Steering arbitration apparatus and method of vehicle, and steering arbitration system having the same

Patent metadata

Field	Value
Publication number	US-2017190354-A1
Application number	US-201715398127-A
Country	US
Kind code	A1
Filing date	Jan 4, 2017
Priority date	Jan 4, 2016
Publication date	Jul 6, 2017
Grant date	—

Abstract

The present invention relates to an arbitration method of an electric power steering apparatus of a vehicle and arbitration apparatus thereof. When overlay requests, which are steering apparatus operation commands or requests, are input from two or more steering-related control systems in a vehicle that includes an electric power steering apparatus and two or more steering-related control systems for controlling the electric power steering apparatus, the steering apparatus operation commands are selectively transferred to the steering apparatus according to the priority of the steering-related control system to adjust various steering-related controls to not conflict with each other, thereby maintaining the stability of the vehicle and making an optimal steering control.

First claim

What is claimed is:

1 . A steering arbitration apparatus of a vehicle, the apparatus comprising:
a mode-selecting unit configured to receive overlay requests from two or more steering-related control systems and configured to determine the active state, inactive state, or standby state of each of two or more steering-related control systems that have transmitted the overlay requests according to the type or priority of the system that has transmitted the overlay request; a per-mode overlay current calculating unit configured to calculate a final overlay current value according to the overlay request of the steering-related control system that is determined to be in the active state by the mode-selecting unit; and a final overlay current output unit configured to output the calculated final overlay current value to an electric power steering apparatus.

2 . The steering arbitration apparatus of a vehicle according to claim 1 , wherein the steering-related control systems are at least one of a vehicle stability management (VSM) system, an on-driving steering system, or a parking assistance system (PAS).

3 . The steering arbitration apparatus of a vehicle according to claim 2 , wherein the on-driving steering system includes at least one of a lane keeping assistance (LKA) system, a traffic jam assistance (TJA) system, a lane change assistance (LCA) system, or an adaptive cruise control (ACC) system.

4 . The steering arbitration apparatus of a vehicle according to claim 3 , wherein the VSM has the highest priority, and the PAS has the lowest priority.

5 . The steering arbitration apparatus of a vehicle according to claim 4 , wherein the per-mode overlay current calculating unit includes: a VSM functioning unit for calculating a VSM overlay current; an LKA/TJA functioning unit for calculating an LKA or TJA overlay current; and a PAS functioning unit for calculating a PAS overlay current.

6 . The steering arbitration apparatus of a vehicle according to claim 5 , wherein at least one of the VSM functioning unit, the LKA/TJA functioning unit, or the PAS functioning unit includes a soft transition unit that gradually varies the corresponding overlay current in the case of its transition from the inactive state or standby state to the active state.

7 . The steering arbitration apparatus of a vehicle according to claim 1 , wherein, in the case where there is an overlay request of the second steering-related control system while the first steering-related control system is activated,
if the priority of the second steering-related control system is higher than the priority of the first steering-related control system, the mode-selecting unit allows the second steering-related control system to be in the active state and allows the first steering-related control system to be in the inactive state, and if the priority of the first steering-related control system is higher than the priority of the second steering-related control system, the mode-selecting unit maintains the first steering-related control system to be in the active state and allows the second steering-related control system to be in the standby state.

8 . The steering arbitration apparatus of a vehicle according to claim 1 , wherein when overlay requests are input from the first and second steering-related control systems, the mode-selecting unit allows the steering- related control system that has a higher priority to be in the active state and allows the steering-related control system that has a lower priority to be in the standby state among the first and second steering-related control systems.

9 . The steering arbitration apparatus of a vehicle according to claim 5 , wherein at least one of the VSM functioning unit, the LKA/TJA functioning unit, or the PAS functioning unit includes a soft transition unit that gradually varies the corresponding overlay current in the case of its transition from the inactive state or standby state to the active state.

10 . A steering arbitration system of a vehicle, the system comprising:
an electric power steering apparatus configured to include an electric power steering (EPS) controller, a final target current calculating unit, and an electric motor; two or more steering-related control systems configured to control the electric power steering apparatus; and a steering arbitration apparatus configured to receive overlay requests from two or more steering-related control systems, to determine the active state, inactive state, or standby state of each of two or more steering-related control systems that have transmitted the overlay requests according to the type of the system that has transmitted the overlay request or according to the priority thereof, and to calculate a final overlay current value according to the overlay request of the steering-related control system that is determined to be in the active state to then transfer the same to a final target current calculating unit of the electric power steering apparatus.

11 . The steering arbitration system of a vehicle according to claim 10 , wherein, in the case where there is an overlay request of the second steering-related control system while the first steering-related control system is activated,
if the priority of the second steering-related control system is higher than the priority of the first steering-related control system, the steering arbitration apparatus allows the second steering-related control system to be in the active state and allows the first steering-related control system to be in the inactive state, and if the priority of the first steering-related control system is higher than the priority of the second steering- related control system, the steering arbitration apparatus maintains the first steering-related control system to be in the active state and allows the second steering-related control system to be in the standby state.

12 . The steering arbitration system of a vehicle according to claim 10 , wherein when overlay requests are input from the first and second steering-related control systems, the steering arbitration apparatus allows the steering-related control system that has a higher priority to be in the active state and allows the steering-related control system that has a lower priority to be in the standby state among the first and second steering-related control systems.

13 . The steering arbitration system of a vehicle according to claim 12 , wherein the first and second steering-related control systems are at least one of a vehicle stability management (VSM) system, an on-driving steering system that includes at least one of a lane keeping assistance (LKA) system or a traffic jam assistance (TJA) system, or a parking assistance system (PAS), and the VSM has the highest priority and the PAS has the lowest priority.

14 . The steering arbitration system of a vehicle according to claim 13 , wherein the steering arbitration apparatus includes: a VSM functioning unit for calculating a VSM overlay current; an LKA/TJA functioning unit for calculating an LKA or TJA overlay current; and a PAS functioning unit for calculating a PAS overlay current.

15 . The steering arbitration system of a vehicle according to claim 14 , wherein at least one of the VSM functioning unit, the LKA/TJA functioning unit, or the PAS functioning unit includes a soft transition unit that gradually varies the corresponding overlay current in the case of its transition from the inactive state or standby state to the active state.

16 . A steering arbitration method of a vehicle, the method comprising:
Receiving overlay requests

Assignees

• Mando Corp

Inventors

• Ko Sang Jin

Classifications

• B60W2420/42

  Operations & Transport · mapped topic

• B60W10/20

  including control of steering systems · CPC title

• B62D5/0457 Primary

  characterised by control features of the drive means as such · CPC title

• B60W30/165

  Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar" · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title