System and Method for Controlling Electric Power Steering System
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsStefano Di Cairano, Spyridon Zafeiropoulos
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Abstract
A method controls a torque of an electric power steering (EPS) system of a vehicle. The method determines, based on a state of a movement of the vehicle, a range of values of the torque of the EPS system satisfying constraints. The constraints include at least one constraint on an effect of the torque of the EPS system on the steering wheel. The method selects a value of the torque within the range of values based on an objective of the movement of the vehicle and commands the EPS system to generate the torque according to the value of the torque.
Claims20
A method for controlling a torque of an electric power steering (EPS) system of a vehicle, comprising:
- determining, based on a state of a movement of the vehicle and a torque applied on the steering wheel by a driver, constraints defining a range of values of the torque of the EPS system satisfying the constraints, wherein the constraints includes at least one constraint on an effect of the torque of the EPS system on the steering wheel, wherein the constraint on the effect includes a constraint on a minimal and a maximal amount of EPS system torque in relation to the torque applied on the steering wheel by a driver;
- selecting a value of the torque within the range of values based on an objective of the movement of the vehicle;
- and
- commanding a motor of the EPS system to generate the torque according to the value of the torque.
(canceled)
A method for controlling a torque of an electric power steering (EPS) system of a vehicle, comprising:
- determining an objective of a movement of the vehicle;
- determining a cost function of the movement of the vehicle based on the objective of the movement;
- determining constraints defining a range of values of the torque of the EPS system, wherein the constraints are based on a state of the movement and a torque applied on the steering wheel by a driver and include at least one effect constraint on effect of the torque of the EPS system on a steering wheel of the vehicle, and at least one objective constraint selected based on the objective of the movement of the vehicle, wherein the constraint on the effect includes a constraint on a minimum and a maximum amount of feedback torque on the steering wheel;
- and
- optimizing the cost function subject to the constraints.
An electric power steering (EPS) system of a vehicle, comprising:
- a processor for determining, based on a state of a movement of the vehicle and a current torque applied on the steering wheel by a driver, constraints defining a range of values of the torque of the EPS system satisfying the constraints and for selecting a value of the torque within the range based on an objective of the movement of the vehicle, wherein the constraints includes at least one constraint on an effect of the torque of the EPS system on a steering wheel, wherein the constraint on the effect includes a difference between an intervention torque on the steering wheel and the current torque applied to the steering wheel by a driver;
- and
- a motor generating the torque according to the selected value.
Dependencies are inferred from the claim text.