TWI688504B - Active steering control system and method with automatic superimposed compensation - Google Patents
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Abstract
本發明係一種自動疊加補償之主動轉向控制系統及方法，包含有一處理單元，且於接收一主動式駕駛輔助裝置產生的轉向輔助訊號後，產生一目標力矩訊號，並於接收一扭力感測器產生的駕駛者力矩訊號後，疊加目標力矩訊號及駕駛者力矩訊號，以產生一轉向力矩訊號，並根據轉向力矩訊號執行一輔助邏輯運算。由於輔助邏輯運算是同時根據轉向輔助訊號以及駕駛者力矩訊號來運算的，如此一來，該自動疊加補償之主動轉向控制系統所提供的輔助轉向效果將不會直接抵抗到駕駛者控制方向盤的方式，讓駕駛者能更輕鬆地且穩定地控制車體。The present invention is an active steering control system and method for automatic superimposed compensation, which includes a processing unit, and generates a target torque signal after receiving a steering assist signal generated by an active driving assistance device, and receives a torque sensor After the generated driver torque signal, the target torque signal and the driver torque signal are superimposed to generate a steering torque signal, and an auxiliary logic operation is performed according to the steering torque signal. Since the auxiliary logic operation is based on both the steering assist signal and the driver torque signal, the auxiliary steering effect provided by the automatic superimposed compensation active steering control system will not directly resist the way the driver controls the steering wheel. So that the driver can control the car body more easily and steadily.
Description
本發明涉及一種控制系統及方法，尤指一種自動疊加補償之主動轉向控制系統及方法。 The invention relates to a control system and method, in particular to an automatic superimposed compensation active steering control system and method.
現有的車輛已逐漸開始配備越來越多的輔助駕駛系統，用於輔助駕駛者行駛車輛，降低駕駛者的負擔，讓駕駛者能輕鬆且安全的行駛車輛。而在輔助駕駛系統中，目前主要是以防止碰撞為主的先進駕駛輔助系統(ADAS)最受矚目，且國際各大車廠與車電系統廠均大量投入資源與人力來發展先進駕駛輔助系統的關鍵技術與模組。 Existing vehicles have gradually begun to be equipped with more and more assisted driving systems to assist the driver in driving the vehicle, reduce the burden on the driver, and allow the driver to drive the vehicle easily and safely. Among the auxiliary driving systems, the advanced driving assistance system (ADAS), which is mainly based on collision prevention, is the most noticed, and major international car manufacturers and automobile electrical system factories have invested a lot of resources and manpower to develop advanced driving assistance systems. Key technologies and modules.
在先進駕駛輔助系統包含有適應巡航控制(Adaptive Cruise Control,ACC)、車道偏移警示(LDWS)、盲點偵測系統(Blind Spot Detection,BSD)、夜視系統(Night Vision System,NVS)、停車輔助系統(Park Assist System,PAS)、車道跟隨系統(Lane Following System,LFS)、車道維持系統(Lane Keeping System,LKS)等各種功能。這些功能當中大多涉及主動轉向的需求，當先進駕駛輔助系統判斷目前車輛行駛的狀態有碰撞危險時，先進駕駛輔助系統便會提供主動轉向的功能來防止碰撞。 Advanced driver assistance systems include Adaptive Cruise Control (ACC), Lane Departure Warning (LDWS), Blind Spot Detection (BSD), Night Vision System (NVS), parking Various functions such as Park Assist System (PAS), Lane Following System (LFS), Lane Keeping System (LKS), etc. Most of these functions involve the requirement of active steering. When the advanced driving assistance system determines that the current vehicle driving state is in danger of collision, the advanced driving assistance system will provide the function of active steering to prevent collision.
然而，車輛的行駛的過程中，原則上都是由駕駛者來掌握方向盤，來控制車輛的行駛方向。但當先進駕駛輔助系統提供主動轉向的功能時，會影響到駕駛者的駕駛行為，例如先進駕駛輔助系統的主動轉向功能可能會調整方向盤的旋轉角度，駕駛者在掌握方向盤的時候便可能因為先進駕駛輔助系 統的主動轉向功能而導致旋轉方向盤的時候突然增加助力或突然減少助力。如此一來，突發性的主動轉向將有可能會使駕駛者受到驚嚇，進而導致車輛失控等更危險的狀況。 However, during the driving of the vehicle, in principle, the driver controls the steering direction of the vehicle by grasping the steering wheel. However, when the advanced driving assistance system provides the function of active steering, it will affect the driving behavior of the driver. For example, the active steering function of the advanced driving assistance system may adjust the rotation angle of the steering wheel. When the driver masters the steering wheel, he may Driver Assistance Department The system's active steering function causes a sudden increase in power assistance or a sudden decrease in power assistance when the steering wheel is rotated. As a result, sudden active steering may cause the driver to be frightened, which may lead to more dangerous situations such as loss of control of the vehicle.
