# US 9,751,557 B2 · Method and a system for assisting a driver of a vehicle during operation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,557 B2 - Document ID: US9751557B2 - Status: Granted - Kind: B2 - Application number: 13/381,227 - Filed: 2009-06-29 - Published: 2012-05-03 - Granted: 2017-09-05 - Earliest claimed: 2009-06-29 - Assignees: Volvo Lastvagnar AB - Applicants: Jan-Inge Svensson; Jochen Pohl; Sten Ragnhult; Johan Hultén - Inventors: Jan-Inge Svensson; Jochen Pohl; Sten Ragnhult; Johan Hultén - Web page: https://patentgrep.com/patent/US9751557B2 ## CPC - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 5/001: {Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup} - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - 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 method is provided for assisting a driver of a vehicle during operation by providing the driver with a desired steering feel. The method includes determining a desired steering device guiding force including a part representing a desired friction in a steering arrangement, and providing the driver with the desired steering feel based on the determined steering device guiding force. ## Claims ### Claim 1 A method for assisting a driver of a vehicle during operation by providing the driver with a desired steering feel in a mechanical steering arrangement, where the mechanical steering arrangement comprises a steering device, at least one ground engagement member, and a mechanical connection between the steering device and the at least one ground engagement member, comprising the steps of determining a desired steering device guiding force comprising a part representing a desired friction in a steering arrangement, wherein the desired steering device guiding force is determined by at least one predetermined friction model of the desired friction in the vehicle steering arrangement, and providing the driver with the desired steering feel based on the determined steering device guiding force, wherein the friction model represents friction between a flexible element and the steering device in the steering arrangement, wherein the flexible element is configured for a relative displacement in a circumferential direction about a steering axis, which displacement is generated between an upper and a lower shaft of the steering arrangement. ### Claim 2 (depends on 1) A method according to claim 1, comprising providing the driver with the desired steering feel by applying a final steering device guiding force based on the desired steering device guiding force to a manually operated steering device. ### Claim 3 (depends on 2) A method according to claim 2, comprising the step of determining an actual force to the steering device resulting from an actual vehicle steering arrangement during operation, and determining a value of a final steering device guiding force to be applied to the steering device by subtracting a value of the determined actual force from a value of the determined desired steering device guiding force. ### Claim 4 (depends on 1) A method according to claim 1, comprising at least suppressing a driver steering feel from the influence of friction in a steering arrangement in the vehicle, which is configured to steer at least one ground engaging member. ### Claim 5 A system for assisting a driver of a vehicle during operation by providing the driver with a desired steering feel in a mechanical steering arrangement, the mechanical steering arrangement comprising a steering device, at least one ground engagement member, and a mechanical connection between the steering device and the at least one ground engagement member, comprising means for determining a desired steering device guiding force comprising a part representing a desired friction in a steering arrangement, wherein the means for determining the desired steering device guiding force comprises at least one predetermined friction model of the desired friction in the vehicle steering arrangement, and means for providing the driver with the desired steering feel based on the determined steering device guiding force, wherein the friction model represents friction between a flexible element and the steering device in the steering arrangement, wherein the flexible element is configured for a relative displacement in a circumferential direction about a steering axis, which displacement is generated between an upper and a lower shaft of the steering arrangement. ### Claim 6 (depends on 1) A method according to claim 1, comprising the step of determining the steering device guiding force based on an input representing a steering angle. ### Claim 7 (depends on 5) A system according to claim 5, comprising means for suppressing a driver steering feel from the influence of friction in a steering arrangement in the vehicle, which is configured to steer at least one ground engaging member. ### Claim 8 (depends on 7) A system according to claim 7, wherein the means for suppressing a driver steering feel comprises a feedback loop. ### Claim 9 (depends on 1) A method according to claim 1, wherein the friction model is configured to not represent the friction between an actuator for applying the steering device guiding force to the steering device and the flexible element in the steering arrangement. ### Claim 10 (depends on 1) A method according to claim 1, wherein the flexible element forms a torsion bar. ### Claim 11 (depends on 5) A system according to claim 5, wherein the means for determining the desired steering device guiding force comprises a controller and the means for providing the driver with the desired steering feel comprises an actuator.