Handwheel obstruction detection and inertia compensation
AssigneeFord Global Technologies, LLC
InventorsErick Michael Lavoie, Darrel Alan Recker, Michael Richard Johnson
Life of this patent
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Abstract
A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.
Claims20
A vehicle steering system, comprising:
- a sensor sensing a handwheel angle;
- an autonomous steering module generating an input torque signal;
- and
- a steering angle controller for determining a handwheel acceleration based on the handwheel angle, determining an offset torque based on the handwheel acceleration, and generating a compensated torque signal based on the offset torque and the input torque signal.
A vehicle steering system, comprising:
- a sensor sensing a handwheel angle;
- a trailer backup assist controller for generating a steering command for guiding a trailer in reverse, the steering command generating an input torque signal;
- and
- a steering angle controller for determining a handwheel acceleration based on the handwheel angle, determining an offset torque based on the handwheel acceleration, and generating a compensated torque signal based on the offset torque and the input torque signal.
A method, comprising:
- sensing an angle of a handwheel;
- generating a steering command having an input torque signal;
- determining a handwheel acceleration based on the angle;
- determining an offset torque based on the handwheel acceleration;
- and
- generating a compensated torque signal based on the offset torque and the input torque signal to compensate for inertia and off-center mass of the handwheel.
Dependencies are inferred from the claim text.