Steering Torque Control With Vibration Filtering for Lane Warnings
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Solution Overview
Problem
Existing steering control devices in vehicles with lane keeping support and lane departure warning systems diminish the recognition of lane departure warnings during steering angle control due to interference from assist torque and vibration torque.
Innovation Solution
A steering control device with an assist control unit, steering angle control unit, and vibration application control unit that calculates and applies assist and lane departure warning torques while using a vibration removal filter to maintain steering angle control responsiveness and recognize warnings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If vibration torque is applied for lane departure warning during steering angle control, then warning recognition is improved, but steering angle control responsiveness deteriorates
Solution Approach 1:
The control torque is segmented into multiple components: assist torque for steering assistance, steering angle control torque for maintaining lane keeping, and lane departure warning torque for providing warnings. The vibration removal filter specifically targets and removes only the vibration frequency components from the steering angle control calculations, while preserving the vibration torque for warning purposes. This segmentation allows each control objective to be achieved without interfering with others.
Solution Approach 2:
The vibration removal filter acts as an intermediary element in the steering angle control unit. It processes the steering angle signal by removing vibration frequency components before they affect the steering angle control torque calculation. This intermediary filter allows the vibration torque to be applied for warnings while preventing it from degrading the steering angle control responsiveness.
2Ease of operation
If assist torque and vibration torque are combined for steering assistance and warning, then steering support function is improved, but warning recognition deteriorates due to torque interference
Solution Approach 1:
The total motor torque is segmented into distinct components: assist torque for steering support, steering angle control torque for lane keeping, and lane departure warning torque for warnings. By calculating these torques separately and then combining them, the system maintains the steering support function while ensuring the warning torque component remains distinguishable for proper warning recognition.
Solution Approach 2:
The vibration removal filter applies selective processing only to specific frequency components in the steering angle control calculations. It removes vibration frequency components locally from the control loop without affecting other frequency components. This local quality approach allows the warning vibration to be preserved in the torque output while removing its interfering effect from the steering angle control path.
Data Source
AI summary
An assist control unit calculates an assist torque command based on a steering torque. A steering angle control unit calculates a steering angle control torque command so that a steering angle determined according to an output of a motor follows a target steering angle commanded from a lane keeping support device. A vibration application control unit calculates a lane departure warning control torque command to apply vibration to an assist torque when a lane departure warning activation request is notified. A motor drive control unit controls a drive of the motor based on an addition value of the assist torque command, the steering angle control torque command, and the lane departure warning control torque command. The steering angle control unit includes a vibration removal filter configured to remove vibration frequency components of the lane departure warning device in calculations on a steering angle signal loop for steering angle control.