有鑑於現有的先進駕駛輔助系統在提供主動轉向功能時，可能會使駕駛者受到驚嚇，導致車輛失控產生危險的缺點，本發明提供一種自動疊加補償之主動轉向控制系統及方法，讓駕駛者在主動轉向功能運作的同時能夠輕鬆地且穩定地控制車輛，避免車輛失控的危險。 In view of the shortcomings of the existing advanced driving assistance system that may cause the driver to be frightened when it provides the active steering function, resulting in a dangerous runaway of the vehicle, the present invention provides an automatic superimposed compensation active steering control system and method that allows the driver to While the active steering function is operating, the vehicle can be easily and steadily controlled to avoid the risk of the vehicle losing control.
該自動疊加補償之主動轉向控制系統包含有：一主動式駕駛輔助裝置，產生一轉向輔助訊號；一扭力感測器，產生一駕駛者力矩訊號；一處理單元，電連接該主動式駕駛輔助裝置及該扭力感測器，且當該處理單元接收該轉向輔助訊號後，該處理單元根據該轉向輔助訊號產生一目標力矩訊號；其中該處理單元進一步接收該駕駛者力矩訊號，並疊加該目標力矩訊號及該駕駛者力矩訊號，以產生一轉向力矩訊號，且該處理單元根據該轉向力矩訊號執行一輔助邏輯運算；一系統動態補償器，電連接該處理單元，且接收該處理單元的輔助邏輯運算的一運算結果，並補償該運算結果；一電動馬達，電連接該系統動態補償器；其中該系統動態補償器根據補償後的該運算結果控制該電動馬達的一驅動電流。 The automatic superimposed compensation active steering control system includes: an active driving assistance device that generates a steering assistance signal; a torque sensor that generates a driver torque signal; and a processing unit that is electrically connected to the active driving assistance device And the torque sensor, and when the processing unit receives the steering assist signal, the processing unit generates a target torque signal according to the steering assist signal; wherein the processing unit further receives the driver torque signal and superimposes the target torque Signal and the driver torque signal to generate a steering torque signal, and the processing unit performs an auxiliary logic operation according to the steering torque signal; a system dynamic compensator, electrically connected to the processing unit, and receiving the auxiliary logic of the processing unit An operation result of the operation and compensate the operation result; an electric motor electrically connected to the system dynamic compensator; wherein the system dynamic compensator controls a drive current of the electric motor according to the compensated operation result.
該自動疊加補償之主動轉向控制方法係由該主動轉向系統的處理單元所執行，且包含有以下步驟：接收一轉向輔助訊號； 根據該轉向輔助訊號產生一目標力矩訊號；接收一駕駛者力矩訊號；疊加該目標力矩訊號及該駕駛者力矩訊號，以產生一轉向力矩訊號；根據該轉向力矩訊號執行一輔助邏輯運算；輸出該輔助邏輯運算的一運算結果至一系統動態補償器。 The automatic steering compensation automatic steering control method is executed by the processing unit of the active steering system, and includes the following steps: receiving a steering assist signal; Generate a target torque signal according to the steering assist signal; receive a driver torque signal; superimpose the target torque signal and the driver torque signal to generate a steering torque signal; perform an auxiliary logic operation according to the steering torque signal; output the An operation result of the auxiliary logic operation is sent to a system dynamic compensator.
本發明藉由該主動式駕駛輔助裝置產生的轉向輔助訊號來啟動主動轉向功能，且當該處理單元接收到該轉向輔助信號時，並非是直接根據該轉向輔助信號來控制該電動馬達，而是先透過疊加該目標力矩訊號及該駕駛者力矩訊號，讓主動轉向系統之預定轉動力矩與目前駕駛者所施的力矩相疊加，並於疊加後，再進行該輔助邏輯運算。最後，該處理單元便將該輔助邏輯運算的運算結果傳送給該系統動態補償器進行補償後，再產生該驅動電流使該電動馬達進行輔助轉向控制。 In the present invention, the active steering function is activated by the steering assist signal generated by the active driving assist device, and when the processing unit receives the steering assist signal, the electric motor is not directly controlled according to the steering assist signal, but First, by superimposing the target torque signal and the driver torque signal, the predetermined turning torque of the active steering system is superimposed on the torque applied by the current driver, and after the superposition, the auxiliary logic operation is performed. Finally, the processing unit transmits the calculation result of the auxiliary logic operation to the system dynamic compensator for compensation, and then generates the driving current to enable the electric motor to perform auxiliary steering control.
由於該電動馬達的驅動電流是根據經過輔助邏輯運算過的結果來產生的，且該輔助邏輯運算是同時根據主動式輔助駕駛裝置產生的轉向輔助訊號以及對應駕駛者轉動方向盤產生的駕駛者力矩訊號來運算的，如此一來，本發明所提供的輔助轉向效果將不會直接抵抗到駕駛者控制方向盤的方式，讓駕駛者能更輕鬆地且穩定地控制車體。 The driving current of the electric motor is generated according to the result of the auxiliary logic operation, and the auxiliary logic operation is based on the steering assist signal generated by the active assisted driving device and the driver torque signal generated by the driver’s steering wheel. To calculate, in this way, the assisted steering effect provided by the present invention will not directly resist the way the driver controls the steering wheel, allowing the driver to control the vehicle body more easily and stably.
10:自動疊加補償之主動轉向控制系統 10: Active steering control system with automatic superimposed compensation
11:主動式駕駛輔助裝置 11: Active driving assistance device
12:扭力感測器 12: Torque sensor
13:處理單元 13: Processing unit
14:系統動態補償器 14: System dynamic compensator
15:電動馬達 15: Electric motor
16:角度感測器 16: Angle sensor
17:車體資訊感測單元 17: Car body information sensing unit
18:角度控制單元 18: Angle control unit
20:方向盤 20: steering wheel
30:傳動單元 30: Drive unit
40:車輪 40: Wheel
圖1係本發明自動疊加補償之主動轉向控制系統之第一較佳實施例的方塊示意圖。 FIG. 1 is a block diagram of a first preferred embodiment of the automatic steering compensation system of the present invention.
圖2係本發明自動疊加補償之主動轉向控制方法之第一較佳實施例的流程示意圖。 FIG. 2 is a schematic flowchart of a first preferred embodiment of the automatic steering compensation method of the present invention.
圖3及圖4係本發明自動疊加補償之主動轉向控制系統的系統動態補償器的頻率響應圖。 3 and 4 are the frequency response diagrams of the system dynamic compensator of the automatic steering compensation system of the present invention.
圖5係本發明自動疊加補償之主動轉向控制系統之第二較佳實施例的方塊示意圖。 FIG. 5 is a block schematic diagram of a second preferred embodiment of the automatic superimposed compensation active steering control system of the present invention.
圖6A及圖6B係本發明自動疊加補償之主動轉向控制方法之第二較佳實施例的流程示意圖。 6A and 6B are schematic flowcharts of the second preferred embodiment of the automatic steering compensation method of the present invention.
以下配合圖式及本發明之較佳實施例，進一步闡述本發明為達成預定發明目的所採取的技術手段。 In the following, in conjunction with the drawings and preferred embodiments of the present invention, the technical means adopted by the present invention to achieve the intended purpose of the invention will be further described.
