# US 8,739,920 B2 · Electric power steering simulated travel stops

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- Number: US 8,739,920 B2
- Document ID: US8739920B2
- Status: Granted
- Kind: B2
- Application number: 13/298,975
- Filed: 2011-11-17
- Published: 2012-08-16
- Granted: 2014-06-03
- Earliest claimed: 2011-02-16
- Assignees: Steering Solutions IP Holding Corporation
- Applicants: Anthony J. Champagne
- Inventors: Anthony J. Champagne
- Web page: https://patentgrep.com/patent/US8739920B2

## CPC

- B62D 5/0469: {End-of-stroke control}
- 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

A control system for controlling a steering system is provided. The control system includes a first module that determines a position control value based on a handwheel position. A second module generates a torque command based on the position control value to simulate an end of travel stop in the steering system.

## Claims

### Claim 1

A control system for controlling a steering system, the control system comprising:
a first module that determines a position control value based on a handwheel position; and
a second module that receives the position control value from the first module, and generates a torque command based on the position control value and a gain value to simulate an end of travel stop in the steering system, the gain value determined based on a comparison between the handwheel position and a range of position values representing an end of travel region.

### Claim 2 (depends on 1)

The control system of claim 1, further comprising a third module that determines the gain value based on a handwheel state, the handwheel state re representing one of: outside of the end of travel region, steering into the end of travel region, holding within the end of travel region, and exiting the end of travel region.

### Claim 3 (depends on 2)

The control system of claim 2, further comprising a fourth module that determines a damping value and the second module generates the torque command based on the damping value.

### Claim 4 (depends on 3)

The control system of claim 3, wherein the second module determines a torque value (TrqCmdNew) based on a torque command(TrqCmd), the damping value (Damp), the gain value (Gain), the position control value (PosControl) and an equation:
TrqCmdNew=((TrqCmd−Damp)*Gain)−PosControl,
and generates the torque command based on the torque value.

### Claim 5 (depends on 1)

The control system of claim 1, further comprising a third module that determines a damping value and the second module generates the torque command based on the damping value.

### Claim 6 (depends on 1)

The control system of claim 1, wherein the first module determines the position control value based on a transmission range.

### Claim 7 (depends on 6)

The control system of claim 6, wherein the first module determines the position control value based on whether the transmission range is reverse.

### Claim 8 (depends on 1)

The controls system of claim 1, wherein the first module determines the position control value based on a position error between the handwheel position and a range.

### Claim 9

A method of controlling a steering system, the method comprising:
determining a position control value based on a handwheel position;
determining a gain value;
generating a torque command based on the position control value and the gain value to simulate an end of travel stop in the steering system; and
determining a damping value, wherein the torque command is based on the damping value.

### Claim 10 (depends on 9)

The method of claim 9, further comprising determining a torque value (TrqCmdNew) based on a torque command(TrqCmd), the damping value (Damp), the gain value (Gain), the position control value (PosControl) and an equation:
TrqCmdNew=((TrqCmd−Damp)*Gain)−PosControl,
and the generating a torque command is based on the torque value.

### Claim 11

A method of controlling a steering system, the method comprising:
determining a position control value based on a handwheel position; and
generating a torque command based on the position control value to simulate an end of travel stop in the steering system, wherein the determining the position control value is based on a transmission range.

### Claim 12 (depends on 11)

The method of claim 11, wherein the determining the position control value is based on whether the transmission range is reverse.

### Claim 13

A control system for controlling a steering system, the control system comprising:
a first module that determines a position control value based on a handwheel position;
a second module that receives the position control value from the first module, and generates a torque command based on the position control value to simulate an end of travel stop in the steering system; and
a third module that determines a damping value and the second module generates the torque command based on the damping value.

### Claim 14

A method of controlling a steering system, the method comprising:
determining a position control value based on a handwheel position; and
generating a torque command based on the position control value to simulate an end of travel stop in the steering system, wherein the determining the position control value is based on a position error between the handwheel position and a range.

### Claim 15

An electric power steering system for a vehicle, comprising:
a handwheel position sensor; and
a control module that receives a handwheel position from the handwheel position sensor and determines a position control value based on the handwheel position, and that generates a torque command to the electric power steering system based on the position control value to simulate an end of travel stop in the electric power steering system, wherein the control module determines a damping value and generates the torque command based on the damping value.

### Claim 16 (depends on 15)

The system of claim 15, wherein the control module determines a gain value and generates the torque command based on the gain value.