US 12,240,538 B2
Limiting a control variable for a motor of an electric power steering system
Tobias Bergweiler, Munich (DE); Martin Hell, Dachau (DE); Peter Korti, Wolfratshausen (DE); Gareth McKevitt, Munich (DE); and Andreas Sauer, Munich (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 17/594,372
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Mar. 12, 2020, PCT No. PCT/EP2020/056579
§ 371(c)(1), (2) Date Oct. 13, 2021,
PCT Pub. No. WO2020/216523, PCT Pub. Date Oct. 29, 2020.
Claims priority of application No. 10 2019 110 703.2 (DE), filed on Apr. 25, 2019.
Prior Publication US 2022/0177026 A1, Jun. 9, 2022
Int. Cl. B62D 5/00 (2006.01); B62D 5/04 (2006.01)
CPC B62D 5/0463 (2013.01) [B62D 5/0481 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method for limiting a control variable for a motor of an electric power steering system for a motor vehicle with automated transverse guidance, the method comprising the steps of:
receiving a setpoint steering angle;
determining the control variable in accordance with the setpoint steering angle;
receiving an actual steering angle;
determining a virtual torsion-bar torque in accordance with the setpoint steering angle and the actual steering angle;
determining at least one limiting value for the control variable in accordance with the virtual torsion-bar torque; and
limiting operation of the motor based on the control variable in accordance with the at least one limiting value;
wherein the determining of the at least one limiting value for the control variable in accordance with the virtual torsion-bar torque comprises the steps of:
determining an upper limiting value for the control variable in accordance with the virtual torsion-bar torque; and
determining a lower limiting value for the control variable in accordance with the virtual torsion-bar torque;
wherein a first upper limiting value and a first lower limiting value are determined for a first control variable; and
wherein a second upper limiting value and a second lower limiting value are determined for a second control variable such that the distance between the second upper limiting value and the second lower limiting value corresponds to the distance between the first upper limiting value and the first lower limiting value.