FORM 2
THE PATENTS ACT 1970
[39 OF 1970]
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10; Rule 13]
TITLE: “METHOD AND SYSTEM FOR PULL DRIFT COMPENSATION IN
VEHICLES”
Name and Address of the Applicant:
TATA MOTORS PASSENGER VEHICLES LIMITED,
Floor 3, 4, Plot-18, Nanavati Mahalaya, Mudhana Shetty Marg, BSE, Fort, Mumbai, Mumbai City, Maharashtra, 400001, India
Nationality: Indian
The following specification particularly describes the invention and the manner in which it is to be performed.

TECHNICAL FIELD
[0001] The present disclosure relates, in general, to automobiles and more particularly, the present disclosure relates to a method and system for pull drift compensation in vehicles.
BACKGROUND
[0002] When a vehicle is moving in a substantially straight path, a driver can easily maintain a steering wheel of the vehicle in a neutral position. However, in some scenarios the vehicles may experience pulling on either of right-hand side or left-hand side and the driver may have to apply a small torque to the steering wheel to prevent the vehicle from pulling away from its substantially straight path. This pulling/drifting in the steering system may be caused due to various internal or external factors, such as imbalances in the chassis systems, tire, road camber, side wind, etc.
[0003] The commonly available pull drift compensation (PDC) feature resolves pulling issue by detecting pulling situation based on certain vehicle parameters like steering torque and steering angle, etc. However, the current features are designed to address pulling caused during normal running or during braking or during acceleration of car fitted with normal tires of same size.
[0004] In case, if a car is fitted with a spare tire of smaller size either on left-hand side or right-hand side, existing PDC feature fails to help driver in avoiding pulling/drifting scenario specifically during acceleration of car.
[0005] In view of the above, there exists a need to provide a method and a system which overcomes the above-mentioned problems and avoids pulling/drifting caused during acceleration of cars fitted with smaller size spare tire, thereby reducing the chances of road hazards.
[0006] The information disclosed in this background of the disclosure section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

OBJECT OF THE INVENTION
[0007] Some of the objects of the present disclosure, which at least one embodiment disclosed herein satisfies, are listed below.
[0008] It is an object of the present disclosure to provide a system and a method for pull drift compensation in vehicles.
[0009] It is another object of the present disclosure to identify a pull drift event in vehicle caused due to mismatch of the size of tires fitted in a vehicle.
[0010] It is yet another object of the present disclosure to provide compensation for pull drift event due to mismatch of the size of tires fitted in a vehicle.
SUMMARY
[0011] The present disclosure overcomes one or more shortcomings of prior art and provides additional advantages discussed throughout the present disclosure. Additional features and advantages are realized through the techniques of the present disclosure. Other aspects and aspects of the disclosure are described in detail herein.
[0012] In an aspect of the present disclosure, a system for pull drift compensation in vehicles is disclosed. The system comprises a memory, and one or more processors communicatively coupled with each other. The one or more processors are configured to receive plurality of parameters from a plurality of sensors. The plurality of parameters received at least comprises an acceleration pedal position (APP) parameter. Further, the one or more processors are configured to detect a pull drift event based on the plurality of parameters and predefined rules. The predefined rules comprise predetermined threshold range for the plurality of parameters. Then, the one or more processors are configured to determine a compensatory torque required to overcome the pull drift event. Finally, the one or more processors are configured to provide the pull drift compensation in the vehicle based on the compensatory torque.
[0013] In another aspect, a method for pull drift compensation in vehicles is disclosed. The method includes receiving plurality of parameters from a plurality of sensors. The plurality of parameters received at least comprises an acceleration pedal position (APP) parameter. The

method further comprises detecting, a pull drift event based on the plurality of parameters and predefined rules. The predefined rules comprise predetermined threshold range for the plurality of parameters. The method then comprises determining, a compensatory torque required to overcome the pull drift event. The method finally comprises providing pull drift compensation in the vehicle based on the compensatory torque.
[0014] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, aspects, and features described above, further aspects, aspects, and features will become apparent by reference to the drawings and the following detailed description.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[0015] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary aspects and, together with the description, explain the disclosed principles. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the figures to reference features and components. Some aspects of the system and/or methods in accordance with aspects of the present subject matter are now described, by way of example only, and regarding the accompanying figures, in which:
[0016] FIG. 1 illustrates an exemplary representation of an environment depicting pull drift compensation mechanism in vehicles, in accordance with some aspects of the present disclosure;
[0017] FIG. 2 illustrates a sequential flow for pull drift compensation in vehicles, in accordance with some aspects of the present disclosure;
[0018] FIG. 3 shows a block diagram of a system for pull drift compensation in vehicles, in accordance with some aspects of the present disclosure; and
[0019] FIG. 4 shows a flowchart illustrating a method for pull drift compensation in vehicles, in accordance with some aspects of the present disclosure.

