Systems and methods for protecting against overlearning during torque steer mitigation

Abstract

A method (200, 300, 400) for providing overlearning protection when mitigating torque steer, the method (200, 300, 400) comprising: Receiving a compensation torque value corresponding to a torque shift associated with a transmission torque; Receiving a handwheel torque value associated with a handwheel of a steering system; Determining a mathematical sign of the compensation torque value; Detecting a mathematical sign of the handwheel torque value; Determine whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value; in response to the finding that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value: Adjusting one or more learned reinforcements; and Generating an inverted compensation torque value by reversing the mathematical sign of the compensation torque value; Generating a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of the steering based on the torque command, wherein the torque command is further based on one or more ramp rates associated with at least the inverted compensation torque value.

Description

TECHNICAL FIELD

[0001] This disclosure relates to steering systems and, more particularly, to systems and methods for protecting against overlearning when mitigating torque steer. BACKGROUND

[0002] Vehicles such as cars, trucks, sport utility vehicles, crossovers, minivans, watercraft, aircraft, off-road vehicles, recreational vehicles, or other suitable vehicles have a steering system, such as an electronic power steering (EPS) system, a steer-by-wire (SBW) system, a hydraulic steering system, or another suitable steering system. The steering system typically includes various torque paths for providing torque to various steering system components.

[0003] Typically, such steering systems may include or utilize one or more torque steer mitigation functions. Such torque steer mitigation functions may be calibrated to learn quickly, which may allow the torque steer mitigation functions to compensate for torque shifts due to transmission torque relatively quickly. However, this may result in the torque steer mitigation function being "overlearned" on successive key cycles, as the learned gain may be stored as a "long-term gain" and a "short-term gain" is learned on new key cycles (e.g., the learned gain of the shift between transmission torque and handwheel torque may increase to an undesirable value). This may result in a drag effect that may be perceived by the driver of a vehicle traveling in the opposite direction.

[0004] DE 10 2008 057 313 B4 discloses a method for determining a corrective steering torque of a lane assistance system, wherein the lane assistance system generates a controller steering torque to keep the vehicle within a lane, and wherein the amount of the corrective steering torque is determined based on the difference between the amount of the controller steering torque and a driver steering torque generated by the driver. DE 10 2021 202 740 A1 teaches a system for controlling a steering system of a vehicle with a driver assistance system, wherein the vehicle is oversteerable in an autonomous steering mode. DE 10 2012 019 235 A1 describes a method for lateral guidance of a vehicle, in which a target angle of a controlling autonomous lane guidance system, which defines the angle of the vehicle's tires, can be oversteered without stopping the control of the target angle.DE 10 2020 208 261 B4 relates to a method for controlling a vehicle steering actuator coupled to a steering gear, wherein the vehicle steering actuator is controlled to move a rack to a neutral position when a threshold value for an end stop position is exceeded. DE 10 2020 118 419 A1 discloses a system with a handwheel control unit configured to generate a reactive torque on a steering wheel to provide the operator with an expected "steering feel" while reducing the undesirable effects of torque steer. SUMMARY

[0005] It is an object underlying the invention to provide an improved method, system and apparatus for providing overlearning protection when mitigating torque steer.

[0006] This object is achieved by a method according to claim 1, a system according to claim 8 and a device according to claim 15.

[0007] This disclosure relates generally to steering systems.

[0008] One aspect of the disclosed embodiments includes a method for providing overlearning protection when mitigating torque steer. 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, in response to determining that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value, adjusting one or more learned gains and generating an inverted compensation torque value by reversing the mathematical sign of the compensation torque value. The method further includes generating a torque command based on the inverted compensation torque value and the handwheel torque value and selectively controlling at least one aspect of the steering based on the torque command, wherein the torque command is further based on one or more ramp rates associated with at least the inverted compensation torque value.

