Steer torque manager for an advanced driver assistance system of a road vehicle

• US 10,625,773 B2
• Filed: 03/12/2018
• Issued: 04/21/2020
• Est. Priority Date: 03/17/2017
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Mardh, Lars Johannesson, Haglund, Malin
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/918,139
• Publication Number:
  US 20180265120A1
• Time in Patent Office: 771 Days
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 6/007 adjustable by the driver, e.g. sport mode

Abstract

A steer torque manager (STM) for an advanced driver assistance system (ADAS) of a road vehicle and a method therefor. A driver in the loop functionality determines when to hand over control to a driver. A wheel angle controller uses an ADAS wheel angle request to produce an overlay torque request to be added to a torque request from an electrical power assisted steering. The STM is arranged to receive an assistance torque related signal. When driver assistance is provided by the ADAS, the STM is arranged to feed forward and subtract from the overlay torque request a feed forward signal scaled to be a scaled version of the assistance torque related signal, using a scale factor in the range from 0 to 1 that assumes a lower value if a measure of driver activity indicates high driver activity and a higher value if the measure indicates low driver activity.

Claims

1. A steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering system, the steer torque manager comprising:

a driver-in-the-loop functionality for determining when and how to hand over control from the advanced driver assistance system to a driver; and

a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering;

wherein the steer torque manager is configured to receive an assistance torque related signal and, when driver assistance is provided by the advanced driver assistance system, to feed forward and subtract from the overlay torque request provided by the wheel angle controller a feed forward signal scaled in a feed forward functionality to be a scaled version of the assistance torque related signal using a scale factor in the range from 0 to 1, the scale factor assuming a lower value in response to a measure of driver activity indicating a high driver activity and assuming a higher value in response to the measure of driver activity indicating a low driver activity that is less than the high driver activity;

wherein the steer torque manager is further configured to calculate the driver-in-the-loop factor as a normalized version of a driver-in-the-loop impulse, which it is arranged to calculate as a measure of driver activity over a time window where more recent values are weighted higher than older values, wherein the driver-in-the loop factor spans between indicating an inactive driver and a fully active driver.

2. The steer torque manager of claim 1 wherein the assistance torque related signal is provided as a vehicle traveling velocity dependent amplification of a steering wheel torsion bar torque.

3. The steer torque manager of claim 1 further configured to use as the measure of driver activity a driver-in-the-loop factor indicating driver activity from an inactive driver to a fully active driver.

4. The steer torque manager of claim 1 wherein the driver-in-the-loop factor is arranged to span from 1 to 0, where 1 indicates an inactive driver and 0 indicates a fully active driver for whom the overlay torque request from an advanced driver assist functionality should be faded out and control handed over from an advanced driver assistance system to a driver.

5. The steer torque manager of claim 1 wherein the feed forward signal is arranged to be scaled in the feed forward functionality to be a scaled version of the assistance torque related signal, where the scale factor is ramped up continuously from zero to one in the range from 0 to 1 in a nonlinear fashion with respect to the assistance torque related signal.

6. The steer torque manager of claim 3 wherein the driver-in-the-loop factor is rate limited.

7. The steer torque manager of claim 1 configured to receive wheel angle requests from an advanced driver assistance system comprising a pilot assist system configured to help a driver of the road vehicle to drive within a road lane while at the same time maintaining a preselected time interval to a preceding vehicle.

8. The steer torque manager of claim 1 further configured to subtract from the overlay torque request a feed forward signal scaled using a scale factor of 1 for any assistance torque related signal caused by steering wheel torsion bar torques less than 1.5 Nm when the measure of driver activity indicates low driver activity.

9. A power steering control module comprising a steer torque manager according to claim 1.

10. An advanced driver assistance system comprising the steer torque manager of claim 1.

11. A road vehicle wherein it comprises the advanced driver assistance system of claim 10.

12. A method for a steer torque manager for an advanced driver assistance system of a road vehicle having an electrical power assisted steering system, the steer torque manager comprising a driver-in-the-loop functionality for determining when and how to hand over control from an advanced driver assistance system to a driver, and a wheel angle controller for providing, from an advanced driver assistance system wheel angle request, an overlay torque request to be added to a torque request from the electrical power assisted steering, wherein the steer torque manager is configured to receive an assistance torque related signal, the method comprising:

in response to driver assistance provided by the advanced driver assistance system, having the steer torque manager feed forward and subtract from the overlay torque request provided by the wheel angle controller a feed forward signal scaled to be a scaled version of the assistance torque related signal, using a scale factor in the range from 0 to 1, the scale factor assuming a lower value in response to a measure of driver activity indicating a high driver activity and assuming a higher value in response to the measure of driver activity indicating a low driver activity that is less than the high driver activity, wherein the steer torque manager is further configured to calculate the driver-in-the-loop factor as a normalized version of a driver-in-the-loop impulse, which it is arranged to calculate as a measure of driver a activity over a time window where more recent values are weighted higher than older values, wherein the driver-in-the loop factor spans between indicating an inactive driver and a fully active driver.