US 5,703,775 AGrant
Vehicle Steering Control System
Issue Date:1997-12-30
•5 Claims
•9 Drawing Sheets
Abstract
In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. By representing the vehicle with a first-order delay transfer function in regards to its lateral dynamic response for each given steering input, the vehicle operator can handle the vehicle without encountering any substantial resistance even when the steering wheel is turned briskly or at high speed.
Metadata
Assignee
- Honda Giken Kogyo Kabushiki Kaisha
Inventors
- Yorihisa Yamamoto
- Yutaka Nishi
- Takashi Nishimori
- Hiroyuki Tokunaga
- Hideki Machino
Application Information
Application Number:US 4639693
Filing Date:1995-06-05
Priority Date:1993-09-16
Art Unit:234
Classifications
IPC:
B60K 4100B62D 504
Field of Search:
364180424.051;424.01;426.02;426.03443;444;446;422;423;412;415
Patent Drawings (9 sheets)
Description
Technical Field
The present invention relates to a vehicle steering control system, and in particular to a steering control system capable of producing a steering torque that tends to control the undesired behavior of the vehicle when the vehicle is subjected to crosswind or other external interferences.
Background of the Invention
Conventionally, power steering systems are known, and according to the power steering system disclosed in Japanese patent publication No. 50-33584, the steering effort or torque applied to a steering wheel is assisted by an output torque from an electric motor. The gain of the system for the signal obtained by detecting the steering torque applied to the steering wheel by the vehicle operator is varied according to the vehicle speed and the mad condition, and the output torque of the assisting electric motor is accordingly changed so that the optimum actuating torque which actually steers the front wheels may be obtained at all times.
When the vehicle is abruptly subjected to a strong crosswind while traveling a straight course, the vehicle may deviate from the intended straight path of travel. In such a case, it is necessary to apply a counteracting force to the steerable wheels so as to oppose interferences. However, according to such a conventional power steering system, for instance, when the vehicle has started deviating from the intended path as a result of crosswind, because the electric motor can produce an actuating torque only when the vehicle operator applies a steering torque to the steering wheel, the electric motor cannot produce any actuating torque unless the vehicle operator intentionally takes a corrective action.
To control the deviation of the vehicle from the intended straight path, the vehicle operator must apply a corrective steering torque to the steering wheel. However, according to the conventional power steering system, the required steering torque increases as the lateral acceleration and the yaw rate of the vehicle increase, and, accordingly, the steering torque required for counteracting the deviation of the vehicle due to external interferences increases as the lateral acceleration and the yaw rate of the vehicle increase.
Furthermore, the conventional power steering system requires a very small steering torque for its operation, but the vehicle operator receives very little feedback from the steering wheel with regard to the behavior of the vehicle. Therefore, the vehicle operator must depend on his vision and bodily sense of acceleration in assessing the condition of the vehicle when it is subjected to external interferences. As a result, the counter-action by the vehicle operator tends to be delayed, and, therefore, tends to be excessive.
To overcome such problems, it is conceivable to detect the irregular behavior of the vehicle due to external interferences from the yaw rate of the vehicle, and produce a force counteracting the irregular behavior of the vehicle by using an assisting motor so that the irregular behavior of the vehicle may be controlled.
However, according to such a control system based on the use of an electric motor, because the system cannot determine whether the detected yaw rate is due to an intentional steering maneuver or due to external interferences, the electric motor always produces a steering torque which tends to control the yaw rate or which tends to restore the vehicle back to the straight ahead path of travel irrespective of the cause of the yawing movement. As a result, the steering reaction which the electric motor produces may become excessive when the vehicle is making a normal turn. If the control parameters are modified so that the steering reaction may be appropriate at the time of normal steering operation, the vehicle may not be sufficiently protected from external interferences.
It was therefore proposed in United States copending patent application Ser. No. 08/122,615 (now U.S. Pat. No. 5,528,497) filed Sep. 16, 1993 to pre-define a reference yaw rate according to the steering angle, the traveling speed of the vehicle and other factors, and determine the actual steering torque that is to be produced by the electric motor of the power steering system according to the deviation of the actual yaw rate from the pre-defined yaw rate expected from the actual steering input. The contents of each Patent are hereby incorporated in the present application by reference.
