Collapsible steering wheel

Abstract

The present disclosure provides for a "stowable steering wheel". A system includes a processor and a memory storing program instructions executable by the processor to determine whether a steering wheel is engaged with a steering apparatus or disengaged based on a detected deflection of a steering torsion bar. The memory stores instructions for actuating the steering apparatus based on the determination.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle steering, and more specifically to retractable steering wheels. Background Technology

[0002] The vehicle steering system controls the vehicle's steering angle. Vehicle steering can be controlled by a human operator via the steering wheel and / or by a computer communicating with the steering system. The steering wheel can engage and disengage from the vehicle steering system via a torsion bar. The operation of the steering system depends on whether the steering wheel is engaged or disengaged. Summary of the Invention

[0003] introduction

[0004] A system includes a processor and a memory storing program instructions that the processor can execute to determine whether a steering wheel is engaged or disengaged from a steering mechanism based on detected deflection of a steering torsion bar. The memory also typically stores instructions for actuating the steering mechanism based on the determination.

[0005] The memory may store instructions for actuating the steering mechanism by providing input to the steering mechanism based on one or more parameters selected according to the determination.

[0006] One or more parameters can indicate the gain value.

[0007] The memory can store instructions for actuating the steering device in one of the following modes—autonomous, semi-autonomous, and non-autonomous—based on the determination.

[0008] The memory can store instructions for actuating the steering mechanism to disengage from the steering wheel when it is determined that the steering wheel is engaged with the steering mechanism.

[0009] The memory can store instructions used to actuate the user interface to provide information on whether the steering wheel is engaged or disengaged from the steering mechanism.

[0010] The memory can store instructions for storing a first fault code when it is determined that the steering wheel is engaged with the steering mechanism, and for storing a second fault code different from the first fault code when it is determined that the steering wheel is disengaged from the steering mechanism.

[0011] A system includes a steering wheel. The system includes a steering mechanism, which includes a torsion bar. The system includes a sensor arranged to detect deflection of the torsion bar. The system includes means for determining whether the steering wheel is engaged or disengaged from the steering mechanism based on the detected value of the torsion bar deflection.

[0012] The system may include means for actuating the steering mechanism based on the determination.

[0013] The steering mechanism may include an actuator arranged to control the steering angle of the steering mechanism.

[0014] The system may include means for actuating the steering mechanism by providing input to the steering mechanism based on the determination and according to one or more parameters selected according to the determination.

[0015] One or more parameters can indicate the gain value.

[0016] The system may include means for actuating the steering mechanism to disengage from the steering wheel when it is determined that the steering wheel is engaged with the steering mechanism.

[0017] One method involves determining whether the steering wheel is engaged or disengaged from the steering mechanism based on detected deflection of the steering torsion bar. The method also includes actuating the steering mechanism based on this determination.

[0018] The steering device can be actuated by providing input to the steering device based on one or more parameters selected according to the determination.

[0019] One or more parameters can indicate the gain value.

[0020] Based on the determination, the steering device can be actuated in one of the autonomous mode, semi-autonomous mode and non-autonomous mode.

[0021] The method may include actuating the steering mechanism to disengage the steering wheel when it is determined that the steering wheel is engaged with the steering mechanism, and actuating the steering mechanism to engage the steering wheel when it is determined that the steering wheel is disengaged from the steering mechanism.

[0022] The method may include actuating a user interface to provide information on whether the steering wheel is engaged or disengaged from the steering mechanism.

[0023] The method may include either storing a first fault code when it is determined that the steering wheel is engaged with the steering mechanism, or storing a second fault code different from the first fault code when it is determined that the steering wheel is disengaged from the steering mechanism.

[0024] A memory may store program instructions that can be executed by a processor to perform the method.

[0025] A computer can be programmed to perform the methods described. Attached Figure Description

[0026] Figure 1 This is a perspective view of an exemplary vehicle and its steering mechanism.

[0027] Figure 2 This is a side view of the vehicle, with the steering wheel in the extended position.

[0028] Figure 3This is a side view of the vehicle, with the steering wheel in the retracted position.

[0029] Figure 4 It is the cross-section of the steering device, with the steering device in the extended position.

[0030] Figure 5 It is the cross-section of the steering mechanism, with the steering mechanism in the retracted position.

[0031] Figure 6 This is an illustration of another example of a steering mechanism.

[0032] Figure 7 It is a block diagram showing the components of a vehicle.

