CN-121990041-A - Dynamic virtual factor C control for steer-by-wire systems

Abstract

The present disclosure relates to dynamic virtual factor C control for a steer-by-wire system. A method for controlling a steer-by-wire (SbW) steering system of a vehicle includes receiving, using one or more processors, one or more inputs indicative of respective operating characteristics of the vehicle, determining a baseline C factor based on a vehicle speed, the baseline C factor corresponding to a linear distance traveled by a rack of the SbW steering system relative to a rotation of a steering wheel of the vehicle, determining a scaling factor based on the vehicle speed and a vehicle lateral acceleration, determining a scaled C factor using the baseline C factor and the scaling factor, determining a rack position reference based on the scaled C factor, and controlling at least one function of the vehicle using the rack position reference.

Inventors

• XU XINFU

Assignees

• 操纵技术IP控股公司

Dates

Publication Date

20260508

Application Date

20241107

Claims (20)

1. 1. A method for controlling a steering system for steer-by-wire of a vehicle, the method comprising using one or more processors: Receiving one or more inputs indicative of respective operating characteristics of the vehicle; determining a baseline C factor based on a vehicle speed, wherein the baseline C factor corresponds to a linear distance traveled by a rack of the steer-by-wire steering system relative to rotation of a steering wheel of the vehicle; determining a scaling factor based on the vehicle speed and vehicle lateral acceleration; Determining a scaled factor C using the baseline factor C and the scaling factor; Determining a rack position reference based on the scaled factor C, and The rack position reference is used to control at least one function of the vehicle.
2. 2. The method of claim 1, wherein controlling at least one function of the vehicle comprises controlling steering of the vehicle.
3. 3. The method of claim 1, wherein determining a baseline C factor comprises selecting the baseline C factor from a plurality of C factors indexed by the vehicle speed.
4. 4. The method of claim 1, wherein determining a scaling factor comprises selecting the scaling factor from a plurality of scaling factors, and wherein each scaling factor of the plurality of scaling factors is associated with a different vehicle speed.
5. 5. The method of claim 4, wherein two or more of the plurality of scaling factors decrease at different rates relative to each other.
6. 6. The method of claim 4, wherein a first scaling factor of the plurality of scaling factors is associated with a first vehicle speed and decreases at a first rate, and wherein a second scaling factor of the plurality of scaling factors is associated with a second vehicle speed that is less than the first vehicle speed and decreases at a second rate that is greater than the first rate.
7. 7. The method of claim 4, wherein a first scaling factor of the plurality of scaling factors has a first minimum value, and wherein a second scaling factor of the plurality of scaling factors has a second minimum value that is less than the first minimum value.
8. 8. The method of claim 1, wherein the scaling factor decreases as the vehicle lateral acceleration increases.
9. 9. A system for controlling a steering-by-wire steering system of a vehicle, the system comprising: one or more sensors configured to determine one or more operating characteristics of the vehicle, and A processor configured to execute instructions stored in a memory, wherein execution of the instructions causes the processor to: one or more inputs indicative of respective operating characteristics of the vehicle are received, Determining a baseline C factor based on a vehicle speed, wherein the baseline C factor corresponds to a linear distance traveled by a rack of the steer-by-wire steering system relative to rotation of a steering wheel of the vehicle, A scaling factor is determined based on the vehicle speed and the vehicle lateral acceleration, Using the baseline C-factor and the scaling factor to determine a scaled C-factor, Determining a rack position reference based on the scaled factor C, and The rack position reference is used to control at least one function of the vehicle.
10. 10. The system of claim 9, wherein controlling at least one function of the vehicle comprises controlling steering of the vehicle.
11. 11. The system of claim 9, wherein determining a baseline C factor comprises selecting the baseline C factor from a plurality of C factors indexed by the vehicle speed.
12. 12. The system of claim 9, wherein determining a scaling factor comprises selecting the scaling factor from a plurality of scaling factors, and wherein each scaling factor of the plurality of scaling factors is associated with a different vehicle speed.
13. 13. The system of claim 12, wherein two or more of the plurality of scaling factors decrease at different rates relative to each other.
14. 14. The system of claim 12, wherein a first scaling factor of the plurality of scaling factors is associated with a first vehicle speed and decreases at a first rate, and wherein a second scaling factor of the plurality of scaling factors is associated with a second vehicle speed that is less than the first vehicle speed and decreases at a second rate that is greater than the first rate.
15. 15. The system of claim 12, wherein a first scaling factor of the plurality of scaling factors has a first minimum value, and wherein a second scaling factor of the plurality of scaling factors has a second minimum value that is less than the first minimum value.
16. 16. The system of claim 9, wherein the scaling factor decreases as the vehicle lateral acceleration increases.
17. 17. A system for controlling a steering-by-wire steering system of a vehicle, the system comprising: A steering wheel actuator controller configured to: one or more inputs indicative of respective operating characteristics of the vehicle are received, Determining a baseline C factor based on a vehicle speed, wherein the baseline C factor corresponds to a linear distance traveled by a rack of the steer-by-wire steering system relative to rotation of a steering wheel of the vehicle, A scaling factor is determined based on the vehicle speed and the vehicle lateral acceleration, Determining a scaled factor C using the baseline factor C and the scaling factor, and Determining a rack position reference based on the scaled factor C, and A wheel actuator controller configured to control steering of the vehicle based on the rack position reference.
18. 18. The system of claim 17, wherein determining a baseline C factor comprises selecting the baseline C factor from a plurality of C factors indexed by vehicle speed, wherein determining a scaling factor comprises selecting the scaling factor from a plurality of scaling factors, and wherein each scaling factor of the plurality of scaling factors is associated with a different vehicle speed.
19. 19. The system of claim 18, wherein at least one of the following is present: A first one of the plurality of scaling factors being associated with a first vehicle speed and decreasing at a first rate and a second one of the plurality of scaling factors being associated with a second vehicle speed that is less than the first vehicle speed and decreasing at a second rate that is greater than the first rate, and The first one of the plurality of scaling factors has a first minimum value and the second one of the plurality of scaling factors has a second minimum value that is less than the first minimum value.
20. 20. The system of claim 17, wherein the scaling factor decreases as the vehicle lateral acceleration increases.

