System and method for overlearning protection for torque steer mitigation

Abstract

A method for providing overlearning protection for torque steer mitigation includes receiving a compensation torque value corresponding to a torque offset associated with a transmission torque and receiving a handwheel torque value associated with a handwheel of a steering system. The method further includes: detecting a mathematical sign of the compensation torque value; detecting a mathematical sign of the handwheel torque value; and determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value. The method further includes: adjusting one or more learned gains in response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value, and generating a negated compensation torque value by negating the mathematical sign of the compensation torque value.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent application claims priority to U.S. Provisional Patent Application Serial No. 63 / 170,109, filed on April 2, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to steering systems, and more particularly, to systems and methods for overlearning protection for torque steer mitigation. Background Art

[0004] A vehicle (e.g., an automobile, truck, sport utility vehicle, crossover, minivan, boat, aircraft, all-terrain vehicle, recreational vehicle, or other suitable vehicle) includes 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. The steering system typically includes various torque paths for providing torque to various components of the steering system.

[0005] Typically, such a steering system may include or utilize one or more torque steer mitigation functions. Such a torque steer mitigation function may have multiple calibrations that are configured for fast learning, which may allow such a torque steer mitigation function to relatively quickly compensate for torque offsets due to transferred torque. However, this may cause the torque steer mitigation function to "overlearn" over consecutive key cycles because the learned gains may be stored as "long-term gains" and, over a new key cycle, "short-term gains" may be learned (e.g., the learned gain of transferred torque to handwheel torque offset may increase to an undesirable value). This may cause a pulling effect that the vehicle operator may experience in the opposite direction. Summary of the Invention

[0006] Generally speaking, the present disclosure relates to steering systems.

[0007] One aspect of the disclosed embodiment includes a method for providing overlearning protection for torque steer mitigation. The method includes: receiving a compensation torque value corresponding to a torque offset associated with a transmission torque; and receiving a handwheel torque value associated with a handwheel of a steering system. The method also includes: detecting a mathematical sign of the compensation torque value; detecting a mathematical sign of the handwheel torque value; and determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value. The method also includes: adjusting one or more learned gains in response to a determination that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value, and generating an inverted compensation torque value by inverting the mathematical sign of the compensation torque value.

[0008] Another aspect of the disclosed embodiment includes a system for providing overlearning protection for torque steer mitigation. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a compensation torque value corresponding to a torque offset associated with a transmission torque; receive a handwheel torque value associated with a handwheel of a steering system; detect a mathematical sign of the compensation torque value; detect a mathematical sign of the handwheel torque value; determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; in response to a determination that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjust one or more learned gains; and generate a negated compensation torque value by negating the mathematical sign of the compensation torque value.

[0009] Another aspect of the disclosed embodiment includes an apparatus for providing overlearning protection for torque steer mitigation.The apparatus includes a processor and a memory. The memory includes a plurality of instructions that, when executed by the processor, cause the processor to: receive a compensation torque value corresponding to a torque offset associated with a transmission torque; receive a handwheel torque value associated with a handwheel of a steering system; detect a mathematical sign of the compensation torque value; detect a mathematical sign of the handwheel torque value; determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; in response to a determination that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjust one or more learned gains; generate a negated compensation torque value by negating the mathematical sign of the compensation torque value; generate a torque command based on the negated compensation torque value and the handwheel torque value; and selectively control at least one aspect of steering based on the torque command; and in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generate a torque command based on the compensation torque value and the handwheel torque value; and selectively control at least one aspect of steering based on the torque command.

[0010] These and other aspects of the disclosure are disclosed in the following detailed description of the embodiments, as well as in the appended claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present disclosure will be best understood from the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, according to common practice, the various features of the drawings are not drawn to scale. Instead, the dimensions of the various features are intentionally expanded or reduced for clarity.

[0012] Figure 1 A vehicle according to the principles of the present disclosure is generally shown.

[0013] Figure 2A An overlearning protection system according to the principles of the present disclosure is generally shown.

[0014] Figure 2B is a flow chart generally illustrating an overlearning protection method according to the principles of the present disclosure.

[0015] Figure 3 is a flow chart generally illustrating an alternative overlearning protection method according to the principles of the present disclosure.