[0020] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative systems embodying the principles of the present subject matter. Similarly, it will be appreciated that any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and executed by a computer or processor, whether such computer or processor is explicitly shown.
DETAILED DESCRIPTION
[0021] In the present document, the word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any aspect or implementation of the present subject matter described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects.
[0022] While the disclosure is susceptible to various modifications and alternative forms, specific aspect thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the specific forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternative falling within the scope of the disclosure.
[0023] The terms “comprises”, “comprising”, “includes”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device, or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus proceeded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the system or method.
[0024] In the following detailed description of the aspects of the disclosure, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific aspects in which the disclosure may be practiced. These aspects are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other aspects may be utilized and that changes may be made without

departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.
[0025] The term ‘vehicle’ as used herein refers to passenger vehicles or commercial vehicles such as, but not limited to, cars, buses, trucks, and the like.
[0026] FIG. 1 illustrates an example representation of an environment 100 depicting pull drift compensation mechanism in vehicles, in accordance with some aspects of the present disclosure.
[0027] In an aspect of the present disclosure, the environment 100 includes a driver 101 driving the vehicle. The environment 100 shows mechanical steering components coupling to the front wheel 110 of the vehicle. The mechanical steering components comprises a steering wheel 102, a reduction gear box 104 coupled to the steering wheel 102, column and I-shaft 106 connect to the reduction gear box 104. The environment 100 further includes R&P gear and knuckle 108 coupled to the column and I-shaft 106 and the R&P gear and knuckle 108 is coupled to the front wheel of the vehicles. The environment 100 further includes a steering wheel angle sensor 112 for detecting steering wheel angle and a steering torque sensor 114 for detecting steering wheel torque. In one non-limiting aspect, the steering wheel angle sensor 112 and the steering torque sensor 114 may be part of one single sensor. The environment 100 also includes Electric Power Steering Electronic Control Module (EPS ECU) 118, in communication with a instrument control panel 120, a powertrain ECU 122, an Electronic Stability Program ECU (EPS ECU) 124, and a power assist motor/EPS motor 116.
[0028] The steering wheel rotation shall generate a steering wheel torque which is transferred to the front wheels 110 through the mechanical steering components and the R&P gear and knuckle 108 and knuckle 108. Similarly, the roadway feedback from the front wheels 110 may be transferred to the steering wheel 102 through the mechanical steering components and the R&P gear and knuckle 108.
[0029] In an aspect of the present disclosure, the EPS ECU 118 may receive steering wheel angle parameter from the steering angle sensor 112 and steering wheel torque parameter from the steering torque sensor 114. In one non-limiting aspect, the EPS ECU 118 may receive steering wheel angle speed parameter from the steering angle sensor 112. The EPS ECU 118

may receive an engine speed parameter and accelerator pedal position parameter from the powertrain ECU 122. The powertrain ECU 122 may comprise of an accelerator pedal position sensor for detecting the accelerator pedal position parameter. Further, the EPS ECU 118 may receive vehicle speed and yaw rate from the ESP ECU 124. The ESP ECU 124 may comprise or may be coupled to a vehicle speed sensor and a yaw rate sensor for providing the vehicle speed parameter and the yaw rate parameter to the ESP ECU 124. Thus, the EPS ECU 118 receives a plurality of parameters detected using multiple components such as sensors present in the vehicle.
[0030] The EPS ECU 118 may comprise one or more processors that processes the plurality of parameters detected by plurality of sensors as discussed in above aspects. The one or more processors may detect a vehicle pull drift event corresponding to each of the plurality of parameters such as steering wheel angle, steering wheel torque, steering wheel angle speed, yaw rate, vehicle speed and predetermined rules. The predetermined rules may be a set of rules comprising threshold values or average values of the plurality of parameters from the plurality of sensors with an acceptable margin for error. The one or more processors detect the pull drift event based on comparison of the received plurality of parameters from the plurality of sensors with their respective threshold value in the predefined rules.
[0031] Further, the one or more processors may also be configured to identify the cause of the pull drift event by identifying the parameter from the plurality of parameter causing the pull drift event and by tracing the sensor of the corresponding identified parameter. In one non-limiting aspect, the one or more processors may detect a vehicle pull drift event corresponding to the accelerator pedal position sensor. The accelerator pedal position sensor may be further useful for yaw angle correction. Further, the accelerator pedal position sensor contributes significantly to the vehicle pull drift event when the vehicle is fitted with different size tire.
[0032] Once the pull drift event corresponding to all of the above-mentioned parameters are detected, the one or more processors may determine a pull drift compensatory torque corresponding to each of the detected vehicle pull drift event. In particular, the determination of the pull drift compensatory torque for the vehicle pull drift may be caused due to vehicle fitted with different or smaller size tires and the accelerator pedal position aids in efficiently avoiding pulling/drifting event in vehicle in such a scenario.