[0033] Figure 8 This is a flowchart illustrating an exemplary process for controlling a steering device. Detailed Implementation

[0034] Figure 1 The system 20 shown for controlling a vehicle 22 having a steering wheel 24 that can engage and disengage with the steering device 36 includes a computer 28 (e.g., Figure 7 As shown, computer 28 has a processor and a memory that stores program instructions, which can be executed by the processor, to determine whether steering wheel 24 is engaged or disengaged from steering mechanism 36 based on detected deflection of torsion bar 30. The memory also typically stores program instructions that can be executed by the processor to actuate steering mechanism 36 based on said determination.

[0035] Determining whether the steering wheel 24 is engaged or disengaged from the steering mechanism 36 based on the detected deflection of the torsion bar 30 provides increased accuracy and reliability for the computer 28 in making such determinations. Actuating the steering mechanism 36 based on whether the steering wheel 24 is engaged or disengaged enables the computer 28 to operate the vehicle 22 to provide a comfortable ride for occupants, self-diagnose faults, and operate in autonomous, semi-autonomous, or non-autonomous modes, etc.

[0036] system

[0037] Vehicle 22 can be any passenger or commercial vehicle, such as a sedan, truck, SUV, crossover, van, minivan, taxi, bus, etc.

[0038] Computer 28 can operate vehicle 22 in autonomous mode, semi-autonomous mode, or non-autonomous mode. For the purposes of this disclosure, autonomous mode is defined as a mode in which each of the vehicle's propulsion device 32, braking device 34, and steering device 36 is controlled by computer 28; in semi-autonomous mode, computer 28 controls one or both of the vehicle's propulsion device 32, braking device 34, and steering device 36; and in non-autonomous mode, a human operator controls the vehicle 22's propulsion device 32, braking device 34, and steering device 36.

[0039] The propulsion device 32 of vehicle 22 is a system comprising a set of elements as described herein that generates energy and converts that energy into motion of vehicle 22. Propulsion device 32 may be, for example, a conventional powertrain system comprising: an internal combustion engine coupled to a transmission that transmits rotational motion to the wheels; an electric powertrain system comprising a battery, an electric motor, and a transmission that transmits rotational motion to the wheels; a hybrid powertrain system comprising elements of both a conventional powertrain and an electric powertrain; or any other type of propulsion device 32. Propulsion device 32 may include an electronic control unit (ECU) that controls propulsion device 32 and communicates with computer 28. Propulsion device 32 communicates with and receives input from computer 28 and a human driver. The human driver may control propulsion device 32 via, for example, an accelerator pedal and / or a gear lever.

[0040] Braking device 34 is a system comprising a set of elements as described herein that resists the movement of vehicle 22, thereby slowing and / or stopping vehicle 22. Braking device 34 may be: a friction brake, such as a disc brake, drum brake, band brake, etc.; a regenerative brake; any other suitable type of brake; or a combination thereof. Braking device 34 may include an ECU that controls braking device 34 and communicates with computer 28. Braking device 34 communicates with and receives input from computer 28 and a human driver. The human driver may control braking device 34 via, for example, the brake pedal.

[0041] Steering mechanism 36 is a system comprising a set of elements as described herein that controls the steering angle of the wheels of vehicle 22. Steering mechanism 36 may include a torsion bar 30, a rack 40, and a pinion 42. Movement of rack 40 controls the steering angle of the wheels of vehicle 22. Pinion 42 engages with rack 40 such that rotation of pinion 42 causes movement of rack 40. Pinion 42 is coupled to torsion bar 30 such that rotation of torsion bar 30 causes rotation of pinion 42.

[0042] The steering mechanism 36 may include an actuator 44, which moves the rack 40, for example, in response to instructions from the computer 28. The actuator 44 may be a motor arranged to rotate a pinion 42. For example, the motor may be connected to the torsion bar 30 via gears, belts, chains, etc. Alternatively, the motor may be arranged to rotate a second pinion that engages with the rack 40. The actuator 44 may be a linear actuator arranged to move the rack 40, such as a helical type including a threaded shaft and bore, a hydraulic type including a piston and cylinder, etc. For example, the linear actuator may be connected to the rack 40 and the frame and / or body of the vehicle 22. The steering mechanism 36 may include an ECU that controls the steering mechanism 36 and communicates with the computer 28. For example, the ECU of the steering mechanism 36 may control the actuator 44, the linear actuator 52, the clutch 56, etc. (discussed below). The steering mechanism 36 communicates with and receives input from the steering wheel 24.

[0043] The steering wheel 24 allows the operator to steer the vehicle 22 by transmitting rotation of the steering wheel 24 to movement of the rack 40. For example, when the steering wheel 24 is engaged with the steering mechanism 36, rotation of the steering wheel 24 causes rotation of the torsion bar 30. The steering wheel 24 may be, for example, a rigid ring that can selectively engage and disengage with the steering mechanism 36, for example, using the torsion bar 30. For example, the steering wheel 24 may be... Figure 2 and Figure 5 The retraction position shown and Figure 1 and Figure 4 The steering wheel 24 can move between the extended and retracted positions. In the extended position, the spline 48 of the steering wheel 24 can engage the spline 50 of the torsion bar 30. In the retracted position, the spline 48 of the steering wheel 24 can disengage from the spline 50 of the torsion bar 30. Other structures can be used to engage the steering wheel 24 with the steering mechanism 36.

