Continuous estimation of surface friction coefficient based on EPS and vehicle models
First Claim
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1. A control system for a power steering system of a vehicle, comprising:
- a control module operable to receive sensor data and control the power steering system, the control module configured to;
determine a first rack force of the vehicle based on a motor velocity, a driver torque and a motor torque;
determine a plurality of second modeled rack forces based on a roadwheel angle and a vehicle speed;
compare the first rack force to the plurality of second modeled rack forces to generate a friction level; and
send a control signal indicative of the friction level to the power steering system to provide operator feedback corresponding to the friction level.
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Abstract
A system and a method of controlling a power steering system of a vehicle are provided. A control system includes a control module operable to determine a rack force of the vehicle based on at least one of a motor velocity, a driver torque and a motor torque, determine a plurality of modeled rack forces based on a roadwheel angle and a vehicle speed, compare the rack force to the plurality of modeled rack forces to generate a friction level included in a control signal, and send the control signal to the power steering system.
19 Citations
18 Claims
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1. A control system for a power steering system of a vehicle, comprising:
a control module operable to receive sensor data and control the power steering system, the control module configured to; determine a first rack force of the vehicle based on a motor velocity, a driver torque and a motor torque; determine a plurality of second modeled rack forces based on a roadwheel angle and a vehicle speed; compare the first rack force to the plurality of second modeled rack forces to generate a friction level; and send a control signal indicative of the friction level to the power steering system to provide operator feedback corresponding to the friction level. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of controlling a power steering system of a vehicle, the method comprising:
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determining, by a control module, a first rack force of the vehicle based on at least one of a motor velocity, a driver torque and a motor torque; determining, by the control module, a plurality of second modeled rack forces based on a roadwheel angle and a vehicle speed; comparing, by the control module, the first rack force to the plurality of second modeled rack forces to generate a friction level; and sending, by the control module, a control signal indicative of the friction level to the power steering system for providing friction feedback to an operator. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A non-transitory computer readable medium having stored thereon instructions for executing a method of controlling a power steering system of a vehicle, the method comprising:
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determining a first rack force of the vehicle based on at least one of a motor velocity, a driver torque and a motor torque; determining a plurality of second modeled rack forces based on a roadwheel angle and a vehicle speed; comparing the first rack force to the plurality of second modeled rack forces to generate a friction level; and sending a control signal indicative of the friction level to the power steering system to adjust power steering operation corresponding to the friction level. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification