Non-linear compensation controller for active steering system in a vehicle

• US 9,878,738 B2
• Filed: 03/15/2013
• Issued: 01/30/2018
• Est. Priority Date: 03/28/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Klier, Willy J.
• Primary Examiner(s): Cass, Jean-Paul
• Application Number:
  US13/838,175
• Publication Number:
  US 20130261899A1
• Time in Patent Office: 1,782 Days
• Field of Search: 701 42
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate

Abstract

Systems and methods are described for controlling vehicle steering. A target yaw rate and a target side-slip angle are determined for the vehicle and an initial steering angle setting is determined based on a position of a steering wheel operated by a driver of the vehicle. A nonlinear vehicle model is applied to calculate a compensated steering angle setting based on the initial steering angle setting, an actual yaw rate of the vehicle, and an actual side-slip angle of the vehicle. A steering system of the vehicle is then controls the angle of the front wheels of the vehicle based on the compensated steering angle and, by doing so, causes both the actual yaw rate and the actual side-slip angle to approach the target yaw rate and the target side-slip angle, respectively.

Claims

1. A method for controlling vehicle steering, the method comprising:

determining a target yaw rate and a target side-slip angle for a vehicle;

determining an initial vehicle actuator setting based on operator input;

applying a non-linear vehicle model to calculate a compensated vehicle actuator setting based on the initial vehicle actuator setting, an actual yaw rate of the vehicle, and an actual side-slip angle of the vehicle

wherein the actual side-slip angle of the vehicle is detected by a side-slip angle sensor; and

controlling a vehicle actuator based on the compensated vehicle actuator setting to cause the actual yaw rate to approach the target yaw rate and to cause the actual side-slip angle to approach the target side-slip angle.

2. The method of claim 1, wherein the vehicle actuator is a steering system that adjusts an angle of at least one front wheel of the vehicle and the initial vehicle actuator setting is a value indicative of the angle of the at least one front wheel.

3. The method of claim 1, wherein the target yaw rate is determined based at least in part on the operator input.

4. The method of claim 1, wherein the initial vehicle actuator setting is determined based on the target yaw rate, the target side-slip angle, the actual yaw rate, and the actual side-slip angle.

5. The method of claim 1, wherein the operator input includes an angle of a steering wheel in the vehicle.

6. The method of claim 1, wherein the target side-slip angle is zero.

7. The method of claim 1, wherein applying the non-linear vehicle model to calculate the compensated vehicle actuator setting includes calculating the compensated vehicle actuator setting according to the equation:

u=[u′

−

f(x,z)]/g(x,z)

wherein

u is the compensated vehicle actuator setting,

u′

is the initial vehicle actuator setting,

x is a state vector including the actual yaw rate and the actual side-slip angle,

z is a disturbance vector based on a derivative of vehicle velocity, and

f(x,z) and g(x,z) are components of a non-linear model equation of the vehicle steering defined by {dot over (x)}=f(x,z)+g(x,z)*u.

8. The method of claim 7, wherein the non-linear model equation of the vehicle system is derived experimentally based at least in part on parameter optimization.

9. The method of claim 8, wherein the parameter optimization includes

defining a plurality of initial parameters of the non-linear model equation based on measured vehicle characteristics,

calculating an estimated yaw rate and an estimated side-slip angle based on the non-linear model equation including the plurality of initial parameters,

measuring the actual yaw rate and the actual side-slip angle,

determining a deviation between the actual yaw rate and the estimated yaw rate and a deviation between the actual side-slip angle and the estimated side-slip angle, and

when the deviation is greater than an defined acceptable tolerance, adjusting the plurality of initial parameters such that the estimated yaw rate and the estimated side-slip angle approach the actual yaw rate and the actual side-slip angle.

10. The method of claim 9, wherein the act of adjusting the plurality of initial parameters includes applying a non-linear least squares parameter optimization algorithm.

11. A nonlinear compensation controller for controlling vehicle steering, the nonlinear compensation controller including a processor and memory storing instructions that, when executed by the processor, cause the nonlinear compensation controller to:

receive an initial steering angle setting determined based, at least in part, on a position of a steering wheel operated by a driver of the vehicle,

apply a non-linear vehicle model to calculate a compensated steering angle setting based on the initial steering angle setting, an actual yaw rate of the vehicle, and an actual side-slip angle of the vehicle

wherein the actual side-slip angle of the vehicle is detected by a side-slip angle sensor, and

provide the compensated steering angle setting to a steering system of the vehicle, wherein the steering system of the vehicle controls an angle of at least one front wheel of the vehicle based on the compensated steering angle and, by applying the compensated steering angle setting, causes the actual yaw rate to approach a target yaw rate and the actual side-slip angle to approach a target side-slip angle.

12. A method for controlling vehicle steering, the method comprising:

determining a target yaw rate and a target side-slip angle for a vehicle;

determining an initial steering angle setting based, at least in part, on a position of a steering wheel operated by a driver of the vehicle;

applying a non-linear vehicle model to calculate a compensated steering angle setting based on the initial steering angle setting, an actual yaw rate of the vehicle, and an actual side-slip angle of the vehicle

wherein the actual side-slip angle of the vehicle is detected by a side-slip angle sensor; and

controlling a steering system of the vehicle based on the compensated steering angle setting, wherein the steering system of the vehicle controls an angle of at least one front wheel of the vehicle based on the compensated steering angle and, by applying the compensated steering angle setting, causes the actual yaw rate to approach the target yaw rate and the actual side-slip angle to approach the target side-slip angle.