GB2552235A - Power-assisted steering system for vehicles and method of operation - Google Patents
Power-assisted steering system for vehicles and method of operation Download PDFInfo
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- GB2552235A GB2552235A GB1706027.8A GB201706027A GB2552235A GB 2552235 A GB2552235 A GB 2552235A GB 201706027 A GB201706027 A GB 201706027A GB 2552235 A GB2552235 A GB 2552235A
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- 238000000034 method Methods 0.000 title claims description 34
- 230000006870 function Effects 0.000 claims abstract description 70
- 230000002123 temporal effect Effects 0.000 claims abstract description 35
- 230000008878 coupling Effects 0.000 claims abstract description 34
- 238000010168 coupling process Methods 0.000 claims abstract description 34
- 238000005859 coupling reaction Methods 0.000 claims abstract description 34
- 230000035945 sensitivity Effects 0.000 claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 238000007726 management method Methods 0.000 claims description 8
- 238000013500 data storage Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 abstract description 8
- 230000004044 response Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 8
- 238000002485 combustion reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001556 precipitation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A power-assisted steering system 110 for a vehicle 100 comprising a coupling arrangement 140 for coupling a turning torque (Ti) from the steering wheel 120 to a turning torque (T2) of the front wheels 130. The steering system includes a sensor arrangement 150 for measuring an angular position (θ1) of the steering wheel, an actuator arrangement 170, and a control arrangement 160 for receiving a signal representative of the angular position of the steering wheel and for applying a corresponding drive signal to the actuator. The control arrangement is implemented using a data processing arrangement (210 fig.2), such that one or more feedback functions (Hi(t, 0), H2(t, 0)), relating the signal from the sensor arrangement to the drive signal applied to the actuator arrangement, is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (θ). The vehicle may be an electrical vehicle and the temporal characteristics may include regulating the steering sensitivity or speed of the vehicle and the angular characteristics may include regulating the steering ratio of the vehicle. The steering system may be controlled with respect to the vehicle speed, the road surface or other environmental signal, or the driving mode of the vehicle.
Description
(71) Applicant(s):
Detroit Electric EV Limited
No.528 Lvyuan Road, Yixing City, Jiangsu Province, 214200, China (72) Inventor(s):
Albert Lam
| (51) INT CL: | |
| B62D 5/04 (2006.01) | B62D6/00 (2006.01) |
| (56) Documents Cited: EP 2749477 A2 US 20150175199 A1 US 20010027895 A1 | EP 1093992 A2 US 20100280716 A1 |
| (58) Field of Search: INT CL B62D Other: EPODOC, WPI |
(74) Agent and/or Address for Service:
Basck Ltd
Saxon Road, CAMBRIDGE, Cambridgeshire, CB5 8HS, United Kingdom (54) Title of the Invention: Power-assisted steering system for vehicles and method of operation Abstract Title: Adaptive electric power assisted steering system (57) A power-assisted steering system 110 for a vehicle 100 comprising a coupling arrangement 140 for coupling a turning torque (Ti) from the steering wheel 120 to a turning torque (T2) of the front wheels 130. The steering system includes a sensor arrangement 150 for measuring an angular position (01) of the steering wheel, an actuator arrangement 170, and a control arrangement 160 for receiving a signal representative of the angular position of the steering wheel and for applying a corresponding drive signal to the actuator. The control arrangement is implemented using a data processing arrangement (210 fig.2), such that one or more feedback functions (Hi(t, 0), H2(t, 0)), relating the signal from the sensor arrangement to the drive signal applied to the actuator arrangement, is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (0). The vehicle may be an electrical vehicle and the temporal characteristics may include regulating the steering sensitivity or speed of the vehicle and the angular characteristics may include regulating the steering ratio of the vehicle. The steering system may be controlled with respect to the vehicle speed, the road surface or other environmental signal, or the driving mode of the vehicle.
FIG. 1
1/3
100
130
FIG. 1
160
FIG. 2
2/3
TEMPORAL CHARACTERISTICS (t)
FIG. 3
ANGULAR CHARACTERISTICS (Θ)
400
FIG. 4
3/3
500
510
FIG. 5
600
520
530
540
FIG. 6
- 1 POWER-ASSISTED STEERING SYSTEM FOR VEHICLES AND METHOD OF OPERATION
TECHNICAL FIELD
The present disclosure relates to power-assisted steering systems for vehicles, for example, to power-assisted steering systems for electrical vehicles. Moreover, the present disclosure is concerned with the methods of operating aforesaid power-assisted steering systems. Furthermore, the present disclosure relates to software application recorded on machine10 readable data storage media, wherein the software application is executable upon computing hardware for implementing aforementioned methods.
BACKGROUND
Generally, designers, engineers and manufacturers of vehicles (such as vans, trucks, automobiles and such like) strive to provide a comfortable, enjoyable and safe driving experience for drivers of the vehicles. Usually, a problem experienced by the drivers includes substantial expenditure of physical effort while driving, for example when steering the vehicles. It will be appreciated that such expenditure of effort potentially leads to fatigue for the drivers, thereby resulting in an unpleasant driving experience, especially when the drivers' vehicles are relatively large and heavy.
Conventionally, many contemporary vehicles comprise power-assisted steering systems that enable a reduction of expenditure of physical effort by drivers to steer the vehicles. For example, such power-assisted steering systems may include hydraulic power-assisted steering systems that are operable to employ a pressurized hydraulic fluid that is maintained under pressure by operation of internal combustion engines of the vehicles driving corresponding hydraulic pressure pumps. However, such hydraulic power-assisted steering systems suffer from various
-2drawbacks. For example, the hydraulic power-assisted steering systems require their associated internal combustion engines to be kept in operation to maintain a hydraulic pressure. It will be appreciated that at low driving speeds, such hydraulic power-assisted steering systems are potentially less reliable. Furthermore, due to a mechanical coupling of the hydraulic power-assisted steering system with the internal combustion engine of a given vehicle, the hydraulic power-assisted steering system is configured to be always operative, thereby reducing a fuel efficiency of the given vehicle. Moreover, such hydraulic power-assisted steering systems are usually incapable of being adaptive in nature, for example, depending upon a driving mode of the given vehicle.