[0044] The steering mechanism 36 may include a deflection sensor 46 arranged to detect the deflection of the torsion bar 30. For example, the deflection sensor 46 may be a strain sensor fixed to the torsion bar 30, a Hall effect sensor near the support of the torsion bar 30, or any other type of sensor suitable for detecting the deflection of the torsion bar 30.

[0045] refer to Figure 4 and Figure 5 The steering mechanism 36 may include a linear actuator 52 or similar device that moves the steering wheel 24 between an extended position and a retracted position. For example, the linear actuator 52 may be a helical type including a threaded shaft and bore, a hydraulic type including a piston and cylinder, a rack and pinion type, etc. The linear actuator 52 may be fixed to a support member 54, such as a crossbar or other component of the instrument panel of the vehicle 22, and to the steering wheel 24. The extension and retraction of the linear actuator 52 may move the steering wheel 24 to the extended position and the retracted position, respectively.

[0046] refer to Figure 6 The steering device 36 may include a clutch 56 connected to a torsion bar 30 and a steering wheel 24. Engaging the clutch 56 engages the steering wheel 24 with the torsion bar 30. Disengaging the clutch 56 disengages the steering wheel 24 from the torsion bar 30.

[0047] The ECU of the steering system 36 can, for example, actuate the clutch 56, linear actuator 52 or other suitable structure in response to a command received from the computer 28, so as to engage or disengage the steering wheel 24 and the torsion bar 30.

[0048] Turn now Figure 7 Vehicle 22 may include a user interface 58. The user interface 58 presents and receives information to and from the occupants of vehicle 22, for example, by being included in and / or connected to computer 28. The user interface 58 may be located, for example, on a dashboard in the passenger compartment of vehicle 22, or anywhere easily visible to the occupants. The user interface 58 may include dials, digital displays, lights, screens (such as touch-sensitive displays), speakers, etc., for providing information to the occupants, such as human-machine interface (HMI) elements. The user interface 58 may include buttons, knobs, keypads, microphones, etc., for receiving information from the occupants.

[0049] Vehicle 22 may include sensors 60. Sensors 60 may detect the internal states of vehicle 22, such as wheel speeds, wheel orientation, and engine and transmission variables. Sensors 60 may detect the position or orientation of vehicle 22; these sensors may include, for example, a Global Positioning System (GPS) sensor; an accelerometer, such as a piezoelectric or microelectromechanical system (MEMS) sensor; a gyroscope, such as a rate, ring laser, or fiber optic gyroscope; an inertial measurement unit (IMU); and a magnetometer. Sensors 60 may detect the external world, for example, radar sensors, scanning laser rangefinders, light detection and ranging (LIDAR) devices, and image processing sensors (such as cameras). Sensors 60 may include communication devices, such as vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices.

[0050] Vehicle 22 may include a communication network 62, such as Figure 7 As shown. Communication network 62 includes hardware for facilitating communication between vehicle components, such as a communication bus, including propulsion unit 32, braking system 34, steering system 36, sensor 60, computer 28, etc. Communication network 62 can facilitate wired or wireless communication between components of vehicle 22 according to various communication protocols, such as Controller Area Network (CAN), Ethernet, WiFi, Local Area Network (LIN), and / or other wired or wireless mechanisms.

[0051] A computer 28, implemented via circuits, chips, and / or other electronic components, is included in system 20 for performing various operations, including those described herein. Computer 28 is a computing device including a processor and memory comprising one or more forms of computer-readable medium and storing instructions executable by the processor to perform various operations, including those disclosed herein. The memory of computer 28 typically also stores remote data received via various communication mechanisms; for example, computer 28 is typically configured to communicate on a controller area network (CAN) bus, etc., and / or to use other wired or wireless protocols, such as Bluetooth. Computer 28 may also have a connection to an on-board diagnostic connector (OBD-II). Via communication network 62, for example using Ethernet, WiFi, CAN bus, local interconnect network (LIN), and / or other wired or wireless mechanisms, computer 28 can send messages to and / or receive messages from various devices in vehicle 22, such as propulsion system 32, braking system 34, steering system 36, sensors 60, etc. Although for ease of illustration, Figure 7 A computer 28 is shown, but it should be understood that computer 28 may include one or more computing devices, and the various operations described herein may be performed by one or more computing devices.

[0052] Computer 28 can be programmed to actuate steering mechanism 36 to engage steering wheel 24 with steering mechanism 36 (e.g., using torsion bar 30) and disengage steering wheel 24 from steering mechanism 36. For example, computer 28 can send commands to steering mechanism 36 via communication network 62, instructing linear actuator 52 to change length, for example, to move steering wheel 24 to an extended or retracted position. As another example, computer 28 can send commands to steering mechanism 36 via communication network 62, instructing clutch 56 connected to torsion bar 30 and steering wheel 24 to engage or disengage.

[0053] Computer 28 can be programmed to determine whether steering wheel 24 is engaged or disengaged from steering mechanism 36 based on the detected deflection of torsion bar 30 (e.g., using torsion bar 30). Computer 28 can detect the deflection of torsion bar 30 based on information received from deflection sensor 46, for example, information received via communication network 62.

[0054] When the steering wheel 24 is engaged with the steering mechanism 36, the rotational inertia of the steering mechanism 36 is greater than that when the steering wheel 24 is disengaged from the steering mechanism 36. As conventionally understood and herein, inertia is the tendency to maintain a current motion or not to move. For example, the inertia of the steering mechanism 36 represents the tendency to maintain the current motion or not to move the rack 40, torsion bar 30, etc. The inertia of the steering mechanism 36 can be quantified by the amount of force required by the actuator 44 to change the motion of the steering mechanism 36, for example, the amount of voltage supplied to the actuator 44 to stop the steering mechanism 36 at a certain position, to accelerate the steering mechanism 36 toward a certain position, etc. The inertia of the steering mechanism 36 when the steering wheel 24 is engaged with the steering mechanism 36 is greater than that when the steering wheel 24 is disengaged from the steering mechanism 36. In other words, when the steering wheel 24 is engaged with the steering mechanism 36, a greater force is required to change the movement of the steering mechanism 36 compared to when the steering wheel 24 is disengaged from the steering mechanism 36. For example, to move the steering angle toward a certain position or to stop the steering angle at a certain position. The greater the inertia, the greater the deflection of the torsion bar 30, for example, due to the increased torque applied to the torsion bar 30 to achieve the change in the movement of the steering mechanism 36.

[0055] To determine whether the steering wheel 24 is engaged or disengaged from the steering mechanism 36, the computer 28 can compare the detected deflection value with a stored threshold (e.g., 2 degrees). When the detected deflection is greater than the threshold, the computer 28 can determine that the steering wheel 24 is engaged with the steering mechanism 36. When the detected deflection is less than the threshold, the computer 28 can determine that the steering wheel 24 is disengaged from the steering mechanism 36. The threshold can be selected from a set of values ​​or a range of values, for example, different values ​​for different vehicle speeds.

[0056] The threshold can be determined through empirical testing. For example, the deflection value of the torsion bar 36 can be recorded when the steering device 36 is disengaged from the steering wheel 24 and when it is actuated to change the steering angle at various vehicle speeds. Conventional statistical techniques can be used, for example, to analyze the recorded deflection values ​​to form a bell curve, identify the mean and standard deviation, etc., to identify a range of deflection values ​​for the torsion bar 30 when the steering device 36 is disengaged from the steering wheel 24. The deflection value of the torsion bar 36 can also be recorded when the steering device 36 is engaged with the steering wheel 24 and when it is actuated to change the steering angle at various speeds. Statistical methods can be used, for example, to analyze the recorded deflection values ​​to form a bell curve, identify the mean and standard deviation, etc., to identify a range of deflection values ​​for the torsion bar 30 when the steering device 36 is engaged with the steering wheel 24. Thresholds can be selected for various speeds, for example, values ​​at specific speeds, such that the threshold is higher than the value detected when the steering device 36 is disengaged from the steering wheel 24 and lower than the value detected when the steering device 36 is engaged with the steering wheel 24.

[0057] Computer 28 can be programmed to actuate user interface 58 to provide information on whether steering wheel 24 is engaged or disengaged from steering mechanism 36. For example, computer 28 can send instructions to user interface 58 including status indicators, such as instructing lights on user interface 58 to illuminate the status, instructing the screen of user interface 58 to display the status, etc.

[0058] Computer 28 can be programmed to store one or more fault codes, for example, in the memory of computer 28. For example, a first fault code may indicate that after computer 28 actuates steering mechanism 36 to disengage steering wheel 24 from steering mechanism 36, steering wheel 24 remains engaged with steering mechanism 36 (e.g., using torsion bar 30). As another example, a second fault code may indicate that after computer 28 actuates steering mechanism 36 to engage steering wheel 24 from steering mechanism 36, steering wheel 24 remains disengaged from steering mechanism 36.

