Methods, systems, and computer program products for tire slip angle limiting in a steering control system
First Claim
1. A method for tire slip angle limiting in a steering control system for a vehicle, the method comprising:
- performing on a processor;
calculating a first steering augmentation angle from a vehicle speed and a handwheel angle;
calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit;
bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle;
subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function; and
producing a motor angle command by adding the first limiting function plus the first steering augmentation angle.
9 Assignments
0 Petitions
Accused Products
Abstract
A method, system, and computer program product for tire slip angle limiting in a steering control system for a vehicle are provided. The method includes calculating a first steering augmentation angle from a vehicle speed and a handwheel angle. The method further includes calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit. The method also includes bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle. The method additionally includes subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function, and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle.
27 Citations
20 Claims
-
1. A method for tire slip angle limiting in a steering control system for a vehicle, the method comprising:
performing on a processor; calculating a first steering augmentation angle from a vehicle speed and a handwheel angle; calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit; bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle; subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function; and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
10. A steering control system for a vehicle, the system comprising:
-
a controller having a central processing unit, a computer program product including instructions for causing the central processing unit to implement a method, the method comprising; calculating a first steering augmentation angle from a vehicle speed and a handwheel angle; calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit; bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle; subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function; and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle. - View Dependent Claims (11, 12, 13, 14, 15)
-
-
16. A computer program product for tire slip angle limiting in a steering control system for a vehicle, the computer program product, comprising:
a computer readable medium encoded with a program, the program including instructions for implementing a method, the method comprising; calculating a first steering augmentation angle from a vehicle speed and a handwheel angle; calculating an upper bound angle limit and a lower bound angle limit as functions of a vehicle slip angle and a tire slip angle limit; bounding the sum of the handwheel angle plus the first steering augmentation angle between the upper bound angle limit and the lower bound angle limit to produce a first bounded angle; subtracting the sum of the handwheel angle plus the first steering augmentation angle from the first bounded angle to produce a first limiting function; and producing a motor angle command by adding the first limiting function plus the first steering augmentation angle. - View Dependent Claims (17, 18, 19, 20)
Specification