The yaw rate response of a vehicle to a steering input is relatively accurately described by a dynamic equation involving a second-order delay, and the vehicle response can be favorably controlled against external disturbances when the reference yaw rate is defined according to this assumption. However, it was discovered that this may not be appropriate when the human response is taken into consideration. More specifically, it was found that the control system may create an excessive opposing torque when the vehicle operator makes quick steering actions, and the vehicle operator is thereby required to exert a substantial effort in making the steering action.
Brief Summary of the Invention
In view of such problems of the previously proposed vehicle steering control system, a primary object of the present invention is to provide an improved vehicle steering control system which is capable of controlling the deviation of the vehicle from an intended path of travel and maintaining a straight ahead course even when the vehicle is subjected to disturbances such as crosswind, without substantially impeding the steering efforts exerted by the vehicle operator.
According to the present invention, this and other objects can be accomplished by providing a vehicle steering control system, comprising steering torque input means; powered steering control means for applying a first actuating torque to steerable wheels of a vehicle according to a steering torque applied to the steering torque input means; means for detecting a lateral dynamic condition of the vehicle; and active reaction generating means for applying a second actuating torque to the steerable wheels so as to control a turning movement of the vehicle according to a signal supplied from the detecting means. The second actuating torque is determined according to a deviation of an actual lateral dynamic response of the vehicle from a reference lateral dynamic response that is computed for each given steering input by representing the vehicle with a first-order delay transfer function. An overall actuating torque applied to the steerable wheels comprises a sum of the first and second actuating torques provided by the powered steering control means and the active reaction generating means.
By thus representing the vehicle with a first-order delay transfer function in regards to its lateral dynamic response for each given steering input, the vehicle operator can handle the vehicle without encountering any substantial resistance even when the steering wheel is turned briskly or at high speed. The lateral dynamic condition may include a yaw rate of the vehicle, and a lateral acceleration of the vehicle.
Brief Description of the Drawings
Now the present invention is described in the following with reference to the appended drawings, in which:
FIG. 1 is a schematic diagram generally illustrating a vehicle steering control system according to the present invention;
FIG. 2 is a block diagram showing the general structure of the vehicle steering control system;
FIG. 3 is a flow chart showing the main control flow of the vehicle steering control system;
FIG. 4 is a flow chart showing step 1 of FIG. 3 in more detail;
FIG. 5 is a flow chart showing step 2 of FIG. 3 in more detail;
FIG. 6 is a flow chart showing step 3 of FIG. 3 in more detail;
FIG. 7 is a block diagram showing the active steering reaction computing unit 23 of FIG. 2 in more detail;
FIG. 8 shows graphs representing the dependence of the weighting functions f1 through f3 on the vehicle speed V; and
FIG. 9 illustrates the movement of the vehicle when it is traveling a straight course and abruptly subjected to crosswind.
Detailed Description of the Preferred Embodiments
FIG. 1 shows the general structure of the vehicle steering system according to the present invention. This device comprises a manual steering force generating unit 1 and an assisting steering force generating unit 2 powered by an electric motor. A steering shaft 4 integrally connected to a steering wheel 3 is connected, at its lower end, to a pinion 6 of a rack and pinion mechanism via a universal joint 5. The rack and pinion mechanism further comprises a rack 7 which can move laterally of the vehicle body and meshes with the pinion 6. The two ends of the rack 7 are connected to the knuckle arms of the right and left front wheels 9 via tie rods 8, respectively. Such structure is conventional, and the normal steering action based on the use of the rack and pinion mechanism can be accomplished.
The rack 7 is coaxially passed through an electric motor 10. More specifically, the rack 7 is passed through a hollow rotor having a drive helical gear 11 which meshes with a driven helical gear 13 mounted to an axial end of a screw shaft 12 of a ball screw mechanism extending in parallel with the rack 7. A nut 14 of the ball screw mechanism is fixedly secured to the rack 7.
The steering shaft 4 is provided with a steering angle sensor 15 for producing a signal corresponding to the rotational angle of the steering wheel 3 and a torque sensor 16 for producing a signal corresponding to a steering torque applied to the steering shaft 4.
