System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same

• US 9,205,869 B2
• Filed: 09/29/2011
• Issued: 12/08/2015
• Est. Priority Date: 08/16/2010
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Turner, Steven Paul
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US13/248,677
• Publication Number:
  US 20120041658A1
• Time in Patent Office: 1,531 Days
• Field of Search: 701/41, 701/43, 701/30.5, 701/30.7, 701/30.8, 702/87
• US Class Current: 1/1
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/0215 by measuring on the steering column
• CPC Class Codes: B62D 15/024 Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
• CPC Class Codes: B62D 15/0245 Means or methods for determination of the central position of the steering system, e.g. straight ahead position

Abstract

A system for determining an angular position of a steerable wheel of a vehicle can include a plurality of sensors and a controller in electrical communication with each of these sensors. The controller can be configured to compare a first data set and a second data set to respective straight path conditions, wherein the first data set includes data from a first set of the sensors and the second data includes data from a second set of the sensors. The controller can be configured to determine a substantially straight path of travel condition when the comparison of at least one of the first data set and the second data set satisfies the respective straight path conditions, and can then associate that data acquired from the steering angle sensor(s) with a neutral position.

Claims

1. A system for determining an angular position of a steerable wheel of a vehicle having a plurality of wheels comprising:

a relative position steering angle sensor configured to output data indicative of a change in position of the steerable wheel;

a yaw rate sensor configured to output data indicative of an angular velocity of the vehicle about a vertical axis of the vehicle;

a lateral acceleration sensor configured to output data indicative of an acceleration of the vehicle in a substantially transverse direction of the vehicle;

a plurality of wheel speed sensors, wherein each wheel speed sensor is configured to output data indicative of a rotational velocity of a respective one of the plurality of wheels; and

a controller in electrical communication with each of the plurality of wheel speed sensors, the lateral acceleration sensor, and the yaw rate sensor, and the controller is configured to

determine a minimum wheel speed by comparing the data from each of the plurality of wheel speed sensors,

compare a first data set and a second data set to respective straight path conditions, wherein the first data set includes data from the yaw rate sensor, data from the lateral acceleration sensor, and the minimum wheel speed, and the second data set includes data from the plurality of wheel speed sensors,

determine a substantially straight path of travel condition when the comparison of at least one of the first data set and the second data set satisfies the respective straight path conditions, and

associate data acquired from the steering angle sensor with a neutral position when the controller determines the substantially straight path of travel condition.

2. The system for determining an angular position of a steerable wheel of a vehicle according to claim 1, wherein:

the first data set further includes;

at least one slip ratio derived from the data from the plurality of wheel speed sensors; and

longitudinal acceleration data; and

the respective straight path conditions include a slip threshold, an acceleration threshold, a lateral threshold, a yaw threshold, and a speed threshold.

3. The system for determining an angular position of a steerable wheel of a vehicle according to claim 2, wherein the controller is configured to compare the first data set by comparing:

the at least one slip ratio to the slip threshold;

the acceleration data to the acceleration threshold;

the data from the lateral acceleration sensor to the lateral threshold;

the data from the yaw rate sensor to the yaw threshold; and

the minimum wheel speed to the speed threshold.

4. The system for determining an angular position of a steerable wheel of a vehicle according to claim 3, wherein the controller is configured to determine a substantially straight path of travel condition when:

the at least one slip ratio is less than the slip threshold;

the acceleration data is less than the acceleration threshold;

the data from the lateral acceleration sensor is less than the lateral threshold;

the data from the yaw rate sensor is less than the yaw threshold; and

the minimum wheel speed is greater than the speed threshold.

5. The system for determining an angular position of a steerable wheel of a vehicle according to claim 1, wherein

the second data set further includes:

a first steering angle derived from the data from the plurality of wheel speed sensors;

a second steering angle derived from data from the yaw rate sensor;

a sum of the first steering angle and the second steering angle; and

a difference between a maximum wheel speed and a minimum wheel speed, both obtained from data from the plurality of wheel speed sensors, and

the respective straight path conditions include an angle threshold, a sum angle threshold, a velocity threshold, a minimum threshold, and a maximum threshold.

