Steering system detecting vehicle motion states
Technical features are described for a steering system to compute a state flag value that is indicative of a vehicle motion state, such as an understeer or an oversteer condition. The steering system further generates a reference torque signal based on the state flag value, and generates a motor-assist torque signal based on the reference torque signal. The state flag value indicates the vehicle motion state in both a dynamic-state or a steady-state. Further, the steering system generates the reference torque signal based on the state flag value by blending a first rack force generated based on a vehicle-speed signal and motor angle, and a second rack force generated based on a motor torque and an input torque provided to a handwheel of the steering system.
1. A steering system comprising:
a motor; and
a control module that:
computes a first yaw-rate and a yaw-acceleration based on a road-wheel angle signal, a vehicle-speed signal, and a measured yaw-rate signal;
computes a state flag value that is indicative of a vehicle motion state using the first yaw-rate and the yaw-acceleration;
generates a reference torque signal based on the state flag value;
generates a motor-assist torque signal based on the reference torque signal; and
applies the motor-assist torque signal to the motor for generating corresponding amount of torque.
2. The steering system of claim 1 , wherein the state flag is computed based on a vehicle-speed signal, a yaw-rate signal, and an angle signal indicative of a position of a motor of the steering system.
3. The steering system of claim 1 , wherein the vehicle motion state detected is a dynamic state.
4. The steering system of claim 1 , wherein the vehicle motion state detected is a steady state.
5. The steering system of claim 1 , wherein the reference torque signal is generated based on the state flag value by blending a first rack force generated based on a vehicle-speed signal and motor angle, and a second rack force generated based on a motor torque and an input torque provided to a handwheel of the steering system.
6. The steering system of claim 1 , further comprising a reference yaw module configured to compute a reference yaw-rate and a reference yaw-acceleration based on the road-wheel angle signal, and the vehicle-speed signal, wherein the reference yaw-rate and the reference yaw-acceleration are used to compute the state flag.
7. The steering system of claim 6 , further comprising an error calculation module configured to compute a yaw-rate error and a yaw-acceleration error by computing differences between the first yaw-rate and the reference yaw-rate, and between the yaw-acceleration and the reference yaw-acceleration, respectively, wherein the first yaw-rate and the yaw-acceleration are used to compute the state flag.
8. The steering system of claim 1 , further comprising a condition threshold calculation module configured to compute a plurality of thresholds corresponding to each condition from a plurality of oversteer and understeer conditions.
9. The steering system of claim 8 , wherein the thresholds are computed based on a vehicle-speed signal.
10. The steering system of claim 8 , wherein the thresholds are computed based on a surface-friction signal.
11. A method for computing an assist torque by a steering system, the method comprising:
detecting, by the steering system, a non-neutral vehicle motion state the detection comprising:
computing a yaw-rate error and a yaw-acceleration error; and
comparing the yaw-rate error and the yaw-acceleration error with a plurality of thresholds corresponding respectively to a plurality of types of the vehicle motion state;
in response, determining a blending-factor based on a type of the vehicle motion state;
generating a rack force signal by blending a first rack force from a vehicle model and a second rack force from a steering system observer model based on the blending-factor; and
generating the assist torque based on the rack force signal.
12. The method of claim 11 , wherein the vehicle motion state is a dynamic-state condition.
13. The method of claim 11 , wherein the vehicle motion state is a steady-state condition.
14. The method of claim 11 , wherein the plurality of types of the vehicle motion state comprise a dynamic-state understeer condition, a dynamic-state oversteer condition, a steady-state understeer condition, and a steady-state oversteer condition.
15. The method of claim 11 , wherein computing the yaw-rate error and the yaw-acceleration error further comprises:
generating a yaw-rate and a yaw-acceleration based on a road-wheel angle signal, a vehicle-speed signal, and a measured-yaw signal;
generating a reference yaw-rate and a reference yaw-acceleration based on the road-wheel angle signal and the vehicle-speed signal; and
computing differences between the yaw-rate and the reference yaw-rate, and the yaw-acceleration and the reference yaw-acceleration as the yaw-rate error and the yaw-acceleration error respectively.
16. The method of claim 11 , further comprising computing the plurality of thresholds based on a vehicle-speed signal.
17. The method of claim 11 , further comprising computing the plurality of thresholds based on a surface-friction signal.
18. The method of claim 11 , wherein the vehicle motion state is detected based on a vehicle-speed signal, a yaw-rate signal, and a motor-angle signal indicative of a position of a motor of the steering system.