Continuous correction for steering wheel angle offset

• US 8,571,758 B2
• Filed: 10/12/2011
• Issued: 10/29/2013
• Est. Priority Date: 10/15/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Klier, Willy, VanderLugt, David
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US13/271,303
• Publication Number:
  US 20120095649A1
• Time in Patent Office: 748 Days
• Field of Search: 701/41, 701/42, 701/43, 180/24.01, 180/197, 180/223, 180/247, 180/404, 180/412, 180/414, 180/415, 180/422, 180/445, 332/031.4, 332/88, 303/146
• US Class Current: 701/41
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A system and method of continuously updating a steering wheel angle offset value to adapt to changing road conditions. A vehicle control system receives a plurality of vehicle parameter values each from a different vehicle sensor. The system then calculates a plurality of observed steering angle values, each using a different calculation method based on one or more of the plurality of vehicle parameter values. The plurality of observed steering angle values are then used to calculate a vehicle steering angle. A steering wheel angle offset value is then calculated based on the steering wheel angle and the calculated vehicle steering angle. The steering wheel angle offset value and the steering wheel angle are used to control the vehicle'"'"'s steering system.

Claims

1. A device for continuously updating a steering wheel angle offset value of a vehicle steering system to adapt to changing road conditions, the device comprising one or more processors, the one or more processors configured to

receive a plurality of vehicle parameter values, each from a different vehicle sensor;

calculate a plurality of observed steering angle values, each using a different calculation method based on one or more of the plurality of vehicle parameter values;

calculate a vehicle steering angle based on the plurality of observed steering angle values;

calculate a steering wheel angle offset value based on the difference between a steering wheel angle and the calculated vehicle steering angle;

generate a command signal to control a vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value; and

repeatedly calculate subsequent steering wheel angle offset values based on subsequent pluralities of observed steering angle values throughout continuous operation of the vehicle.

2. The device of claim 1, where the one or more processors are further configured to

compare one or more of the plurality of vehicle parameter values each to a corresponding vehicle condition threshold;

and

generate the command signal to control the vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset only when the one or more of the plurality of vehicle parameter values each satisfies the corresponding vehicle condition threshold.

3. The device of claim 2, wherein the one or more plurality of vehicle parameter values includes a vehicle speed value and the corresponding vehicle condition threshold includes a vehicle speed threshold, and wherein the one or more processors generate the command signal only when the vehicle speed is less than a vehicle speed threshold.

4. The device of claim 1, where the one or more processors are further configured to

compare the calculated steering wheel angle offset value to one or more previous calculated steering wheel angle offset values;

and

control the vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value only when a rate of change of the steering wheel angle offset value is less than a threshold.

5. The device of claim 1, where the one or more processors are further configured to

compare the calculated steering wheel angle offset value to a maximum steering wheel angle offset value;

and

control the vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value only when the calculated steering wheel angle offset value is less than the maximum steering wheel angle offset value.

6. The device of claim 5, where the one or more processors are further configured to control the vehicle steering system based on the steering wheel angle and the maximum steering wheel angle offset value when the calculated steering wheel angle offset value is greater than the maximum steering wheel angle offset value.

7. The device of claim 5, where the one or more processors are further configured to control the vehicle steering system based on the steering wheel angle and a previous calculated steering wheel angle offset value when the calculated steering wheel angle offset value is greater than the maximum steering wheel angle offset value.

8. The device of claim 1, where the one or more processors calculates the plurality of observed steering angle values by calculating each observed steering angle value using a different model-based calculation focusing on a different observed vehicle parameter.

9. The device of claim 8, wherein the model-based calculations used to calculate the plurality of observed steering angle values includes

a yaw-rate model-based calculation that determines an observed steering angle value based on a yaw-rate detected by a yaw-rate sensor,

a front-axle model-based calculation that determines an observed steering angle value based on a left front wheel speed detected by a left front wheel speed sensor and a right front wheel speed detected by a right front wheel speed sensor, and

a rear-axle model-based calculation that determines an observed steering angle value based on a left rear wheel speed detected by a left rear wheel speed sensor and a right rear wheel speed detected by a right rear wheel speed sensor.

10. The device of claim 9, where the one or more processors calculate the vehicle steering angle based on the plurality of observed steering angle values includes calculating the vehicle steering angle using a reference calculation, wherein the reference calculation provides a different weighting to an observed steering angle value calculated using one of the model-based calculations based on one or more observed vehicle conditions.

11. The device of claim 9, wherein the reference calculation provides no weight to the observed steering angle value determined using the front-axle model-based calculation if the wheels of the front axle are not stable.

12. The device of claim 9, wherein the reference calculation provides no weight to the observed steering angle value determined using the rear-axle model-based calculation if the wheels of the rear axle are not stable.

13. A method of continuously updating a steering wheel angle offset value to adapt to changing road conditions, the method comprising:

receiving a plurality of vehicle parameter values, each from a different vehicle sensor;

calculating, by a processor, an actual vehicle steering angle based on one or more of the vehicle parameter values;

calculating, by the processor, a steering wheel angle offset value based on the difference between the actual vehicle steering angle and a steer wheel angle detected by a steer wheel angle sensor;

comparing, by the processor, a second one or more of the vehicle parameter values to one or more filter condition thresholds each corresponding to one of the vehicle parameter values;

controlling a vehicle steering system based on the steering wheel angle and the calculated steering wheel angle offset value only when each of the second one or more vehicle parameter values satisfies the corresponding filter condition threshold; and

repeatedly calculating subsequent steering wheel angle offset values based on subsequent pluralities of observed steering angle values throughout continuous operation of the vehicle.