[0016] Figure 4 is a flow chart generally illustrating an alternative overlearning protection method according to the principles of the present disclosure. DETAILED DESCRIPTION

[0017] The following discussion relates to various embodiments of the present disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted as (or used to) limit the scope of the present disclosure (including the claims). In addition, it will be understood by those skilled in the art that the following description has broad application, and the discussion of any embodiment is merely an exemplary illustration of that embodiment and is not intended to imply that the scope of the present disclosure (including the claims) is limited to that embodiment.

[0018] As described, a vehicle (such as an automobile, truck, sport utility vehicle, crossover, minivan, boat, aircraft, all-terrain vehicle, recreational vehicle, or other suitable vehicle) includes 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. The steering system generally includes various torque paths for providing torque to various components of the steering system.

[0019] Typically, such a steering system may include or utilize one or more torque steer mitigation functions. Such torque steer mitigation functions may have a calibration configured for fast learning, which may allow such torque steer mitigation functions to relatively quickly compensate for torque offsets due to delivered torque. However, this may cause the torque steer mitigation function to "overlearn" over consecutive key cycles, as the learned gains may be stored as "long-term gains," and over new key cycles, "short-term gains" may be learned (e.g., the learned gain of delivered torque to handwheel torque offset may increase to an undesirable value). This may cause a pull effect, which the vehicle operator may experience in the opposite direction.

[0020] Therefore, systems and methods configured to provide overlearning protection for torque steer mitigation (such as those described herein) are desirable. In some embodiments, the systems and methods described herein can be configured to detect a difference in the signs of the torque command for compensation and the handwheel torque. For example, an overlearning scenario results in a sign difference in the torque command for compensation and the handwheel torque (e.g., under normal conditions, the signs of the torque command for compensation and the handwheel torque are the same). Overlearning can be defined as the calculated torque command having a different sign than the handwheel torque signal.

[0021] In some embodiments, the systems and methods described herein can be configured to recognize when the sign of the torque command has been "flipped" (e.g., changed from one sign to another and / or different from the sign of the handwheel torque), which may indicate overlearning. The systems and methods described herein can be configured to apply a ramp rate, which can prevent sudden changes in torque and can allow the torque to gradually return in the correct direction. The systems and methods described herein can be configured to cause the learning gain for the steering system to be reduced (e.g., because in an overlearning scenario, the learning gain has increased to an undesirable value).

[0022] In some embodiments, the systems and methods described herein can be configured to apply a filter to the torque command signal and / or the handwheel torque signal. The filter can be configured to prevent the systems and methods described herein from alternating between detecting overlearning and not detecting overlearning. For example, the torque command signal and the handwheel torque signal can be relatively small, which can cause the signs associated with the torque command signal and the handwheel torque signal to change at a relatively fast pace (e.g., due to noise or dynamics in the steering system). The filter can be configured to handle such small torque command signals and handwheel torque signals (e.g., and the rapidly changing signs associated with the small torque command signals and the small handwheel torque signals).

[0023] In some embodiments, the systems and methods described herein can be configured to detect overlearning based on signal signs (e.g., corresponding to torque command and handwheel torque). The systems and methods described herein can be configured to provide mitigation for sign differences, ramp rates, and / or gain reductions.

[0024] In some embodiments, the systems and methods described herein can be configured to receive a compensation torque value. The systems and methods described herein can be configured to receive a handwheel torque value. The systems and methods described herein can be configured to detect the mathematical sign of the compensation torque value. The systems and methods described herein can be configured to detect the mathematical sign of the handwheel torque value. The systems and methods described herein can be configured to determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0025] In some embodiments, the systems and methods described herein can be configured to, in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value, provide compensation according to normal operation and apply a ramp rate to prevent abrupt changes in torque.

[0026] In some embodiments, the systems and methods described herein can be configured to, in response to a determination that the mathematical sign of the compensation torque value differs from the mathematical sign of the handwheel torque value, reduce the learned gain and negate the mathematical sign of the compensation torque value. The systems and methods described herein can be configured to apply a ramp rate to prevent abrupt changes in torque.

