System and method for determining a steering lock angle of a vehicle
AssigneeContinental Teves AG & Co. oHG
InventorsVladimir Koukes, Ralf Herbst, Mathias Niepelt, Robert Schmidt, Jochen Führer
Life of this patent
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Abstract
In a method for determining a steering angle for a vehicle, a steering angle is determined using a single-track model of the vehicle, wherein the steering angle is corrected only if the difference between the derivative of a measured steering lock angle and the derivative of a calculated steering lock angle is below a threshold value. Otherwise the measurement is repeated.
Claims11
A system for determining a steering lock angle of a vehicle, the system comprising:
- a sensor arrangement for measuring a yaw rate and a steering angle of the vehicle, and
- a control unit, configured for:
- translating the measured steering angle into a measured steering lock angle;
- calculating a calculated steering lock angle on the basis of the measured yaw rate and the measured steering angle;
- calculating a time derivative of the measured steering lock angle and a time derivative of the calculated steering lock angle;
- determining whether a first deviation between the derivative of the measured steering lock angle and the derivative of the calculated steering lock angle is below a first predetermined threshold;
- correcting the measured steering lock angle on the basis of the calculated steering lock angle;
- and
- repeating the measurement and the subsequent calculations if the first deviation is above the first threshold.
A method for determining a steering lock angle of a vehicle, the method comprising the steps of:
- measuring a yaw rate and a steering angle of the vehicle;
- translating the measured steering angle into a measured steering lock angle;
- calculating a calculated steering lock angle on the basis of the measured yaw rate and of the measured steering angle;
- calculating a time derivative of the measured steering lock angle and of a time derivative of the calculated steering lock angle;
- determining whether a first deviation between the derivative of the measured steering lock angle and the derivative of the calculated steering lock angle is below a first predetermined threshold;
- correcting the measured steering lock angle on the basis of the calculated steering lock angle;
- and
- repeating the measurement and the subsequent calculations if the first deviation is above the first threshold.
A non-transitory computer-readable medium on which a program element is stored, which element, when it is executed on a processor, induces the processor to carry out the following steps:
- translating a measured steering angle into a measured steering lock angle;
- calculating a calculated steering lock angle on the basis of a measured yaw rate and the measured steering angle;
- calculating a time derivative of the measured steering lock angle and a time derivative of the calculated steering lock angle;
- determining whether a first deviation between the derivative of the measured steering lock angle and the derivative of the calculated steering lock angle is below a first predetermined threshold;
- correcting the measured steering lock angle on the basis of the calculated steering lock angle if the first deviation is below the first threshold;
- and
- repeating the measurement and the subsequent calculations if the first deviation is above the first threshold.
Dependencies are inferred from the claim text.