Steering Tilt Angle Estimation from Cardan Joint Bending Angles
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Solution Overview
Problem
Existing steering control devices fail to execute desired control when no tilt angle sensor is provided, as the tilt angle is a crucial factor in determining bending angles and steering torque.
Innovation Solution
A steering computing device calculates the tilt angle using mapping data and execution processes to determine bending angles between input and output shafts via Cardan joints, incorporating a storage device and execution device to estimate tilt angles from first and second bending angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If no tilt angle sensor is provided, then device complexity is reduced, but control reliability deteriorates because the control device cannot execute desired control
Solution Approach 1:
The patent introduces bending angle sensors as intermediary devices that measure the bending angles of the intermediate shaft. These bending angle measurements serve as mediators to indirectly determine the tilt angle of the steering wheel, replacing the need for a direct tilt angle sensor while maintaining control reliability.
Solution Approach 2:
The patent replaces the mechanical/physical tilt angle sensor with a computational approach using bending angle measurements and geometric calculations. The tilt angle is calculated through mathematical relationships based on measured bending angles, substituting a direct sensing mechanism with an indirect measurement and computation system.
2Reliability
If a tilt angle sensor is provided, then control reliability is improved, but device complexity increases
Solution Approach 1:
The patent uses bending angle sensors as intermediary measurement devices that capture intermediate physical quantities. These measurements are then processed through computational algorithms to derive the tilt angle, providing a multi-step indirect measurement approach that avoids the need for a direct tilt angle sensor.
Solution Approach 2:
The patent segments the measurement process into multiple independent steps: measuring the first bending angle, measuring the second bending angle, and calculating the tilt angle from these measurements. This segmentation allows the use of simpler, more reliable bending angle sensors instead of a complex tilt angle sensor.
3Measurement precision
If tilt angle is calculated from bending angles, then measurement precision is improved, but device complexity increases due to mapping and calculation processes
Solution Approach 1:
The patent replaces a physical tilt angle sensor with a computational system that calculates tilt angle from bending angle measurements. This substitution uses mathematical relationships and geometric models to achieve precise tilt angle determination without the mechanical complexity of a dedicated tilt sensor.
Solution Approach 2:
The patent introduces bending angle measurements as intermediary data that bridge the gap between easily measurable quantities (bending angles) and the desired quantity (tilt angle). The mapping process serves as a computational mediator that transforms simple measurements into precise tilt angle information.
Data Source
AI summary
A steering computing device that calculates a value of a state variable about a steering apparatus includes a storage device and an execution device. The execution device is configured to execute a bending angle acquisition process and a tilt angle calculation process, and the bending angle acquisition process is a process of acquiring a first bending angle and a second bending angle. The tilt angle calculation process is a process of calculating a tilt angle. The first bending angle is an angle formed between an input shaft of the steering apparatus and an intermediate shaft of the steering apparatus. The second bending angle is an angle formed between an output shaft of the steering apparatus and the intermediate shaft, and the tilt angle is a variable indicative of an angle formed between an axial direction of the input shaft and a reference direction.