FR3071473B1 - Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee - Google Patents

Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee Download PDF

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Publication number
FR3071473B1
FR3071473B1 FR1758827A FR1758827A FR3071473B1 FR 3071473 B1 FR3071473 B1 FR 3071473B1 FR 1758827 A FR1758827 A FR 1758827A FR 1758827 A FR1758827 A FR 1758827A FR 3071473 B1 FR3071473 B1 FR 3071473B1
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FR
France
Prior art keywords
domain
longitudinal speed
controller
effective
function
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Active
Application number
FR1758827A
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English (en)
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FR3071473A1 (fr
Inventor
Pascal Moulaire
Andre Michelis
Serge Gaudin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JTEKT Europe SAS
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JTEKT Europe SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1758827A priority Critical patent/FR3071473B1/fr
Application filed by JTEKT Europe SAS filed Critical JTEKT Europe SAS
Priority to US16/650,416 priority patent/US11453433B2/en
Priority to CN201880062076.3A priority patent/CN111194289B/zh
Priority to BR112020005607-3A priority patent/BR112020005607A2/pt
Priority to PCT/FR2018/052334 priority patent/WO2019058081A1/fr
Priority to DE112018004394.0T priority patent/DE112018004394T5/de
Priority to JP2020517139A priority patent/JP7233416B2/ja
Publication of FR3071473A1 publication Critical patent/FR3071473A1/fr
Application granted granted Critical
Publication of FR3071473B1 publication Critical patent/FR3071473B1/fr
Active legal-status Critical Current
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Classifications

    • 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
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • 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
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un dispositif de direction assistée (1) comprenant un volant de conduite (2) ainsi qu'un moteur d'assistance (3) commandé par un contrôleur (4) qui utilise au moins une loi de commande en boucle fermée assurant une régulation dudit couple volant, ledit contrôleur (4) comprenant au moins une branche de rétroaction (13) qui calcule une composante de dérivée (Cd) en mesurant ou en évaluant un paramètre d'effort effectif (T2_actual) qui correspond au couple volant effectif, puis en calculant une valeur de dérivée temporelle dudit paramètre d'effort effectif, puis en multipliant ladite valeur de dérivée temporelle par un gain de dérivée (Kd), et où le contrôleur (4) utilise une cartographie tridimensionnelle (15) pour ajuster le gain de dérivée (Kd) en fonction d'une part du paramètre d'effort effectif (T2_actual), et d'autre part de la vitesse longitudinale du véhicule (V_vehic), selon notamment un premier domaine, dit « domaine de parking » (D1), qui s'étend depuis une vitesse longitudinale du véhicule nulle jusqu'à un seuil de vitesse longitudinale (V_thresh) prédéterminé, et un second domaine, dit « domaine de roulage » (D2), qui s'étend au-delà dudit seuil de vitesse longitudinale (V_thresh).
FR1758827A 2017-09-25 2017-09-25 Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee Active FR3071473B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1758827A FR3071473B1 (fr) 2017-09-25 2017-09-25 Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee
CN201880062076.3A CN111194289B (zh) 2017-09-25 2018-09-24 根据方向盘转矩调整漂移增益以改善动力转向***的感觉
BR112020005607-3A BR112020005607A2 (pt) 2017-09-25 2018-09-24 dispositivo de direção assistida compreendendo um volante
PCT/FR2018/052334 WO2019058081A1 (fr) 2017-09-25 2018-09-24 Adaptation d'un gain de dérivée en fonction du couple volant pour améliorer le ressenti d'un système de direction assistée
US16/650,416 US11453433B2 (en) 2017-09-25 2018-09-24 Adaptation of a drift gain according to steering wheel torque in order to improve the feel of a power-steering system
DE112018004394.0T DE112018004394T5 (de) 2017-09-25 2018-09-24 Anpassung einer Driftverstärkung gemäß einem Lenkraddrehmoment zur Verbesserung des Gefühls von einem Servolenksystem
JP2020517139A JP7233416B2 (ja) 2017-09-25 2018-09-24 パワーステアリングシステムの感覚を向上させるための操舵トルクに応じたドリフトゲインの調整