6. The system for determining an angular position of a steerable wheel of a vehicle according to claim 5, wherein the controller is configured to compare the second data set by comparing:

the first steering angle to the angle threshold;

the second steering angle to the angle threshold;

a sum of the first steering angle and the second steering angle to a sum angle threshold;

a difference between a minimum wheel speed and a maximum wheel speed to a velocity threshold, where the minimum wheel speed and the maximum wheel speed are obtained from the data from the plurality of wheel speed sensors; and

data from at least one of the plurality wheel speed sensors to a maximum threshold and a minimum threshold.

7. The system for determining an angular position of a steerable wheel of a vehicle according to claim 6, wherein the controller is configured to determine a substantially straight path of travel condition when:

the first steering angle is less than the angle threshold;

the second steering angle is less than the angle threshold;

the sum is less than the sum angle threshold;

the difference is less than the velocity threshold; and

the data from the at least one of the plurality of wheel speed sensors is less than the maximum threshold and is greater than the minimum threshold.

8. The system for determining an angular position of a steerable wheel of a vehicle according to claim 1, wherein the controller is configured to compare the first data set to the respective straight path conditions simultaneously with the comparison of the second data set to the respective straight path conditions.

9. The system for determining an angular position of a steerable wheel of a vehicle according to claim 1, wherein the controller is configured to associate data acquired from the steering angle sensor with a neutral position by:

collecting a plurality of data samples from the steering angle sensor; and

processing the plurality of data samples to derive the neutral position.

10. The system for determining an angular position of a steerable wheel of a vehicle according to claim 9, wherein the controller is configured to process the plurality of data samples by:

discarding at least one sample of the plurality of data samples from the plurality of data samples if a difference between the at least one sample of the plurality of data samples and another sample of the plurality of data samples is greater than a predetermined value; and

equating the neutral position to an average of the plurality of data samples.

11. A system for controlling the performance of a vehicle including the system for determining an angular position of a steerable wheel of a vehicle according to claim 1, comprising:

a power source configured to produce torque, the steerable wheel being one of a pair of steerable wheels configured to be driven by the torque, and a second pair of wheels of the plurality of wheels configured to be selectively driven by the torque;

a first clutch assembly selectively connecting a first wheel of the second pair of wheels to the power source; and

a second clutch assembly selectively connecting a second wheel of the second pair of wheels to the power source; and

wherein the controller is in electrical communication with the first and second clutch assemblies and the controller is configured to;

determine a first steering angle based on data received from the plurality of wheel speed sensors until the controller associates data acquired from the steering angle sensor with the neutral position;

determine a second steering angle based on data received from the yaw rate sensor until the controller associates data acquired from the steering angle sensor with the neutral position;

select one of the first steering angle and the second steering angle until the controller associates data acquired from the steering angle sensor with the neutral position; and

modulate the clutch assemblies based on the selected one of the first steering angle and the second steering angle to vary transmission of torque from the power source to the second pair of wheels; and

modulate the clutch assemblies based on data from the steering angle sensor and the neutral position after the controller associates data acquired from the steering angle sensor with the neutral position.

12. The system for controlling the performance of a vehicle according to claim 11, wherein the controller is configured to select one of the first steering angle and the second steering angle by,

determining a first rate of change of the first steering angle with respect to time,

determining a second rate of change of the second steering angle with respect to time,

selecting the first steering angle when the first steering angle is less than the second steering angle and the first rate of change is less than the second rate of change,

selecting the second steering angle when the second steering angle is less than the first steering angle and the second rate of change is less than the first rate of change,

selecting a previously selected one of the first steering angle and the second steering angle when the first steering angle is less than the second steering angle and the first rate of change is greater than or equal to the second rate of change, and

selecting a previously selected one of the first steering angle and the second steering angle when the first steering angle is greater than or equal to the second steering angle and the first rate of change is less than the second rate of change.

13. The system for controlling the performance of a vehicle according to claim 11, wherein the controller is configured to:

modulate the clutch assemblies equally when operating under a first set of conditions such that each clutch assembly transfers an equal amount of torque to a respective one of the second pair of wheels, and

modulate each clutch assembly independently when operating under a second set of conditions such that torque transferred by the first clutch assembly to the first wheel is greater than torque transferred by the second clutch assembly to the second wheel based on the selected one of the first steering angle, the second steering angle and the steering angle data.

14. A control system for an all-wheel drive powertrain of a vehicle having a power source configured to produce torque, a steerable pair of wheels configured to be driven by the torque, and a second pair of wheels configured to be selectively driven by the torque, the control system comprising:

a first clutch assembly selectively connecting a first wheel of the second pair of wheels to the power source; and

a second clutch assembly selectively connecting a second wheel of the second pair of wheels to the power source; and

the system for determining angular position according to claim 1;

wherein the controller is further configured to,

modulate the clutches according to the data from the steering angle sensor after the controller determines the neutral position, and

modulate the clutches according to the estimated steering angle until the controller determines the neutral position.