請參閱圖1所示，本發明係一種自動疊加補償之主動轉向控制系統及方法，該自動疊加補償之主動轉向控制系統10的一第一較佳實施例包含有一主動式駕駛輔助裝置11、一扭力感測器12、一處理單元13、一系統動態補償器14、一電動馬達15。
Please refer to FIG. 1, the present invention is an automatic superimposed compensation active steering control system and method. A first preferred embodiment of the automatic superimposed compensation active
該主動式駕駛輔助裝置11是用於感測目前車體的行駛狀態，並在需要提供主動轉向需求時，產生一轉向輔助訊號。舉例來說，該主動式駕駛輔助裝置11係一先進駕駛輔助系統(Advanced Driver Assistance Systems；ADAS)，用於根據多種感測器來感測目前車體四周的環境狀況，並根據感測到的結果進行資料處理，並產生對應的輔助訊號提供給駕駛者作為操控車體的參考或是直接對車體進行輔助控制，避免發生危險。在本較佳實施例中，該主動式駕駛輔助裝置11能透過雷達或是影像感測器來感測目前車體四周的環境狀況，當有需要提供主動轉向需求時，例如附近有障礙物、或是車體行駛偏離車道時，該主動式駕駛輔助裝置11便能夠產生該轉向輔助訊號。
The active
該扭力感測器12則是用於連接該車體的一方向盤20，用於感測目前駕駛者控制該方向盤20時所施加的力矩，並對應產生一駕駛者力矩訊號。
The torque sensor 12 is used to connect a
該處理單元13電連接該主動式駕駛輔助裝置11及該扭力感測器12，且當該處理單元13接收該主動式駕駛輔助裝置11產生的轉向輔助訊號後，該處理單元13根據該轉向輔助訊號產生一目標力矩訊號。且該處理單元13進一步接收該扭力感測器12產生的該駕駛者力矩訊號，並疊加該目標力矩訊號及該駕駛者力矩訊號，以產生一轉向力矩訊號。接著，該處理單元13根據該轉向力矩訊號執行一輔助邏輯運算。
The
該系統動態補償器14電連接該處理單元13，且接收該處理單元13的執行該輔助邏輯運算而產生的一運算結果，並補償該運算結果。
The system
該電動馬達15電連接該系統動態補償器14，且該系統動態補償器14根據補償後的該運算結果控制該電動馬達15的一驅動電流，藉此驅動該電動馬達15運轉，提供輔助力矩至該車體的一傳動單元30，以提供駕駛者輔助轉動該車體的車輪40的力量，讓駕駛者能輕鬆地轉動該車輪40，改變該車體的行徑方向。
The
進一步而言，請參閱圖2所示，該自動疊加補償之主動轉向控制方法的一第一較佳實施例係由該主動轉向系統的處理單元13所執行的，且包含有以下步驟：接收一轉向輔助訊號(S201)；根據該轉向輔助訊號產生一目標力矩訊號(S202)；接收一駕駛者力矩訊號(S203)；疊加該目標力矩訊號及該駕駛者力矩訊號，以產生一轉向力矩訊號(S204)；根據該轉向力矩訊號執行一輔助邏輯運算(S205)；
輸出該輔助邏輯運算的一運算結果至一系統動態補償器(S206)。
Further, referring to FIG. 2, a first preferred embodiment of the automatic superimposed compensation active steering control method is executed by the
在本較佳實施例中，該處理單元13是一電動輔助轉向(Electric Power Steering；EPS)系統中的處理單元。而該電動輔助轉向系統是一種透過電動馬達15調整該傳動單元30的輔助力以輔助駕駛者控制該車輪40的轉向，讓駕駛者能夠輕鬆地且穩定地操控該方向盤20。一般來說，該車體在低速行駛的狀況下，該電動輔助轉向系統會提供較大的輔助扭力，讓駕駛者能夠輕鬆地轉動該方向盤40。但是當該車體在高速行駛的狀況下，該電動輔助轉向系統便需要減少輔助扭力，避免高速行駛時該方向盤40過輕，駕駛者容易覺的車體不受控制而發生危險。
In the preferred embodiment, the
綜上所述，本發明藉由該主動式駕駛輔助裝置11產生的轉向輔助訊號來啟動主動轉向功能，且當該處理單元13接收到該轉向輔助信號時，並非是直接根據該轉向輔助信號來控制該電動馬達，而是先透過疊加該目標力矩訊號及該駕駛者力矩訊號，讓主動轉向功能預計轉動力矩與目前駕駛者所施的力矩相疊加，並於疊加後，再進行該輔助邏輯運算。最後，該處理單元13將該輔助邏輯運算的運算結果傳送給該系統動態補償器14進行補償後，再產生該驅動電流使該電動馬達15進行輔助轉向控制。
In summary, the present invention uses the steering assist signal generated by the active
此外，由於本發明的該處理單元13的輔助邏輯運算是根據該電動輔助轉向系統所設計的，且該輔助邏輯運算是同時根據主動式輔助駕駛裝置產生的轉向輔助訊號以及對應駕駛者轉動方向盤產生的駕駛者力矩訊號來運算的。如此一來，本發明所提供的輔助轉向效果將不會直接抵抗到駕駛者控制方向盤的方式，讓駕駛者能更輕鬆地且穩定地控制車體。
In addition, since the auxiliary logic operation of the
進一步而言，該系統動態補償器14的頻率響應圖如圖3及圖4所示，且該系統動態補償器14係根據以下公式進行補償：
其中A n 及B n 是針對不同車體進行的調整參數，藉此使系統更強健穩定。 Wherein A n and B n is the adjustment parameter for different vehicle body, thereby making the system more robust stability.