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1758827A FR3071473B1 (fr) 2017-09-25 2017-09-25 Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee
FR1758827 2017-09-25

Publications (2)

Publication Number Publication Date
FR3071473A1 FR3071473A1 (fr) 2019-03-29
FR3071473B1 true FR3071473B1 (fr) 2021-12-10

Family

ID=60515591

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1758827A Active FR3071473B1 (fr) 2017-09-25 2017-09-25 Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee

Country Status (7)

Country Link
US (1) US11453433B2 (fr)
JP (1) JP7233416B2 (fr)
CN (1) CN111194289B (fr)
BR (1) BR112020005607A2 (fr)
DE (1) DE112018004394T5 (fr)
FR (1) FR3071473B1 (fr)
WO (1) WO2019058081A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109799699B (zh) * 2019-02-19 2022-06-07 阿波罗智能技术(北京)有限公司 自动驾驶***控制参数处理方法、装置、设备、存储介质
US11702138B2 (en) * 2021-05-24 2023-07-18 Toyota Research Institute, Inc. Method for lateral control assistance to enable one-handed driving of a vehicle

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5473231A (en) * 1994-05-11 1995-12-05 Trw Inc. Method and apparatus for controlling an electric assist steering system using an adaptive torque filter
JP3809594B2 (ja) * 1997-04-21 2006-08-16 カヤバ工業株式会社 電動式パワーステアリングシステム
US6107767A (en) * 1998-03-20 2000-08-22 Trw Inc. Electric assist steering system having an improved motor current controller with notch filter
US6046560A (en) * 1998-03-20 2000-04-04 Trw Inc. Electric assist steering system having an improved motor current controller with gain scheduler
GB9919277D0 (en) * 1999-08-17 1999-10-20 Trw Lucas Varity Electric Method and apparatus for controlling an electric power assisted steering system using an adaptive blending torque filter
JP4660883B2 (ja) * 2000-05-24 2011-03-30 日本精工株式会社 電動パワーステアリング装置の制御装置
JP3611116B2 (ja) * 2001-10-10 2005-01-19 三菱電機株式会社 電動パワーステアリング制御装置
DE60137373D1 (de) * 2001-11-30 2009-02-26 Trw Automotive Us Llc Verfahren und Vorrichtung zum Regeln von Lenkgefühl mit Diagnosen
JP5137456B2 (ja) * 2007-04-27 2013-02-06 オムロンオートモーティブエレクトロニクス株式会社 電動式パワーステアリング制御装置
US8244434B2 (en) * 2008-06-17 2012-08-14 Agco Corporation Methods and system for automatic user-configurable steering parameter control
JP5164799B2 (ja) * 2008-11-06 2013-03-21 オムロンオートモーティブエレクトロニクス株式会社 電動式パワーステアリング制御装置
JP2014166805A (ja) * 2013-02-28 2014-09-11 Jtekt Corp 電動パワーステアリング装置
KR102172089B1 (ko) * 2014-10-07 2020-10-30 현대모비스 주식회사 페일세이프 기능을 갖는 전동식 동력 조향장치 및 그 제어방법
FR3037671B1 (fr) * 2015-06-19 2017-06-16 Jtekt Europe Sas Utilisation d'un filtre a avance de phase pour separer le reglage du ressenti au volant du reglage de la stabilite d'une commande de direction assistee
US9618938B2 (en) * 2015-07-31 2017-04-11 Ford Global Technologies, Llc Field-based torque steering control
JP6634878B2 (ja) * 2016-02-26 2020-01-22 株式会社ジェイテクト 操舵制御装置

Also Published As

Publication number Publication date
DE112018004394T5 (de) 2020-05-14
CN111194289B (zh) 2022-06-28
US11453433B2 (en) 2022-09-27
JP7233416B2 (ja) 2023-03-06
US20210188344A1 (en) 2021-06-24
FR3071473A1 (fr) 2019-03-29
BR112020005607A2 (pt) 2020-09-29
WO2019058081A1 (fr) 2019-03-28
JP2020535056A (ja) 2020-12-03
CN111194289A (zh) 2020-05-22

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