Therefore, there exists a need for an improved power-assisted steering system to address aforementioned drawbacks associated with conventional power-assisted steering systems.
SUMMARY
The present disclosure seeks to provide an improved power-assisted steering system for a vehicle, for example, an electrical vehicle.
Additionally, the present disclosure also seeks to provide an improved method of operating a power-assisted steering system for a vehicle, for example, an electrical vehicle.
Moreover, the present disclosure seeks to provide a software product recording on machine-readable data storage media, characterized in that the software product is executable upon computing hardware for implementing a method of operating a power-assisted steering system for a vehicle.
According to a first aspect, there is provided a power-assisted steering system for a vehicle including a steering wheel, a front pair of wheels that are steerable to control a direction of travel of the vehicle when in operation, and a coupling arrangement for coupling a turning torque (Ti)
- 3applied to the steering wheel to a turning torque (T2) of the front pair of wheels, wherein the power-assisted steering system includes a sensor arrangement for measuring an angular position (θι) of the steering wheel, an actuator arrangement for applying the turning torque (T2) to the coupling arrangement to influence, at least in part, the angular steering orientation (θ2) of the front pair of wheels, and a control arrangement for receiving a signal from the sensor arrangement representative of the angular position (θι) of the steering wheel and for applying a corresponding drive signal to the actuator arrangement, characterized in that:
(i) the actuator arrangement is implemented using an electrical motor arrangement; and (ii) the control arrangement is implemented using a data processing arrangement, such that one or more feedback functions (Hi(t, Θ),
H2(t, Θ)), relating the signal from the sensor arrangement to the drive signal applied to the actuator arrangement, is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (Θ).
The power-assisted steering system of the present disclosure enables power assistance provided to the vehicle to be dynamically adapted, thereby enabling a comfortable, enjoyable and safe driving experience for a driver of the vehicle; moreover, the electrical arrangements such as the sensor arrangement, the control arrangement and the actuator arrangement are capable of providing increases reliability and safety in comparison to conventional known hydraulic power-assisted steering systems.
According to a second aspect, there is provided a method of operating a power-assisted steering system for a vehicle, wherein the power-assisted steering system includes a steering wheel, a front pair of wheels that are steerable to control a direction of travel of the vehicle when in operation,
-4and a coupling arrangement for coupling a turning torque (Ti) applied to the steering wheel to a turning torque (T2) of the front pair of wheels, wherein the power-assisted steering system includes a sensor arrangement for measuring an angular position (θι) of the steering wheel, an actuator arrangement for applying the turning torque (T2) to the coupling arrangement to influence, at least in part, the angular steering orientation (θ2) of the front pair of wheels, and a control arrangement for receiving a signal from the sensor arrangement representative of the angular position (θι) of the steering wheel and for applying a corresponding drive signal to the actuator arrangement, characterized in that the method includes:
(i) implementing the actuator arrangement using an electrical motor arrangement; and (ii) implementing the control arrangement using a data processing arrangement, such that one or more feedback functions (Hi(t, Θ),
H2(t, Θ)), relating the signal from the sensor arrangement to the drive signal applied to the actuator arrangement, is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (Θ).
According to a third aspect, there is provided a software product recording on machine-readable data storage media, characterized in that the software product is executable upon computing hardware for implementing a method of operating a power-assisted steering system for a vehicle.
It will be appreciated that features of the invention are susceptible to being combined in various combinations without departing from the scope of the invention as defined by the appended claims.
The present invention is included in the general business context, which aims to substitute vehicles powered by traditional fuels, for example gasoline or diesel, by electric vehicles. In particular, the present invention
- 5is intended for use in electric vehicles used within cities, which can be highly beneficial to the local environment due to significant reduction of gaseous emissions as well as significant reduction of noise. Overall environmental benefits can also be significant when electric vehicles are charged from renewable energy sources.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the present disclosure will now be described, by way of example only, with reference to the following diagrams wherein:
FIG. 1 is a schematic illustration of a vehicle including a power-assisted steering system, in accordance with an embodiment of the present disclosure;
FIG. 2 is a block diagram of a control arrangement implemented by a feedback loop, in accordance with an embodiment of the present disclosure;
FIG. 3 is a graph illustrating a relationship between temporal characteristics (t) of a feedback function H(t, 0) and angular steering orientation (Voutput) of front pair of wheels, in accordance with an embodiment of the present disclosure;
FIG. 4 is a graph illustrating a relationship between angular characteristics (0) of the feedback function H(t, 0) and the angular steering orientation (Voutput) of the front pair of wheels, in accordance with an embodiment of the present disclosure;
FIG. 5 is an exemplary graphical user interface of a software application management and infotainment arrangement for providing for dynamic control of the feedback function H(t, 0), in accordance with an embodiment of the present disclosure; and
-6FIG. 6 is an illustration of steps of a method of operating a powerassisted steering system for a vehicle, in accordance with an embodiment of the present disclosure.
In the accompanying diagrams, an underlined number is employed to 5 represent an item over which the underlined number is positioned or an item to which the underlined number is adjacent. A non-underlined number relates to an item identified by a line linking the non-underlined number to the item. When a number is non-underlined and accompanied by an associated arrow, the non-underlined number is used to identify a io general item at which the arrow is pointing.