[0009] Another aspect of the disclosed embodiments includes a system for providing overlearning protection when mitigating torque steer. The system includes a processor and memory. The memory contains instructions that, when executed by the processor, cause the processor to: receive a compensation torque value corresponding to a torque shift 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 determining that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value: adjust one or more learned gains; and generate an inverted compensation torque value by reversing the mathematical sign of the compensation torque value. The instructions further cause the processor to generate a torque command based on the inverted compensation torque value and the handwheel torque value, selectively control at least one aspect of the steering based on the torque command, and further generate the torque command based on one or more ramp rates associated with at least the inverted compensation torque value;

[0010] Another aspect of the disclosed embodiments includes an apparatus for providing overlearning protection when mitigating torque steer. The apparatus includes a processor and a memory. The memory contains instructions that, when executed by the processor, cause the processor to: receive a compensation torque value corresponding to a torque shift 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 determining that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value: adjusting one or more learned gains; generating an inverted compensation torque value by reversing the mathematical sign of the compensation torque value; generating a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of the steering based on the torque command; 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: generating a torque command based on the compensation torque value and the handwheel torque value;and selectively controlling at least one aspect of the steering based on the torque command. The instructions further cause the processor to generate the torque command further based on one or more ramp rates associated with at least the compensation torque value.

[0011] These and other aspects of the present disclosure are disclosed in the following detailed description of the embodiments, the appended claims, and the accompanying figures. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The disclosure is best understood from the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, in accordance with common practice, the various features of the drawings are not to scale. On the contrary, the dimensions of the various features have been arbitrarily exaggerated or reduced for clarity. Fig. 1 generally shows a vehicle according to the principles of the present disclosure. Fig. 2A generally illustrates a system for protecting against overlearning according to the principles of the present disclosure. Fig. 2B is a flowchart generally illustrating a method for protecting against overlearning according to the principles of the present disclosure. Fig. 3 is a flowchart generally illustrating an alternative method for overlearning protection according to the principles of the present disclosure. Fig. 4 is a flowchart generally illustrating an alternative method for overlearning protection according to the principles of the present disclosure. DETAILED DESCRIPTION

[0013] The following discussion relates to various embodiments of the disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used as limiting the scope of the disclosure, including the claims. Furthermore, one skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is intended only as exemplary of that embodiment and is not intended to imply that the scope of the disclosure, including the claims, is limited to that embodiment.

[0014] As described, vehicles such as cars, trucks, sport utility vehicles, crossovers, minivans, watercraft, aircraft, off-road vehicles, recreational vehicles, or other suitable vehicles have a steering system, such as an electronic power steering (EPS) system, a steer-by-wire (SbW) system, a hydraulic steering system, or other suitable steering system. The steering system typically includes various torque paths for providing torque to various steering system components.

[0015] Typically, such steering systems may include or utilize one or more torque steer mitigation functions. Such torque steer mitigation functions may have calibrations set to learn quickly, which may allow these torque steer mitigation functions to compensate for torque shifts due to transmission torque relatively quickly. However, this may result in the torque steer mitigation function being "overlearned" on successive key cycles, as the learned gain may be stored as a "long-term gain" and a "short-term gain" is learned on new key cycles (e.g., the learned gain of the shift between transmission torque and handwheel torque may increase to an undesirable value). This may result in a drag effect that may be perceived by the driver of a vehicle traveling in the opposite direction.

[0016] Accordingly, systems and methods, such as those described herein, configured to provide overlearning protection in torque control mitigation may be desirable. In some embodiments, the systems and methods described herein may be configured to detect a difference in the signs of a compensation torque command and a handwheel torque. For example, an overlearning scenario creates a sign difference between the compensation torque command and the handwheel torque (e.g., under normal conditions, the signs of the compensation torque command and the handwheel torque are the same). Overlearning may be defined as a different sign of the calculated torque command and the handwheel torque signal.

[0017] In some embodiments, the systems and methods described herein may be configured to detect when a sign of the torque command is "reversed" (e.g., changed from one sign to another and / or deviates from the sign of the handwheel torque), which may indicate overlearning. The systems and methods described herein may be configured to apply a ramp rate that may prevent a sudden change in torque and allow the torque to ramp back to a proper direction. The systems and methods described herein may be configured to decrease a learned gain for the steering system (e.g., because in an overlearning scenario, the learned gain has increased to an undesirable value).