此外，請參閱圖5所示，該自動疊加補償之主動轉向控制系統10的一第二較佳實施例架構與上述的第一較佳實施例相同，且進一步包含有一角度感測器16、一車體資訊感測單元17及一角度控制單元18。
In addition, referring to FIG. 5, a second preferred embodiment of the automatic superimposed compensation active
該角度感測器16係用於感測該方向盤20的旋轉角度，並據以產生一角度訊號。該車體資訊感測單元17係用於感測該車體，並根據該車體的狀態產生一側向位移資訊。該角度控制單元18係電連接至該系統動態補償器14，用於通過該系統動態補償器14，由該電動馬達15以及該傳動單元30控制該方向盤20的旋轉角度。
The angle sensor 16 is used to sense the rotation angle of the
該處理單元13進一步電連接該角度感測器16、該車體資訊感測單元17及該角度控制單元18。
The
當該處理單元13接收到該轉向輔助訊號時，該處理單元13先根據該轉向輔助訊號通過該角度控制單元18控制該方向盤20的旋轉角度至一目標角度，且根據該車體資訊感測單元17產生的側向位移資訊判斷車體的側向位移是否到達一目標位移。
When the
而當該車體的側向位移未到達該目標位移時，該處理單元13根據該側向位移與該目標位移的差值，調整該轉向輔助訊號，並重新根據該轉向輔助訊號通過該角度控制單元18控制該方向盤20的旋轉角度。
When the lateral displacement of the vehicle body does not reach the target displacement, the
當該車體的側向位移到達該目標位移時，該處理單元13進一步根據該扭力感測器12產生的駕駛者力矩訊號判斷目前是否為一駕駛者轉向狀
態。舉例來說，當該扭力感測器12感測到現在該方向盤20有被施力而轉動時，代表目前駕駛者正在操控該方向盤20進行轉向，此時即為該駕駛者轉向狀態。
When the lateral displacement of the vehicle body reaches the target displacement, the
當目前為駕駛者轉向狀態時，該處理單元13接收該角度感測器16感測該方向盤20的目前旋轉角度而產生的目前角度訊號，並根據該目前角度訊號計算該目前角度與該目標角度的誤差角度，且該處理單元13進一步根據該誤差角度產生該目標力矩訊號。
When the driver is currently turning, the
而當目前非為駕駛者轉向狀態時，該處理單元13重新接收該轉向輔助訊號。
When the driver is not in the steering state, the
進一步而言，請參閱圖6A及圖6B所示，該自動疊加補償之主動轉向控制方法的一第二較佳實施例與該自動疊加補償之主動轉向控制方法的第一較佳實施例的步驟相同，但在根據該轉向輔助訊號產生該目標力矩訊號(S202)的步驟中，還包含有以下子步驟：根據該轉向輔助訊號通過一角度控制單元控制一方向盤的旋轉角度至一目標角度(S2021)；根據一車體資訊感測單元產生的一側向位移資訊判斷車體的側向位移是否到達一目標位移(S2022)；當該車體的側向位移到達該目標位移時，根據一扭力感測器產生的一駕駛者力矩訊號判斷目前是否為一駕駛者轉向狀態(S2023)；當目前為該駕駛者轉向狀態時，接收該角度感測器感測該方向盤的目前旋轉角度而產生的目前角度訊號(S2024)；根據該目前角度訊號計算該目前角度與該目標角度的誤差角度(S2025)；根據該誤差角度產生該目標力矩訊號(S2026)； 當該車體的側向位移未到達該目標位移時，根據該側向位移與該目標位移的差值，調整該轉向輔助訊號(S2027)；並重新根據該轉向輔助訊號通過該角度控制單元控制該方向盤的旋轉角度(S2021)；當目前非為駕駛者轉向狀態時，重新接收該轉向輔助訊號(S201)。 Further, please refer to FIG. 6A and FIG. 6B, the steps of a second preferred embodiment of the automatic overlay compensation active steering control method and the first preferred embodiment of the automatic overlay compensation active steering control method The same, but the step of generating the target torque signal (S202) according to the steering assist signal also includes the following sub-steps: according to the steering assist signal, an angle control unit controls the rotation angle of a steering wheel to a target angle (S2021 ); According to the lateral displacement information generated by a vehicle body information sensing unit to determine whether the lateral displacement of the vehicle body reaches a target displacement (S2022); when the lateral displacement of the vehicle body reaches the target displacement, according to a torsional force A driver torque signal generated by the sensor determines whether the driver is currently turning (S2023); when the driver is currently turning, receiving the angle sensor to sense the current rotation angle of the steering wheel Current angle signal (S2024); calculate the error angle between the current angle and the target angle according to the current angle signal (S2025); generate the target torque signal according to the error angle (S2026); When the lateral displacement of the vehicle body does not reach the target displacement, the steering assist signal is adjusted according to the difference between the lateral displacement and the target displacement (S2027); and it is controlled by the angle control unit again according to the steering assist signal The rotation angle of the steering wheel (S2021); when the driver is not turning, the steering assistance signal is received again (S201).