15. The control system for an all-wheel drive powertrain of a vehicle according to claim 14, wherein the controller is configured to determine the neutral position by:

comparing a first data set and a second data set to respective straight path conditions, wherein the first data set includes data from a yaw rate sensor and data from a lateral acceleration sensor and the second data set includes data from a plurality of wheel speed sensors;

determining a substantially straight path of travel condition when the comparison of at least one of the first data set and the second data set satisfies the respective straight path conditions; and

associating data acquired from a steering angle sensor with a neutral position when the controller determines the substantially straight path of travel condition.

16. The control system for an all-wheel drive powertrain of a vehicle according to claim 15, wherein the controller is configured to determine an estimated steering angle by:

determining a first steering angle based on data received from the plurality of wheel speed sensors;

determining a second steering angle based on data received from the yaw rate sensor; and

selecting one of the first steering angle and the second steering angle.

25. A method for controlling the performance of a vehicle including the method for determining a steering angle of a steerable wheel of a vehicle according to claim 14, comprising:

providing a power source configured to produce torque, the steerable wheel being one of a pair of steerable wheels configured to be driven by the torque, and a second pair of wheels of the plurality of wheels configured to be selectively driven by the torque;

providing a first clutch assembly selectively connecting a first wheel of the second pair of wheels to the power source; and

providing a second clutch assembly selectively connecting a second wheel of the second pair of wheels to the power source; and

determining a first steering angle based on data received from the plurality of wheel speed sensors until the controller associates data acquired from the steering angle sensor with the neutral position;

determining a second steering angle based on data received from the yaw rate sensor until the controller associates data acquired from the steering angle sensor with the neutral position;

selecting one of the first steering angle and the second steering angle until the controller associates data acquired from the steering angle sensor with the neutral position; and

modulating the clutch assemblies based on the selected one of the first steering angle and the second steering angle to vary transmission of torque from the power source to the second pair of wheels; and

modulating the clutch assemblies based on data from the steering angle sensor and the neutral position after the controller associates data acquired from the steering angle sensor with the neutral position.

26. The method for controlling the performance of a vehicle according to claim 25, wherein selecting one of the first steering angle and the second steering angle includes:

determining a first rate of change of the first steering angle with respect to time,

determining a second rate of change of the second steering angle with respect to time,

selecting the first steering angle when the first steering angle is less than the second steering angle and the first rate of change is less than the second rate of change,

selecting the second steering angle when the second steering angle is less than the first steering angle and the second rate of change is less than the first rate of change,

selecting a previously selected one of the first steering angle and the second steering angle when the first steering angle is less than the second steering angle and the first rate of change is greater than or equal to the second rate of change, and

selecting a previously selected one of the first steering angle and the second steering angle when the first steering angle is greater than or equal to the second steering angle and the first rate of change is less than the second rate of change.

27. The method for controlling the performance of a vehicle according to claim 25, wherein modulating the clutch assemblies includes:

modulating the clutch assemblies equally such that each clutch assembly transfers an equal amount of torque to a respective one of the second pair of wheels, and

modulating each clutch assembly independently such that torque transferred by the first clutch assembly to the first wheel is greater than torque transferred by the second clutch assembly to the second wheel based on the selected one of the first steering angle, the second steering angle and the steering angle data.

28. A method for controlling an on-demand all-wheel drive system of a vehicle to supplement an operator'"'"'s input to the vehicle comprising:

providing a power source, a pair of steerable wheels driven by the power source, a pair of rear wheels selectively driven by the power source, a pair of rear clutch assemblies selectively connecting a respective one of the pair of rear wheels to the power source, a yaw rate sensor configured to output data representative of an angular velocity of the vehicle about a vertical axis of the vehicle, a lateral acceleration sensor configured to output data indicative of an acceleration of the vehicle in a substantially transverse direction of the vehicle, and a plurality of wheel speed sensors configured to output data representative of a rotational speed of a respective one of the pair of steerable wheels and the pair of rear wheels, and a steering angle sensor configured to output data related to change in steering angle;

determining a neutral position for the steering angle sensor;

determining an estimated steering angle according to the method of claim 14 until the neutral position is determined;

modulating the clutches according to the data from the steering angle sensor after the neutral position is determined; and

modulating the clutches according to the estimated steering angle until the neutral position is determined.