[0018] In some embodiments, the systems and methods described herein may be configured to apply a filter to the torque command signal and / or the handwheel torque signal. The filter may be configured to prevent the systems and methods described herein from alternating between detecting and not detecting overlearning. For example, the torque command signal and the handwheel torque signal may be relatively small, which may cause the signs associated with the torque command signal and the handwheel torque signal to change at a relatively rapid pace (e.g., due to noise or dynamics in the steering system). The filter may be configured to filter such small torque command signals and handwheel torque signals (e.g.,and the rapid sign changes associated with the small torque command signals and the small handwheel torque signals).

[0019] In some embodiments, the systems and methods described herein may be configured to detect overlearning based on signal sign (e.g., corresponding to the torque command and the handwheel torque). The systems and methods described herein may be configured to provide mitigation for sign mismatch, ramp rates, and / or gain reduction.

[0020] In some embodiments, the systems and methods described herein may be configured to receive a compensation torque value. The systems and methods described herein may be configured to receive a handwheel torque value. The systems and methods described herein may be configured to detect a mathematical sign of the compensation torque value. The systems and methods described herein may be configured to detect a mathematical sign of the handwheel torque value. The systems and methods described herein may 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.

[0021] In some embodiments, the systems and methods described herein may be configured to provide compensation according to normal operation and apply ramp rates to prevent sudden changes in torque 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.

[0022] In some embodiments, the systems and methods described herein may be configured to reduce learned gains and reverse the mathematical sign of the compensation torque value in response to determining that the mathematical sign of the compensation torque value does not match the mathematical sign of the handwheel torque value. The systems and methods described herein may be configured to apply ramp rates to prevent sudden changes in torque.

[0023] In some embodiments, the systems and methods described herein may be configured to receive a compensation torque value corresponding to a torque shift associated with a transmission torque. The systems and methods described herein may be configured to receive a handwheel torque value associated with a handwheel of a steering system. The systems and methods described herein may be configured to detect a mathematical sign of the compensation torque value. The systems and methods described herein may be configured to detect a mathematical sign of the handwheel torque value. The systems and methods described herein may 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.

[0024] The systems and methods described herein may be configured to adjust one or more learned gains in response to determining that the mathematical sign of the compensation torque value does not match the mathematical sign of the handwheel torque value. For example, the systems and methods described herein may be configured to decrease or reduce the one or more learned gains corresponding to one or more historical compensation torque values. The systems and methods described herein may be configured to generate an inverted compensation torque value by reversing the mathematical sign of the compensation torque value.

[0025] In some embodiments, the systems and methods described herein may 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 the steering system based on the torque command. The systems and methods described herein may be configured to further generate the torque command based on one or more ramp rates associated with at least the inverted compensation torque value.

[0026] In some embodiments, the systems and methods described herein may be configured to, 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, 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 system based on the torque command. The systems and methods described herein may be configured to further generate the torque command based on one or more ramp rates associated with at least the compensation torque value.

[0027] Fig. 1 generally illustrates a vehicle 10 in accordance with the principles of the present disclosure. The vehicle 10 may be any suitable vehicle, such as a car, a truck, a sport utility vehicle, a minivan, a crossover, another passenger vehicle, a suitable commercial vehicle, or any other suitable vehicle. Although the vehicle 10 is illustrated as a wheeled passenger vehicle for use on roads, the principles of the present disclosure may also apply to other vehicles, such as aircraft, boats, trains, drones, or other suitable vehicles.

[0028] The vehicle 10 includes a vehicle body 12 and a hood 14. A passenger compartment 18 is at least partially defined by the vehicle body 12. Another portion of the vehicle body 12 defines an engine compartment 20. The hood 14 may be movably attached to a portion of the vehicle body 12 such that the hood 14 provides access to the engine compartment 20 when the hood 14 is in a first, or open, position, and the hood 14 covers the engine compartment 20 when the hood 14 is in a second, or closed, position. In some embodiments, the engine compartment 20 may be located at a rear portion of the vehicle 10 other than as generally illustrated.

[0029] The passenger compartment 18 may be located behind the engine compartment 20, but may also be located forward of the engine compartment 20 if the engine compartment 20 is located in the rear of the vehicle 10. 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 propulsion system (e.g., a hybrid vehicle) comprising a combination of an internal combustion engine and one or more electric motors, and / or any other suitable propulsion system.

