# US 11,897,553 B2 · Torque estimation apparatus and steering assist apparatus and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,553 B2 - Document ID: US11897553B2 - Status: Granted - Kind: B2 - Application number: 17/567,973 - Filed: 2022-01-04 - Published: 2022-07-07 - Granted: 2024-02-13 - Earliest claimed: 2021-01-06 - Assignees: Hl Mando Corporation - Applicants: Hl Mando Corporation - Inventors: Donghoon Shin - Web page: https://patentgrep.com/patent/US11897553B2 ## CPC - B62D 5/046: {Controlling the motor} - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - B62D 15/021: {Determination of steering angle} - B62D 6/10: characterised by means for sensing {or determining} torque - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract The present invention relates to steering apparatuses, and more specifically, to torque estimation apparatuses, and steering assist apparatuses and methods. The torque estimation apparatus can include a first estimator for estimating an eccentric mass of a steering wheel, and a second estimator for estimating an eccentric torque of the steering wheel. ## Claims ### Claim 1 A torque estimation apparatus comprising: a controller corn rises a first estimator and a second estimator, wherein the first estimator calculating a standard deviation of driver torques, and estimating an eccentric mass of a steering wheel based on the standard deviation of the driver torques; the second estimator estimating an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using a steering angle detected by a steering angle sensor; and the controller sending a signal to a steering motor based on the eccentric torque of the steering wheel. ### Claim 2 (depends on 1) The torque estimation apparatus according to claim 1, wherein the first estimator calculates each deviation of the driver torques by subtracting a mean value of the driver torques from each value of the driver torques, and calculates the standard deviation of the driver torques by taking square root of a mean value of each value resulting from squaring each deviation of the driver torques. ### Claim 3 (depends on 1) The torque estimation apparatus according to claim 1, wherein the first estimator estimates the eccentric mass of the steering wheel based on a current standard deviation value and a previous standard deviation value for the driver torques. ### Claim 4 (depends on 3) The torque estimation apparatus according to claim 3, wherein the first estimator estimates the eccentric mass of the steering wheel by multiplying a difference value between the current standard deviation value and the previous standard deviation value for the driver torques, a gain value for the eccentric mass of the steering wheel, and a current eccentric mass value of the steering wheel. ### Claim 5 (depends on 1) The torque estimation apparatus according to claim 1, wherein the second estimator estimates the eccentric torque of the steering wheel by using the eccentric mass of the steering wheel, gravity acting on the eccentric mass of the steering wheel, a distance between a rotation center of the steering wheel and a mass center of the steering wheel, and a steering angle detected by the steering angle sensor with a sine shape. ### Claim 6 (depends on 1) The torque estimation apparatus according to claim 1, further comprising a third estimator capable of estimating a steering angle of the steering wheel, a steering angular velocity of the steering wheel, and the driver torques based on a steering torque detected by a steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel. ### Claim 7 (depends on 6) The torque estimation apparatus according to claim 6, wherein the third estimator determines the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torques as state variables, calculates a state equation for the steering wheel based on the state variables, the steering torque from the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel, and estimates the state variables based on the state equation for the steering wheel, first to third proportional gains, the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. ### Claim 8 (depends on 7) The torque estimation apparatus according to claim 7, further comprising an updater capable of updating the first to third proportional gains, wherein the third estimator determines the steering angle of the steering wheel, the steering angular velocity of the steering wheel, and the driver torques as the state variables, calculates the state equation for the steering wheel based on the state variables, the steering torque from the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel, and estimates the state variables based on the state equation for the steering wheel, updated first to third proportional gains, the steering angle from the steering angle sensor, and the estimated steering angle of the steering wheel. ### Claim 9 (depends on 8) The torque estimation apparatus according to claim 8, wherein the updater determines and updates the first to third proportional gains through a kalman filter. ### Claim 10 (depends on 8) The torque estimation apparatus according to claim 8, wherein the updater determines and updates the eccentric mass of the steering wheel through a machine learning algorithm. ### Claim 11 A steering assist apparatus comprising: a sensor module including a steering angle sensor for detecting a steering angle; and a steering control module for controlling operation of a steering motor by controlling a steering motor power supply based on a steering motor control signal, wherein the steering control module calculates a standard deviation of driver torques, estimates an eccentric mass of a steering wheel based on the standard deviation of the driver torques, estimates an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using the steering angle detected by the steering angle sensor, and generates the steering motor control signal based on a driver torque in which the eccentric torque of the steering wheel is reflected. ### Claim 12 (depends on 11) The steering assist apparatus according to claim 11, wherein the steering control module calculates each deviation of the driver torques by subtracting a mean value of the driver torques from each value of the driver torques, and calculates the standard deviation of the driver torques by taking square root of a mean value of each value resulting from squaring each deviation of the driver torques. ### Claim 13 (depends on 11) The steering assist apparatus according to claim 11, wherein the steering control module estimates the eccentric mass of the steering wheel by multiplying a difference value between a current standard deviation value and a previous standard deviation value for the driver torques, a gain value for the eccentric mass of the steering wheel, and a current eccentric mass value of the steering wheel. ### Claim 14 (depends on 11) The steering assist apparatus according to claim 11, wherein the steering control module estimates the eccentric torque of the steering wheel by using the eccentric mass of the steering wheel, gravity acting on the eccentric mass of the steering wheel, a distance between a rotation center of the steering wheel and a mass center of the steering wheel, and a steering angle detected by the steering angle sensor with a sine shape. ### Claim 15 (depends on 11) The steering assist apparatus according to claim 11, wherein the sensor module further comprising a steering torque sensor for detecting a steering torque, and wherein the steering control module further comprising a third estimator capable of estimating a steering angle of the steering wheel, a steering angular velocity of the steering wheel, and the driver torques based on the steering torque detected by the steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel. ### Claim 16 A steering assist method comprising: after calculating a standard deviation of driver torques, estimating an eccentric mass of a steering wheel based on the standard deviation of the driver torques; estimating an eccentric torque of the steering wheel based on the eccentric mass of the steering wheel using a steering angle detected by the steering angle sensor; and after generating a steering motor control signal based on a driver torque in which the eccentric torque of the steering wheel is reflected, controlling operation of a steering motor by controlling a steering motor power supply based on the steering motor control signal. ### Claim 17 (depends on 16) The steering assist method according to claim 16, wherein the estimation of the eccentric mass of the steering wheel includes calculating each deviation of the driver torques by subtracting a mean value of the driver torques from each value of the driver torques, and calculating the standard deviation of the driver torques by taking square root of a mean value of each value resulting from squaring each deviation of the driver torques. ### Claim 18 (depends on 16) The steering assist method according to claim 16, wherein the estimation of the eccentric mass of the steering wheel is performed by multiplying a difference value between a current standard deviation value and a previous standard deviation value for the driver torques, a gain value for the eccentric mass of the steering wheel, and a current eccentric mass value of the steering wheel. ### Claim 19 (depends on 16) The steering assist method according to claim 16, wherein the estimation of the eccentric torque of the steering wheel is performed by using the eccentric mass of the steering wheel, gravity acting on the eccentric mass of the steering wheel, a distance between a rotation center of the steering wheel and a mass center of the steering wheel, and a steering angle detected by the steering angle sensor with a sine shape. ### Claim 20 (depends on 16) The steering assist method according to claim 16, further comprising, after the estimation of the eccentric torque of the steering wheel is performed, estimating a steering angle of the steering wheel, a steering angular velocity of the steering wheel, and the driver torques based on a steering torque detected by a steering torque sensor, the steering angle from the steering angle sensor, and the eccentric torque of the steering wheel.