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METHOD AND SYSTEM FOR SAFE LIMITING OF TORQUE OVERLAY INTERVENTION IN A POWER ASSISTED STEERING SYSTEM OF A ROAD VEHICLE
METHOD AND SYSTEM FOR SAFE LIMITING OF TORQUE OVERLAY INTERVENTION IN A POWER ASSISTED STEERING SYSTEM OF A ROAD VEHICLE
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机译:道路助力转向系统中扭矩叠加干预的安全限制方法和系统
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摘要
Disclosed herein is a method and arrangement for safe limiting of torque overlay intervention in a power assisted steering system of a road vehicle having an autonomous steering function arranged to selectively apply a steering wheel overlay torque to a normal steering assistance torque. A wheel self-aligning torque (ƒR) of the road vehicle is modelled for a current vehicle velocity (ν) and pinion angle (δw). A steering wheel overlay torque request (τR) is received. Based on the received steering wheel overlay torque request (τR) is provided a steering wheel overlay torque (τA) in hands-off applications limited to a safe set interval that is symmetrical around the modeled wheel self-aligning torque (ƒR).
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机译:本文公开了一种用于在具有自主转向功能的道路车辆的动力辅助转向系统中安全地限制扭矩叠加干预的方法和装置,该自主转向功能被布置为选择性地将方向盘叠加扭矩施加到正常转向辅助扭矩。针对当前车速(ν)和小齿轮角(δ w Sub>)对道路车辆的车轮自对准扭矩(ƒ R Sub>)进行建模。收到方向盘叠加扭矩请求(τ R Sub>)。根据接收到的方向盘覆盖扭矩请求(τ R Sub>),提供了在放手应用中将方向盘覆盖扭矩(τ A Sub>)限制为安全设置时间间隔围绕建模的车轮自对准扭矩(ƒ R Sub>)对称。
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