[0030] In some embodiments, the vehicle 10 may include a gasoline engine, e.g., a spark-ignition engine. In some embodiments, the vehicle 10 may include a diesel engine, such as a compression-ignition engine. The engine compartment 20 houses and / or encloses at least some components of the propulsion system of the vehicle 10. Additionally or alternatively, propulsion controls such as an acceleration actuator (e.g., a gas pedal), a brake actuator (e.g., a brake pedal), a steering wheel, and other such components are disposed within the passenger compartment 18 of the vehicle 10. The propulsion controls may be actuated or controlled by a driver of the vehicle 10 and may be directly connected to the corresponding components of the propulsion system, such as a throttle, a brake, a vehicle axle, a vehicle transmission, and the like. In some embodiments, the propulsion controls may communicate signals to a vehicle computer (e.g.,Drive-by-Wire), which in turn can control the corresponding drive component of the drive system. Thus, in some embodiments, the vehicle 10 can be an autonomous vehicle.

[0031] In some embodiments, the vehicle 10 includes a transmission connected to a crankshaft via a flywheel, a clutch, or a fluid coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. The vehicle 10, in the case of an internal combustion engine or a hybrid vehicle, may include one or more pistons that cooperate with the crankshaft to generate power that is transmitted through the transmission to one or more axles that rotate the wheels 22. If the vehicle 10 includes one or more electric motors, a vehicle battery and / or a fuel cell provides power to the electric motors to rotate the wheels 22.

[0032] Vehicle 10 may include automatic vehicle propulsion systems, such as cruise control, adaptive cruise control, automatic braking control, other automatic vehicle propulsion systems, or a combination thereof. Vehicle 10 may be an autonomous or semi-autonomous vehicle or other suitable vehicle type. Vehicle 10 may include additional or fewer features than those generally illustrated and / or disclosed herein.

[0033] In some embodiments, the vehicle 10 may include an Ethernet component 24, a CAN bus (Controller Area Network) 26, a MOST component (Media Oriented Systems Transport) 28, a FlexRay component 30 (e.g., a brake-by-wire system and the like), and a LIN component 32. The vehicle 10 may use the CAN bus 26, the MOST component 28, the FlexRay component 30, the LIN component 32, other suitable networks or communication systems, or a combination thereof, to communicate various information from, e.g., sensors inside or outside the vehicle to, e.g., various processors or control units inside or outside the vehicle. The vehicle 10 may include additional or fewer features than those generally illustrated and / or disclosed herein.

[0034] In some embodiments, the vehicle 10 may include a steering system, such as an EPS system, a steer-by-wire steering system (which may, for example, include or communicate with one or more controllers that control components of the steering system without the use of a mechanical connection between the handwheel and the wheels 22 of the vehicle 10), a hydraulic steering system (which may, for example, include a magnetic actuator integrated into a valve assembly of the hydraulic steering system), or other suitable steering system.

[0035] The steering system may include an open-feedback control system or mechanism, a closed-feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including, but not limited to, a handwheel position, an input torque, one or more road wheel positions, other suitable inputs or information, or a combination thereof.

[0036] Additionally or alternatively, the inputs may include a handwheel torque, a handwheel angle, a motor speed, a vehicle speed, an estimated motor torque command, another suitable input, or a combination thereof. The steering system may be configured to perform a steering function and / or control of the vehicle 10. For example, the steering system may generate assist torque based on the various inputs. The steering system may be configured to selectively control a motor of the steering system using the assist torque to provide steering assistance to the driver of the vehicle 10.

[0037] In some embodiments, the steering system may include a steering system controller, such as controller 100, generally described in Fig. 2A. The controller 100 may include any suitable controller. The controller 100 may be configured to, for example, control the various functions of the steering system. The controller 100 may include a processor 102 and a memory 104. The processor 102 may be any suitable processor as described herein. Additionally or alternatively, the controller 100 may include any number of processors in addition to the processor 102 or other processors. The memory 104 may include a single disk or a plurality of disks (e.g., hard drives) and includes a memory management module that manages one or more partitions within the memory 104. In some embodiments, the memory 104 may include flash memory, solid state memory, or the like.Memory 104 may include random access memory (RAM), read-only memory (ROM), or a combination thereof. Memory 104 may contain instructions that, when executed by processor 102, cause processor 102 to control at least various functions of the steering system.

