Determination of steering angle for a motor vehicle

• US 9,330,061 B2
• Filed: 09/09/2011
• Issued: 05/03/2016
• Est. Priority Date: 09/09/2010
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Koukes, Vladimir, Schmidt, Robert, Niepelt, Mathias, Fhrer, Jochen, Herbst, Ralf
• Primary Examiner(s): MUSTAFA, IMRAN K
• Application Number:
  US13/818,795
• Publication Number:
  US 20130151066A1
• Time in Patent Office: 1,698 Days
• Field of Search: 701/41, 701/42
• US Class Current: 1/1
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B62D 15/0245 Means or methods for determination of the central position of the steering system, e.g. straight ahead position
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00

Abstract

Method and control device for determining a steering angle of a motor vehicle, wherein a theoretical steering angle is calculated by a vehicle model and a measured steering angle is determined with a steering angle sensor, and the difference between the measured and theoretical steering angles is determined, wherein at least one data record including a number of successive measured values is acquired, and a correction constant for the measured steering angle is determined from the mean value of the differences between the theoretical steering angle and the measured steering angle. According to the invention, a confidence level, which changes incrementally between successive data records, is calculated by travel conditions present during the acquisition of the data record and/or an analysis of the data record.

Claims

1. A method in which the steering angle of a motor vehicle is determined, comprising:

calculating, by a vehicle model based on a yaw rate of the vehicle, a plurality of theoretical steering angles in a data record,

determining, with a steering angle sensor, a plurality of measured steering angles in the data record,

determining a plurality of difference values between the plurality of measured steering angles and the plurality of theoretical steering angles in the data record,

determining, a correlation coefficient between the plurality of measured steering angles and the plurality of theoretical steering angles,

in response to the correlation coefficient exceeding a correlation threshold;

determining a correction constant for correcting the measured steering angles in the data record, the correction constant being based on a mean value of the plurality of difference values,

calculating, based on at least one of a variation of the plurality of measured steering angles in the data record and a comparison between the correction constant in the data record and another correction constant in another data record, a confidence level of the correction constant, which changes incrementally between successive data records,

in response to the confidence level exceeding a confidence threshold that indicates that both the variation of the plurality of measured steering angles in the data record and the comparison between the correction constant in the data record and the other correction constant in the other data record are less than respective thresholds, storing the correction constant for use by a control system of the motor vehicle, and

in response to the correlation coefficient not exceeding the correlation threshold or the confidence level not exceeding the confidence threshold, determining a new data record.

2. The method as claimed in claim 1, wherein a corrected steering angle is determined from the measured steering angle and the correction constant and is passed on to other vehicle systems, in particular a system for vehicle dynamics control when the confidence level exceeds a first threshold value.

3. The method as claimed in claim 1, wherein the determination of new correction constants is ended for the duration of an ignition run if the confidence level exceeds the confidence threshold.

4. The method as claimed in claim 1, wherein a standard deviation of the determined differences is calculated in an analysis of the data record.

5. The method as claimed in claim 4, wherein possible errors of the correction constant are estimated by a confidence interval which depends on the standard deviation of the determined differences and preferably of the confidence level.

6. The method as claimed in claim 4, wherein the correction constant is determined from a data record only if the confidence interval undershoots a third threshold value and/or the correlation coefficient exceeds a fourth threshold value.

7. The method as claimed in claim 4, wherein the confidence level is increased if, or only if, the confidence interval undershoots a fifth threshold value and/or the correlation coefficient exceeds a sixth threshold value.

8. The method as claimed in claim 4, wherein a plurality of data records are determined and evaluated, and the confidence level is increased if deviations between the correction constants which are determined from the individual data records and/or calculated correlation coefficients and/or confidence intervals dependent at least on the standard deviation of the determined differences undershoot/undershoots a seventh threshold value.

9. The method as claimed in claim 1, wherein information relating to one or more of the following travel conditions:

a speed of the vehicle, an activity of driving stability control systems, a yaw rate, a lateral acceleration, a change in the yaw rte over time, a longitudinal travel direction, an inclination of the vehicle, a change in the steering angle over time are evaluated for the determination of the confidence level.

10. The method as claimed in claim 9, wherein the confidence level is increased if, or only if, the travel conditions correspond to stable straight-ahead travel or cornering without interventions by driving stability control systems.

11. The method as claimed in claim 1, wherein when an ignition run ends, the corrected steering angle determined last is stored in a nonvolatile memory module, and when a subsequent ignition run starts it is read out as a starting value.

12. The method as claimed in claim 11, wherein at the start of the subsequent ignition run one or more new data records are determined and the deviation between a certain correction constant or certain correction constants and the starting value is calculated, and the confidence level is incremented to a predefined value if the deviation between a certain correction constant and the starting value undershoots an eighth threshold value.