[0027] In some embodiments, the systems and methods described herein can be configured to receive a compensation torque value corresponding to a torque offset associated with the transmission torque. The systems and methods described herein can be configured to receive a handwheel torque value associated with a handwheel of a steering system. The systems and methods described herein can be configured to detect the mathematical sign of the compensation torque value. The systems and methods described herein can be configured to detect the mathematical sign of the handwheel torque value. The systems and methods described herein can be configured to determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0028] The systems and methods described herein can be configured to adjust one or more learned gains in response to a determination that the mathematical sign of the compensation torque value differs from the mathematical sign of the handwheel torque value. For example, the systems and methods described herein can be configured to decrease or reduce one or more learned gains corresponding to one or more historical compensation torque values. The systems and methods described herein can be configured to generate a negated compensation torque value by negating the mathematical sign of the compensation torque value.

[0029] In some embodiments, the systems and methods described herein can be configured to generate a torque command based on the inverted compensation torque value and the handwheel torque value, and selectively control at least one aspect of steering based on the torque command. The systems and methods described herein can also be configured to generate the torque command based on one or more ramp rates associated with at least the inverted compensation torque value.

[0030] In some embodiments, the systems and methods described herein can be configured to, in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value, generate a torque command based on the compensation torque value and the handwheel torque value, and selectively control at least one aspect of steering based on the torque command. The systems and methods described herein can be configured to further generate the torque command based on one or more ramp rates associated with at least the compensation torque value.

[0031] Figure 1A vehicle 10 is generally shown in accordance with the principles of the present disclosure. Vehicle 10 may include any suitable vehicle, such as a car, truck, sport utility vehicle, minivan, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. While vehicle 10 is shown as a passenger vehicle having wheels and intended for use on roads, the principles of the present disclosure may be applied to other vehicles, such as airplanes, boats, trains, drones, or other suitable vehicles / vehicles.

[0032] Vehicle 10 includes a vehicle body 12 and a hood 14. A passenger compartment 18 is at least partially defined by vehicle body 12. Another portion of vehicle body 12 defines an engine compartment 20. Hood 14 can be removably attached to a portion of vehicle body 12 such that when hood 14 is in a first, or open, position, hood 14 provides access to engine compartment 20 and when hood 14 is in a second, or closed, position, hood 14 covers engine compartment 20. In some embodiments, engine compartment 20 can be located at the rear of vehicle 10 (as compared to what is generally shown).

[0033] The passenger compartment 18 may be positioned rearward of the engine compartment 20, but in embodiments where the engine compartment 20 is positioned at the rear of the vehicle 10, the passenger compartment may be positioned forward of the engine compartment 20. The vehicle 10 may include any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., an electric vehicle), one or more fuel cells, a hybrid (e.g., a hybrid vehicle) propulsion system including a combination of an internal combustion engine, one or more electric motors, and / or any other suitable propulsion system.

[0034] In some embodiments, vehicle 10 may include a gasoline engine or a gasoline-fueled engine, such as a spark-ignition engine. In some embodiments, vehicle 10 may include a diesel-fueled engine, such as a compression-ignition engine. Engine compartment 20 houses and / or surrounds at least some components of the propulsion system of vehicle 10. Additionally or alternatively, propulsion control devices, such as an accelerator actuator (e.g., an accelerator pedal), a brake actuator (e.g., a brake pedal), a steering wheel, and other such components are disposed in passenger compartment 18 of vehicle 10. The propulsion control devices may be actuated or controlled by the driver of vehicle 10 and may be directly connected to corresponding components of the propulsion system, such as a throttle, brakes, axles, vehicle transmission, etc. In some embodiments, the propulsion control devices may transmit signals to a vehicle computer (e.g., drive-by-wire), which in turn may control corresponding propulsion components of the propulsion system. Thus, in some embodiments, vehicle 10 may be an autonomous vehicle.

[0035] In some embodiments, vehicle 10 includes a transmission that communicates with the crankshaft via a flywheel, a clutch, or a fluid coupling. In some embodiments, the transmission comprises a manual transmission. In some embodiments, the transmission comprises an automatic transmission. In the case of an internal combustion engine or a hybrid vehicle, vehicle 10 may include one or more pistons that operate in conjunction with the crankshaft to generate force that is transferred through the transmission to one or more shafts, which rotate wheels 22. When vehicle 10 includes one or more electric motors, the vehicle battery and / or fuel cell provides energy to the electric motors to rotate wheels 22.

