Damping control method and system of steering system for vehicle

Patent metadata

Field	Value
Publication number	US-10974762-B2
Application number	US-201916282702-A
Country	US
Kind code	B2
Filing date	Feb 22, 2019
Priority date	Nov 5, 2018
Publication date	Apr 13, 2021
Grant date	Apr 13, 2021

Abstract

A damping control method of steering system may include determining, by a controller, a basic damping value based on a vehicle velocity, a steering angular velocity, and an output value of a steering motor when it is determined that steering for restoring a steering wheel to a steering angle neutral position is to be performed; determining, by the controller, whether a driver is in a hand-off state in which the driver takes its hands off the steering wheel according to signals reflecting a steering state and a behavior of a vehicle; compensating, by the controller, for the basic damping value so that the basic damping value is increased and determining a final damping value when it is determined that the driver is in the hand-off state; and controlling, by the controller, the steering motor with the final damping value obtained by the compensation, and restoring and steering the steering wheel.

First claim

What is claimed is:

1. A damping control method of a steering system for a vehicle, the damping control method comprising:
a basic damping value determining step of determining, by a controller, a basic damping value based on a vehicle velocity, a steering angular velocity, and an output value of a steering motor when it is determined by the controller that steering for restoring a steering wheel to a steering angle neutral position is to be performed;
a hand-on/off determining step of determining, by the controller, when a driver is in a hand-off state in which the driver takes his or her hands off the steering wheel according to a steering state and a behavior of the vehicle;
a compensating step of compensating, by the controller, for a determined basic damping value so that the determined basic damping value is changed and determining a final damping value when it is determined by the controller that the driver is in the hand-off state; and
a restoring steering control step of controlling, by the controller, the steering motor with the final damping value obtained by the compensating, and restoring and steering the steering wheel by the final damping value,
wherein in the basic damping value determining step determining step, the basic damping value is determined by multiplying a gain value predetermined for a current of the steering motor, a gain value predetermined for the vehicle velocity, and a gain value predetermined for the steering angular velocity.

2. The damping control method of claim 1 ,
wherein in the restoring steering control step, the steering motor is controlled by the controller connected to the steering motor with the determined basic damping value and the steering wheel is restored and steered when it is determined by the controller that the driver is in the hand-on state.

3. The damping control method of claim 1 , wherein in the hand-on/off determining step, it is determined by the controller that the driver is in the hand-off state when a steering torque is a first predetermined value or less, a yaw rate is a second predetermined value or less, and a lateral acceleration is a third predetermined value or more.

4. The damping control method of claim 1 ,
wherein in the compensating step, a first gain value is predetermined for a steering torque, a second gain value is predetermined for a yaw rate, and a third gain value is predetermined for a lateral acceleration, a compensation gain value is determined by multiplying the first, second and gain values and the final damping value is determined by adding a determined compensation gain value to the determined basic damping value.

5. The damping control method of claim 4 ,
wherein the first gain value is between zero and a first steering torque gain value, and the first gain value is in inverse proportion to the steering torque between zero and a predetermined steering torque,
wherein the second gain value is between zero and a predetermined yaw rate gain value and the second gain value is in inverse proportion to the yaw rate between zero and a predetermined yaw rate, and
wherein the third gain value is between zero and a predetermined lateral acceleration gain value, and the third gain value is in proportion to the lateral acceleration beyond a predetermined lateral acceleration.

6. The damping control method of claim 1 , wherein in the hand-on/off determining step, it is determined by the controller that the driver is in a hand-on state when a steering torque exceeds a first predetermined value, a yaw rate exceeds a second predetermined value, or a lateral acceleration is less than a third predetermined value.

7. A damping control system of a steering system for a vehicle, the damping control system comprising:
a basic damping value calculator configured to determine a basic damping value based on a vehicle velocity, a steering angular velocity, and an output value of a steering motor;
a compensating calculator configured to determine when a driver is in a hand-off state in which the driver takes his or her hands off a steering wheel according to a steering state and a behavior of a vehicle, and when it is determined by the controller that the driver is in the hand-off state, compensate for a determined basic damping value so that the determined basic damping value is changed and determine a compensation gain value; and
a steering controller configured to determine a final damping value by adding a determined compensation gain value to the determined basic damping value and control the steering motor with a determined final damping value,
wherein in the basic damping value determining step determining step, the basic damping value is determined by multiplying a gain value predetermined for a current of the steering motor, a gain value predetermined for the vehicle velocity, and a gain value predetermined for the steering angular velocity.

8. The damping control system of claim 7 ,
wherein a first gain value is predetermined for a steering torque, a second gain value is predetermined for a yaw rate, and a third gain value is predetermined for a lateral acceleration, a compensation gain value is determined by multiplying the first, second and gain values and the final damping value is determined by adding a determined compensation gain value to the determined basic damping value.

9. The damping control system of claim 8 ,
wherein the first gain value is between zero and a first steering torque gain value, and the first gain value is in inverse proportion to the steering torque between zero and a predetermined steering torque,
wherein the second gain value is between zero and a predetermined yaw rate gain value and the second gain value is in inverse proportion to the yaw rate between zero and a predetermined yaw rate, and
wherein the third gain value is between zero and a predetermined lateral acceleration gain value, and the third gain value is in proportion to the lateral acceleration beyond a predetermined lateral acceleration.

10. The damping control system of claim 7 , wherein it is determined by the controller that the driver is in the hand-off state when a steering torque is a first predetermined value or less, a yaw rate is a second predetermined value or less, and a lateral acceleration is a third predetermined value or more.

11. The damping control system of claim 7 , wherein it is determined by the controller that the driver is in a hand-on state when a steering torque exceeds a first predetermined value, a yaw rate exceeds a second predetermined value, or a lateral acceleration is less than a third predetermined value.

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Park Young Uk

Classifications

• B62D6/10

  characterised by means for sensing {or determining} torque · CPC title

• B62D6/003

  in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence) · CPC title

• B62D5/0463 Primary

  calculating assisting torque from the motor based on driver input · CPC title

• B60W2520/125

  Lateral acceleration · CPC title

• B60W2510/202

  Steering torque · CPC title