Vehicle steering control system and control method therefor

• US 8,229,629 B2
• Filed: 09/14/2007
• Issued: 07/24/2012
• Est. Priority Date: 09/15/2006
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Limpibunterng, Theerawat, Kojo, Takahiro
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): PATEL, SHARDUL D
• Application Number:
  US12/441,433
• Publication Number:
  US 20090276121A1
• Time in Patent Office: 1,775 Days
• Field of Search: 701/41, 477/76
• US Class Current: 701/41
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0496 by using a temperature sensor

Abstract

A vehicle steering control system that controls the operation of an electric vehicle steering device, which applies a steering assist force to a steering mechanism via a gear mechanism and includes: a temperature estimating section for estimating the temperature of or around the gear mechanism; and a correcting section for correcting the steering assist force according to the estimated gear temperature.

Claims

1. A vehicle steering control system for controlling operation of an electric vehicle steering device which applies a steering assist force to a steering mechanism via a gear mechanism, comprising:

a temperature estimating section for estimating a gear temperature as a temperature of the gear mechanism or around the gear mechanism; and

a correcting section for correcting the steering assist force according to the estimated gear temperature,

wherein the temperature estimating section estimates the gear temperature based on convective heat from a radiator or based on self-heating of an electric motor that applies the steering assist force or based on radiant heat from the internal combustion engine or based on ambient temperature,

wherein the correcting section corrects the steering assist force by adding a low-temperature correcting assist force determined according to the gear temperature to a normal assist force, which is applied when the gear temperature is above a prescribed temperature, and

wherein the prescribed value of the gear temperature is a temperature at which the preload of the gear mechanism begins to increase.

2. A vehicle steering control system for controlling operation of an electric vehicle steering device which applies a steering assist force to a steering mechanism via a gear mechanism, comprising:

a temperature estimating section for estimating a gear temperature as a temperature of the gear mechanism or around the gear mechanism based on a difference between a temperature of a control unit that controls the operation of the vehicle steering device and an ambient temperature; and

a correcting section for correcting the steering assist force according to the estimated gear temperature,

wherein the temperature estimating section estimates that the gear temperature is equal to the gear temperature that is last estimated while an internal combustion engine is previously being driven, in a case where the ambient temperature at a time when the internal combustion engine is started is equal to the ambient temperature that is last detected while the internal combustion engine is previously being driven, and the temperature of the control unit at the time when the internal combustion engine is started is higher than the temperature of the control unit that is last detected while the internal combustion engine is previously being driven.

5. The vehicle steering control system according to claim 2, wherein the temperature estimating section corrects the estimated gear temperature based on convective heat from a radiator.

6. The vehicle steering control system according to claim 5, wherein the temperature estimating section corrects the estimated gear temperature by estimating an amount of change in the gear temperature caused by the convective heat from the radiator based on at least one of an engine speed, a vehicle speed and a coolant temperature as a temperature of cooling water for cooling the internal combustion engine.

7. The vehicle steering control system according to claim 2, wherein the temperature estimating section corrects the estimated gear temperature based on self-heating of an electric motor that applies the steering assist force.

8. The vehicle steering control system according to claim 7, wherein the temperature estimating section corrects the estimated gear temperature by estimating an amount of change in the gear temperature caused by self-heating of the electric motor based on an amount of current supplied to the electric motor.

9. The vehicle steering control system according to claim 2, wherein the temperature estimating section corrects the estimated gear temperature based on radiant heat from the internal combustion engine.

10. The vehicle steering control system according to claim 9, wherein the temperature estimating section corrects the estimated gear temperature by estimating an amount of change in the gear temperature caused by the radiant heat from the internal combustion engine based on elapsed time after start of the internal combustion engine.