[0038] Controller 100 may receive one or more signals from various gauges or sensors 106 indicative of sensed or measured characteristics of vehicle 10. Sensors 106 may include any suitable sensors, gauges, and / or other suitable mechanisms. For example, 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 a combination thereof. The one or more signals may indicate handwheel torque, handwheel angle, motor speed, vehicle speed, other suitable information, or a combination thereof.

[0039] In some embodiments, controller 100 may be configured to detect overlearning and provide overlearning protection during torque steer mitigation. Controller 100 may receive a handwheel torque value. The handwheel torque value may correspond to an amount of torque applied to the handwheel of vehicle 10. Controller 100 may receive the handwheel torque value from a sensor such as sensor 106 or another suitable sensor configured to measure the amount of torque applied to the handwheel.

[0040] 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, and the like. Controller 100 may detect a mathematical sign of the compensation torque value. Controller 100 may detect a mathematical sign of the handwheel torque value. 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.

[0041] 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, controller 100 may compensate according to normal operation. Controller 100 may apply ramp rates to prevent sudden changes in torque.

[0042] In some embodiments, in response to determining that the mathematical sign of the compensation torque value does not match the mathematical sign of the handwheel torque value, controller 100 may reduce learned gains and reverse the mathematical sign of the compensation torque value. Controller 100 may apply ramp rates to prevent sudden changes in torque.

[0043] In some embodiments, controller 100 may receive a compensation torque value corresponding to a torque shift associated with a transmission torque. Controller 100 may receive a handwheel torque value associated with a handwheel of a steering system. Controller 100 may detect a mathematical sign of the compensation torque value. Controller 100 may detect a mathematical sign of the handwheel torque value. 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.

[0044] Controller 100 may adjust one or more learned gains in response to determining that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value. For example, controller 100 may decrease or reduce the one or more learned gains corresponding to one or more historical compensation torque values. Controller 100 may generate an inverted compensation torque value by reversing the mathematical sign of the compensation torque value.

[0045] In some embodiments, 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 the steering system based on the torque command. Controller 100 may further generate the torque command based on one or more ramp rates associated with at least the inverted compensation torque value.

[0046] 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, 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 system based on the torque command. Controller 100 may further generate the torque command based on one or more ramp rates associated with at least the compensation torque value.

[0047] In some embodiments, controller 100 may perform the methods described herein. However, the methods described herein performed by controller 100 are not intended to be limiting, and any type of software executing on a controller or processor may perform the methods described herein without departing from the scope of this disclosure. For example, a controller, such as a processor executing software in a computing device, may perform the methods described herein.

[0048] Fig. Figure 2B is a flowchart generally illustrating a method 200 for overlearning protection according to the principles of the present disclosure. At 202, method 200 detects a sign of a compensation torque and a handwheel torque. For example, controller 100 may detect the sign of the compensation torque and the handwheel torque.

[0049] At 204, method 200 determines whether the signs are the same. For example, controller 100 may determine whether the sign of the compensation torque and the sign of the handwheel torque are the same. If controller 100 determines that the sign of the compensation torque and the sign of the handwheel torque are the same, method 200 continues to 210. If controller 100 determines that the sign of the compensation torque and the sign of the handwheel torque are not the same, method 200 continues to 206.

[0050] At 206, method 200 reduces the learned gains. For example, controller 100 may reduce the learned gains. It should be understood that the rate (e.g., of the learned gains) may be adjustable.

[0051] At 208, method 200 reverses the sign of the calculated compensation torque. For example, controller 100 may reverse the sign of the compensation torque (e.g., the calculated compensation torque). It should be understood that method 200 may perform steps 206 and 208 in any suitable order or concurrently (or, for example, substantially concurrently).

[0052] At 210, method 200 provides compensation as usual. For example, controller 100 may perform compensation as usual (e.g., according to normal operation).

[0053] At 212, method 200 may apply ramp rates to prevent sudden changes in torque. For example, controller 100 may apply the ramp rates to prevent sudden changes in torque.