DETAILED DESCRIPTION OF EMBODIMENTS
In overview, embodiments of the present disclosure are concerned with power-assisted steering systems of vehicles, for example electrical vehicles, namely power-assisted steering systems that are operable to employ a motor arrangement for providing power assistance to the vehicle. Moreover, embodiments of the present disclosure are concerned with methods of operating power-assisted steering systems of vehicles, for example of electrical vehicles.
Referring to FIG. 1, shown is a schematic illustration of a vehicle 100 including a power-assisted steering system 110, in accordance with an embodiment of the present disclosure. As shown, the vehicle 100 includes a steering wheel 120 and a front pair of wheels 130 that are steerable to control a direction of travel of the vehicle 100 when in operation. In an embodiment, the vehicle 100 is an electrical vehicle.
Furthermore, the power-assisted steering system 110 includes a coupling arrangement 140 for coupling a turning torque (Ti) applied to the steering wheel 120 to a corresponding turning torque (T2) applied to the front pair of wheels 130; it will be appreciated that a steering angle θ2 of the front pair of wheels 130 is a function F of steering angle θι of the steering wheel 120, namely θ2 = Γ(θι, t), wherein t denotes time.
- 7 Optionally, the coupling arrangement 140 includes a gearing arrangement. Additionally, the power-assisted steering system 110 includes a first sensor arrangement 150 for measuring the angular position (θι) of the steering wheel 120, a second sensor arrangement for measuring the angular position (62) of the front pair of wheels 130, an actuator arrangement 170 (for example, implemented using an electric motor or an electromagnetic linear actuator, for example a permanentmagnet electrical motor, although not limited thereto) for applying the turning torque Ti to the coupling arrangement 170 to influence, at least in part, the torque T2 applied to the front pair of wheels 130, and a control arrangement 160 for receiving a signal from the first sensor arrangement 150 representative of the angular position (θι) of the steering wheel 120, for receiving a signal from the second sensor arrangement representative of the angular position (θ2) of the front pair of wheels 130, and for applying a corresponding drive signal to the actuator arrangement 170. Moreover, the actuator arrangement 170 is implemented using an electrical motor arrangement, as aforementioned. It will be appreciated that in an instance when the vehicle 100 is an electrical vehicle, the electrical motor arrangement of the actuator arrangement 170 is different from an electrical motor (such as an electrical motor 180 of the vehicle 100) of a drive train of the electrical vehicle. Optionally, the electrical motor arrangement of the actuator arrangement 170 is coupled to a battery unit of the drive train of the electrical vehicle. Alternatively and optionally, the electrical motor arrangement of the actuator arrangement
170 is coupled to a battery arrangement (not shown) (for example 12
Volt) auxiliary electrical power network of the vehicle 100) that is independent of the battery unit of the drive train of the electrical vehicle 100.
Referring next to FIG. 2, there is shown a block diagram of the control arrangement 160 implemented by a feedback loop, in accordance with an embodiment of the present disclosure. Optionally, the feedback loop is
- 8implemented using an algorithm. Furthermore, the control arrangement 160 is operable to implement the feedback loop, represented mathematically by the transfer function:
T2 = Ti{Gi(t)/[l + Gi(t)Hi(t)]} Eq. (1) θ2 = 0i{G2(t)/[l + G2(t)H2(t)]} Eq. (2) wherein, Gi(t) and G2(t) are (positive) gains for torque and steering angle applied by the steering wheel 120, and Hi(t) and H2(t) are (negative) feedback function; thus, Eq. (1) and Eq. (2) represent negative feedback control loops. It will be appreciated that the gains Gi(t), G2(t) and the io feedback functions Hi(t) and H2(t) are both potentially functions of time (t) and therefore, Eq. (1) and Eq. (2) represent linear time-invariant (LTI) aspect of a system. Optionally, the gains Gi(t) and G2(t) is determined by a mechanical coupling mechanism 200 of the coupling arrangement. In an example, the mechanical coupling mechanism 200 comprises levers, cog-wheels, rotatable shafts, and so forth.
In operation, a driver of the vehicle 100 provides the turning torque Ti by rotating the steering wheel 120 around an axis of a steering column associated with the steering wheel 120. In response to such a rotation of the steering wheel 120, the angular steering orientation θ2 of the front pair of wheels 130 is changed to control a direction of travel of the vehicle
100. Moreover, each of the pair of front wheels 130 is rotated about a vertical axis (such as an axis along top to bottom of the vehicle). For example, an angle of θ2 = 0° corresponds to a straight ahead orientation of the front pair of wheels 130 (and the vehicle 100). However, the angle of rotation θι provided to the steering wheel 120 may not be equal to a change in the angular steering orientation of the front pair of wheels 130. Furthermore, such a change in the angular θ2 steering orientation of the front pair of wheels 130 depends upon a steering ratio R of the vehicle 100. It will be appreciated that a higher value of the steering ratio R corresponds to a higher change in the angular steering orientation
- 9θ2 of the front pair of wheels 130 for a given rotation θι of the steering wheel 120. For example, a vehicle with a steering ratio of 20:1 (= R) corresponds to a 360° rotation (θι) of steering wheel 120 to achieve a change of 18° in the angular steering orientation (62) of the front pair of wheels 130. In another example, a vehicle with a steering ratio of 12:1 (= R) corresponds to a 360° rotation (θι) of the steering wheel 120 to achieve a change of 30° in the angular steering orientation (θ2) of the front pair of wheels 130.
Furthermore, the power-assisted steering system 110 enables control of the angular steering orientation (62) of the front pair of wheels 130 based upon the turning torque (Ti) and angle (θι) provided by the steering wheel 120, using the control arrangement 160. As shown, the control arrangement 160 is operable to receive the signal from the sensor arrangement 150 that is indicative of the angular position (θι) of the steering wheel 120, such that a change represented in the angular position (θι) of the steering wheel 120 is indicative of the turning angle (62) pf the front pair of wheels 130. Furthermore, the control arrangement 160 is also operable to control the drive signal to the actuator arrangement 170 for changing the angular steering orientation 62 of the pair of front wheels 130. It will be appreciated that at least a portion of the torque T2 is mechanically derived from the torque Ti applied to the steering wheel 120.
