Good checking for vehicle steering angle sensor

• US 8,935,037 B2
• Filed: 08/20/2010
• Issued: 01/13/2015
• Est. Priority Date: 08/24/2009
• Status: Active Grant

• Current Assignee: Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Bechtler, Henrik, Bhadange, Ravi, Patil, Nachiket, Tokonaga, Takeshi, Mallmann, Stefan, Schwab, Michael, Stapel, Dietmar, Klier, Willy, Eesmann, Joerg
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): Ramesh, Krishnan
• Application Number:
  US12/860,407
• Publication Number:
  US 20110071727A1
• Time in Patent Office: 1,607 Days
• Field of Search: 701/29.2
• US Class Current: 701/29.2
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B62D 5/049 detecting sensor failures
• CPC Class Codes: G01D 3/08 with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown

Abstract

A controller for determining whether a previously-determined vehicle steering sensor malfunction still exists. The controller includes an electronic, non-volatile memory, and an electronic processing unit connected to the electronic, non-volatile memory. The electronic processing module includes a malfunction monitoring module, a failure handling module, and a signal checking module. The malfunction monitoring module monitors the operation of at least one vehicle sensor and generates a fault signal when the at least one sensor malfunctions. The failure handling module causes drive cycle information and the fault information to be stored in the electronic, non-volatile memory. The signal checking module performs a signal check on information from the at least one sensor.

Claims

1. A controller for determining whether a previously-detected vehicle steering sensor malfunction still exists, the controller comprising:

an electronic, non-volatile memory; and

an electronic processing unit connected to the electronic, non-volatile memory, the electronic processing module including,

a malfunction monitoring module that monitors the operation of at least one vehicle sensor and generates a fault signal when the at least one vehicle sensor outputs a signal that is outside of a first predetermined range, the fault signal containing fault information and causing at least one of a tell-tale indicator to be activated and a vehicle control system to modify its operation from a first operating state to a second operating state,

a failure handling module that causes drive cycle information and the fault information to be stored in the electronic, non-volatile memory, and

a signal checking module that performs a signal check on information from the at least one vehicle sensor, the signal check including

retrieving drive cycle information for a steering angle sensor from the electronic, non-volatile memory,

comparing an output of the steering angle sensor to a second pre-determined range narrower than the first pre-determined range, the steering angle sensor passing the signal check if the output of the steering angle sensor is within the second pre-determined range for a pre-determined amount of time, and

generating a reset signal, if the steering angle sensor passes the signal check, the reset signal causing at least one of the tell-tale indicator to be deactivated and the vehicle control system to resume operation in the first operating state.

2. The controller of claim 1, wherein the controller is mounted in a vehicle and a plurality of maximum yaw rates and a plurality of minimum yaw rates are maintained during each ignition cycle.

3. The controller of claim 2, wherein the signal check is executed only when the vehicle is traveling at a speed in excess of a predetermined speed threshold, wherein a first signal check is performed when the vehicle is traveling straight and a second signal check is performed when the vehicle is turning.

4. The controller of claim 3, wherein the previously-detected vehicle steering sensor malfunction is one of an implausible sensitivity of the steering angle sensor, an implausible offset of the steering angle sensor, and a stuck signal received from the steering angle sensor.

5. The controller of claim 3, wherein the controller determines that the vehicle is traveling straight when an absolute value of a yaw rate of the vehicle is less than a pre-determined straight threshold.

6. The controller of claim 3, wherein the controller determines that the vehicle is turning when an absolute value of a yaw rate of the vehicle is greater than a pre-determined turning threshold.

7. The controller of claim 2, wherein the plurality of maximum yaw rates and the plurality of minimum yaw rates includes a plurality of maximum yaw rates and a plurality of minimum yaw rates when the vehicle is traveling straight, and a plurality of maximum yaw rates and a plurality of minimum yaw rates when the vehicle is turning.

8. The controller of claim 2, wherein the plurality of yaw rates includes a yaw rate detected by a yaw rate sensor, a yaw rate calculated using data from the steering angle sensor, and a yaw rate calculated using data from a plurality of wheel speed sensors.

9. The controller of claim 2, wherein the steering angle sensor passes the signal check when the plurality of straight maximum yaw rates and minimum yaw rates and the plurality of turning maximum yaw rates and minimum yaw rates are within a range relative to each other for a pre-determined period of time.

10. The controller of claim 2, wherein the previously-detected vehicle steering sensor malfunction is a steering angle sensor sign fault.

11. The controller of claim 10, wherein the signal check is executed only when the vehicle is turning.

12. The controller of claim 11, wherein the controller determines that the vehicle is turning when an absolute value of a yaw rate of the vehicle is greater than a predetermined threshold.

13. The controller of claim 11, wherein the controller increments a front axle integral if a difference between the steering angle sensor yaw rate and a front axle yaw rate is less than a threshold, and increments a rear axle integral if the difference between the steering angle sensor yaw rate and a rear axle yaw rate is less than a threshold, the controller decrements a front axle integral if the difference between the inverse of a steering angle sensor yaw rate and a front axle yaw rate is less than a threshold, and decrements a rear axle integral if the difference between the inverse of the steering angle sensor yaw rate and a rear axle yaw rate is less than a threshold, and the steering angle sensor passes the signal check if the front axle integral and the rear axle integral exceed a threshold.

14. The controller of claim 2, wherein the previously-detected vehicle steering sensor malfunction is a steering angle sensor offset fault.

15. The controller of claim 14, wherein the signal check is executed if the vehicle has traveled farther than a short threshold and a steering angle sensor offset is less than a small threshold, or the vehicle has traveled farther than a long threshold and the steering angle sensor offset is less than a large threshold.

16. The controller of claim 14, wherein the signal check is executed if a speed of the vehicle exceeds a threshold and the vehicle is traveling straight.

17. The controller of claim 16, wherein the controller determines that the vehicle is traveling straight when an absolute value of a yaw rate of the vehicle is less than 2.0 degrees per second.

18. The controller of claim 17, wherein the plurality of yaw rates includes a yaw rate detected by a yaw rate sensor, a yaw rate calculated using data from the steering angle sensor, and a yaw rate calculated using data from a plurality of wheel speed sensors.

19. The controller of claim 17, wherein the steering angle sensor passes the signal check when the largest maximum yaw rate and the smallest minimum yaw rate are within a pre-determined range relative to each other for a pre-determined period of time.

20. The controller of claim 2, wherein the steering angle sensor passes the signal check when a quantity of messages received by the controller that relate to the steering angle sensor is within a range for a pre-determined period of time.