Steering angle control for multiple features

• US 9,616,928 B2
• Filed: 03/25/2015
• Issued: 04/11/2017
• Est. Priority Date: 03/25/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael, Recker, Darrel Alan, Eschtruth, Kirt L., Hochrein, Bradley G., Bouse, William James
• Primary Examiner(s): SOOFI, YAZAN A
• Application Number:
  US14/667,833
• Publication Number:
  US 20160280267A1
• Time in Patent Office: 748 Days
• Field of Search: 701 23
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: B62D 5/0409 Electric motor acting on the steering column
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

An autonomous steering system for a vehicle includes a park assist steering module configured to generate a first steering angle command across a communication network of the vehicle. A backup assist steering module is also configured to generate a second steering angle command across the communication network of the vehicle. A steering angle controller is configured to receive the first and second steering angle commands and generate a third steering angle command for controlling a steered wheel of the vehicle based on acceptable steering column torque conditions for the respective steering module.

Claims

1. An autonomous steering system for a vehicle, comprising:

a park assist system configured to generate a first steering angle command across a communication network of the vehicle;

a trailer backup assist system configured to generate a second steering angle command across the communication network of the vehicle; and

a steering angle controller configured to receive the first and second steering angle commands and generate a third steering angle command for controlling a steered wheel of the vehicle based on steering column torque conditions of the vehicle being acceptable for the park assist and trailer backup assist systems, respectively.

2. The autonomous steering system of claim 1, wherein the steering column torque conditions include a torque threshold.

3. The autonomous steering system of claim 1, further comprising:

a torque sensor sensing a steering torque, wherein the third steering angle command is generated when the steering torque is less than a torque threshold.

4. The autonomous steering system of claim 3, wherein the steering torque is configured to compensate for inertia and an off-center mass of a handwheel.

5. The autonomous steering system of claim 4, wherein the torque threshold is selected to generally be exceeded when an object obstructs rotation of the handwheel.

6. The autonomous steering system of claim 1, wherein the steering angle controller generates the third steering angle command substantially equal to one of the first or second steering angle commands when the other of the first or second steering angle commands has transitioned to an inactive state.

7. The autonomous steering system of claim 1, wherein the steering angle controller autonomously operates a pinion angle of the steered wheel based on the third steering angle command.

8. A method for steering angle control of a vehicle, comprising:

generating a first steering angle command with one of park assist system and a trailer backup assist system, each of which has an open state arbitration condition; and

providing a steering angle controller configured to generate a second steering angle command for steering the vehicle based on the first steering angle command and acceptable steering column torque conditions for the one of the park assist system and the trailer backup assist system.

9. The method of claim 8, wherein the open state arbitration condition of the one of the part assist system and the trailer backup assist system is present for independently steering the vehicle.

10. The method of claim 8, further comprising:

sensing a steering torque, wherein the steering column torque conditions include the steering torque is being less than a torque threshold.

11. The method of claim 10, wherein the steering torque is configured to compensate for inertia and off-center mass of a handwheel.

12. The method of claim 11, wherein the torque threshold is configured to be exceeded when an object is obstructing rotation of the handwheel.

13. The method of claim 8, wherein the second steering angle command is substantially equal to the first steering angle command when the other of the one of the park assist system and the trailer backup assist system has transitioned to an inactive arbitration state.

14. The method of claim 8, further comprising:

autonomously operating a pinion angle based on the second steering angle command.

15. An autonomous steering system for a vehicle, comprising:

a park assist system and a trailer backup assist system, each configured to generate a steering angle command when an open state condition is present for independently steering the vehicle; and

a steering angle controller configured to control a steered wheel of the vehicle based on the generated steering angle commands when a sensed steering torque of the vehicle is less than a threshold torque.

16. The autonomous steering system of claim 15, further comprising:

a torque sensor sensing the steering torque on the steered wheel of the vehicle.

17. The autonomous steering system of claim 15, wherein the sensed steering torque is configured to compensate for inertia and off-center mass of a handwheel operably coupled with the steered wheel.

18. The autonomous steering system of claim 17, wherein the threshold torque is configured to be exceeded when an object is obstructing rotation of the handwheel.

19. The autonomous steering system of claim 15, wherein the steering angle controller generates a refined steering angle command substantially equal to the steering angle command generated by one of the park assist system and the trailer backup assist system when the other of the park assist system and the trailer backup assist system has transitioned to an inactive state.

20. The autonomous steering system of claim 15, wherein the steering angle controller autonomously operates a pinion angle based on acceptable steering column torque conditions for the one of the park assist system and the trailer backup assist system.