Additionally, such control of the drive signal is achieved by control of the feedback functions Hi(t) and H2(t) that are provided by a data processing arrangement 210. It will be appreciated that the turning torque Ti will experience the signal gain Gi(t). For example, the signal gain Gi(t) is obtained from the mechanical coupling mechanism 200. However, the signal gain Gi(t) of the turning torque Ti is relatively low, for example less than a value 10, so that the driver is able to feel forces that the front pair of wheels 120 experience during driving of the vehicle 100. It will be appreciated that Eq. (1) and Eq. (2) can be approximated to:
- 10 T2 = Ti{l/Hi(t)} Eq. (3) θ2= 02{1/H2(t)} Eq. (4)
Additionally, the control arrangement 160 is implemented using the data processing arrangement 210, such that a feedback functions Hi(t), H2(t) relating the signal from the sensor arrangement 150 to the drive signal applied to the actuator arrangement 170, is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (Θ). For example, it will be appreciated that the gains Gi(t), G2(t) and the feedback functions Hi(t), H2(t) can also be functions of the angular io position (Θ) of the steering wheel 120.
Optionally, one or more of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled based on at least one of, a speed of the vehicle 100, a driving mode of the vehicle 100, a driving scheme of the vehicle 100, a road surface quality, and/or environmental factors. In an example, the driver of the vehicle 100 may be required to select a driving mode of the vehicle 100. Optionally, the driving mode of the vehicle 100 includes a comfort mode, an economy mode, and/or a sports mode.
Optionally, the angular characteristics (Θ) of the feedback function H2(t, Θ) is controlled to regulate a steering ratio R of the vehicle 100.
Furthermore, the steering ratio R of the vehicle 100 may be regulated to alter an amount of effort required to be exerted by the driver of the vehicle 100 to steer the vehicle 100. For example, an amount of rotation θι of the steering wheel 120 that is required to be provided by the driver, to control the angular steering orientation θ2 of the front pair of wheels
130, corresponds to the effort required to be exerted by the driver of the vehicle 100. In an example, the comfort driving mode of the vehicle 100 corresponds to a comfortable driving experience for the driver, such that minimal effort is required to be exerted by the driver to steer the vehicle 100. In such instance, the angular characteristics (Θ) of the feedback function H2(t, Θ) and therefore, the steering ratio R of the vehicle 100 are
- 11 controlled to minimize such effort exerted by the driver to steer the vehicle 100. In another example, the sports driving mode of the vehicle 100 corresponds to an exciting driving experience for the driver of the vehicle 100. In such instance, the angular characteristics (Θ) of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled to make the steering response of the vehicle 100 seem highly responsive or ultra-perky. For example, in the sports driving mode of the vehicle 100, the vehicle 100 may be operable to oversteer and/or understeer during turning thereof. In such instance, the feedback function H2(t, θ) is regulated in a dynamic io (non-linear) manner, to enable such oversteering and/or understeering of the vehicle 100. Additionally, or alternatively, the feedback function Hi(t, Θ) is regulated in a dynamic (non-linear) manner, to enable a form of sensual torque oversteering and/or understeering of the vehicle 100.
Optionally, the temporal characteristics (t) of the feedback function Hi(t,
Θ), optionally likewise the feedback function H2(t, Θ), are controlled to regulate a steering sensitivity of the vehicle 100. For example, the driver of the vehicle 100 may be required to select a driving scheme of the vehicle 100, for example as presented on a menu of a graphical user interface (GUI) of the vehicle 100. Optionally, the driving scheme of the vehicle 100 includes a novice driving scheme, an intermediate driving scheme, and/or an experienced driving scheme. It will be appreciated that a novice driver (such as a driver who is still learning to drive) of the vehicle 100 may have a tendency to rotate the steering wheel 120 more than a required amount and/or at a different pace than required to change the angular steering orientation θ2 of the front pair of wheels 130. In such an instance, subsequent to selection of the novice driving scheme of the vehicle 100, the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled to regulate a steering sensitivity such that a slow or sluggish steering response is provided. In an example, such slow steering response is provided by one or more poles in Eq. (1) and/or Eq. (2). In another example, an experienced driver of the vehicle
- 12 100 may know the correct amount of rotation that is required to be provided to the steering wheel 120 to change the angular steering orientation 02 of the front pair of wheels 130. In such instance, the driver of the vehicle 100 may select the experienced driving scheme of the vehicle 100 and in response to such selection, the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled to regulate a steering sensitivity such that fast or quick response steering is provided. For example, such quick response steering is provided by one or more zeroes of the transfer function io represented by Eq. 1.
Optionally, the angular characteristics (Θ) and/or the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled based on the speed of the vehicle 100. For example, it will be appreciated that at higher driving speeds of the vehicle 100, a higher level of vehicle control is required, such as, for safety of the driver and/or passengers of the vehicle. In such instance, the angular characteristics (Θ) and/or the temporal characteristics (t) of the feedback function Hi(t, Θ), H2(t, Θ) are controlled to provide such higher level of control of the vehicle 100, for example reducing a prominence of aforementioned one or more poles in the transfer function represented by Eq. (1) and/or Eq. (2). Optionally, the angular characteristics (Θ) and/or the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled based on a road surface quality of the road that the vehicle 100 is driving along. For example, the road may have irregularities such as potholes, speed bumps, and so forth. It will be appreciated that in such instance, a higher level of control of the vehicle 100 is required, to enable the driver to avoid such irregularities. In such instance, the angular characteristics (Θ) and/or the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are controlled to provide such higher level of control of the vehicle 100. In an example, the temporal characteristics (t) of the feedback function Hi(t, Θ), H2(t, Θ) is regulated to regulate the
- 13 steering sensitivity and provide a faster steering response, to enable the driver to drive around such irregularities. Optionally, the vehicle 100 includes one or more vibration sensors associated therewith, to sense the irregularities in the road in real-time. In such instance, the angular characteristics (Θ) and/or the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are dynamically adapted in real-time to enable the driver of the vehicle 100 to avoid such irregularities.