The vehicle body carries a lateral acceleration sensor 17 for producing a signal corresponding to the lateral acceleration applied to the vehicle body, a yaw rate sensor 18 for producing a signal corresponding to the yaw rate (angular speed of the yawing movement) of the vehicle body, and a vehicle speed sensor 19 for producing a signal corresponding to the traveling speed of the vehicle.
In this embodiment, the steering wheel 3 and the steerable wheels or the front wheels 9 are mechanically connected to each other, and a control signal obtained by processing the outputs from the various sensors 15 through 19 is supplied to the electric motor 10 via a control unit 20 and a drive circuit 21 so that the output torque of the electric motor 10 may be controlled as required.
FIG. 2 shows a schematic block diagram of a control system to which the present invention is applied. The control unit 20 receives the outputs from the steering angle sensor 15, the steering torque sensor 16, the lateral acceleration sensor 17, the yaw rate sensor 18, and the vehicle speed sensor 19. These output signals are fed to an electric power steering control unit 22 and an active steering reaction computing unit 23, and the outputs from these units are supplied to an output current determining unit 24 so that the target electric current level for the electric motor 10 may be determined.
The electric power steering control unit 22 carries out the control for the normal power assist for the steering force or the actuating torque for the steerable front wheels 9. This control unit 22 may be capable of determining the target actuating torque according to the lateral acceleration and the yaw rate.
The active steering reaction computing unit 23 computes the target actuating torque according to an algorithm which is described hereinafter. The output current determining unit 24 determines the target driving current signal which is proportional or otherwise corresponds to the deviation of the actual steering torque obtained from the torque sensor 16 from the target steering torque value. The target driving current signal is, however, opposite in sign to the deviation.
The target drive current value thus obtained is supplied to the drive circuit 21. This drive circuit 21 controls the electric motor 10, for instance by PWM control, and an actually detected current value obtained from a current detection sensor is fed back to the input signal to the drive circuit 21 or the target drive current value.
In the active steering reaction computing unit 23 in the control unit 20, the process shown by the flow chart of FIG. 3 is cyclically executed at a prescribed period. First of all, in step 1, the output signals from the various sensors are read out, and the steering angular speed and the yaw acceleration are computed. In step 2, the steering reaction TA is determined. A limit is set on the target steering reaction in step 3, and this control signal is added to the output of the electric power steering control unit 22 in step 4.
This control process is described in more detail with reference to FIGS. 4 through 7. With reference to FIG. 4, step 1 includes the following sub steps. First of all, the steering angle .theta. is read (step 21), and the steering angular velocity d.theta./dt is computed by differentiating the steering angle .theta. (step 22). Then, the vehicle speed V is read (step 23), and the reference yaw rate response .gamma..sub.0 is computed according to a predetermined transfer function of the vehicle (step 24). The current actual yaw rate .gamma. is read (step 25), and the deviation of the actual yaw rate from the reference yaw rate .gamma.-.gamma..sub.0 is computed (step 26).
The reference yaw rate .gamma..sub.0 can be expressed as follows.
The transfer function of the vehicle G(s) is represented by the following function involving a first-order delay according to the present invention.
where s is the Laplacian variable, and Km and Tm are constants obtained by parameter identification of the actual vehicle response.
With reference to FIG. 5, step 2 includes the following sub steps. Coefficients f1, f2 and f3 are weighting functions for the steering speed d.theta./dt, the yaw rate deviation .gamma.-.gamma..sub.0 and the actual yaw rate .gamma., and are obtained from data tables using the vehicle speed as the address as illustrated in FIG. 8 (step 31). The steering reaction components T1, T2 and T3 are computed from these variables and the corresponding coefficients (step 32), and the target steering reaction TA is computed by adding up these components (step 33). A constraint is imposed such that T2>T3. Each of the coefficients consists of a generally linear function which progressively increases with the speed, but saturates at a certain vehicle speed. Thus, the weight of each of these coefficients is increased so as to better control the influences of external interferences which tend to increase with the speed.
