Steering control apparatus for vehicle and steering control method
A method for controlling a steering device with steering power support means for a motor vehicle with at least one steerable road wheel, where the steering device may include a steering shaft with a first end to adopt a steering wheel, a control device controlling said power support means, sensing means detecting steering shaft torque introduced in said steering shaft, and means to determine a hands-off situation in which the driver does not introduce a torque into said steering shaft, wherein the steering power support means support the driver on the basis of a driver demand introduced into the steering shaft, may comprise determining a steering wheel torque on basis of the steering shaft torque; determining a time derivative of the detected steering wheel torque; if the absolute value of the steering wheel torque is lower than a threshold torque limit and if the absolute value of the derivative of steering wheel torque is lower than a threshold derivative torque limit, a counter is increased by one count; if the absolute value of the steering wheel torque is higher or equal than a threshold torque limit, or/and if the absolute value of the derivative of steering wheel torque is higher or equal than a threshold derivative torque limit−, said counter is decreased by one count; and if said counter has a value equal to or higher than a threshold count limit the hands-off state is determined.
1. A method for controlling a steering device with steering power support means for a motor vehicle with at least one steerable road wheel, wherein the steering device includes a steering shaft with a first end to adopt a steering wheel, a control device controlling said power support means, sensing means detecting steering shaft torque introduced in said steering shaft, and means to determine a hands-off situation in which the driver does not introduce a torque into said steering shaft, wherein the steering power support means support the driver on the basis of a driver demand introduced into the steering shaft, the method comprising:
determining a steering wheel torque on basis of the steering shaft torque;
determining a time derivative of the detected steering wheel torque;
if the absolute value of the steering wheel torque is lower than a threshold torque limit and if the absolute value of the derivative of steering wheel torque is lower than a threshold derivative torque limit, increasing a counter by one count;
if the absolute value of the steering wheel torque is higher or equal than a threshold torque limit, or/and if the absolute value of the derivative of steering wheel torque is higher or equal than a threshold derivative torque limit, decreasing said counter by one count; and
if said counter has a value equal to or higher than a threshold count limit, determining the hands-off state.
2. The method for controlling a steering device according to claim 1 , wherein the steering shaft torque is filtered by a low pass filter.
3. The method for controlling a steering device according to claim 1 , wherein if said counter has a value lower than a threshold low count limit the hands-on state is determined.
4. The method for controlling a steering device according to claim 1 , wherein the hands-off state value output is filtered by a low pass filter.
5. The method for controlling a steering device according to claim 1 , wherein the threshold torque limit is calculated as combination of a basic torque limit and the variance of the steering wheel torque.
6. The method for controlling a steering device according to claim 1 , wherein the derivative torque limit threshold is calculated as combination of a basic derivative torque limit and the variance of the steering wheel torque.
7. The method for controlling a steering device according to claim 1 , wherein in case of determining the hands-off state, a signal or warning message is output to the driver.
8. The method for controlling a steering device according to claim 1 , wherein in case of determining the hands-off state, an additional signal in form of a torque demand signal is supplied to the power support means.
9. The method for controlling a steering device according to claim 1 , wherein in case of determining the hands-off state, an additional signal in form of a superimposed steering angle signal is supplied to the power support means.
10. The method for controlling a steering device according to claim 8 , wherein the additional signal is suitable to steer the vehicle in a straight ahead direction.