[0033] The one or more processors may then determine the pull drift compensatory torque required to compensate the pull drift event identified due to the plurality of parameters and the power assist motor 116 may then generate the pull drift compensatory torque, which may be transferred to the steering wheel 102 through the reduction gear box 104. Thus, the EPS ECU 118 provides enhanced pull drift compensation that avoids pulling/drifting caused during acceleration of cars fitted with different size tire.
[0034] FIG. 2 illustrates a sequential flow 200 for pull drift compensation in vehicles, in accordance with some aspects of the present disclosure.
[0035] As shown in fig. 2, a pull sensing module 210 may be configured to receive parameters such as steering torque 202, steering wheel angle 204, steering wheel angle speed 206 from the steering sensors as discussed in above aspects. The pull sensing module 210 may further receive accelerator pedal position from the accelerator pedal position sensor, as discussed in above aspect. The pull sensing module 210 may determine a vehicle pull drift event corresponding to each one of the steering torque 202, steering wheel angle 204, steering wheel angle speed 206, and the accelerator pedal position.
[0036] A first pull compensation module 212 may be in communication with the pull sensing module 112 and the first pull compensation module 212 may determine a first compensation torque based on the parameters sensed by the pull sensing module 112. Further, the EPS control module 214 may be providing one or more input parameters to a second pull compensation module 216 and the second pull compensation module 216 may determine a second compensation torque for the one or more input parameters received from the EPS control module 214. In one non-limiting aspect, the one or more parameters received from the EPS control module 214 may comprise yaw rate/angle and vehicle speed.
[0037] The second pull compensation module 216 may combine the first compensation torque and the second compensation torque and generate the combined compensation torque through the EPS motor 218, thereby providing enhanced pull drift compensation that avoids pulling/drifting caused during acceleration of car fitted with different size tire.

[0038] In one non-limiting aspect the various modules such as pull sensing module 210, first pull compensation module 212, and the second pull compensation module 216 may be implemented using hardware, software, firmware or any combinations thereof.
[0039] FIG. 3 shows a block diagram of a system 300 for pull drift compensation in vehicles, in accordance with some aspects of the present disclosure.
[0040] The system 300 may include a plurality of sensors 302, a memory 304, one or more processors 306, and a power assist motor 308 in communication with each other. In one non-limiting aspect, the memory 304 and the one or more processors 306 may be part of a EPS ECU 118, as discussed in above aspects. The power assist motor 308 may be coupled to the mechanical steering component 312.
[0041] In an aspect, the plurality of sensors 302 comprises one or more steering angle sensor, one or more steering torque sensor, one or more accelerator pedal position sensor, one or more vehicle speed input sensor, one or more engine speed sensor, and yaw rate sensor. The plurality of sensors 302 may be configured to detect a plurality of parameters, wherein the plurality of parameters further comprises one or more of: a steering angle parameter, a steering wheel speed parameter, a yaw rate/angle parameter, an engine speed parameter, a steering torque parameter, an accelerator pedal position parameter. The plurality of sensor and the respective parameters are not limited to above example, and any other parameter resulting pull drift event in vehicle is well within the scope of present disclosure.
[0042] The one or more processors 306 may be configured to receive the plurality of parameters from the plurality of sensors 302. The plurality of parameters at least comprises an acceleration pedal position parameters which may aid in identifying a pull drift event caused due mismatch of size of tires fitted in a vehicle. The one or more processors 306 may be then configured to detect a vehicle pull drift event corresponding to each of the plurality of parameters and predefined rules. The predetermined rules may be a set of rules comprising threshold values or average values of the plurality of parameters from the plurality of sensors with an acceptable margin for error. The one or more processors detect the pull drift event based on comparison of the received plurality of parameters from the plurality of sensors with the threshold value in the predefined rules. Further, the one or more processors may also be configured to identify the cause of the pull drift event by identifying the parameter from the