3. A vehicle steering control system for controlling operation of an electric vehicle steering device which applies a steering assist force to a steering mechanism via a gear mechanism, comprising:

a temperature estimating section for estimating a gear temperature as a temperature of the gear mechanism or around the gear mechanism based on a difference between a temperature of a control unit that controls the operation of the vehicle steering device and an ambient temperature; and

a correcting section for correcting the steering assist force according to the estimated gear temperature,

wherein the temperature estimating section estimates that the gear temperature is equal to the ambient temperature at a time when the internal combustion engine is started, or the temperature of the control unit at the time when the internal combustion engine is started, in a case where an absolute value of a difference between the ambient temperature at the time when the internal combustion engine is started and the temperature of the control unit at the time when the internal combustion engine is started is smaller than a prescribed threshold.

4. A vehicle steering control system for controlling operation of an electric vehicle steering device which applies a steering assist force to a steering mechanism via a gear mechanism, comprising:

a temperature estimating section for estimating a gear temperature as a temperature of the gear mechanism or around the gear mechanism based on a difference between a temperature of a control unit that controls the operation of the vehicle steering device and an ambient temperature; and

a correcting section for correcting the steering assist force according to the estimated gear temperature,

wherein the temperature estimating section estimates that the gear temperature is equal to a value obtained by an equation, the ambient temperature at a time when the internal combustion engine is started+{(the temperature of the control unit at the time when the internal combustion engine is started−

the ambient temperature at the time when the internal combustion engine is started)/(the temperature of the control unit that is last detected while the internal combustion engine is previously being driven−

the ambient temperature that is last detected while the internal combustion engine is previously being driven)×

(the gear temperature that is last estimated while the internal combustion engine is previously being driven−

the ambient temperature that is last detected while the internal combustion engine is previously being driven)}, in a case where an absolute value of a difference between the ambient temperature at the time when the internal combustion engine is started and the temperature of the control unit at the time when the internal combustion engine is started is equal to or larger than a prescribed threshold.

11. A vehicle steering control system for controlling operation of an electric vehicle steering device which applies a steering assist force to a steering mechanism via a gear mechanism, comprising:

a temperature estimating section for estimating a gear temperature as a temperature of the gear mechanism or around the gear mechanism; and

a correcting section for correcting the steering assist force according to the estimated gear temperature,

wherein the temperature estimating section estimates the gear temperature based on convective heat from a radiator or based on self-heating of an electric motor that applies the steering assist force or based on radiant heat from the internal combustion engine or based on ambient temperature

wherein the correcting section corrects the steering assist force when the gear temperature is less than a predetermined temperature,

wherein the correcting section corrects the steering assist force by adding a low-temperature assist force to a normal assist force, the low-temperature assist force is determined according to the gear temperature and the normal assist force is applied when the gear temperature is above the predetermined temperature, and

wherein the low-temperature assist force is calculated by multiplying a base low-temperature assist torque by a correcting gain, the correcting gain is based on the gear temperature and the correcting gain equals zero if the gear temperature equals the predetermined temperature.

12. The vehicle steering control system according to claim 11, wherein the base low-temperature assist torque is a sum of a first assist torque based on a steering torque applied to a steering shaft, a second assist torque for preventing deterioration of steering feel related to reverse damping based on a steering speed, a third assist torque for preventing deterioration of steering feel related to handle returning based on the steering speed, and a fourth assist torque for preventing deterioration of steering feel related to N-returning based on a steering angle.

13. The vehicle steering control system according to claim 12, wherein the first assist torque equals zero for a first steering torque, increases linearly between the first steering torque and a second steering torque and remains constant when the steering torque is equal to or greater than the second steering torque.

14. The vehicle steering control system according to claim 12, wherein the second assist torque equals zero for a first steering speed, increases linearly between the first steering speed and a second steering speed and remains constant when the steering speed is equal to or greater than the second steering speed.

15. The vehicle steering control system according to claim 12, wherein the third assist torque equals zero for a first steering speed, increases linearly between the first steering speed and a second steering speed, remains constant between the second steering speed and a third steering speed, decreases linearly between the third steering speed and a fourth steering speed, and equals zero at the fourth steering speed.

16. The vehicle steering control system according to claim 12, wherein the fourth assist torque equals zero for a first steering angle, increases linearly between the first steering angle and a second steering angle, remains constant between the second steering angle and a third steering angle, decreases linearly between the third steering angle and a fourth steering angle, and equals zero at the fourth steering angle.