Optionally, the angular characteristics (Θ) and/or the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ) are io controlled based on environmental factors in the area that the vehicle 100 is driving in. In an example, such environmental factors may include presence of snow, dust, precipitation, black ice and so forth on the road.
In such instance, the angular characteristics (Θ) and/or the temporal characteristics (t) of one or more of the feedback functions Hi(t, Θ), H2(t,
Θ) are controlled to provide a higher level of control of the vehicle 100. Optionally, the vehicle 100 includes one or more sensors such as a precipitation sensor, a temperature sensor and so forth, to obtain realtime information of environmental factors in the area that the vehicle 100 is driving in. Alternatively and optionally, the vehicle 100 is communicably coupled to a remote database comprising weather forecast information, to enable the vehicle 100 to obtain information about the environmental factors in the area that the vehicle 100 is driving in.
Optionally, one or more motion sensors associated with the vehicle 100 are operable to sense an erratic motion of the vehicle 100. For example, such erratic motion may result in an instance when the vehicle 100 encounters black ice and subsequently, loses control (such as, begins to spin) due to loss of traction of wheels of the vehicle 100 with the road. In such instance, the angular characteristics (Θ) and/or the temporal characteristics (t) of one or more of the feedback functions Hi(t, Θ), H2(t,
Θ) are controlled to enable the driver of the vehicle 100 to regain control of the vehicle 100.
- 14 Referring to FIG. 3, shown is a graph 300 illustrating a relationship between the temporal characteristics (t) of one or more of the feedback function Hi(t, Θ), H2(t, Θ) represented on abscissa and the angular steering orientation θ2 and/or torque T2 of the front pair of wheels 130 represented on ordinate, in accordance with an embodiment of the present disclosure. Furthermore, a curve plotted on the graph 300 represents a steering sensitivity of a vehicle (such as the vehicle 100 of FIG. 1).
For example, at a point A, a high steering sensitivity is obtained, io corresponding to a quick response steering of the vehicle 100. At a point B, an intermediate steering sensitivity is obtained, corresponding to a normal (or default) steering response of the vehicle 100. At point C, a low steering sensitivity is obtained, corresponding to a sluggish steering response of the vehicle 100.
Referring to FIG. 4, there is shown a graph 400 illustrating a relationship between the angular characteristics (Θ) of one or more of the feedback functions Hi(t, Θ), H2(t, Θ) represented on an abscissa axis, and the angular steering orientation (θ2) and/or torque (T2) of the front pair of wheels 130 represented on an ordinate axis, in accordance with an embodiment of the present disclosure. At a point A, a slow steering ratio is obtained. For example, the vehicle 100 may tend to provide a feeling of understeer to the driver of the vehicle 100 when the angular characteristics (Θ) of the feedback functions Hi(t, Θ), H2(t, Θ) correspond to the point A of the curve. At a point B, an intermediate steering ratio is obtained, corresponding to a normal (or default) steering ratio of the vehicle 100. At a point C, a high steering ratio is obtained. For example, the vehicle 100 may tend to provide a feeling of oversteer when the angular characteristics (Θ) of the feedback functions Hi(t, Θ), H2(t, Θ) correspond to the point C of the curve.
- 15 Referring to FIG. 5, illustrated is an exemplary graphical user interface 500 of a software application management and infotainment (SAMI) arrangement for providing for dynamic control of one or more of the feedback functions Hi(t, 0), H2(t, Θ), for example merely one of the feedback functions or both the feedback functions, in accordance with an embodiment of the present disclosure. Optionally, the data processing arrangement (shown in FIG. 2) is controlled from the software application management and infotainment (SAMI) arrangement that is provided with the graphical user interface 500 for providing for dynamic control of the io feedback functions Hi(t, 0), H2(t, 0). More optionally, the graphical user interface 500 is provided on a computing hardware associated with the vehicle 100. For example, such computing hardware includes a carputer, a smartphone, a tablet computer, and so forth. As shown, the graphical user interface 500 provides the driver of the vehicle 100 with an option to select the driving scheme of the vehicle 100 by providing a message such as Please select driving scheme and associated options 520, 530, 540. As shown, the option for intermediate driving scheme 530 has been selected. In an example, the intermediate driving scheme 530 may be the default driving scheme for the vehicle, such as, in an instance when no driving scheme is selected by the driver.
Optionally, the software application management and infotainment (SAMI) arrangement is operable to provide alternative driving options. For example, such options include auto-drive, auto-park, auto-reverse, regain control, and so forth. Furthermore, subsequent to selection of one of the alternative driving options, the software application management and infotainment (SAMI) arrangement is operable to regulate dynamically the angular characteristics (0) and/or the temporal characteristics (t) of the feedback functions Hi(t, 0), H2(t, 0) to enable steering of the vehicle 100.
Optionally, the software application management and infotainment (SAMI) arrangement is operable to regulate the angular characteristics (0) and/or
- 16 the temporal characteristics (t) of the feedback functions Hi(t, Θ), H2(t, Θ), independently for each wheel of the pair of front wheels 130 of the vehicle 100. In an example, a different steering response is provided for each wheel of the pair of front wheels 130 of the vehicle 100; for example, the steering response are made mutually different between the front wheels 130 as a function of the steering angle θ„ so that the driver feels one front wheel more than another when performing a steering operation. In such an instance, the actuator arrangement 170 is implemented as an electrical motor arrangement comprising multiple io motors, such that at least one motor is provided for each wheel of the pair of front wheels 130 of the vehicle 100; alternatively, a plurality of different current drives regimes for the electrical motors can be employed in operation.