[0059] Computer 28 can be programmed to operate steering mechanism 36 in autonomous, semi-autonomous, or non-autonomous mode. In autonomous mode, computer 28 can send one or more commands to steering mechanism 36 to change the steering angle of the wheels of vehicle 22. In semi-autonomous mode, computer 28 can send one or more commands to propulsion mechanism 32 and / or braking mechanism 34 and avoid sending commands to steering mechanism 36. In semi-autonomous mode, computer 28 can send commands to steering mechanism 36 and / or one of propulsion mechanism 32 and braking mechanism 34. In non-autonomous mode, computer 28 can avoid sending commands to steering mechanism 36.

[0060] Computer 28 can operate steering device 36 in autonomous, semi-autonomous, or non-autonomous mode based on instructions from user interface 58 in a specified mode. For example, the operator of vehicle 22 can provide input to user interface 58 indicating autonomous, semi-autonomous, or non-autonomous mode, and user interface 58 can send instructions to computer 28 via communication network 62 based on such input.

[0061] Computer 28 can select an autonomous mode, a semi-autonomous mode, or a non-autonomous mode based on whether the steering wheel 24 is engaged or disengaged from the steering mechanism 36. For example, when the computer determines that the steering wheel 24 is engaged with the steering mechanism 36, computer 28 can select either a semi-autonomous mode in which no commands are sent to the steering mechanism 36, or a non-autonomous mode. As another example, when the computer determines that the steering wheel 24 is engaged with the steering mechanism 36, computer 28 can select either a non-autonomous mode or a semi-autonomous mode in which no commands are sent to the steering mechanism 36.

[0062] Computer 28 can be programmed to actuate steering mechanism 36 to change the steering angle of the wheels of vehicle 22. For example, computer 28 can send commands via communication network 62 to actuator 44 that moves rack 40. The commands can instruct the motor to rotate, the linear actuator to change length, etc.

[0063] Computer 28 can instruct the actuation of steering device 36 by providing input to steering device 36 according to parameters. These parameters are values ​​that provide measures of variables used to control steering device 36, such as the maximum or minimum voltage supplied to actuator 44, or constants such as gain constants, for use with control loop feedback programming, for example, to actuate steering device 36 to a desired steering angle. The parameters can be stored in the memory of computer 28. For example, computer 28 can use proportional-integral-derivative (PID) control to actuate steering device 36 to the desired steering angle.

[0064] Computer 28 can select parameters, such as conventional gain values ​​for PID control, based on whether steering wheel 24 is engaged or disengaged from steering mechanism 36. The gain value for PID control is a unitless constant used to scale the inputs of proportional, integral, and derivative PID control. Computer 28 can also select parameters based on the speed of vehicle 22 (e.g., as detected by sensor 60). In other words, computer 28 can select certain parameters for providing input to steering mechanism 36 in response to determining whether steering mechanism 36 is engaged or disengaged from steering wheel 24 and in response to identifying the speed of vehicle 22.

[0065] For example, computer 28 can store lookup tables with various gain values, such as those relating to whether steering wheel 24 is engaged or disengaged from steering mechanism 36, and various vehicle speeds. After computer 28 determines whether steering wheel 24 is engaged or disengaged from steering mechanism 36 and identifies the vehicle speed, computer 28 can use this information with the lookup table to select the gain value to use when providing input to steering mechanism 36. The lookup table can be populated with gain values ​​based on empirical testing. For example, various gain values ​​can be tested at various vehicle speeds when steering wheel 24 is engaged with steering mechanism 36 and at various vehicle speeds when steering wheel 24 is disengaged from steering mechanism 36. The gain value used for the lookup table can be selected from the empirically tested gain values ​​to optimize the accuracy and speed of actuating steering mechanism 36 to the desired steering angle, thereby providing comfort for the occupants of vehicle 22, for example by reducing the rate of change of lateral acceleration (which is the second derivative of lateral velocity, i.e., the first derivative of lateral acceleration). For example, various gain values ​​can be tested at various speeds while the steering device 36 is engaged with the steering wheel 24. When measuring the gain values, the lateral acceleration and rate of change of acceleration of the vehicle 22 can be measured, as can the time required to reach the desired steering angle, the amount of oversteer, etc. The gain values ​​used for the lookup table can be selected based on the tests, such that the lateral acceleration and rate of change of acceleration do not exceed threshold values, the desired steering angle is reached in a minimum time, and there is no oversteer, etc. The threshold values ​​for acceleration and rate of change of acceleration can be determined based on occupant surveys, etc., in which occupants of the vehicle 22 provide feedback on the performance of the vehicle 22, for example, whether the lateral acceleration and / or rate of change of acceleration generated by actuating the steering device 36 makes riding in the vehicle 22 unpleasant. Alternatively or concurrently, computer simulations replicating the above tests can be used to select the gain values ​​included in the lookup table. An exemplary lookup table is shown below, which is used with PID control and includes gain values ​​selected through such tests. The gain values ​​in the table were selected through real-world experience testing (as opposed to computer simulation) using a 2017 Ford Fusion Hybrid vehicle. Although shown as gain values ​​associated with a range of vehicle speeds, it should be understood that gain values ​​can be associated with a specific speed in the lookup table, where computer 28 extrapolates gain values ​​based on detected vehicle speeds and the vehicle speeds and gain values ​​in the table to provide input to steering unit 36.

