Steering Control Torque Correction for Stability
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Solution Overview
Problem
In steering control devices, sudden changes in driver torque and automatic driver torque lead to instability in steering control due to direct computation of gain based on driver torque, causing interference and oscillations between the two torques.
Innovation Solution
A steering control device that computes a driver support torque, an automatic driver torque, and an additional driver torque, with torque correction mechanisms involving weight and gain adjustments to stabilize the system by limiting the automatic driver torque through clip processing and gain processing, preventing sudden changes in torque values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the gain of automatic driver torque is directly computed based on driver torque, then the automatic driver torque responds quickly to driver input, but the steering control becomes unstable when driver torque changes suddenly
Solution Approach 1:
The patent applies preliminary action by computing the gain in advance through incremental updates rather than direct computation. The gain computing part calculates gain incrementally based on driver torque magnitude, preventing sudden large changes in gain when driver torque changes abruptly. This preliminary computation approach stabilizes the automatic driver torque while maintaining responsiveness.
Solution Approach 2:
The patent implements beforehand cushioning by introducing a clipping mechanism that limits the maximum value of automatic driver torque. The clip value computing part determines a clip value based on road curvature, and the clip processing part restricts the automatic driver torque to remain within this clip value range. This cushioning effect prevents excessive torque changes that would cause steering instability while preserving necessary responsiveness to driver input.
2Reliability
If the automatic driver torque changes suddenly to compensate for driver torque changes, then the torque compensation is effective, but the driver torque and automatic driver torque interfere mutually causing instability
Solution Approach 1:
The patent applies dynamics by making the gain adaptive rather than fixed. The gain computing part dynamically adjusts the gain based on the magnitude of driver torque, computing incremental changes rather than applying a constant multiplier. This dynamic adjustment allows effective torque compensation while preventing mutual interference and instability through controlled, progressive gain modifications.
Solution Approach 2:
The patent implements feedback through the gain computing part that continuously monitors driver torque magnitude and adjusts the gain accordingly. The system uses feedback from the driver torque sensor to modulate the automatic driver torque gain, creating a self-regulating mechanism that prevents oscillations and mutual interference while maintaining effective compensation.
Data Source
AI summary
A steering control device is provided with at least one of a first torque correction computing part and a second torque correction computing part; wherein the first torque correction computing part is equipped with a weight computing part which computes an increment of weight based on a magnitude of the driver torque, and accumulates the increment of weight to generate a weight, a clip value computing part which computes an automatic driver torque clip value according to the weight, and a clip processing part which clip processes the automatic driver torque with the automatic driver torque clip value; and the second torque correction computing part is equipped with a gain computing part which computes an increment of gain according to the driver torque, and accumulates the increment of gain to generate a gain, and a gain processing part which outputs an automatic driver torque multiplied by the gain.