[0036] Vehicle 10 may include an automated vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other automated vehicle propulsion systems, or combinations thereof. Vehicle 10 may be an automated or semi-automated vehicle, or other suitable type of vehicle. Vehicle 10 may include more or fewer features than those generally illustrated and / or disclosed herein.

[0037] In some embodiments, the vehicle 10 may include an Ethernet component 24, a controller area network (CAN) bus 26, a media oriented system transport component (MOST) 28, a FlexRay component 30 (e.g., a brake-by-wire system, etc.), and a local interconnect network component (LIN) 32. The vehicle 10 may use the CAN bus 26, MOST 28, FlexRay component 30, LIN 32, other suitable networks or communication systems, or a combination thereof, to communicate various information from sensors within or outside the vehicle to various processors or controllers within or outside the vehicle. The vehicle 10 may include additional or fewer features than those generally illustrated and / or disclosed herein.

[0038] In some embodiments, the vehicle 10 may include a steering system such as an EPS system, a steer-by-wire steering system (e.g., which may include or communicate with one or more controllers that control components of the steering system without using a mechanical connection between a hand wheel of the vehicle 10 and the wheel 22), and a hydraulic steering system (e.g., which may include a magnetic actuator incorporated into a valve assembly of the hydraulic steering system), or other suitable steering systems.

[0039] The steering system may include an open-loop feedback control system or mechanism, a closed-loop feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including but not limited to handwheel position, input torque, one or more wheel positions, other suitable inputs or information, or a combination thereof.

[0040] Additionally or alternatively, the input may include a handwheel torque, a handwheel angle, a motor speed, a vehicle speed, an estimated motor torque command, other suitable inputs, or combinations thereof. The steering system may be configured to provide steering functionality and / or control to the vehicle 10. For example, the steering system may generate an assist torque based on various inputs. The steering system may be configured to use the assist torque to selectively control a motor of the steering system to provide steering assistance to the operator of the vehicle 10.

[0041] In some embodiments, the steering system may include a steering system controller, such as controller 100. Figure 2A . The controller 100 may include any suitable controller. The controller 100 may be configured to control various functions of, for example, a steering system. The controller 100 may include a processor 102 and a memory 104. The processor 102 may include any suitable processor, such as those described herein. Additionally or alternatively, the controller 100 may include any suitable number of processors in addition to or in place of the processor 102. The memory 104 may include a single disk or multiple disks (e.g., a hard drive) and include a storage management module (which manages one or more partitions within the memory 104). In some embodiments, the memory 104 may include flash memory, semiconductor (solid-state) memory. The memory 104 may include random access memory (RAM), read-only memory (ROM), or a combination thereof. The memory 104 may include instructions that, when executed by the processor 102, cause the processor 102 to at least control the various functions of the steering system.

[0042] The controller 100 may receive one or more signals from various measurement devices or sensors 106 (which may indicate sensed or measured characteristics of the vehicle 10). The sensors 106 may include any suitable sensor, measurement device, and / or other suitable mechanism. For example, the sensors 106 may include one or more torque sensors or devices, one or more handwheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, other suitable sensors or devices, or combinations thereof. The one or more signals may indicate handwheel torque, handwheel angle, motor speed, vehicle speed, other suitable information, or combinations thereof.

[0043] In some embodiments, the controller 100 can be configured to detect overlearning and provide overlearning protection for torque steer mitigation. The controller 100 can receive a handwheel torque value. The handwheel torque value can correspond to the amount of torque applied to the handwheel of the vehicle 10. The controller 100 can receive the handwheel torque value from a sensor, such as sensor 106 or other suitable sensor, configured to measure the amount of torque acting on the handwheel.

[0044] The controller 100 may receive and / or calculate a compensation torque value. The compensation torque value may correspond to a torque command calculated based on the handwheel torque value and / or other suitable values, signals, data, information, or the like. The controller 100 may detect the mathematical sign of the compensation torque value. The controller 100 may detect the mathematical sign of the handwheel torque value. The controller 100 may determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0045] In some embodiments, in response to determining that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value, the controller 100 can provide compensation according to normal operation. The controller 100 can apply a ramp rate to prevent sudden changes in torque.

