EP1651500A2 - Method for steering a vehicle by means of a superimposed steering system - Google Patents
Method for steering a vehicle by means of a superimposed steering systemInfo
- Publication number
- EP1651500A2 EP1651500A2 EP04742007A EP04742007A EP1651500A2 EP 1651500 A2 EP1651500 A2 EP 1651500A2 EP 04742007 A EP04742007 A EP 04742007A EP 04742007 A EP04742007 A EP 04742007A EP 1651500 A2 EP1651500 A2 EP 1651500A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering
- angle
- steering angle
- control
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000001419 dependent effect Effects 0.000 claims description 9
- 230000003313 weakening effect Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000003321 amplification Effects 0.000 description 8
- 238000003199 nucleic acid amplification method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000000707 layer-by-layer assembly Methods 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
Definitions
- the invention relates to a method for steering a vehicle with a superimposed steering system, in which a steering angle entered by the driver and a further angle (additional steering angle) is determined and in which the entered steering angle by means of the additional steering angle in accordance with further variables, in particular driving dynamics variables, by means of an electric motor can be overlaid.
- the invention also relates to a computer program and a steering system for a vehicle with a steering wheel arranged on a steering column, with a steering gear, a rotation angle sensor arranged on the steering column, a superposition motor acting on the steering column via a superposition gear, an electric steering actuator, a sensor for measuring the Position of the steered wheels and with a steering control unit.
- the servo support is constructed in such a way that actuators, for example hydraulic cylinders, are arranged in the central region of the steering mechanism. Actuation of the steering mechanism in response to rotation of the steering wheel is assisted by a force generated by the actuators. This is the effort of the Reduce driver's steering.
- Overlay steering is known. They are characterized in that an additional steering angle (additional steering angle) can be superimposed on the steering angle entered by the driver if necessary. Electric actuators are usually used which act on a superposition gear and set the additional steering angle largely independently of the driver.
- the additional steering angle is controlled by an electronic controller and is used, for example, to increase the stability and agility of the vehicle.
- an electronic controller is used, for example, to increase the stability and agility of the vehicle.
- the steering components of the superimposed steering angle are formed independently of one another.
- the invention has for its object to provide a method for steering a vehicle with a superimposed steering, which works safely and reliably.
- Steering angle of the steering system and determined in accordance with a size that is directly dependent on the additional steering angle or describes the additional steering angle.
- An advantageous embodiment of the method according to the invention consists in the fact that the size, which is directly dependent on the additional steering angle or describes the additional steering angle, characterizes the position or position of an overlay actuator.
- the size which characterizes the position or position of a superimposition actuator is the angle of an electronic superimposition motor (motor angle ⁇ Mot ).
- the method has a steering angle control with subordinate current or motor torque control of an electric motor as a superimposition actuator, with a target current or a target value based on a comparison between an actual steering angle value and a target steering angle value -Motor torque is generated by which the electric motor brings the additional steering angle into the steering system.
- the driver's steering request is formed in accordance with a fixed or variably predefinable transmission ratio factor and the transmission ratio factor in accordance with the current driving situation, in particular a detected vehicle longitudinal speed and / or a steering wheel steering angle, and that a steering angle setpoint is determined on the basis of the driver's steering request and is fed to the steering control.
- the transmission factor with which the driver's steering angle acts directly on a steering gear is additionally superimposed with an additional steering angle in conjunction with a second gear ratio and that a superimposed steering angle is determined and supplied to the steering control as an actual value.
- An advantageous embodiment of the method according to the invention consists in that a driving dynamics control (ESP system) interacts with the steering control and that when the need for a stabilizing intervention is recognized by the driving dynamics control, an additional driving dynamics-dependent steering angle is determined and the driver's steering request is additionally superimposed.
- ESP system driving dynamics control
- the electric motor is additionally controlled with a field weakening current in accordance with other parameters, in order to increase the motor speed without reducing the available motor torque.
- the electric motor is preferably additionally controlled with a field weakening current if a very direct steering ratio and / or a high target speed is desired or required. According to a further embodiment of the invention, it is provided that a pilot control of a
- Setpoint speed of the electric motor is carried out and that the pilot control value is weighted depending on a desired motor speed of the electric motor.
- a pre-control of a target speed of the electric motor is carried out, which is determined from a motor speed specification and a motor speed target specification, the motor speed target specification based on a comparison of a steering angle target value with a determined actual steering angle value is determined and the engine speed specification is determined from the time derivative of the steering angle setpoint separately according to signal components which result from the driver's steering request and the requested ESP correction angle.
- a pre-control of a target speed of the electric motor is carried out and the signal components resulting from the driver's steering request and the requested ESP correction angle are weighted separately from one another in accordance with a requirement regarding dynamics and comfort.