Referring to FIG. 6, illustrated are steps of a method 600 of operating a power-assisted steering system for a vehicle, in accordance with an embodiment of the present disclosure. Furthermore, the vehicle includes a steering wheel and a front pair of wheels that are steerable to control a direction of travel of the vehicle when in operation. Moreover, the vehicle includes a coupling arrangement for coupling a turning torque Ti applied to the steering wheel to an output torque T2 applied in operation to the front pair of wheels. Additionally, the power-assisted steering system includes a sensor arrangement for measuring an angular position (θι) of the steering wheel, an actuator arrangement for applying the turning torque T2 to the coupling arrangement to influence, at least in part, the angular steering orientation θ2 of the front pair of wheels, and a control arrangement for receiving a signal from the sensor arrangement representative of the angular position (θι) of the steering wheel and for applying a corresponding drive signal to the actuator arrangement. At a step 610, the actuator arrangement is implemented using an electrical motor arrangement. At a step 620, the control arrangement is implemented using a data processing arrangement, such that one or more
- 17 feedback functions Hi(t, Θ), H2(t, Θ) relating the signal from the sensor arrangement applied to the drive signal to the actuator arrangement is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (Θ).
The steps 610 to 620 are only illustrative and other alternatives can also be provided where one or more steps are added, one or more steps are removed, or one or more steps are provided in a different sequence without departing from the scope of the claims herein. In an example, the vehicle is an electrical vehicle. In another example, the method includes io controlling the temporal characteristics (t) of the feedback functions Hi(t, Θ), Hi(t, Θ) to regulate a steering ratio of the vehicle. Alternatively, the method includes controlling the angular characteristics (Θ) of the feedback functions Hi(t, Θ), Hi(t, Θ) to regulate a steering sensitivity of the vehicle. In yet another example, one or more of the feedback functions Hi(t, Θ),
Hi(t, Θ) are controlled based on at least one of a speed of the vehicle, a driving mode of the vehicle, a driving scheme of the vehicle, road surface quality and/or environmental factors.
The present disclosure also provides a software product recording on machine-readable data storage media, characterized in that the software product is executable upon computing hardware for implementing the method of operating the power-assisted steering system for a vehicle.
The power-assisted steering system of the present disclosure includes a control arrangement that enables power assistance provided to a vehicle to be dynamically adapted. For example, the power assistance provided to the vehicle may be adapted by a driver by selection of a driving mode and/or a driving scheme of the vehicle. Such an adjustment of power assistance by the driver of the vehicle enables different driving experiences to be provided thereto, enabling a more enjoyable driving experience for the driver. Additionally, the power assistance provided to the vehicle may be easily adapted by the driver using a graphical user
- 18 interface (GUI). Furthermore, the power assistance provided to the vehicle may be automatically adapted based on factors such as a speed of the vehicle, road surface quality and/or environmental factors. For example, automatic adaptation of the power assistance provided to the vehicle based on irregularities in the road or bad weather conditions, improves safety of passengers of the vehicle by enabling better vehicle control by the driver. Moreover, the electrical arrangements such as the sensor arrangement, the control arrangement and the actuator arrangement increase reliability of the power-assisted steering system of the present disclosure over conventional hydraulic power-assisted steering systems. Additionally, the actuator arrangement that is driven by an independent battery arrangement included therewith enables an increase in fuel efficiency of the vehicle by elimination of a need to draw power from an internal combustion engine and/or a battery unit of the vehicle.
Modifications to embodiments of the invention described in the foregoing are possible without departing from the scope of the invention as defined by the accompanying claims. Expressions such as including, comprising, incorporating, consisting of, have, is used to describe and claim the present invention are intended to be construed in a non20 exclusive manner, namely allowing for items, components or elements not explicitly described also to be present. Reference to the singular is also to be construed to relate to the plural. Numerals included within parentheses in the accompanying claims are intended to assist understanding of the claims and should not be construed in any way to limit subject matter claimed by these claims.
Claims (14)
1. A power-assisted steering system (110) for a vehicle (100) including a steering wheel (120), a front pair of wheels (130) that are steerable to
5 control a direction of travel of the vehicle (100) when in operation, and a coupling arrangement (140) for coupling a turning torque (Ti) applied to the steering wheel (120) to a turning torque (T2) of the front pair of wheels (130), wherein the power-assisted steering system (110) includes a sensor arrangement (150) for measuring an angular position (θι) of the io steering wheel (120), an actuator arrangement (170) for applying the turning torque (T2) to the coupling arrangement (140) to influence, at least in part, the angular steering orientation (θ2) of the front pair of wheels (130), and a control arrangement (160) for receiving a signal from the sensor arrangement (150) representative of the angular position (θι)
15 of the steering wheel (120) and for applying a corresponding drive signal to the actuator arrangement (170), characterized in that:
(i) the actuator arrangement (170) is implemented using an electrical motor arrangement; and (ii) the control arrangement (160) is implemented using a data
20 processing arrangement (210), such that one or more feedback functions (Hi(t, 0), H2(t, 0)), relating the signal from the sensor arrangement (150) to the drive signal applied to the actuator arrangement (170), is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (0).
25
2. A power-assisted steering system (110) of claim 1, characterized in that the vehicle (100) is an electrical vehicle.
3. A power-assisted steering system (110) of claim 1, characterized in that the angular characteristics (0) of one or more of the feedback
30 functions (Hi(t, 0), H2(t, 0)) are controlled to regulate a steering ratio of the vehicle (100).