plurality of parameter causing the pull drift event and by tracing the sensor of the corresponding identified parameter.The pull drift event may comprise a vehicle drift event corresponding to a parameter detected by the accelerator pedal position sensor.
[0043] The one or more processors 306 may be then configured to determine a pull drift compensatory torque corresponding to each of the detected vehicle pull drift event. The one or more processors 306 may be configured to generate a determined pull drift compensatory torque through power assist motor 308. The power assist motor 308 may be configured to transfer the determined pull drift compensatory torque to a steering wheel to compensate for the pull drift events. Thus, the system 300 facilitates enhanced pull drift compensation that avoids pulling/drifting caused during acceleration of car fitted with different size tire.
[0044] In one aspect, the one or more processors 306 may be embodied as a multi-core processor, a single core processor, or a combination of one or more multi-core processors and one or more single core processors. For example, the one or more processor 306 may be embodied as one or more of various processing devices, such as a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including, a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.
[0045] In one aspect, the memory 304 is capable of storing machine executable instructions, referred to herein as instructions 305. In an aspect, the one or more processors 306 is embodied as an executor of software instructions. As such, the one or more processors 306 is capable of executing the instructions stored in the memory 304 to perform one or more operations described herein. The memory 304 can be any type of storage accessible to the one or more processors 306 to perform respective functionalities. For example, the memory 304 may include one or more volatile or non-volatile memories, or a combination thereof. For example, the memory 304 may be embodied as semiconductor memory, such as flash memory, mask ROM, PROM (programmable ROM), EPROM (erasable PROM), RAM (random access memory), etc. and the like.
[0046] FIG. 4 shows a flowchart illustrating a method for pull drift compensation in vehicles, in accordance with some aspects of the present disclosure.

[0047] At step 402, the method 400 discloses receiving a plurality of parameters from a plurality of sensors of the vehicles. The plurality of parameters may comprise one or more of: a steering angle parameter, a steering wheel speed parameter, a yaw rate/angle parameter, an engine speed parameter, a steering torque parameter, an accelerator pedal position parameter. The plurality of sensors may comprise one or more steering angle sensors, one or more steering torque sensor, one or more accelerator pedal position sensor, one or more vehicle speed input sensor, one or more engine speed sensor, and yaw rate sensor.
[0048] At step 404, the method 400 discloses detecting a vehicle pull drift event based on the plurality of parameters and predefined rules. The predetermined rules may be a set of rules comprising threshold values or average values of the plurality of parameters from the plurality of sensors with an acceptable margin for error. The detecting of the pull drift event comprises comparing the received plurality of parameters from the plurality of sensors with the threshold value in the predefined rules. The method further comprises identifying the cause of the pull drift event by identifying the parameter from the plurality of parameter causing the pull drift event and by tracing the sensor of the corresponding identified parameter.The pull drift event may comprise a vehicle drift event corresponding to a parameter detected by the accelerator pedal position sensor which may aid in identifying a pull drift event caused due mismatch of size of tires fitted in a vehicle. The pull drift event may comprise other vehicle drift event corresponding to remaining parameters as discussed in above aspect.
[0049] At step 406, the method 400 discloses determining a pull drift compensatory torque corresponding to the each of the detected vehicle pull drift event. At step 408, the method 400 discloses generating a determined pull drift compensatory torque through electric power steering (EPS) motor/power assist motor. The method further comprises providing the determined pull drift compensatory torque to a steering wheel to compensate the pull drift event. The determined pull drift compensatory torque may be applied to the steering wheel through the power assist motor as discussed in above aspects.
[0050] Thus, the method 400 facilitates enhanced pull drift compensation that avoids pulling/drifting caused during acceleration of car fitted with different size tire.
[0051] The method 400 may be described in the general context of computer executable instructions. Generally, computer executable instructions can include routines, programs,

objects, components, data structures, procedures, modules, and functions, which perform specific functions or implement specific abstract data types.
[0052] The order in which the method 400 is described is not intended to be construed as a limitation, and any number of the described method blocks can be combined in any order to implement the method. Additionally, individual blocks may be deleted from the methods without departing from the scope of the subject matter described herein. Furthermore, the method can be implemented in any suitable hardware, software, firmware, or combination thereof.
[0053] The disclosed method 400 with reference to FIG. 4, or one or more operations of the flow diagram 400 may be implemented using software including computer-executable instructions stored on one or more computer-readable media (e.g., non-transitory computer-readable media, such as one or more optical media discs, volatile memory components (e.g., DRAM or SRAM), or non-volatile memory or storage components (e.g., hard drives or solid-state non-volatile memory components, such as Flash memory components) and executed on a computer (e.g., any suitable computer, such as a laptop computer, net book, Web book, tablet computing device, smart phone, or other mobile computing device). Such software may be executed, for example, on a single local computer.
[0054] Furthermore, one or more computer-readable storage media may be utilized in implementing aspects consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the aspects described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include Random Access Memory (RAM), Read-Only Memory (ROM), volatile memory, non-volatile memory, hard drives, CD (Compact Disc) ROMs, DVDs, flash drives, disks, and any other known physical storage media.