- the object is achieved by a computer program that is suitable for carrying out a method according to one of the preceding claims.
- a steering system for a vehicle with a steering wheel arranged on a steering column, with a steering gear, one arranged on the steering column Angle of rotation sensor, a superposition motor acting on the steering column via a superposition gear, a sensor for measuring the position of the steered wheels and with a steering control unit, in which steering the steering control unit has means for carrying out the previously described method according to the invention.
- FIGS. 1 and 7 Exemplary embodiments of the method according to the invention are shown in figures (FIGS. 1 and 7) and described below.
- FIG. 3 shows a block diagram of the control concept for intervention by a driving dynamics controller
- FIG. 5 shows a block diagram for determining a gain factor
- Fig. 6 is a block diagram of the steering controller in detail
- Fig. 7 is a block diagram for determining a transmission input signal.
- the basic structure of a superimposed steering (ESAS / Electric Steer Assisted Steering) with a control according to the invention is shown schematically in Fig.l, in which an electromotively driven superimposed gear is arranged between a torsion bar of a steering valve (torsion bar) and a steering gear or a pinion of a rack and pinion steering is.
- a superposition gear (1) of a superimposed steering (2) is installed in the split steering column (3) of a conventional power steering (4).
- a motor (5) By means of a motor (5), an additional or reduced steering angle (6) can be generated on the front wheels (7) by the superposition gear (1) (variable steering ratio).
- the steering angle resulting from the variable steering ratio is set by a controller (8) which controls the electric motor (5).
- Signals from rotation angle sensors (9, 10) are fed to the controller (8), by means of which the rotation angle ⁇ H (11) of the steering column (3) in front of the torsion bar (13) (torsion bar) of the steering valve (14) and the rotation angle after the superposition gear (1), here the angle of rotation ⁇ R (15) of the pinion (32) of the steering gear (31) can be detected.
- the steering wheel angle ⁇ H (11) set by the driver via a steering handwheel (29) is preferably recorded using a steering wheel angle sensor (9) used as standard in vehicles with driving dynamics control (ESP systems).
- ESP systems driving dynamics control
- the stiffness of the torsion bar (13) (torsion bar) of the steering valve (14) and one applied by the driver there is between the steering wheel angle ⁇ H (11) and an input angle ⁇ f (12) of the superposition gear (1) Steering torque a difference angle.
- the motor angle ⁇ Mot (34) of the motor (5) is also detected with a third sensor (33).
- the requirements with regard to accuracy and resolution for the sensors (10, 33) when detecting the rotation angle ⁇ R of the pinion (33) and the motor angle ⁇ Mot (34) are higher than for the steering wheel angle sensor (9).
- the hydraulic pressure for the conventional power steering (4) is generated by a pump (16), which is connected here to the drive motor (18) of a vehicle via a drive (17).
- the pump (16) is driven as required by an electronically controlled motor (electric motor).
- the driver is assisted by a hydraulic cylinder (19) which has two chambers (20, 21) which are separated by a hydraulic piston (22) which is connected to a rack (23) of the steering. Hydraulic lines (24, 25, 26, 27) and a pressure medium reservoir (28) are provided for supply and discharge from the hydraulic chambers (20, 21) for the purpose of pressure regulation.
- a certain angle of rotation of the pinion (32) of the steering gear (31) results from the superimposition as the sum angle, ie the "pinion angle" ⁇ R (15).
- FIG. 2 shows an overview of the overall control concept of the steering angle control for the superimposed steering as well as the communication of the steering controller (8) to a superordinate driving dynamics control system (38).
- the steering controller (8) transmits to the driving dynamics controller (38) the driver's request ⁇ CM D, D RV (42) resulting from the driver's steering angle (11) and a desired steering ratio ⁇ , ESAs (52, see Fig. 3), the one identified and measured as the steering steering angle Pinion angle ⁇ R (15) and information relating to the dynamic reserve DR (or DR_pos or DR_neg) available for ESP steering interventions (43).
- the vehicle dynamics controller (38) and the steering controller (8) are given the vehicle speed (45, 46), the vehicle dynamics controller the vehicle dynamics parameters (47) and the steering controller a speed of the internal combustion engine N Engine
- the ESAS steering controller determines the input variables
- FIG. 3 shows a block diagram of the control concept for intervention by a driving dynamics controller.
- Driving dynamic steering interventions by the driving dynamics controller (38) are taken into account as additional steering angle ⁇ ESP (39), which intervenes to correct the system.
- additional steering angle ⁇ ESP 39
- ⁇ S amplification factor
- ESAS amplification factor
- the superimposition can have a positive influence on the driving behavior and vehicle dynamics in accordance with a recognized driving situation, whereby the driving stability and the agility of the vehicle can be increased.
