Electrical power steering control using system state predictions
First Claim
1. A method of controlling one or more components of a vehicle, comprising:
- receiving a reference steering command and one or more measurement signals related to a steering system;
forecasting, by a processing device, a future state of the steering system, at at least one future time subsequent to a time of the receiving the one or more measurement signals, based on the one or more measurement signals, the future state being calculated using an estimated rack force and a mass model of the steering system, and the rack force being calculated using a rack force model; and
controlling, by a control module, the steering system based on the steering reference command and the future state.
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Abstract
An embodiment of a method of controlling one or more components of a vehicle includes receiving a reference steering command and one or more measurement signals related to a steering system of a vehicle, and estimating, by a processing device, a state of the steering system based on the one or more measurement signals, the steering system including at least a handwheel and a steering motor. The method also includes determining a maximum state achievable by the steering system at one or more times subsequent to receiving the one or more measurement signals, and controlling, by a control module, the steering system based on the steering reference command and the maximum state.
272 Citations
22 Claims
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1. A method of controlling one or more components of a vehicle, comprising:
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receiving a reference steering command and one or more measurement signals related to a steering system; forecasting, by a processing device, a future state of the steering system, at at least one future time subsequent to a time of the receiving the one or more measurement signals, based on the one or more measurement signals, the future state being calculated using an estimated rack force and a mass model of the steering system, and the rack force being calculated using a rack force model; and controlling, by a control module, the steering system based on the steering reference command and the future state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A control system, comprising:
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a processing device configured to; receive a reference steering command and one or more measurement signals related to a steering system, forecast a future state of the steering system, at at least one future time subsequent to a time of the receiving the one or more measurement signals, based on the one or more measurement signals; and a control module configured to control the steering system based on the steering reference command and the future state; and wherein the processing device is configured to calculate the future state based on an estimated rack force and a mass model of the steering system, the estimated rack force being calculated using a rack force model. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification