Control method of MDPS

• US 11,247,719 B2
• Filed: 10/11/2019
• Issued: 02/15/2022
• Est. Priority Date: 10/25/2018
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Lee, Sung-Il
• Primary Examiner(s): Burke, Jeff A
• Assistant Examiner(s): Garza, Joshua Alexander
• Application Number:
  US16/599,477
• Publication Number:
  US 20200130729A1
• Time in Patent Office: 858 Days
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 5/0424 the axes of motor and final driven element of steering gear, e.g. rack, being parallel
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0466 for returning the steering wheel to neutral position
• CPC Class Codes: B62D 5/0481 monitoring the steering system, e.g. failures
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A control method of a motor driven power steering (MDPS) for a vehicle may include determining a steering angle of a steering wheel of the vehicle; determining a steering torque variation rate of the vehicle; counting an exceeding number of times that the steering torque variation rate exceeds a predetermined value to store the counted number of times in an MDPS system; and deleting the number of times stored in the MDPS system when the exceeding number of times is less than a predetermined number of times, and applying a reverse phase compensation torque to a steering motor when the exceeding number of times is equal to or larger than the predetermined number of times.

Claims

1. A control method of a motor driven power steering (MDPS) for a vehicle comprising:

determining whether the vehicle is in a straight state after steering the vehicle and whether a steering wheel is in a neutral state; and

compensating a steering angle of the steering wheel by checking a return-ability of the steering wheel to adjust the steering wheel,

wherein determining whether the steering wheel is in the neutral state comprises;

determining whether a speed of the vehicle is within a predetermined range;

determining whether a steering angular velocity of the steering wheel is equal to or less than a first predetermined value;

determining whether a yaw velocity of the vehicle is equal to or less than a second predetermined value; and

determining whether a steering torque of the steering wheel is equal to or less than a third predetermined value, and

wherein determining whether the steering wheel is in the neutral state further comprises;

determining whether a steering torque variation rate is greater than a predetermined value and whether a yaw velocity variation rate satisfies a predetermined range is based on information regarding the steering torque variation rate, the yaw velocity of the steering wheel, and a steering remaining angle.

2. The control method of MDPS of claim 1, wherein compensating the steering angle comprises:

determining whether the steering angle of the steering wheel is equal to or greater than a fourth predetermined value.

3. The control method of MDPS of claim 2, wherein compensating the steering angle comprises:

determining whether a steering remaining angle exceeds 10 degrees.

4. The control method of MDPS of claim 1, wherein determining whether the steering wheel is in the neutral state is based on information regarding the speed of the vehicle, the yaw velocity of the vehicle, the steering angular velocity of the steering wheel, and the steering torque of the steering wheel.

5. The control method of MDPS of claim 4, wherein:

the speed of the vehicle is 20 km/h to 60 km/h;

the yaw velocity of the vehicle is equal to or less than 2 deg/s;

the steering angular velocity of the steering wheel is equal to or less than 0.5 deg/s; and

the steering torque of the steering wheel is equal to or less than 0.5 Nm.

6. A control method of a motor driven power steering (MDPS) for a vehicle, comprising:

determining a steering angle of a steering wheel and a steering torque variation rate;

determining a speed of the vehicle, a steering angular velocity of the steering wheel, and a yaw velocity of the steering wheel;

determining whether the steering angle of the steering wheel is greater than a first predetermined value and whether a yaw velocity variation rate satisfies a predetermined range; and

counting a number of times that the steering angle is determined to be greater than the first predetermined value and the yaw velocity variation rate is determined to satisfy the predetermined range to store the counted number of times in an MDPS system, and compensating the steering angle to adjust a steering remaining angle to a steering neutral state, wherein counting and compensating are performed simultaneously,

wherein the method further includes determining whether the steering torque variation rate is greater than the first predetermined value and whether the yaw velocity variation rate satisfies the predetermined range is based on information regarding the steering torque variation rate, the yaw velocity of the steering wheel, and the steering remaining angle.

7. The control method of MDPS of claim 6, wherein a reverse phase compensation torque is applied to a steering motor when the number of times reaches a predetermined number of times.

8. The control method of MDPS of claim 6, wherein the control method comprises:

when the steering torque variation rate is equal to or greater than 0.5 Nm/10 msec, and the yaw velocity of the steering wheel is equal to or less than 2 deg/s varying between −

1 deg/s and +1 deg/s, and the steering remaining angle is greater than 10 degrees, determining that the steering wheel is greater than the first predetermined value and that the yaw velocity variation rate satisfies the predetermined range.