-204. A power-assisted steering system (110) of claim 3, characterized in that the temporal characteristics (t) of one or more the feedback functions
5 (Hi(t, 0), Hi(t, Θ)) are controlled to regulate a steering sensitivity of the vehicle (100).
5. A power-assisted steering system (110) of claim 1, characterized in that one or more of the feedback functions (Hi(t, 0), H2(t, Θ)) is controlled io based on at least one of: a speed of the vehicle (100), a driving mode of the vehicle (100), a driving scheme of the vehicle (100), a road surface quality, one or more environmental factors.
6. A power-assisted steering system (110) of claim 5, characterized in
15 that the driving mode of the vehicle (100) includes: a comfort mode, an economy mode, a sport mode.
7. A power-assisted steering system (110) of claim 5, characterized in that the driving scheme of the vehicle (100) includes: a novice driving
20 scheme, an intermediate driving scheme, an experienced driving scheme.
8. A power-assisted steering system (110) of any one of the preceding claims, characterized in that the data processing arrangement (210) is controlled from a software application management and infotainment
25 (SAMI) arrangement that is provided with a graphical user interface (500) for providing for dynamic control of one or more of the feedback functions (Hx(t, Θ), H2(t, 0)).
9. A method of operating a power-assisted steering system (110) for a
30 vehicle (100), wherein the power-assisted steering system (110) includes a steering wheel (120), a front pair of wheels (130) that are steerable to control a direction of travel of the vehicle (100) when in operation, and a
-21 coupling arrangement (140) for coupling a turning torque (Ti) applied to the steering wheel (120) to a turning torque (T2) of the front pair of wheels (130), wherein the power-assisted steering system (110) includes a sensor arrangement (150) for measuring an angular position (θι) of the
5 steering wheel (120), an actuator arrangement (170) for applying the turning torque (T2) to the coupling arrangement (140) to influence, at least in part, the angular steering orientation (θ2) of the front pair of wheels (130), and a control arrangement (160) for receiving a signal from the sensor arrangement (150) representative of the angular position (θι) io of the steering wheel (120) and for applying a corresponding drive signal to the actuator arrangement (170), characterized in that the method includes:
(i) implementing the actuator arrangement (170) using an electrical motor arrangement; and
15 (ii) implementing the control arrangement (160) using a data processing arrangement (210), such that one or more feedback functions (Hi(t, 0), H2(t, 0)), relating the signal from the sensor arrangement (150) to the drive signal applied to the actuator arrangement (170), is dynamically controllable in its temporal
20 characteristics (t) and/or its angular characteristics (0).
10. A method of operating a power-assisted steering system (110) of claim 9, characterized in that the vehicle (100) is an electrical vehicle.
11. A method of operating a power-assisted steering system (110) of
25 claim 9, characterized in that the method includes controlling the temporal characteristics (t) of one or more of the feedback functions (Hi(t, 0), H2(t, 0)) to regulate a steering ratio of the vehicle (100).
12. A method of operating a power-assisted steering system (110) of
30 claim 9, characterized in that the method includes controlling the angular
-22characteristics (Θ) of one or more of the feedback functions (Hi(t, Θ), H2(t, Θ)) to regulate a steering sensitivity of the vehicle (100).
13. A method of operating a power-assisted steering system (110) of
5 claim 9, characterized in that one or more of the feedback functions (Hi(t, Θ), H2(t, 0)) is controlled based on at least one of: a speed of the vehicle (100), a driving mode of the vehicle (100), a driving scheme of the vehicle (100), a road surface quality, one or more environmental factors.
10
14. A software product recording on machine-readable data storage media, characterized in that the software product is executable upon computing hardware for implementing a method of any one of the claims 9 to 13.
^15 σ>
o
Intellectual
Property
Office
Application No: Claims searched:
GB 1706027.8 1-14
13. A method of operating a power-assisted steering system (110) of
5 claim 9, characterized in that one or more of the feedback functions (Hi(t, Θ), H2(t, 0)) is controlled based on at least one of: a speed of the vehicle (100), a driving mode of the vehicle (100), a driving scheme of the vehicle (100), a road surface quality, one or more environmental factors.
io 14. A software product recording on machine-readable data storage media, characterized in that the software product is executable upon computing hardware for implementing a method of any one of the claims 9 to 13.
ο ω τ-- (ii)
AMENDED CLAIMS HAVE BEEN FILED AS FOLLOWS:
1. A power-assisted steering system (110) for a vehicle (100) including a steering wheel (120), a front pair of wheels (130) that are steerable to 5 control a direction of travel of the vehicle (100) when in operation, and a coupling arrangement (140) for coupling a turning torque (Ti) applied to the steering wheel (120) to a turning torque (T2) of the front pair of wheels (130), wherein the power-assisted steering system (110) includes a sensor arrangement (150) for measuring an angular position (θι) of the 10 steering wheel (120), an actuator arrangement (170) for applying the turning torque (T2) to the coupling arrangement (140) to influence, at least in part, the angular steering orientation (θ2) of the front pair of wheels (130), and a control arrangement (160) for receiving a signal from the sensor arrangement (150) representative of the angular position (θι) of the steering wheel (120) and for applying a corresponding drive signal to the actuator arrangement (170), characterized in that:
the actuator arrangement (170) is implemented using an electrical motor arrangement; and the control arrangement (160) is implemented using a data processing arrangement (210), such that one or more feedback functions (Hi(t, 0), H2(t, 0)), relating the signal from the sensor arrangement (150) to the drive signal applied to the actuator arrangement (170), is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (0).
A power-assisted steering system (110) of claim 1, characterized in that the vehicle (100) is an electrical vehicle.
3. A power-assisted steering system (110) of claim 1, characterized in that the angular characteristics (0) of one or more of the feedback
30 functions (Hi(t, 0), H2(t, 0)) are controlled to regulate a steering ratio of the vehicle (100).