[0055] The terms "an aspect", "aspect", "aspects", "the aspect", "the aspects", "one or more aspects", "some aspects", and "one aspect" mean "one or more (but not all) aspects of the invention(s)" unless expressly specified otherwise.
[0056] The terms "including", "comprising", “having” and variations thereof mean "including but not limited to", unless expressly specified otherwise.
[0057] The enumerated listing of items does not imply that any or all the items are mutually exclusive, unless expressly specified otherwise. The terms "a", "an" and "the" mean "one or more", unless expressly specified otherwise.
[0058] A description of an aspect with several components in communication with each other does not imply that all such components are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible aspects of the invention.
[0059] When a single device or article is described herein, it will be clear that more than one device/article (whether they cooperate) may be used in place of a single device/article. Similarly, where more than one device/article is described herein (whether they cooperate), it will be clear that a single device/article may be used in place of the more than one device/article or a different number of devices/articles may be used instead of the shown number of devices or programs. The functionality and/or features of a device may be alternatively embodied by one or more other devices which are not explicitly described as having such functionality/features. Thus, other aspects of invention need not include the device itself.
[0060] Finally, the language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the inventive subject matter.
[0061] While various aspects and aspects have been disclosed herein, other aspects and aspects will be apparent to those skilled in the art. The various aspects and aspects disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the detailed description.

We Claim:
1. A system for pull drift compensation in a vehicle, the system comprising:
a memory, and
one or more processors connected to the memory and wherein the one or more processors are configured to:
- receive plurality of parameters from a plurality of sensors, wherein the plurality of parameters at least comprises an acceleration pedal position (APP) parameter;
- detect a pull drift event based on the plurality of parameters and predefined rules, wherein the predefined rules comprise predetermined threshold range for the plurality of parameters;
- determine a compensatory torque required to overcome the pull drift event; and
- provide the pull drift compensation in the vehicle based on the compensatory torque.

2. The system as claimed in claim 1, wherein the plurality of parameters further comprises one or more of: a steering torque parameter, a steering angle parameter, a steering wheel speed, a speed input parameter, an engine speed parameter, and a yaw rate parameter.
3. The system as claimed in claim 1, wherein the plurality of sensors comprises one or more of vehicle speed input sensors, one or more engine speed sensors, one or more steering torque sensors, one or more steering angle sensors, and one or more accelerator pedal position sensors.
4. The system as claimed in claim 1, wherein to detect the pull drift event, the one or more processors are configured to:
detect a difference in dimensions of the tires installed in the vehicle at least based on the APP parameter and the predefined rules; and
detect the pull drift event due to the difference in dimensions of the tires installed in the vehicle.

5. The system as claimed in claim 1, further comprising:
a power assist motor, wherein to provide the pull drift compensation in the vehicle, the one or more processors are configured to:
provide the compensatory torque to a mechanical steering component of the vehicle through the power assist motor.
6. A method for pull drift compensation in a vehicle, the method comprises:
- receiving, plurality of parameters from a plurality of sensors, wherein the plurality of parameters at least comprises an acceleration pedal position (APP) parameter;
- detecting, a pull drift event based on the plurality of parameters and predefined rules, wherein the predefined rules comprise predetermined threshold range for the plurality of parameters;
- determining, a compensatory torque required to overcome the pull drift event; and
- providing, the pull drift compensation in the vehicle based on the compensatory torque.

7. The method as claimed in claim 6, wherein the plurality of parameters further comprises one or more of: a steering torque parameter, a steering angle parameter, a speed input parameter, an engine speed parameter and a yaw rate parameter.
8. The method as claimed in claim 6, wherein the plurality of sensors comprises one or more vehicle speed input sensors, one or more engine speed, one or more steering torque sensors, one or more steering angle sensors, and one or more accelerator pedal position sensors.
9. The method as claimed in claim 6, wherein to detect the pull drift event, the method further comprises:
detecting a difference in dimensions of the tires installed in the vehicle at least based on the APP parameter and predefined rules; and
detecting the pull drift event due to the difference in dimensions of the tires installed in the vehicle.

10. The method as claimed in claim 6, further comprises providing, by a power assist motor to a mechanical steering component of the vehicle, the compensatory torque. Dated this 30 March 2023

METHOD AND SYSTEM FOR PULL DRIFT COMPENSATION IN VEHICLES