- driving dynamics Steering interventions implemented to support the driver in his steering work.
- Fig. 4 shows the control concept of the steering angle control as an overview. It is essential that for
- the value of the transmission input angle ⁇ ⁇ (53) is determined in accordance with the structurally determined transmission equation for the superimposed steering (54) (cf. Fig. 7).
- the driver's request can be determined as a partial target value of the steering angle control with a significantly higher resolution, which has a strongly positive effect on the steering feel.
- Superposition gear is multiplied (55) by the gain factor ⁇ , ESAs (52) resulting from the variable steering ratio (65).
- the driver's request ⁇ CMDfDRV (42) is available for the steering angle control.
- the value of the rise limitation can be selected according to control engineering aspects and, if necessary, changed according to the available actuator actuating speeds.
- the resulting target value ⁇ R / CMD (49) for the steering angle control is obtained by adding the additional steering angle ⁇ E sp, ipo (60) and the steering angle ⁇ CMD , D RV (42) representing the driver's request.
- a setpoint O iD, before (62) for a speed pre-control of the motor (5) of the steering is determined (61) and also fed to the steering angle controller (63) (62) , which regulates a resulting engine torque M Mot , cmd (64).
- the dynamic reserve is also calculated (67) based on the engine torque M Mo t (48), the resulting amplification factor ⁇ ⁇ , ⁇ sAs (52) and the angle of rotation ⁇ H (11) of the steering column (3).
- a positive signal DR_pos (68) or a negative signal DR_neg (69) is generated.
- FIG. 5 shows the determination of the resulting amplification factor ⁇ ⁇ / E sAs (52) as a component for calculating the steering angle setpoint.
- a resulting steering ratio i ⁇ , ESAs (52) results from the amplification factors Kl (70) and K2 (71), which are based on of the angle of rotation ⁇ H (11) and the vehicle speed V K f Z (46) can be determined.
- the amplification factors Kl (70) and K2 (71) are multiplicatively linked to the series steering ratio V, sene.
- the amplification factors Kl (portion dependent on the steering wheel angle) and K2 (portion dependent on the vehicle speed) can be chosen freely according to driving dynamics or driver specifications.
- FIG. 6 shows the components of the steering controller (63) considered here.
- the regulation of the motor torque M Mot or the torque-forming motor current I q and the commutation of the motor (5) (in the case of electronic commutation) is assigned to the motor (5).
- the control variable of the steering controller (63) is the resulting superimposed steering angle (pinion angle) ⁇ R (15), which is measured directly.
- the engine speed ⁇ Mot (73) is used as the internal control variable, which can be calculated from the measured motor angle ⁇ Mot (35) by differentiation (74),
- the steering angle controller shown in FIG. 6 is a cascade controller in its basic structure.
- the setpoint C ⁇ M D pre-controlled (62) for speed control of the motor (5). So that the steering comfort is not impaired by the pilot control, especially with slow steering movements Weighting of the pilot control value depending on the desired engine speed instead. It is advantageous here if the calculation of the pilot control values shown in FIG. 4
- a higher engine speed than available may be required.
- a field weakening of the motor (5) a demand-dependent, brief increase in the engine speed can be achieved without reducing the available engine torque can be achieved.
- this also entails a brief increase in the total current consumption.
- the presence of a very direct steering ratio and a high target speed on the part of the driver or the driving dynamics control system can be regarded as a need.
