Patent ID: 9598102
Date: 2017-03-21
CPC Classifications: B62D

Claim:
1. A method of mitigating abnormalities in a first control command for controlling a power steering system of a vehicle, the method comprising: generating a range signal by a boundary determination module, the range signal indicative of a range of command values based on a plurality of input signals; determining whether the first control command is out of the range for longer than a predetermined duration of time; in response to determining that the first control command is out of the range for shorter than or equal to the predetermined duration of time, limiting the first control command to the range by a limiter module, generating a scale factor signal by starting to increase a scale factor from an initial value as soon as the first control command goes out of the range, generating a damping command based on a vehicle velocity signal and the scale factor signal, blending the limited first control command with the damping command, and sending the blended command to the power steering system; in response to determining that the first control command is out of the range for longer than the predetermined duration of time, generating a second control command based on a subset of the plurality of input signals and sending the second control command to the power steering system; and generating an amount of assist torque by the power steering system based on the blended command or the second control command.