25 2.
4. A power-assisted steering system (110) of claim 3, characterized in that the temporal characteristics (t) of one or more the feedback functions
5 (Hi(t, Θ), Hi(t, Θ)) are controlled to regulate a steering sensitivity of the vehicle (100).
5. A power-assisted steering system (110) of claim 1, characterized in that one or more of the feedback functions (Hi(t, Θ), H2(t, Θ)) is controlled io based on at least one of: a speed of the vehicle (100), a driving mode of the vehicle (100), a driving scheme of the vehicle (100), a road surface quality, one or more environmental factors.
6. A power-assisted steering system (110) of claim 5, characterized in 1^15 that the driving mode of the vehicle (100) includes: a comfort mode, an economy mode, a sport mode.
o
7. A power-assisted steering system (110) of claim 5, characterized in i— that the driving scheme of the vehicle (100) includes: a novice driving
20 scheme, an intermediate driving scheme, an experienced driving scheme.
8. A power-assisted steering system (110) of any one of the preceding claims, characterized in that the data processing arrangement (210) is controlled from a software application management and infotainment
25 (SAMI) arrangement that is provided with a graphical user interface (500) for providing for dynamic control of one or more of the feedback functions (Hx(t, 0), H2(t, 0)).
9. A method of operating a power-assisted steering system (110) for a
30 vehicle (100), wherein the power-assisted steering system (110) includes a steering wheel (120), a front pair of wheels (130) that are steerable to control a direction of travel of the vehicle (100) when in operation, and a coupling arrangement (140) for coupling a turning torque (Ti) applied to the steering wheel (120) to a turning torque (T2) of the front pair of wheels (130), wherein the power-assisted steering system (110) includes a sensor arrangement (150) for measuring an angular position (θι) of the
5 steering wheel (120), an actuator arrangement (170) for applying the turning torque (T2) to the coupling arrangement (140) to influence, at least in part, the angular steering orientation (θ2) of the front pair of wheels (130), and a control arrangement (160) for receiving a signal from the sensor arrangement (150) representative of the angular position (θι)
10 of the steering wheel (120) and for applying a corresponding drive signal to the actuator arrangement (170), characterized in that the method includes:
implementing the actuator arrangement (170) using an electrical motor arrangement; and implementing the control arrangement (160) using a data processing arrangement (210), such that one or more feedback functions (Hi(t, 0), H2(t, 0)), relating the signal from the sensor arrangement (150) to the drive signal applied to the actuator arrangement (170), is dynamically controllable in its temporal characteristics (t) and/or its angular characteristics (0).
A method of operating a power-assisted steering system (110) of claim 9, characterized in that the vehicle (100) is an electrical vehicle.
11. A method of operating a power-assisted steering system (110) of
25 claim 9, characterized in that the method includes controlling the temporal angular characteristics (t) of one or more of the feedback functions (Hi(t, 0), H2(t, 0)) to regulate a steering ratio of the vehicle (100).
(i) (ii) σ>
o
10.
12. A method of operating a power-assisted steering system (110) of 30 claim 9, characterized in that the method includes controlling the angular temporal characteristics (θ) of one or more of the feedback functions (Hi(t, Θ), H2(t, Θ)) to regulate a steering sensitivity of the vehicle (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1706027.8A GB2552235B (en) | 2017-04-13 | 2017-04-13 | Power-assisted steering system for vehicles and method of operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1706027.8A GB2552235B (en) | 2017-04-13 | 2017-04-13 | Power-assisted steering system for vehicles and method of operation |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201706027D0 GB201706027D0 (en) | 2017-05-31 |
| GB2552235A true GB2552235A (en) | 2018-01-17 |
| GB2552235B GB2552235B (en) | 2018-08-08 |
Family
ID=58744469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1706027.8A Expired - Fee Related GB2552235B (en) | 2017-04-13 | 2017-04-13 | Power-assisted steering system for vehicles and method of operation |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2552235B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1093992A2 (en) * | 1999-10-19 | 2001-04-25 | Toyota Jidosha Kabushiki Kaisha | Electric power steering unit for vehicle |
| US20010027895A1 (en) * | 2000-04-05 | 2001-10-11 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle including a variable gear ratio steering device and an electric power steering apparatus |
| US20100280716A1 (en) * | 2009-04-30 | 2010-11-04 | Jitendra Shah | Active Steering System |
| EP2749477A2 (en) * | 2012-12-25 | 2014-07-02 | Jtekt Corporation | Electric power steering system |
| US20150175199A1 (en) * | 2013-12-24 | 2015-06-25 | Honda Motor Co., Ltd. | Vehicle steering device |
-
2017
- 2017-04-13 GB GB1706027.8A patent/GB2552235B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1093992A2 (en) * | 1999-10-19 | 2001-04-25 | Toyota Jidosha Kabushiki Kaisha | Electric power steering unit for vehicle |
| US20010027895A1 (en) * | 2000-04-05 | 2001-10-11 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle including a variable gear ratio steering device and an electric power steering apparatus |
| US20100280716A1 (en) * | 2009-04-30 | 2010-11-04 | Jitendra Shah | Active Steering System |
| EP2749477A2 (en) * | 2012-12-25 | 2014-07-02 | Jtekt Corporation | Electric power steering system |
| US20150175199A1 (en) * | 2013-12-24 | 2015-06-25 | Honda Motor Co., Ltd. | Vehicle steering device |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2552235B (en) | 2018-08-08 |
| GB201706027D0 (en) | 2017-05-31 |
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| COOA | Change in applicant's name or ownership of the application |
Owner name: DETROIT ELECTRIC EV LIMITED Free format text: FORMER OWNER: DE INNOVATION LAB LIMITED |
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| PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 20210413 |