一般而言，當該方向盤20的旋轉角度為該目標角度時，該車體的側向位移應等同該目標位移。但是車體在行駛的過程中，會因為道路狀況、車體載人狀況、或是車體的懸吊系統狀況而有不同側向位移，導致雖然該方向盤20的旋轉角度為該目標角度時，但該車體的側向位移會不等同於該目標位移。因此該處理單元13便會根據該車體資訊感測單元17產生的側向位移資訊判斷車體的側向位移是否到達該目標位移。且該處理單元13於該車體的側向位移未到達該目標位移時，該處理單元13根據該側向位移與該目標位移的差值，不斷地調整該轉向輔助訊號，並根據調整後的轉向輔助訊號轉動該方向盤20的旋轉角度，用於提供方向盤20旋轉角度的修正，直到該車體的側向位移到達該目標位移為止。
Generally speaking, when the rotation angle of the
此外，該處理單元13還根據該扭力感測器12產生的駕駛者力矩訊號判斷目前是否為該駕駛者轉向狀態。當在該駕駛者轉向狀態時，該處理單元13才進一步執行後續的輔助邏輯運算。而當不在該駕駛者轉向狀態時，則可跳過後續的輔助邏輯運算，藉此減少該處理單元13的運算負擔，提高該處理單元13的效率。
In addition, the
在本較佳實施例中，該誤差角度與目標力矩訊號之間的換算是根據通過實驗所建立的對應表，透過查表而得的。 In the preferred embodiment, the conversion between the error angle and the target torque signal is obtained through a look-up table based on a correspondence table established through experiments.
此外，在其他較佳實施例中，該車體的側向位移是根據車體側向運動狀態空間方程式計算的，該車體側向運動狀態空間方程式如下所示：
當中橫擺率(r)與前輪轉角(δ f )的關係式如下所示：
v ch 代表車速、v x 代表縱向車速、v y 代表側向車速、C αf 代表前輪轉向剛性、C αr 代表後輪轉向剛性、m代表車體質量、L代表車體長度、a代表前軸至重心長度、b代表後軸至重心長度、I z 代表轉動慣量、y代表車體側向位移、ψ代表偏航角、r代表橫擺率(
以上所述僅是本發明的較佳實施例而已，並非對本發明做任何形式上的限制，雖然本發明已以較佳實施例揭露如上，然而並非用以限定本發明，任何熟悉本專業的技術人員，在不脫離本發明技術方案的範圍內，當可利用上述揭示的技術內容作出些許更動或修飾為等同變化的等效實施例，但凡是未脫離本發明技術方案的內容，依據本發明的技術實質對以上實施例所作的任何簡單修改、等同變化與修飾，均仍屬於本發明技術方案的範圍內。 The above is only the preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed in the preferred embodiment as above, it is not intended to limit the present invention. Anyone who is familiar with this technology Personnel, within the scope of not departing from the technical solution of the present invention, when the technical contents disclosed above can be used to make some modifications or modifications to equivalent embodiments of equivalent changes, but any content that does not depart from the technical solution of the present invention, according to the present invention Technical essence Any simple modifications, equivalent changes and modifications to the above embodiments still fall within the scope of the technical solution of the present invention.
10:自動疊加補償之主動轉向控制系統 10: Active steering control system with automatic superimposed compensation
11:主動式駕駛輔助裝置 11: Active driving assistance device
12:扭力感測器 12: Torque sensor
13:處理單元 13: Processing unit
14:系統動態補償器 14: System dynamic compensator
15:電動馬達 15: Electric motor
20:方向盤 20: steering wheel
30:傳動單元 30: Drive unit
40:車輪 40: Wheel
Claims (8)
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| CN114987612A (en) * | 2021-03-01 | 2022-09-02 | 大陆汽车***公司 | Diagnostic device for vehicle with rack force observer of electronic power-assisted steering system |
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| CN1903633A (en) * | 2005-07-25 | 2007-01-31 | 丰田自动车株式会社 | Power steering system and control method of the same |
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