Step 3 is carded out as shown in FIG. 6. This process corresponds to the action of the limiter L in FIG. 7. First of all, it is determinef whether the target steering reaction TA has exceeded a prescribed level Tmax (step 41), and if that is the case, the target steering reaction TA is set at the prescribed maximum level Tmax (step 42). If the target steering reaction TA is lower than this prescribed level Tmax, it is likewise determined whether the target steering reaction TA has fallen below another prescribed level -Tmax (step 43). If the target steering reaction TA is lower than this prescribed level -Tmax, the target steering reaction TA is set at the prescribed minimum level -Tmax (step 44).
The target steering reaction TA thus determined is added to the target assisting actuating torque, and the sum is converted into a target electric current level by the output current determining unit 24 to be supplied to the drive circuit 21.
Thus, when the vehicle 25 deviates from the intended straight path 26 due to crosswind as illustrated in FIG. 9, the deviation .gamma.-.gamma..sub.0 between the current yaw rate y and the reference yaw rate .gamma..sub.0 is detected, and the electric motor 10 is activated in such a manner that the deviation may be eliminated even in absence of any intentional efforts to turn the steering wheel 3 by the vehicle operator, or that the deviation of the vehicle 25 from the straight path 26 may be eliminated and the vehicle 25 may be brought back on the straight path 26.
Thus, even when the vehicle 25 is subjected to a yaw rate .gamma. due to crosswind or other interferences, and the vehicle operator is not applying any steering effort to the steering wheel, the front wheels 9 are automatically steered so as to restore the vehicle 25 to the straight path without involving any irregular behavior of the vehicle. Even when the vehicle operator is holding on to the steering wheel 3, the same result can be achieved if he simply follows the movement of the steering wheel 3.
When the vehicle is making a turn without involving any substantial external interferences, some yaw rate is produced, but the deviation .gamma.-.gamma..sub.0 between the current yaw rate .gamma. and the reference yaw rate .gamma..sub.0 is so small and the contribution of the deviation to the steering reaction is therefore so small that the vehicle operator can complete the turning maneuver without encountering any excessive steering reaction. Furthermore, when the steering wheel 3 is turned briskly by the vehicle operator, the corresponding advance in the phase gives rise to a corresponding increase in the steering reaction, but as this steering reaction assists the steering effort of the vehicle operator, the vehicle operator can turn the steering wheel all the more easily.
Thus, according to the present invention, the actuating torque that tends to control the lateral movement of the vehicle is applied to the steerable wheels and the irregular lateral movement of the vehicle due to external interferences such as crosswind can be effectively controlled without requiring any efforts on the part of the vehicle operator. In particular, because the transfer function used for obtaining the reference yaw rate consists of a first-order delay function, the steering effort by the vehicle operator is not unduly increased even when the steering wheel is turned briskly. The vehicle equipped with this steering control system therefore demonstrates a highly stable behavior in following a straight course. In short, by proper selection of the parameters, it is possible to achieve both a favorable stability of the vehicle in its cruising condition and an appropriate level of steering reaction during normal turning maneuvers.
Although the present invention has been described in terms of a specific embodiment thereof, it is possible to modify and alter details thereof without departing from the spirit of the present invention.
Claims
What we claimed is:
1. A vehicle steering control system, comprising steering torque input means; powered steering control means for applying a first actuating torque to steerable wheels of a vehicle according to a steering torque applied to said steering torque input means; means for detecting a lateral dynamic condition of said vehicle; and active reaction generating means for applying a second actuating torque to said steerable wheels so as to control a turning movement of said vehicle according to a signal supplied from said detecting means, said second actuating torque being determined according to a deviation of an actual lateral dynamic response of said vehicle from a reference lateral dynamic response that is computed for each given steering input by representing said vehicle with a first-order delay transfer function; whereby an overall actuating torque applied to said steerable wheels comprises a sum of said first and second actuating torques provided by said powered steering control means and said active reaction generating means.
2. A vehicle steering control system according to claim 1, wherein said second actuating torque provided by said active reaction generating means comprises a component which depends on a change rate of steering input.
3. A vehicle steering control system according to claim 1, wherein a contribution of said second actuating torque to said overall actuating torque increases as a vehicle speed increases.
4. A vehicle steering control system according to claim 1, wherein said lateral dynamic condition includes a yaw rate of said vehicle.
5. A vehicle steering control system according to claim 1, wherein said lateral dynamic condition includes a lateral acceleration of said vehicle.