- the torque control of the electronically commutated motor must then also regulate the field-weakening current value Id.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10334234 | 2003-07-28 | ||
DE102004031653A DE102004031653A1 (en) | 2003-07-28 | 2004-06-30 | Automotive steering mechanism has computer system accepting steering corrections under given dynamic conditions |
PCT/EP2004/051564 WO2005012061A2 (en) | 2003-07-28 | 2004-07-21 | Method for steering a vehicle by means of a superimposed steering system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1651500A2 true EP1651500A2 (en) | 2006-05-03 |
Family
ID=34117374
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04742007A Withdrawn EP1651500A2 (en) | 2003-07-28 | 2004-07-21 | Method for steering a vehicle by means of a superimposed steering system |
Country Status (4)
Country | Link |
---|---|
US (1) | US7677352B2 (en) |
EP (1) | EP1651500A2 (en) |
JP (1) | JP2007500098A (en) |
WO (1) | WO2005012061A2 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4490401B2 (en) * | 2006-08-10 | 2010-06-23 | 三菱電機株式会社 | Vehicle steering system |
JP2008087672A (en) * | 2006-10-03 | 2008-04-17 | Jtekt Corp | Vehicular steering device |
JP4902373B2 (en) * | 2007-01-30 | 2012-03-21 | 本田技研工業株式会社 | Brake device and control method of brake device |
US8020974B2 (en) * | 2007-01-31 | 2011-09-20 | Panasonic Corporation | Piezoelectric thin film device and piezoelectric thin film device manufacturing method, and inkjet head and inkjet recording apparatus |
EP2448805B1 (en) * | 2009-06-29 | 2015-01-07 | Volvo Lastvagnar AB | A method and a system for assisting a driver of a vehicle during operation |
WO2011096938A1 (en) * | 2010-02-08 | 2011-08-11 | Ford Global Technologies, Llc | Externally-controllable vehicle parking features |
EP3696053B1 (en) * | 2019-02-15 | 2021-08-25 | Volkswagen Ag | Steer-by-wire steering system for a vehicle and method for operating a steer-by-wire steering system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004031653A1 (en) * | 2003-07-28 | 2005-03-17 | Continental Teves Ag & Co. Ohg | Automotive steering mechanism has computer system accepting steering corrections under given dynamic conditions |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5740880A (en) | 1995-12-07 | 1998-04-21 | Ford Global Technologies, Inc. | Speed tracking of induced armature field in electric power assisted steering |
DE19601825B4 (en) * | 1996-01-19 | 2008-01-03 | Robert Bosch Gmbh | Steering system for a motor vehicle |
DE19751566A1 (en) * | 1997-11-20 | 1999-06-02 | Siemens Ag | Positioning device servo-assisted by an electric motor, in particular power steering for a motor vehicle |
DE10109491A1 (en) | 2001-02-28 | 2002-09-19 | Bosch Gmbh Robert | Method and computer program for operating a vehicle steering, control and / or regulating device for vehicle steering and vehicle steering |
DE10124436A1 (en) | 2001-05-18 | 2002-11-28 | Bosch Gmbh Robert | Brushless d.c. drive e.g. for power steering in vehicle, has field stimulation winding in rotor supplied with current in event of fault to produce magnetic flux opposed to that of rotor's permanent magnet poles |
DE10220123A1 (en) * | 2001-05-23 | 2002-12-12 | Continental Teves Ag & Co Ohg | Overlay steering device has first sector connected to steering wheel and second to steering transmission or vice versa |
JP3559258B2 (en) * | 2001-07-30 | 2004-08-25 | 三菱電機株式会社 | Steering control device |
DE10142366B4 (en) | 2001-08-30 | 2018-06-21 | Volkswagen Ag | Method and apparatus for an active steering system |
DE10143029A1 (en) | 2001-09-01 | 2002-11-21 | Bayerische Motoren Werke Ag | Vehicle steering control involves using actuator output signal as scalar function of at least 2 of e.g. road curvature, roll rate, vertical acceleration, float angle, roll angle, lateral tire force signals |
DE10160716A1 (en) * | 2001-12-11 | 2003-06-18 | Mercedes Benz Lenkungen Gmbh | Steering with driven planetary gear for producing defined hand torque on steering wheel has torque controller that controls drive so torque applied to planetary gear housing sets defined torque |
US6926114B2 (en) * | 2002-06-03 | 2005-08-09 | Delphi Technologies, Inc. | Assist modification in active front steering |
WO2004005111A1 (en) * | 2002-07-05 | 2004-01-15 | Continental Teves Ag & Co.Ohg | Method for steering a vehicle with superimposed steering |
DE10328752A1 (en) | 2002-07-05 | 2004-02-05 | Continental Teves Ag & Co. Ohg | Method for steering a vehicle with superimposed steering |
US7063636B2 (en) * | 2003-06-16 | 2006-06-20 | Delphi Technologies, Inc. | Mechanically linked active steering system |
-
2004
- 2004-07-21 US US10/566,420 patent/US7677352B2/en not_active Expired - Fee Related
- 2004-07-21 EP EP04742007A patent/EP1651500A2/en not_active Withdrawn
- 2004-07-21 WO PCT/EP2004/051564 patent/WO2005012061A2/en active Application Filing
- 2004-07-21 JP JP2006521572A patent/JP2007500098A/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004031653A1 (en) * | 2003-07-28 | 2005-03-17 | Continental Teves Ag & Co. Ohg | Automotive steering mechanism has computer system accepting steering corrections under given dynamic conditions |
Also Published As
Publication number | Publication date |
---|---|
US7677352B2 (en) | 2010-03-16 |
WO2005012061A2 (en) | 2005-02-10 |
US20070162205A1 (en) | 2007-07-12 |
JP2007500098A (en) | 2007-01-11 |
WO2005012061A3 (en) | 2005-10-27 |
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