Description

Dynamic virtual factor C control for steer-by-wire systems Technical Field The present disclosure relates to determination of factor C in a steer-by-wire (SbW) steering system. Background Vehicles such as cars, trucks, sport utility vehicles, cross-country vehicles, minivans, boats, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation vehicles typically include a steering system, such as an Electric Power Steering (EPS) system, a steer-by-wire (SbW) steering system, a hydraulic steering system, or other suitable steering system. Steering systems of such vehicles typically control various aspects of vehicle steering (including providing steering assistance to an operator of the vehicle, controlling steering wheels of the vehicle, etc.). Disclosure of Invention The present disclosure relates generally to control of SbW steering systems. One aspect of the disclosed embodiments includes a method for controlling a steer-by-wire (SbW) steering system of a vehicle. The method includes receiving, using one or more processors, one or more inputs indicative of respective operating characteristics of a vehicle, determining a baseline C-factor based on a vehicle speed, the baseline C-factor corresponding to a linear distance traveled by a rack of the SbW steering system relative to rotation of a steering wheel of the vehicle, determining a scaling factor (scaling factor) based on the vehicle speed and a vehicle lateral acceleration, determining a scaled C-factor using the baseline C-factor and the scaling factor, determining a rack position reference based on the scaled C-factor, and controlling at least one function of the vehicle using the rack position reference. Further areas of applicability of the present disclosure will become apparent from the detailed description, claims and drawings. The detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. Drawings The disclosure may be better understood from the following detailed description when read in conjunction with the accompanying drawings. It should be emphasized that, in accordance with common practice, the various features of the drawing are not to scale. On the contrary, the dimensions of the various features are arbitrarily expanded or reduced for clarity. Fig. 1A generally illustrates a vehicle according to the principles of the present disclosure. Fig. 1B generally illustrates a controller according to the principles of the present disclosure. Fig. 2A generally illustrates an example rack or wheel actuator (RWA) controller and column or steering wheel actuator (HWA) controller of a steering system configured in accordance with the principles of the present disclosure. Fig. 2B generally illustrates an example embodiment of dynamic C-factor control in accordance with the principles of the present disclosure. FIG. 3 is a flow chart generally illustrating a method for controlling a SbW steering system in accordance with the principles of the present disclosure. Detailed Description The following discussion is directed to various embodiments of the present disclosure. Although one or more of these embodiments may be preferred, the embodiments disclosed should not be interpreted, or otherwise used, as limiting the scope of the disclosure, including the claims. In addition, those skilled in the art will appreciate that the following description has broad application, and the discussion of any embodiment is meant only to be exemplary of that embodiment, and not intended to intimate that the scope of the disclosure, including the claims, is limited to that embodiment. As described, vehicles (such as cars, trucks, sport utility vehicles, cross-border vehicles, minivans, boats, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of vehicles) typically include a steering system (such as an Electric Power Steering (EPS) system, a steer-by-wire (SbW) steering system, a hydraulic steering system, or other suitable steering system). Steering systems of such vehicles typically control various aspects of vehicle steering (including providing steering assistance to an operator of the vehicle, controlling steering wheels of the vehicle, etc.). The SbW steering system may include at least one steering wheel actuator (HWA), such as a steering wheel, used by a driver to control the vehicle laterally, and at least one wheel actuator (RWA) to control a steering shaft of the vehicle and to generate lateral movement of the vehicle in response to movement of the HWA. The SbW system may also include a controller (such as a domain controller) configured to store and execute control logic. SbW systems have several advantages over other types of steering systems, such as EPS steering systems. For example, sbW systems are not limited by the mechanical coupling between HWA and RWA. Thus, the SbW system may have more effic