[0054] Fig. 3 is a flowchart generally illustrating an alternative method 300 for overlearning protection according to the principles of the present disclosure. At 302, method 300 receives a compensation torque value. For example, controller 100 may receive the compensation torque value.

[0055] At 304, method 300 receives a handwheel torque value. For example, controller 100 may receive the handwheel torque value.

[0056] At 306, method 300 detects a mathematical sign of the compensation torque value. For example, controller 100 may detect the mathematical sign of the compensation torque value.

[0057] At 308, method 300 detects a mathematical sign of the handwheel torque value. For example, controller 100 may detect the mathematical sign of the handwheel torque.

[0058] At 310, 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, controller 100 may determine whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value.

[0059] At 312, 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, method 300 provides compensation according to normal operation and applies ramp rates to prevent sudden changes in torque. Controller 100 may, 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 ramp rates to prevent sudden changes in torque.

[0060] In some embodiments, in response to determining that the mathematical sign of the compensation torque value does not match the mathematical sign of the handwheel torque value, controller 100 may reduce the learned gains and reverse the mathematical sign of the compensation torque value. In some embodiments, controller 100 applies ramp rates to prevent sudden changes in torque.

[0061] Fig. 4 is a flowchart generally illustrating an alternative method 400 for overlearning protection according to the principles of the present disclosure. At 402, method 400 receives a compensation torque value corresponding to a torque shift associated with a transmission torque. For example, controller 100 may receive the compensation torque value.

[0062] At 404, method 400 receives a handwheel torque value associated with a handwheel of a steering system. For example, controller 100 may receive the handwheel torque value.

[0063] At 406, method 400 detects a mathematical sign of the compensation torque value. For example, controller 100 may detect the mathematical sign of the compensation torque value.

[0064] At 408, method 400 detects a mathematical sign of the handwheel torque value. For example, controller 100 may detect the mathematical sign of the handwheel torque.

[0065] At 410, 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, controller 100 may determine whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value.

[0066] At 412, in response to determining that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value, method 400 adjusts one or more learned gains and generates an inverted compensation torque value by reversing the mathematical sign of the compensation torque value. For example, in response to determining that the mathematical sign of the compensation torque value does not match the mathematical sign of the handwheel torque value, controller 100 may adjust the one or more learned gains and generate the inverted compensation torque value by reversing the mathematical sign of the compensation torque value. Controller 100 may generate a torque command based on the inverted compensation torque value and the handwheel torque value.The controller 100 may selectively control at least one aspect of the steering based on the torque command.

[0067] In some embodiments, a system for providing torque steer mitigation overlearning protection includes a processor and memory.The memory contains instructions that, when executed by the processor, cause the processor to: 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 if 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 the same as the mathematical sign of the handwheel torque value, provide compensation according to normal operation and apply ramp rates to prevent sudden changes in torque.

[0068] In some embodiments, the instructions further cause the processor to reduce learned gains and reverse the mathematical sign of the compensation torque value in response to determining that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value. In some embodiments, the instructions further cause the processor to apply ramp rates to prevent sudden changes in torque.

[0069] Clause 1. A method for providing overlearning protection in 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 a mathematical sign of the handwheel torque value; determining whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value; in response to determining that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value: adjusting one or more learned gains;and generating an inverted compensation torque value by reversing the mathematical sign of the compensation torque value.;

[0070] Clause 2. The method of one or more of the 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 the steering based on the torque command.

[0071] Clause 3. The method of one or more of the clauses described herein, wherein the torque command is further based on one or more ramp rates associated with at least the inverted compensation torque value.

[0072] Clause 4: The method of one or more of the clauses described herein, further comprising, 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, generating a torque command based on the compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of the steering based on the torque command.

[0073] Clause 5: The method of one or more of the clauses described herein, wherein the torque command is further based on one or more ramp rates associated with at least the compensation torque value.

[0074] Clause 6: A method according to one or more of the clauses described herein, wherein the steering system comprises an electronic power steering system.

[0075] Clause 7: A method according to one or more of the clauses described herein, wherein the steering system comprises a steer-by-wire steering system.