29. The method for controlling an on-demand all-wheel drive system according to claim 28, wherein determining a neutral position includes:

comparing a first data set and a second data set to respective straight path conditions, wherein the first data set includes data from the yaw rate sensor and data from the lateral acceleration sensor and the second data includes data from the plurality of wheel speed sensors;

determining a substantially straight path of travel condition when the comparison of at least one of the first data set and the second data set satisfies the respective straight path conditions; and

associating data acquired from a steering angle sensor with a neutral position when the controller determines the substantially straight path of travel condition.

30. The method for controlling an on-demand all-wheel drive system according to claim 29, wherein determining an estimated steering angle includes:

determining a first steering angle based on data received from the plurality of wheel speed sensors;

determining a second steering angle based on data received from the yaw rate sensor; and

selecting one of the first steering angle and the second steering angle.

17. A method for determining a steering angle of a steerable wheel of a vehicle having a plurality of wheels comprising:

comparing a first data set and a second data set to respective straight path conditions, wherein the first data set includes data from a yaw rate sensor, data from a lateral acceleration sensor, and at least one slip ratio derived from the data from the plurality of wheel speed sensors, the at least one slip ratio indicates the percent difference between speeds of a respective pair of the plurality of wheels, and the second data set includes data from a plurality of wheel speed sensors;

determining a substantially straight path of travel condition when the comparison of at least one of the first data set and the second data set satisfies the respective straight path conditions; and

associating data acquired from a steering angle sensor with a neutral position when the controller determines the substantially straight path of travel condition.

18. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 17, wherein

the first data set further includes:

longitudinal acceleration data;

the data from the lateral acceleration sensor;

the data from the yaw rate sensor; and

a minimum wheel speed selected from the data from the plurality of wheel speed sensors, and

the respective straight path conditions include a slip threshold, an acceleration threshold, a lateral threshold, a yaw threshold, and a speed threshold.

19. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 18, wherein comparing the first data set includes:

comparing the at least one slip ratio to the slip threshold;

comparing the acceleration data to the acceleration threshold;

comparing the data from the lateral acceleration sensor to the lateral threshold;

comparing the data from the yaw rate sensor to the yaw threshold; and

comparing the minimum wheel speed to the speed threshold.

20. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 19, wherein determining a substantially straight path includes determining a substantially straight path when:

the at least one slip ratio is less than the slip threshold;

the acceleration data is less than the acceleration threshold;

the data from the lateral acceleration sensor is less than the lateral threshold;

the data from the yaw rate sensor is less than the yaw threshold; and

the minimum wheel speed is greater than the speed threshold.

21. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 17, wherein

the second data set further includes:

a first steering angle derived from the data from the plurality of wheel speed sensors;

a second steering angle derived from the data from the yaw rate sensor;

the sum of the first steering angle and the second steering angle; and

a difference between a maximum wheel speed and a minimum wheel speed, both selected from the data from the plurality of wheel speed sensors, wherein

the respective straight path conditions include an angle threshold, a sum threshold, a velocity threshold, a minimum threshold, and a maximum threshold.

22. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 21, wherein comparing the second data set further includes:

comparing the first steering angle to the angle threshold;

comparing the second steering angle to the angle threshold;

comparing the sum of the first steering angle and the second steering angle to the sum threshold;

comparing the difference between the minimum wheel speed and the maximum wheel speed to the velocity threshold, where the minimum wheel speed and the maximum wheel speed are obtained from the data from the plurality of wheel speed sensors; and

comparing data from at least one of the plurality wheel speed sensors to the maximum threshold and the minimum threshold.

23. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 22, wherein determining a substantially straight path includes determining a substantially straight path when:

the first steering angle is less than the angle threshold;

the second steering angle is less than the angle threshold;

the sum is less than the sum threshold;

the difference between the minimum wheel speed and the maximum wheel speed is less than the velocity threshold; and

the data from the at least one of the plurality of wheel speed sensors is less than the maximum threshold and is greater than the minimum threshold.

24. The method for determining a steering angle of a steerable wheel of a vehicle according to claim 17, wherein comparing the first data set and the second data set includes comparing the first data set to the respective straight path conditions simultaneously with the comparison of the second data set to the respective straight path conditions.