Methods and apparatus to reduce noise and vibration in a hybrid hydraulic power steering system
Methods and apparatus to reduce noise and vibration in a hybrid hydraulic power steering system are disclosed. A method includes receiving sensor data from sensors of a vehicle and mapping the sensor data to filter coefficients. The method further includes generating a torque demand based on an input of the filter coefficients into a polynomial filter and tuning at least one of a torque assistance or a steering damping of an assisted steering system of the vehicle based on the torque demand.
1. A method comprising:
receiving sensor data from sensors of a vehicle;
mapping the sensor data to filter coefficients;
generating a torque demand based on a transfer function, the transfer function based on an input of the filter coefficients into a polynomial filter, the filter coefficients selected to avoid poles of the transfer function; and
tuning at least one of a torque assistance or a steering damping of an assisted steering system of the vehicle based on the torque demand.
2. The method of claim 1 , wherein the assisted steering system is a hybrid hydraulic steering system.
3. The method of claim 1 , wherein the sensor data includes one or more of steering velocity data, steering angle data, steering torque data, vehicle speed data, hydraulic fluid pressure data, engine torque data, motor speed data, or engine RPM data.
4. The method of claim 3 , further including determining the hydraulic fluid pressure data based on the engine RPM data, the steering velocity data and the steering torque data.
5. The method of claim 1 , wherein the filter coefficients are specific to a model of the vehicle.
6. The method of claim 1 , further including applying the torque assistance via an electric actuator operatively coupled to a steering shaft of the vehicle.
7. The method of claim 1 , wherein the polynomial filter is a second order filter.
8. The method of claim 1 , wherein the tuning at least one of a torque assistance or a steering damping of an assisted steering system increases a stability of the assisted steering system.
9. A computer readable storage medium comprising instructions which, when executed, cause a processor to at least:
receive sensor data from sensors of a vehicle;
map the sensor data to filter coefficients, the filter coefficients specific to a model of the vehicle;
generate a torque demand based on an input of the filter coefficients into a polynomial filter; and
tune at least one of a torque assistance or a steering damping of an assisted steering system of the vehicle based on the torque demand.
10. The computer readable storage medium of claim 9 , wherein the assisted steering system a hybrid hydraulic steering system.
11. The computer readable storage medium of claim 9 , wherein the sensor data includes one or more of steering velocity data, steering angle data, steering torque data, vehicle speed data, hydraulic fluid pressure data, engine torque data, motor speed data, or engine RPM data.
12. The computer readable storage medium of claim 11 , wherein the hydraulic fluid pressure data is determined based on the engine RPM data, the steering velocity data and the steering torque data.
13. The computer readable storage medium of claim 9 , which, when executed, further cause a processor to at least:
apply the torque assistance via an electric actuator operatively coupled to a steering shaft of the vehicle; and
apply the steering damping via the electric actuator.
14. The computer readable storage medium of claim 9 , wherein the polynomial filter is a second order filter.
15. A method comprising:
receiving sensor data from sensors of a vehicle;
damping a steering velocity of the vehicle based on the sensor data;
determining if the vehicle is undergoing an evasive maneuver by comparing a rate of change of the steering velocity to a threshold associated with the evasive maneuver; and
if the vehicle is undergoing an evasive maneuver, reducing the damping of the steering velocity.
16. The method of claim 15 , wherein the sensor data includes one or more of steering velocity data, steering angle data, steering torque data, vehicle speed data, hydraulic fluid pressure data, engine torque data, motor speed data, or engine RPM data.
17. The method of claim 16 , further comprising determining the hydraulic fluid pressure data based on the engine RPM data, the steering velocity data and the steering torque data.
18. The method of claim 15 , wherein the vehicle has a hybrid steering system.
19. The method of claim 1 , wherein the transfer function is further based on a linear look-up table, an output of the linear look-up table proportional to a value of the sensor data.
20. The method of claim 15 , wherein the reducing of the damping of the steering velocity includes eliminating the damping of the steering velocity.