[0046] In some embodiments, in response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value, the controller 100 can reduce the learned gain and invert the mathematical sign of the compensation torque value. The controller 100 can apply a ramp rate to prevent abrupt changes in torque.

[0047] In some embodiments, the controller 100 may receive a compensation torque value corresponding to a torque offset associated with the transmission torque. The controller 100 may receive a handwheel torque value associated with a handwheel of the steering system. The controller 100 may detect the mathematical sign of the compensation torque value. The controller 100 may detect the mathematical sign of the handwheel torque value. The controller 100 may determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0048] The controller 100 may adjust one or more learned gains in response to a determination that the mathematical sign of the compensation torque value differs from the mathematical sign of the handwheel torque value. For example, the controller 100 may decrease or reduce one or more learned gains corresponding to one or more historical compensation torque values. The controller 100 may generate a negated compensation torque value by negating the mathematical sign of the compensation torque value.

[0049] In some embodiments, the controller 100 may generate a torque command based on the inverted compensation torque value and the handwheel torque value, and selectively control at least one aspect of steering based on the torque command. The controller 100 may further generate the torque command based on one or more ramp rates associated with at least the inverted compensation torque value.

[0050] In some embodiments, in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value, the controller 100 may generate a torque command based on the compensation torque value and the handwheel torque value, and selectively control at least one aspect of the steering based on the torque command. The controller 100 may further generate the torque command based on one or more ramp rates associated with at least the compensation torque value.

[0051] In some embodiments, the controller 100 can perform the methods described herein. However, the methods described herein performed by the controller 100 are not intended to be limiting, and any type of software executed on a controller or processor can perform the methods described herein without departing from the scope of the present disclosure. For example, a controller (such as a processor executing software within a computer device) can perform the methods described herein.

[0052] Figure 2B 2 is a flow chart generally illustrating an overlearning protection method 200 according to the principles of the present disclosure. At 202 , the method 200 detects the signs of the compensation torque and the handwheel torque. For example, the controller 100 may detect the signs of the compensation torque and the handwheel torque.

[0053] At step 204, method 200 determines whether the signs are the same. For example, controller 100 may determine whether the sign of the compensation torque is the same as the sign of the handwheel torque. If controller 100 determines that the sign of the compensation torque is the same as the sign of the handwheel torque, method 200 continues at step 210. Alternatively, if controller 100 determines that the sign of the compensation torque is not the same as the sign of the handwheel torque, method 200 continues at step 206.

[0054] At 206, the method 200 decreases the learned gain. For example, the controller 100 may decrease the learned gain. It should be understood that the rate (eg, of the learned gain) may be adjustable.

[0055] At 208, the method 200 inverts the sign of the calculated compensation torque. For example, the controller 100 may invert the sign of the compensation torque (e.g., the calculated compensation torque). It should be understood that the method 200 may perform 206 and 208 in any suitable order or simultaneously (e.g., or substantially simultaneously).

[0056] At 210 , the method 200 provides compensation normally. For example, the controller 100 may provide compensation normally (eg, according to normal operation).

[0057] At 212 , the method 200 may apply a ramp rate to prevent sudden changes in torque. For example, the controller 100 may apply a ramp rate to prevent sudden changes in torque.

[0058] Figure 3 is a flow chart generally illustrating another overlearning protection method 300 according to the principles of the present disclosure. At 302 , the method 300 receives a compensation torque value. For example, the controller 100 may receive the compensation torque value.

[0059] At 304 , the method 300 receives a handwheel torque value. For example, the controller 100 may receive the handwheel torque value.

[0060] At 306 , the method 300 detects the mathematical sign of the compensation torque value. For example, the controller 100 may detect the mathematical sign of the compensation torque value.

[0061] At 308 , the method 300 detects the mathematical sign of the handwheel torque value. For example, the controller 100 can detect the mathematical sign of the handwheel torque.

[0062] At 310 , the method 300 determines whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value. For example, the controller 100 may determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0063] At 312, the method 300 provides compensation and applies a ramp rate to prevent abrupt changes in torque in accordance with normal operation in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value. The controller 100 may provide compensation and apply a ramp rate to prevent abrupt changes in torque in accordance with normal operation in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0064] In some embodiments, in response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value, the controller 100 can reduce the learned gain and invert the mathematical sign of the compensation torque value. In some embodiments, the controller 100 applies a ramp rate to prevent abrupt changes in torque.