[0066]

[0067] Table 1

[0068] process

[0069] Figure 8This is a process flow diagram illustrating an exemplary process 800 for controlling a vehicle 22 having a steering wheel 24 that can engage and disengage from a steering mechanism 36. Process 800 can be executed by a computer 28.

[0070] Process 800 begins in block 802, where computer 28 receives data, for example, via communication network 62, from deflection sensor 46, sensor 60, user interface 58, etc. Computer 28 may continuously receive data throughout process 800. In this document, process 800 is performed substantially continuously or at time intervals (e.g., every 100 milliseconds).

[0071] Next, in block 804, computer 28 actuates steering mechanism 36 to engage or disengage steering wheel 24 from steering mechanism 36. For example, computer 28 may send commands to steering mechanism 36 via communication network 62, for example, in response to instructions received from user interface 58, such as sending commands to the ECU of steering mechanism 36 to instruct linear actuator 52 to change length, or sending commands to clutch 56 connected to torsion bar 30 and steering wheel 24.

[0072] Next, in block 806, computer 28 determines whether steering wheel 24 is engaged or disengaged from steering mechanism 36 based on the detected deflection of torsion bar 30 (e.g., based on information from deflection sensor 46), as described herein. Computer 28 compares the determined engagement or disengagement with the actuation used to engage or disengage in block 804. When computer 28 determines that the detected engagement or disengagement matches the actuation in block 804, for example, computer 28 determines that steering wheel 24 is engaged with steering mechanism 36 and in block 804 computer 28 has actuated steering mechanism 36 to engage steering wheel 24 with steering mechanism 36, or vice versa, process 800 returns to block 802. When computer 28 determines that the detected engagement or disengagement does not match the actuation in block 804, for example, when computer 28 determines that steering wheel 24 is engaged with steering device 36 and in block 804 computer 28 has actuated steering device 36 to disengage steering device 36 from steering wheel 24, or vice versa, process 800 moves to block 808.

[0073] In block 808, computer 28 actuates steering mechanism 36 again to engage or disengage steering wheel 24 from steering mechanism 36, that is, computer 28 repeats the instructions given in the most recent iteration in block 804.

[0074] Next, in block 810, computer 28 again determines whether steering wheel 24 is engaged or disengaged from steering mechanism 36 based on the detected deflection of torsion bar 30 (e.g., based on information from deflection sensor 46), as described above, and compares the determined engagement or disengagement with the actuation used to engage or disengage in blocks 804 and 808. When computer 28 determines that the detected engagement or disengagement matches the actuation in blocks 804 and 808, i.e., the detected engagement or disengagement is the same as the engagement or disengagement indicated in blocks 804 and 808, process 800 returns to block 802. For example, the matching could be when computer 28 determines that steering wheel 24 is engaged with steering mechanism 36 and computer 28 has actuated steering mechanism 36 in blocks 804 and 808 to engage steering wheel 24 with steering wheel 36, or vice versa. When computer 28 determines that the detected engagement or disengagement does not match the actuation in blocks 804 and 808, that is, the detected engagement or disengagement is different from the engagement or disengagement indicated in blocks 804 and 808, process 800 moves to block 812. For example, the mismatch could be when computer 28 determines that steering wheel 24 is engaged with steering mechanism 36 and in blocks 804 and 808 computer 28 has actuated steering mechanism 36 to disengage steering mechanism 36 from steering wheel 24, or vice versa.

[0075] In block 812, computer 28 actuates steering device 36 based on a determination that steering wheel 24 is engaged or disengaged from steering device 36. For example, computer 28 can actuate steering device 36 by providing input to steering device 36 based on one or more parameters selected according to the determination. For example, the parameters could indicate a gain value, such as the gain value to be used when actuating steering device 36 using PID control, as described herein. As another example, computer 28 can actuate steering device 36 in one of autonomous, semi-autonomous, and non-autonomous modes based on the determination. When computer 28 determines in blocks 806 and 810 that steering wheel 24 is engaged with steering device 36, computer 28 can actuate steering device 36 in semi-autonomous or non-autonomous mode, for example, by avoiding sending commands to steering device 36 and allowing the operator to control steering device 36 via steering wheel 24. When computer 28 determines in boxes 806 and 810 that steering wheel 24 is disengaged from steering mechanism 36, computer 28 may actuate steering mechanism 36 in autonomous or semi-autonomous mode, for example by sending a command to steering mechanism 36.

