Road friction coefficient estimation using steering system signals
View Patent ↗According to one or more embodiments, a method includes computing, by a steering system, a model rack force value based on a vehicle speed, steering angle, and a road-friction coefficient value. The method further includes determining, by the steering system, a difference between the model rack force value and a load rack force value. The method further includes updating, by the steering system, the road-friction coefficient value using the difference that is determined.
1. A method comprising:
determining, by a controller of a steer by wire steering system, that a surface being operated on is associated with a low surface friction condition based on a motor angle and a motor torque;
generating, by the controller, a control signal based on the determination of the low surface friction condition, the control signal indicating an on-center slip based on a combination of: a gradient detect on-center indicator being set, an energy detect on-center indicator being set for an amount of energy expended while steering, and a handwheel steady on-center indicator being set, and the control signal indicating an off-center slip based on a combination of: a gradient detect off-center indicator being set, an energy detect off-center indicator being set, and a handwheel steady off-center indicator being set; and
generating, by a handwheel actuator of the steer by wire steering system, a feedback torque based on a model rack force generated using a bicycle model and a spring model.
2. The method of claim 1 , wherein the determining that the surface has the low surface friction condition comprises:
determining a gradient value, an energy value, and a steadiness value based on the motor angle and the motor torque; and
determining a slip value as the on-center slip or the off-center slip based on the gradient value, the energy value, and the steadiness value.
3. The method of claim 2 , further comprising:
converting the motor angle to a handwheel angle; and
determining whether the handwheel angle exceeds a threshold value, wherein the determination of the gradient value, the energy value, and the steadiness value is further based on determining whether the handwheel angle exceeds the threshold value.
4. The method of claim 3 , further comprising preventing detection of the low surface friction condition based on determining that a handwheel is returning toward center or that the steadiness value is indicative of the handwheel alternating in a back-and-forth motion.
5. The method of claim 1 , further comprising detecting multiple surface levels of friction based on the motor angle and the motor torque.
6. The method of claim 1 , further comprising sending a surface friction level as the control signal to one or more of an anti-lock braking system and an electronic stability control of the vehicle.
7. The method of claim 1 , wherein an overlay torque that is opposite in direction to the motor torque is generated based on an updated road-friction coefficient value.
8. The method of claim 1 , further comprising, transmitting the control signal to an advanced drive assist system.
9. A steering by wire system comprising:
a handwheel actuator; and
a controller operable to receive sensor data and control feedback torque generated by the handwheel actuator, the controller configured to perform a method comprising:
determining that a surface being operated on is associated with a low surface friction condition based on a motor angle and a motor torque;
generating a control signal based on the determination of the low surface friction condition, the control signal indicating an on-center slip based on a combination of: a gradient detect on-center indicator being set, an energy detect on-center indicator being set for an amount of energy expended while steering, and a handwheel steady on-center indicator being set, and the control signal indicating an off-center slip based on a combination of: a gradient detect off-center indicator being set, an energy detect off-center indicator being set, and a handwheel steady off-center indicator being set; and
generating, using the handwheel actuator, a feedback torque based on a model rack force generated using a bicycle model and a spring model.
10. The steer by wire steering system of claim 9 , wherein the determining that the surface has the low surface friction condition comprises:
determining a gradient value, an energy value, and a steadiness value based on the motor angle and the motor torque; and
determining a slip value as the on-center slip or the off-center slip based on the gradient value, the energy value, and the steadiness value.
11. The steer by wire steering system of claim 10 , the method performed by the controller further comprising:
converting the motor angle to a handwheel angle; and
determining whether the handwheel angle exceeds a threshold value, wherein the determination of the gradient value, the energy value, and the steadiness value is further based on determining whether the handwheel angle exceeds the threshold value.
12. The steer by wire steering system of claim 11 , the method performed by the controller further comprising preventing detection of the low surface friction condition based on determining that a handwheel is returning toward center or that the steadiness value is indicative of the handwheel alternating in a back-and-forth motion.
13. The steer by wire steering system of claim 9 , the method performed by the controller further comprising detecting multiple surface levels of friction based on the motor angle and the motor torque.
14. A control system for a steer by wire steering system comprising:
a processor coupled with one or more sensors and a handwheel actuator of the steer by wire steering system, the processor configured to perform a method comprising:
determining that a surface being operated on is associated with a low surface friction condition based on a motor angle and a motor torque;
generating a control signal based on the determination of the low surface friction condition, the control signal indicating an on-center slip based on a combination of: a gradient detect on-center indicator being set, an energy detect on-center indicator being set for an amount of energy expended while steering, and a handwheel steady on-center indicator being set, and the control signal indicating an off-center slip based on a combination of: a gradient detect off-center indicator being set, an energy detect off-center indicator being set, and a handwheel steady off-center indicator being set; and
generating, using the handwheel actuator, a feedback torque based on a model rack force generated using a bicycle model and a spring model.
15. The control system of claim 14 , wherein determining that the surface has the low surface friction condition comprises:
determining a gradient value, an energy value, and a steadiness value based on the motor angle and the motor torque; and
determining a slip value as the on-center slip or the off-center slip based on the gradient value, the energy value, and the steadiness value.
16. The control system of claim 15 , the method performed by the processor further comprising:
converting the motor angle to a handwheel angle; and
determining whether the handwheel angle exceeds a threshold value, wherein the determination of the gradient value, the energy value, and the steadiness value is further based on determining whether the handwheel angle exceeds the threshold value.
17. The control system of claim 16 , the method performed by the processor further comprising preventing detection of the low surface friction condition based on determining that a handwheel is returning toward center or that the steadiness value is indicative of the handwheel alternating in a back-and-forth motion.