[0065] Figure 4 4 is a flow chart generally illustrating another overlearning protection method 400 according to the principles of the present disclosure. At 402, the method 400 receives a compensation torque value corresponding to a torque offset (which is associated with a transmission torque). For example, the controller 100 may receive the compensation torque value.

[0066] At 404 , the method 400 receives a handwheel torque value associated with a handwheel of the steering system. For example, the controller 100 may receive the handwheel torque value.

[0067] At 406 , the method 400 detects the mathematical sign of the compensation torque value. For example, the controller 100 may detect the mathematical sign of the compensation torque value.

[0068] At 408 , the method 400 detects the mathematical sign of the handwheel torque value. For example, the controller 100 can detect the mathematical sign of the handwheel torque.

[0069] At 410 , the method 400 determines whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value. For example, the controller 100 may determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value.

[0070] At 412, the method 400 adjusts one or more learned gains in response to a determination that the mathematical sign of the compensation torque value differs from the mathematical sign of the handwheel torque value, and generates a negated compensation torque value by negating the mathematical sign of the compensation torque value. For example, the controller 100 may adjust one or more learned gains in response to a determination that the mathematical sign of the compensation torque value differs from the mathematical sign of the handwheel torque value, and generate a negated compensation torque value by negating the mathematical sign of the compensation torque value. The controller 100 may generate a torque command based on the negated compensation torque value and the handwheel torque value. The controller 100 may selectively control at least one aspect of steering based on the torque command.

[0071] In some embodiments, a system for providing overlearning protection for torque steer mitigation includes a processor and a memory. The memory includes a plurality of instructions that, when executed by the processor, cause the processor to perform the following functions: receive a compensation torque value; receive a handwheel torque value; detect a mathematical sign of the compensation torque value; detect a mathematical sign of the handwheel torque value; determine whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; and, in response to determining that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value, provide compensation according to normal operation and apply a ramp rate to prevent abrupt changes in torque.

[0072] In some embodiments, the instructions further cause the processor to reduce the learned gain and negate the mathematical sign of the compensation torque value in response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value. In some embodiments, the instructions further cause the processor to apply a ramp rate to prevent abrupt changes in torque.

[0073] Item 1. A method for providing over-learning protection for torque steer mitigation, the method comprising: receiving a compensation torque value corresponding to a torque offset associated with a transmission torque; receiving a handwheel torque value associated with a handwheel of a steering system; detecting a mathematical sign of the compensation torque value; detecting the mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; in response to a determination that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjusting one or more learned gains; and generating a negated compensation torque value by negating the mathematical sign of the compensation torque value.

[0074] Clause 2. The method according to one or more clauses described herein, further comprising: generating a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of steering based on the torque command.

[0075] Clause 3. The method of one or more of the clauses described herein, wherein the torque command is further generated based on one or more ramp rates associated with at least the negated compensation torque value.

[0076] Clause 4. The method described in accordance with one or more of the clauses described herein further includes: in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generating a torque command based on the compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of steering based on the torque command.

[0077] Clause 5. The method according to one or more of the clauses described herein, wherein the torque command is further generated based on one or more ramp rates associated with at least the compensation torque value.

[0078] Clause 6. The method according to one or more of the clauses described herein, wherein the steering system comprises an electronic power steering system.

[0079] Clause 7. The method according to one or more of the clauses described herein, wherein the steering system comprises a steer-by-wire steering system.

[0080] Clause 8. The method of one or more of the clauses described herein, wherein adjusting one or more learned gains comprises decreasing the one or more learned gains.

[0081] Clause 9. The method of one or more of the clauses described herein, wherein the one or more learned gains correspond to one or more historical compensated torque values.

[0082] Item 10. A system for providing overlearning protection for torque steer mitigation, the system comprising: a processor; and a memory comprising a plurality of instructions that, when executed by the processor, cause the processor to perform the following operations: receiving a compensation torque value corresponding to a torque offset associated with a transmission torque; receiving a handwheel torque value associated with a handwheel of a steering system; detecting a mathematical sign of the compensation torque value; detecting a mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; in response to a determination that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjusting one or more learned gains; and generating a negated compensation torque value by negating the mathematical sign of the compensation torque value.

