Power steering system and control method of the same

• US 8,055,409 B2
• Filed: 07/18/2006
• Issued: 11/08/2011
• Est. Priority Date: 07/25/2005
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tsuchiya, Yoshiaki
• Primary Examiner(s): To; Tuan C
• Assistant Examiner(s): MUSTAFA, IMRAN K
• Application Number:
  US11/488,152
• Publication Number:
  US 20070021889A1
• Time in Patent Office: 1,939 Days
• Field of Search: 701/1, 701/41, 180/6.2, 180/204, 280/5.51, 280/5.511, 280/5.512, 280/5.15
• US Class Current: 701/41
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 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

With a power steering system and a control method of a power steering system provided, a basic assist control amount is calculated based on a steered state of a driver'"'"'s steering wheel. A compensation control amount used to compensate for the basic assist control amount is calculated, and corrected, during calculation of the compensation control amount, based on a lane-position maintenance assist control amount which is calculated based on a running state of a vehicle and which is used to maintain a predetermined lane-position. A target assist control amount applied to a steering mechanism is calculated based on the basic assist control amount, the lane-position maintenance assist control amount, and the compensation control amount.

Claims

1. A power steering system, comprising:

at least one controller that calculates a basic assist control amount based on a detected steered state of a driver'"'"'s steering wheel, that calculates a compensation control amount used to compensate for the basic assist control amount, the compensation control amount including a damping control amount that is based on a detected steering wheel angle of the driver'"'"'s steering wheel, and that corrects, during calculation of the compensation control amount, the damping control amount based on a lane-position maintenance assist control amount that is calculated based on a running state of a vehicle and used to maintain a predetermined lane-position,

wherein the at least one controller calculates a target assist control amount applied to a steering mechanism based on the basic assist control amount, the lane-position maintenance assist control amount, and the compensation control amount, and

wherein the at least one controller applies the target assist control amount to the steering mechanism of the power steering system so as to control operation of the steering mechanism.

2. The power steering system according to claim 1, wherein the basic assist control amount includes a basic assist torque, the compensation control amount includes a compensation torque, the lane-position maintenance assist control amount includes a lane-position maintenance assist torque, and the target assist control amount includes a target assist torque.

3. The power steering system according to claim 1, wherein the lane-position maintenance assist control amount is calculated based on the running state of the vehicle, and the running state of the vehicle includes a curvature of a curve ahead of the vehicle, an offset amount of the vehicle relative to the predetermined lane-position, and a yaw angle of the vehicle.

4. The power steering system according to claim 1, wherein the at least one controller corrects the damping control amount by increasing an absolute value of the damping control amount, when the lane-position maintenance assist control amount deviates from a value at or around zero.

5. The power steering system according to claim 4, wherein when a steering angle speed is out of a predetermined range, an absolute value of a correction amount of the damping control amount increases as an absolute value of the steering angle speed increases.

6. The power steering system according to claim 4, wherein the at least one controller continues the correction to increase the absolute value of the damping control amount until a predetermined time has elapsed since the lane-position maintenance assist control amount was the value at or around zero.

7. The power steering system according to claim 1, wherein

the compensation control amount includes a torque derivative control amount that is calculated based on a derivative value of a detected steering torque, and

the at least one controller corrects the torque derivative control amount based on the lane-position maintenance assist control amount by increasing an absolute value of the torque derivative control amount, when the lane-position maintenance assist control amount deviates from a value at or around zero.

8. The power steering system according to claim 7, wherein when the derivative value of the detected steering torque is out of a predetermined range, the absolute value of the torque derivative control amount increases as an absolute value of the derivative value of the steering torque increases.

9. A power steering system, comprising:

basic control amount calculation means for calculating a basic assist control amount based on a detected steered state of a driver'"'"'s steering wheel;

compensation control amount calculating means for calculating a compensation control amount used to compensate for the basic assist control amount, the compensation control amount including a damping control amount that is based on a detected steering wheel angle of the driver'"'"'s steering wheel, and for correcting, during calculation of the compensation control amount, the damping control amount based on a lane-position maintenance assist control amount that is calculated based on a running state of a vehicle and used to maintain a predetermined lane-position;

target control amount calculating means for calculating a target assist control amount applied to a steering mechanism based on the basic assist control amount, the lane-position maintenance assist control amount, and the compensation control amount; and

means for applying the target assist control amount to the steering mechanism of the power steering system so as to control operation of the steering mechanism.

10. The power steering system according to claim 9, wherein the basic assist control amount includes a basic assist torque, the compensation control amount includes a compensation torque, the lane-position maintenance assist control amount includes a lane-position maintenance assist torque, and the target assist control amount includes a target assist torque.

11. The power steering system according to claim 9, wherein the lane-position maintenance assist control amount is calculated based on the running state of the vehicle, and the running state of the vehicle includes a curvature of a curve ahead of the vehicle, an offset amount of the vehicle relative to the predetermined lane-position, and a yaw angle of the vehicle.

12. A power steering system, comprising:

a controller that calculates a basic assist control amount based on a detected steered state of a driver'"'"'s steering wheel, and that calculates at least one of a damping control amount that is calculated based on a detected steering wheel angle of the driver'"'"'s steering wheel and a torque derivative control amount that is calculated based on a derivative value of a detected steering torque and corrects to increase the at least one of the damping control amount and the torque derivative control amount, during calculation of the at least one of the damping control amount and the torque derivative control amount, when a lane-position maintenance assist control which is performed based on a running state of a vehicle and which is used to maintain a predetermined lane-position is being executed,

wherein the controller calculates a target assist control amount applied to a steering mechanism based on the basic assist control amount, a lane-position maintenance assist control amount, and the at least one of the damping control amount and the torque derivative control amount.