EP-4741259-A1 - A SYSTEM AND METHOD FOR WHEEL BLOCKING DETECTION IN VEHICLES

EP4741259A1EP 4741259 A1EP4741259 A1EP 4741259A1EP-4741259-A1

Abstract

A computer system (100) for a vehicle (104), the system comprising processing circuitry (102) configured to: determine a steering torque applied from a steering wheel (108) of the vehicle; control a steering assist system (114) to apply a steering torque overlay to at least one steerable wheel of the vehicle in the same direction as the determined steering torque applied from the steering wheel (108); compare the applied steering torque overlay with the determined steering torque applied from the steering wheel (108), predict a wheel blocking event based on the comparison, and apply a counter steering torque overlay using the steering assist system (114), that is opposite the steering torque from the steering wheel.

Inventors

HELDMANN, Joakim
WINBLAD, Hanna

Assignees

Volvo Truck Corporation

Dates

Publication Date: 20260513
Application Date: 20241108

Claims (15)

A computer system (100) for a vehicle (104), the system comprising processing circuitry (102) configured to: determine a steering torque applied from a steering wheel (108) of the vehicle; control a steering assist system (114) to apply a steering torque overlay to at least one steerable wheel of the vehicle in the same direction as the determined steering torque applied from the steering wheel (108); compare the applied steering torque overlay with the determined steering torque applied from the steering wheel (108), predict a wheel blocking event based on the comparison, and apply a counter steering torque overlay using the steering assist system (114), that is opposite the steering torque from the steering wheel.
The computer system of claim 1, wherein the counter steering torque overlay is lower than the steering torque applied from the steering wheel.
The computer system of any of claims 1 or 2, wherein the processing circuitry is configured to adjust the counter steering torque overlay dynamically based on the steering torque from the steering wheel.
The computer system of any of claims 1-3, wherein a wheel blocking event is predicted when the comparison indicates that the steering torque overlay exceeds the steering torque by an amount that indicates wheel blocking.
The computer system any of claims 1-4, wherein comparing the steering torque overlay with the steering torque applied from the steering wheel, and predicting a wheel blocking event based on the comparison is performed in a deep neural network or a machine learning algorithm.
The computer system of claim 5, wherein the processing circuitry is further configured to input data indicating the steering torque and the steering torque overlay in addition to at least one more data set into the deep neural network or a machine learning algorithm.
The computer system of claim 6, wherein the at least one more data set is selected from the group comprising: vehicle speed, steering angle, steering velocity, applied steering torque, vehicle mass, applied steering torque overlay, image data from a camera, and environmental data from a radar.
The computer system any of claims 1-7, wherein the processing circuitry is further configured to: provide an output message to a human-machine interface indicating that a wheel blocking event is detected.
The computer system any of claims 1-8, wherein the wheel blocking is due to steerable wheels of the vehicle hitting an external object.
The computer system any of claims 1-9, wherein the processing circuitry is further configured to: adjust the counter steering torque overlay dynamically based on the severity of the predicted wheel blocking event.
A vehicle comprising the computer system of any of claims 1-10.
A computer-implemented method, comprising: determining (S102), by processing circuitry of a computer system, a steering torque applied from a steering wheel of the vehicle; controlling (S104), by the processing circuitry, a steering assist system to apply a steering torque overlay to steerable wheels of the vehicle in the same direction as the steering torque applied from the steering wheel; comparing (S106), by the processing circuitry, the steering torque overlay with the determined steering torque applied from the steering wheel, predicting (S108), by the processing circuitry, a wheel blocking event based on the comparison, applying (S110), by the processing circuitry, a counter steering torque overlay using the steering assist system, that is opposite the steering torque from the steering wheel.
The method of claim 12, wherein the counter steering torque overlay is lower than the steering torque applied from the steering wheel.
A computer program product comprising program code for performing, when executed by the processing circuitry, the method of any of claims 12-13.
A non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry, cause the processing circuitry to perform the method of any of claims 12-13.

Description

TECHNICAL FIELD The disclosure relates generally to vehicles. In particular aspects, the disclosure relates to a system and method for wheel blocking detection in vehicles. The disclosure can be applied to heavy-duty vehicles, such as trucks, buses, and construction equipment, among other vehicle types. The disclosure can be applied to passenger cars. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle. BACKGROUND A steering system, such as a hydraulic or electric steering system can deliver strong force without much effort from the driver. This can cause damage to objects close to the steerable wheels or to the steerable wheel of the vehicle itself. Most modern heavy-duty vehicles are available with a steering torque overlay which assists the driver to steer even though the steerable wheels are blocked by an unknown object. Destroying either property or/and tire or wheel is costly and may cause undesirable down-time for the vehicle. SUMMARY According to a first aspect of the disclosure, there is provided a computer system for a vehicle, the system comprising processing circuitry configured to: determine a steering torque applied from a steering wheel of a the vehicle; control a steering assist system to apply a steering torque overlay to at least one steerable wheel of the vehicle in the same direction as the steering torque applied from the steering wheel; compare the steering torque overlay with the determined steering torque applied from the steering wheel, predict a wheel blocking event based on the comparison, apply a counter steering torque overlay using the steering assist system, that is opposite the steering torque from the steering wheel. The first aspect of the disclosure may seek to detect a wheel blocking event and indicate the detection to a driver in a timely manner. A technical benefit may include reduced damages in case of a wheel blocking event. The counter steering torque overlay is advantageously timely applied before severe damages to either external objects or the wheel itself occur. A steering torque overlay is an assisting torque applied to steerable wheels to assist a driver in completing a steering action. This steering torque overlay is often provided by a hydraulic or electric steering assist system. The steering torque applied from a steering wheel may be the steering torque that a driver exerts to a steering wheel for turning the vehicle. The steering torque is measured by a steering torque sensor of the steering system. The counter steering torque which is in the opposite direction to the steering wheel torque that is, opposite the steering direction intended by the driver, advantageously reduces the force between the wheel and the object causing the wheel blocking, and further also provides an indication to the driver that something is blocking the steerable wheels. Optionally in some examples, including in at least one preferred example, the counter steering torque overlay may be lower than the steering torque applied from the steering wheel. A technical benefit may include that the counter steering torque is large enough for a driver to sense it but not too large such that it makes the vehicle turn in a direction opposite to the intention of the driver. Optionally in some examples, including in at least one preferred example, the processing circuitry may be configured to adjust the counter steering torque overlay dynamically based on the steering torque from the steering wheel. A technical benefit may include that the counter steering torque overlay is adapted to the present steering torque such that it is ensured that it can be detected by a driver and that damages can be reduced or avoided for different magnitudes of steering torque. For example, the processing circuitry may increase the magnitude of the counter steering torque overlay based on an increase in the steering torque applied from the steering wheel. Thus, the more torque that is being applied from the steering wheel the larger the counter steering torque overlay. Optionally in some examples, including in at least one preferred example, a wheel blocking event may be predicted when the comparison indicates that the steering torque overlay exceeds the steering torque by an amount that indicates wheel blocking. In other words, if the steering toque overlay is forced to apply an excessive overlay torque to overcome a resistance it means something is likely blocking the wheels. This is a simple yet robust way to classify a situation as a wheel blocking event. Optionally in some examples, including in at least one preferred example, comparing the steering torque overlay with the steering torque applied from the steering wheel, and predicting a wheel blocking event based on the comparison may be performed in a deep neural network or a machine learning algorithm. A technical benefit may include an efficient, accurate, and reliable wa