[0076] Next, in box 814, computer 28 actuates user interface 58 to provide the state of whether steering wheel 24 is engaged or disengaged from steering mechanism 36. For example, computer 28 may send indications of the state to user interface 58, and instructions to display such state, for example, via communication network 62.

[0077] Next, in box 816, computer 28 stores a fault code based on the determinations made in boxes 806 and 810. Computer 28 may store a fault code indicating that when it is determined that steering wheel 24 is engaged with steering mechanism 36, steering wheel 24 is engaged with steering mechanism 36 and will not disengage. Computer 28 may also store a fault code indicating that when it is determined that steering wheel 24 is disengaged from steering mechanism 36, steering wheel 24 is disengaged from steering mechanism 36 and will not engage. After box 816, process 800 may end. Alternatively, process 800 may return to box 802.

[0078] Summarize

[0079] Computing devices (such as computer 28, ECU of steering device 36, etc.) typically include computer-executable instructions, which can be executed by one or more computing devices such as those listed above. The computer-executable instructions can be compiled or interpreted by a computer program created using various programming languages ​​and / or technologies, which may be individually or in combination, including but not limited to Java. TM Languages ​​such as C, C++, Visual Basic, JavaScript, and Perl are used. Some of these applications can be compiled and executed on virtual machines such as the Java Virtual Machine and the Dalvik Virtual Machine. Typically, a processor (e.g., a microprocessor) receives instructions from sources such as memory, computer-readable media, etc., and executes these instructions to perform one or more processes, including one or more of those described herein. A variety of computer-readable media can be used to store and transfer such instructions and other data.

[0080] Computer-readable media (also known as processor-readable media) include any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that can be read by a computer (e.g., by the computer's processor). Such media can take many forms, including but not limited to non-volatile and volatile media. Non-volatile media can include, for example, optical discs or magnetic disks, and other persistent storage. Volatile media can include, for example, dynamic random access memory (DRAM), which typically constitutes main memory. Such instructions can be transmitted by one or more transmission media, including coaxial cables, copper wires, and optical fibers, including wires containing a system bus coupled to the computer's processor. Common forms of computer-readable media include, for example, floppy disks, floppy disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROM, EPROM, flash EEPROM, any other memory chip or cassette tape, or any other medium from which a computer can read.

[0081] In some examples, system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.) and stored on computer-readable media (e.g., disks, storage, etc.) associated therewith. Computer program products may include such instructions stored on computer-readable media for performing the functions described herein.

[0082] Regarding the media, processes, systems, methods, etc., described herein, it should be understood that although the steps of such processes, etc., have been described as occurring in an ordered sequence, such processes can be practiced where the described steps are performed in an order other than that described herein. It should also be understood that some steps may be performed simultaneously, other steps may be added, or some steps described herein may be omitted. In other words, the descriptions of systems and / or processes herein are provided for illustrative purposes and should in no way be construed as limiting the subject matter disclosed.

[0083] This disclosure has been described in an illustrative manner, and it should be understood that the terminology used is intended to describe the nature of descriptive words rather than restrictive words. In view of the above teachings, many modifications and variations of this disclosure are possible, and this disclosure can be practiced in ways other than those specifically described.

[0084] Unless otherwise specified or required by the context, the article "a" in a modified noun should be understood to mean one or more. The phrase "based on" covers part or all of something based on.

[0085] The adjectives “first” and “second” are used throughout this document as identifiers, not intended to indicate importance or order.

[0086] According to the present invention, a system is provided having a processor and a memory storing program instructions executable by the processor to determine whether a steering wheel is engaged or disengaged from a steering mechanism based on a detected deflection of a steering torsion bar; and to actuate the steering mechanism based on the determination.

[0087] According to one embodiment, the memory also stores instructions for actuating the steering device by providing input to the steering device based on one or more parameters selected according to the determination.

[0088] According to one embodiment, one or more parameters indicate the gain value.

[0089] According to one embodiment, the memory also stores instructions for actuating the steering device in one of the following modes—autonomous, semi-autonomous, and non-autonomous—based on the determination.

[0090] According to one embodiment, the memory also stores instructions for actuating the steering mechanism to disengage from the steering wheel when it is determined that the steering wheel is engaged with the steering mechanism.

