio between the probable steering angle value and a steering wheel angle.