[0076] Clause 8: The method of one or more of the clauses described herein, wherein adjusting one or more learned reinforcements includes decreasing the one or more learned reinforcements.

[0077] 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 compensation torque values.

[0078] Clause 10. A system for providing torque steer mitigation overlearning protection, the system comprising: a processor; and memory containing instructions that, when executed by the processor, cause the processor to: receive a compensation torque value corresponding to a torque shift 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 determining that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value: adjust one or more learned gains; and generate an inverted compensation torque value by reversing the mathematical sign of the compensation torque value.;

[0079] 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 the steering based on the torque command.

[0080] 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 inverted compensation torque value.

[0081] Clause 13: The system of one or more of the clauses described herein, wherein the instructions further cause the processor, 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, to: 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.

[0082] 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 further based on one or more ramp rates associated with at least the compensation torque value.

[0083] Clause 15: A system according to one or more of the clauses described herein, wherein the steering system comprises an electronic power steering system.

[0084] Clause 16: A system according to one or more of the clauses described herein, wherein the steering system comprises a steer-by-wire steering system.

[0085] 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.

[0086] Clause 18: A system according to one or more of the clauses described herein, wherein the one or more learned gains correspond to one or more historical compensation torque values.

[0087] Clause 19. Apparatus for providing overlearning protection in torque steer mitigation, the apparatus comprising: a processor; and a memory containing instructions that, when executed by the processor, cause the processor to: receive a compensation torque value corresponding to a torque shift 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 determining that the mathematical sign of the compensation torque value is not the same as the mathematical sign of the handwheel torque value: adjusting one or more learned gains; generating an inverted compensation torque value by reversing the mathematical sign of the compensation torque value; generating a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of the steering based on the torque command; 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: generating a torque command based on the compensation torque value and the handwheel torque value;and selectively controlling at least one aspect of the steering based on the torque command.;

[0088] 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 further based on one or more ramp rates associated with at least the compensation torque value.

[0089] The word "example" is used herein to serve as an example, instance, or illustration. Any aspect or design described herein as an "example" is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, the use of the word "example" is intended to illustrate concepts in a concrete manner. As used in this application, the term "or" is intended to mean an inclusive "or" and not an exclusive "or." That is, unless otherwise stated or clear from the context, "X includes A or B" means any of the natural, inclusive permutations. 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 each of the foregoing cases.Furthermore, as used in this application and the appended claims, the articles "a / an / an" should generally be interpreted to mean "one or more" unless otherwise indicated or the context clearly indicates a singular form. Furthermore, the use of the term "an implementation" or "an implementation" is not synonymous with the same embodiment or implementation unless described as such.

[0090] The systems, algorithms, methods, instructions, etc. described herein may be implemented in hardware, software, or any combination thereof. The hardware may include, for example, computers, intellectual property (IP) cores, application-specific integrated circuits (ASICs), programmable logic arrays, optical processors, programmable logic controllers, microcode, microcontrollers, servers, microprocessors, digital signal processors, or any other suitable circuitry. In the claims, the term "processor" is to be understood to include any of the foregoing hardware, either individually or in combination. The terms "signal" and "data" are used interchangeably.

[0091] As used herein, the term module can include a packaged functional hardware unit designed for use with other components, a set of instructions that can be executed by a control device (e.g., a processor executing software or firmware), processing circuitry configured to perform a specific function, and a self-contained hardware or software component that interfaces with a larger system. For example, a module can include an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gates, and other types of hardware, or a combination thereof.In other embodiments, a module may include memory storing instructions that can be executed by a controller to implement a feature of the module.

[0092] In one aspect, the systems described herein may, for example, be further implemented with a general-purpose computer or a general-purpose processor having a computer program that, when executed, carries out the respective methods, algorithms, and / or instructions described herein. Additionally or alternatively, for example, a special-purpose computer / processor may be used, which may include other hardware for executing the methods, algorithms, or instructions described herein.

[0093] Furthermore, all or part of the implementations of the present disclosure may take the form of a computer program product, accessible, for example, from a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be any device that can, for example, tangibly contain, store, transmit, or transport the 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 are also available.