[0091] According to one embodiment, the memory also stores instructions for actuating the user interface to provide the state of whether the steering wheel is engaged or disengaged from the steering mechanism.

[0092] According to one embodiment, the memory also stores instructions for storing a first fault code when it is determined that the steering wheel is engaged with the steering mechanism and for storing a second fault code different from the first fault code when it is determined that the steering wheel is disengaged from the steering mechanism.

[0093] According to the present invention, a system is provided comprising: a steering wheel; a steering mechanism including a torsion bar; a sensor arranged to detect deflection of the torsion bar; and means for determining whether the steering wheel is engaged or disengaged from the steering mechanism based on the value of the detected deflection of the torsion bar.

[0094] According to one embodiment, the invention is further characterized by a means for actuating the steering device based on the determination.

[0095] According to one embodiment, the steering device may include an actuator arranged to control the steering angle of the steering device.

[0096] According to one embodiment, the invention is further characterized by a means for actuating the steering device by providing input to the steering device based on the determination by means of one or more parameters selected according to the determination.

[0097] According to one embodiment, one or more parameters indicate the gain value.

[0098] According to one embodiment, the invention is further characterized by a means for actuating the steering mechanism to disengage from the steering wheel when it is determined that the steering wheel is engaged with the steering mechanism.

[0099] According to the present invention, a method includes: determining whether a steering wheel is engaged or disengaged from a steering mechanism based on detected deflection of a steering torsion bar; and actuating the steering mechanism based on the determination.

[0100] According to one embodiment, the steering device is actuated by providing input to the steering device based on one or more parameters selected according to the determination.

[0101] According to one embodiment, one or more parameters indicate the gain value.

[0102] According to one embodiment, a steering device is actuated in one of autonomous mode, semi-autonomous mode and non-autonomous mode based on the determination.

[0103] According to one embodiment, the invention is further characterized in that, when it is determined that the steering wheel is engaged with the steering mechanism, the steering mechanism is actuated to disengage from the steering wheel, and when it is determined that the steering wheel is disengaged from the steering mechanism, the steering mechanism is actuated to engage the steering wheel.

[0104] According to one embodiment, the invention is further characterized in that the user interface is actuated to provide information on whether the steering wheel is engaged or disengaged from the steering mechanism.

[0105] According to one embodiment, the invention is further characterized in that it stores one of a first fault code when it is determined that the steering wheel is engaged with the steering device and a second fault code different from the first fault code when it is determined that the steering wheel is disengaged from the steering device.

Claims

1. A system comprising: steering wheel; Steering mechanisms including torsion bars; A sensor is arranged to detect the deflection of the torsion bar; and A device for determining whether the steering wheel is engaged or disengaged from the steering mechanism based on the detected deflection value of the torsion bar; The user interface is activated to indicate whether the steering wheel is engaged or disengaged from the steering mechanism. as well as A means for actuating the steering device based on the determination.

2. The system of claim 1, wherein the steering device includes an actuator arranged to control the steering angle of the steering device.

3. The system of claim 1, further comprising means for actuating the steering device based on the determination, the actuation being achieved by providing input to the steering device by means of one or more parameters selected according to the determination.

4. The system of claim 3, wherein one or more parameters indicate a gain value.

5. The system of any one of claims 1-4, further comprising means for actuating the steering mechanism to disengage from the steering wheel when it is determined that the steering wheel is engaged with the steering mechanism.

6. A method for controlling a steering device, comprising: The steering wheel is engaged or disengaged from the steering mechanism based on the detected deflection of the steering torsion bar. The user interface is activated to indicate whether the steering wheel is engaged or disengaged from the steering mechanism. and The steering device is actuated based on the determination.

7. The method of claim 6, wherein the steering mechanism is actuated based on the determination, the actuation being achieved by providing input to the steering mechanism by means of one or more parameters selected according to the determination.

8. The method of claim 7, wherein the one or more parameters indicate a gain value.

9. The method of claim 6, wherein the steering device is actuated in one of an autonomous mode, a semi-autonomous mode, and a non-autonomous mode based on the determination.

10. The method of claim 6, further comprising: When it is determined that the steering wheel is engaged with the steering mechanism, the steering mechanism is actuated to disengage from the steering wheel, and when it is determined that the steering wheel is disengaged from the steering mechanism, the steering mechanism is actuated to engage the steering wheel.

11. The method of claim 6, further comprising storing one of a first fault code when it is determined that the steering wheel is engaged with the steering mechanism and storing a second fault code different from the first fault code when it is determined that the steering wheel is disengaged from the steering mechanism.

12. A memory storing program instructions executable by a processor to perform the method of any one of claims 6-11.

13. A computer program product programmed to perform the method of any one of claims 6-11.

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