Method for controlling the directional stability of a vehicle, associated steering system and vehicle
First Claim
1. A method of controlling directional stability of a vehicle having a steering system comprising an active power steering assistance system, the method comprising:
- a) acquiring vehicle dynamics data;
b) identifying a state of directional stability from the acquired vehicle dynamics data;
c) measuring a torque of the steering system, at least in the directional stable state of the vehicle;
d) calculating a final compensation torque;
e) actuating the active power steering assistance system with the final compensation torque to counter-compensate the torque of the steering system and measured in step c),f) providing a torque value on a basis of the vehicle dynamics data acquired in step a);
g) calculating a torque component from the torque measured in step c), minus the torque value provided in step f);
h) calculating a preliminary compensation torque on a basis of the torque component calculated in step g); and
i) calculating the final compensation torque in step d) from a sum of the preliminary compensation torque calculated in step h) and the torque value provided in step f).
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Accused Products
Abstract
A steering system to control a directional stability of a vehicle may include an active power steering assistance system, a sensor to detect vehicle dynamics data of the vehicle, a sensor to detect a torque of a steering system of the vehicle, and a controller. The controller may be configured to determine a torque value based on the vehicle dynamics data, calculate a torque component based on a difference between the torque value and the torque of the steering system, calculate a preliminary compensation torque on a basis of the torque component, calculate a final compensation torque by adding the preliminary compensation torque and the torque value, and actuate the active power steering assistance system based upon the final compensation torque. Systems and methods for controlling directional stability of a vehicle may compensate for short-term pull/drift and long-term pull/drift.
21 Citations
24 Claims
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1. A method of controlling directional stability of a vehicle having a steering system comprising an active power steering assistance system, the method comprising:
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a) acquiring vehicle dynamics data; b) identifying a state of directional stability from the acquired vehicle dynamics data; c) measuring a torque of the steering system, at least in the directional stable state of the vehicle; d) calculating a final compensation torque; e) actuating the active power steering assistance system with the final compensation torque to counter-compensate the torque of the steering system and measured in step c), f) providing a torque value on a basis of the vehicle dynamics data acquired in step a); g) calculating a torque component from the torque measured in step c), minus the torque value provided in step f); h) calculating a preliminary compensation torque on a basis of the torque component calculated in step g); and i) calculating the final compensation torque in step d) from a sum of the preliminary compensation torque calculated in step h) and the torque value provided in step f). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A steering system for controlling a directional stability of a vehicle, comprising:
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an active power steering assistance system; a device to acquire vehicle dynamics data; a device to identify a state of directional stability from the acquired data; a device to measure a torque of the steering system; a device to calculate a preliminary compensation torque, or a final torque at least in a case of a force equilibrium being present in a directionally stable state, from the measured torque; a device to actuate the active power steering assistance system with a final compensation torque based on the preliminary compensation torque to counter-compensate the measured torque of the steering system; and a device to estimate and/or acquire data on restoring forces of the steering system, wherein the data on restoring forces is taken into account in the calculation of the final compensation torque. - View Dependent Claims (14)
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15. A method of controlling directional stability of a vehicle, the method comprising:
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acquiring vehicle dynamics data of the vehicle; determining a directional stability state of the vehicle based on the vehicle dynamics data; determining a torque value based on the vehicle dynamics data; calculating a torque component based on a difference between the torque value and a torque of a steering system of the vehicle; calculating a preliminary compensation torque on the basis of the torque component; calculating a final compensation torque by adding the preliminary compensation torque and the torque value; and actuating a power steering assistance system of the vehicle according to the final compensation torque. - View Dependent Claims (16, 17, 18, 19)
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20. A steering system to control a directional stability of a vehicle, comprising:
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an active power steering assistance system; a sensor to detect vehicle dynamics data of the vehicle; a sensor to detect a torque of a steering system of the vehicle; and a controller configured to; determine a torque value based on the vehicle dynamics data; calculate a torque component based on a difference between the torque value and the torque of the steering system; calculate a preliminary compensation torque on a basis of the torque component; calculate a final compensation torque by adding the preliminary compensation torque and the torque value; and actuate the active power steering assistance system based upon the final compensation torque. - View Dependent Claims (21)
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22. A method of controlling directional stability of a vehicle, the method comprising:
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determining a torque value to compensate for short-term pull/drift; calculating a torque component based on the torque value and a torque of the steering system; calculating a preliminary compensation torque based on the torque component to compensate for long-term pull/drift; calculating a final compensation torque based on a combination of the preliminary compensation torque and the torque value used to calculate the torque component; and actuating a power steering assistance system of the vehicle according to the final compensation torque. - View Dependent Claims (23, 24)
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Specification