[0094] The above-described embodiments, implementations, and aspects have been described to facilitate easy understanding of the present disclosure and do not limit the present disclosure. On the contrary, the disclosure is intended to cover various modifications and equivalent arrangements that fall within the scope of the appended claims, which scope should be interpreted as broadly as possible to encompass all such modifications and equivalent structures permitted by law.

Claims

[1] A method (200, 300, 400) for providing overlearning protection when mitigating torque steer, the method (200, 300, 400) comprising: Receiving a compensation torque value corresponding to a torque shift associated with a transmission torque; Receiving a handwheel torque value associated with a handwheel of a steering system; Determining a mathematical sign of the compensation torque value; Detecting a mathematical sign of the handwheel torque value; Determine whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value; in response to the finding that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value: Adjusting one or more learned reinforcements; and Generating an inverted compensation torque value by reversing the mathematical sign of the compensation torque value; Generating a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of the steering based on the torque command, wherein the torque command is further based on one or more ramp rates associated with at least the inverted compensation torque value. [2] The method (200, 300, 400) of claim 1, further comprising, 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: Generating a torque command based on the compensation torque value and the handwheel torque value; and selectively controlling at least one aspect of the steering based on the torque command. [3] The method (200, 300, 400) of claim 2, wherein the torque command is further based on one or more ramp rates associated with at least the compensation torque value. [4] The method (200, 300, 400) of claim 1, wherein the steering system comprises an electronic power steering system. [5] The method (200, 300, 400) of claim 1, wherein the steering system comprises a steer-by-wire steering system. [6] The method (200, 300, 400) of claim 1, wherein adjusting one or more learned gains comprises decreasing the one or more learned gains. [7] The method (200, 300, 400) of claim 1, wherein the one or more learned gains correspond to one or more historical compensation torque values. [8] A system for providing overlearning protection in torque steer mitigation, the system comprising: a processor (102); and a memory (104) containing instructions that, when executed by the processor (102), cause the processor (102) to: receive a compensation torque value corresponding to a torque shift associated with a transmission torque; receive a handwheel torque value associated with a handwheel of a steering system; to capture a mathematical sign of the compensation torque value; to capture a mathematical sign of the handwheel torque value; determine whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value; in response to the finding that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value: adapt one or more learned reinforcements; and to generate an inverted compensation torque value by reversing the mathematical sign of the compensation torque value; generate a torque command based on the inverted compensation torque value and the handwheel torque value; selectively control at least one aspect of the steering based on the torque command; and further generate the torque command based on one or more ramp rates associated with at least the inverted compensation torque value. [9] The system of claim 8, wherein the instructions further cause the processor (102), 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: 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. [10] The system of claim 9, wherein the instructions further cause the processor (102) to generate the torque command further based on one or more ramp rates associated with at least the compensation torque value. [11] The system of claim 8, wherein the steering system comprises an electronic power steering system. [12] The system of claim 8, wherein the steering system comprises a steer-by-wire steering system. [13] The system of claim 8, wherein the instructions further cause the processor (102) to adjust one or more learned gains by decreasing the one or more learned gains. [14] The system of claim 8, wherein the one or more learned gains correspond to one or more historical compensation torque values. [15] Apparatus for providing overlearning protection in torque steer mitigation, the apparatus comprising: a processor (102); and a memory (104) containing instructions that, when executed by the processor (102), cause the processor (102) to; receive a compensation torque value corresponding to a torque shift associated with a transmission torque; receive a handwheel torque value associated with a handwheel of a steering system; to capture a mathematical sign of the compensation torque value; to capture a mathematical sign of the handwheel torque value; determine whether the mathematical sign of the compensation torque value is equal to the mathematical sign of the handwheel torque value; in response to the finding that the mathematical sign of the compensation torque value is not equal to the mathematical sign of the handwheel torque value: adjust one or more learned reinforcements; to generate an inverted compensation torque value by reversing the mathematical sign of the compensation torque value; generate a torque command based on the inverted compensation torque value and the handwheel torque value; and selectively control at least one aspect of the steering based on the torque command; and in response to the finding 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; selectively control at least one aspect of the steering based on the torque command; and further generate the torque command based on one or more ramp rates associated with at least the compensation torque value.

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