[0083] Clause 11. The system of one or more of the clauses described herein, wherein the instructions further cause the processor to: generate a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively control at least one aspect of steering based on the torque command.

[0084] Clause 12. The system of one or more of the clauses described herein, wherein the instructions cause the processor to generate the torque command further based on one or more ramp rates associated with at least the negated compensation torque value.

[0085] Clause 13. A system according to one or more of the clauses described herein, wherein the instructions further cause the processor to, in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generate a torque command based on the compensation torque value and the handwheel torque value; and selectively control at least one aspect of steering based on the torque command.

[0086] Clause 14. The system of one or more of the clauses described herein, wherein the instructions further cause the processor to generate the torque command based on at least one or more ramp rates associated with the compensation torque value.

[0087] Clause 15. The system of one or more of the clauses described herein, wherein the steering system comprises an electronic power steering system.

[0088] Clause 16. The system of one or more of the clauses described herein, wherein the steering system comprises a steer-by-wire steering system.

[0089] Clause 17. The system of one or more of the clauses described herein, wherein the instructions further cause the processor to adjust one or more learned gains by decreasing the one or more learned gains.

[0090] Clause 18. The system of one or more of the clauses described herein, wherein the one or more learned gains correspond to one or more historical compensated torque values.

[0091] Clause 19. A device for providing overlearning protection for torque steer mitigation, the device comprising: a processor; and a memory comprising a plurality of instructions that, when executed by the processor, cause the processor to perform the following operations: receiving a compensation torque value corresponding to a torque offset associated with a transmission torque; receiving a handwheel torque value associated with a handwheel of a steering system; detecting a mathematical sign of the compensation torque value; detecting a mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; in response to a determination that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjusting one or more learned gains; generating a negated compensation torque value by negating the mathematical sign of the compensation torque value; generating a torque command based on the negated compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of steering based on the torque command; and in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generating a torque command based on the compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of steering based on the torque command.

[0092] Clause 20. The apparatus of one or more of the clauses described herein, wherein the instructions further cause the processor to generate the torque command based on at least one or more ramp rates associated with the compensation torque value.

[0093] The word "example" is used herein to mean used as an example, instance or illustration. Any aspect or design described herein as an "example" is not necessarily to be construed as being preferred or advantageous over other aspects or designs. On the contrary, the use of the word "example" is intended to present the concept in a concrete way. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless otherwise stated or clearly seen from the context, "X includes A or B" is intended to mean any natural inclusive arrangement. That is, if X includes A; X includes B; or X includes both A and B, then "X includes A or B" is satisfied in any of the foregoing cases. In addition, the article "a / an" used in this application and the appended claims should generally be interpreted to mean "one or more", unless otherwise stated or clearly pointed to in the singular form according to the context. In addition, unless explicitly described as such, the terms "embodiment" or "one embodiment" used throughout the text are not intended to mean the same embodiment or embodiment.

[0094] Implementations of the systems, algorithms, methods, instructions, and the like described herein may be implemented in hardware, software, or any combination thereof. Hardware may include, for example, a computer, intellectual property (IP) core, an application specific integrated circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuitry. In the claims, the term "processor" should be understood to include any of the foregoing hardware, alone or in combination. The terms "signal" and "data" are used interchangeably.

[0095] As used herein, the term module may include a packaged functional hardware unit designed for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), processing circuitry configured to perform a specific function, and self-contained hardware or software components that interface with a larger system. For example, a module may include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an electrical circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gate circuits, and other types of hardware, or a combination thereof. In other embodiments, a module may include a memory that stores instructions that a controller may execute to implement the features of the module.

[0096] Furthermore, in one aspect, for example, the systems described herein can be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, performs any corresponding method, algorithm, and / or instruction described herein. Additionally or alternatively, for example, a special-purpose computer / processor can be utilized, which can include other hardware for performing any method, algorithm, or instruction described herein.

[0097] Furthermore, all or part of the implementation of the present disclosure may take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be, for example, any device that can tangibly contain, store, communicate, or transport a program for use by or in connection with any processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media may also be used.

[0098] The above embodiments, implementations, and aspects have been described to facilitate understanding of the present disclosure and are not intended to limit the present disclosure. On the contrary, the present disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope should be given the broadest interpretation to encompass all such modifications and equivalent structures permitted by law.

Claims

1. A method for providing overlearning protection for torque steer mitigation, the method comprising: receiving a compensation torque value corresponding to a torque offset associated with the transmission torque; receiving a handwheel torque value associated with a handwheel of a steering system; detecting a mathematical sign of the compensation torque value; Detecting the mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; In response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjusting one or more learned gains; and The negated compensation torque value is generated by negating the mathematical sign of the compensation torque value.

2. The method according to claim 1, further comprising: generating a torque command based on the inverted compensation torque value and the handwheel torque value; as well as At least one aspect of steering is selectively controlled based on the torque command.

3. The method according to claim 2, wherein: The torque command is also generated based on one or more ramp rates associated with at least the negated compensation torque value.

4. The method according to claim 1, further comprising: In response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generating a torque command based on the compensation torque value and the handwheel torque value; as well as At least one aspect of steering is selectively controlled based on the torque command.

5. The method according to claim 4, wherein The torque command is also generated based on one or more ramp rates associated with at least the compensation torque value.

6. The method according to claim 1, wherein The steering system includes an electronic power steering system.

7. The method according to claim 1, wherein The steering system includes a steer-by-wire steering system.

8. The method according to claim 1, wherein Adjusting the one or more learned gains includes decreasing the one or more learned gains.

9. The method according to claim 1, wherein: The one or more learned gains correspond to one or more historical compensated torque values.

10. A system for providing overlearning protection for torque steer mitigation, the system comprising: processor; as well as a memory comprising a plurality of instructions that, when executed by the processor, cause the processor to: receiving a compensation torque value corresponding to a torque offset associated with the transmission torque; receiving a handwheel torque value associated with a handwheel of a steering system; detecting a mathematical sign of the compensation torque value; Detecting the mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; In response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjusting one or more learned gains; and The negated compensation torque value is generated by negating the mathematical sign of the compensation torque value.

11. The system according to claim 10, wherein: The instructions further cause the processor to: generating a torque command based on the inverted compensation torque value and the handwheel torque value; and At least one aspect of steering is selectively controlled based on the torque command.

12. The system according to claim 11, wherein The instructions cause the processor to generate the torque command further based on one or more ramp rates associated with at least the negated compensation torque value.

13. The system according to claim 10, wherein: The instructions further cause the processor, in response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generating a torque command based on the compensation torque value and the handwheel torque value; as well as At least one aspect of steering is selectively controlled based on the torque command.

14. The system according to claim 13, wherein: The instructions further cause the processor to generate the torque command based also on one or more ramp rates associated with at least the compensation torque value.

15. The system according to claim 10, wherein: The steering system includes an electronic power steering system.

16. The system according to claim 10, wherein: The steering system includes a steer-by-wire steering system.

17. The system according to claim 10, wherein: The instructions further cause the processor to adjust one or more learned gains by decreasing the one or more learned gains.

18. The system according to claim 10, wherein: The one or more learned gains correspond to one or more historical compensated torque values.

19. An apparatus for providing overlearning protection for torque steer mitigation, the apparatus comprising: processor; as well as a memory comprising a plurality of instructions that, when executed by the processor, cause the processor to: receiving a compensation torque value corresponding to a torque offset associated with the transmission torque; receiving a handwheel torque value associated with a handwheel of a steering system; detecting a mathematical sign of the compensation torque value; Detecting the mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value; In response to determining that the mathematical sign of the compensation torque value is different from the mathematical sign of the handwheel torque value: adjusting one or more learned gains; generating a negated compensation torque value by negating the mathematical sign of the compensation torque value; generating a torque command based on the inverted compensation torque value and the handwheel torque value; as well as selectively controlling at least one aspect of steering based on the torque command; as well as In response to a determination that the mathematical sign of the compensation torque value is the same as the mathematical sign of the handwheel torque value: generating a torque command based on the compensation torque value and the handwheel torque value; as well as At least one aspect of steering is selectively controlled based on the torque command.

20. The apparatus according to claim 19, wherein The instructions further cause the processor to generate the torque command based also on one or more ramp rates associated with at least the compensation torque value.

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