WO2005047085A1 - Procede pour ameliorer le fonctionnement de la direction d'un vehicule et direction d'un vehicule - Google Patents

Procede pour ameliorer le fonctionnement de la direction d'un vehicule et direction d'un vehicule Download PDF

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Publication number
WO2005047085A1
WO2005047085A1 PCT/EP2004/052945 EP2004052945W WO2005047085A1 WO 2005047085 A1 WO2005047085 A1 WO 2005047085A1 EP 2004052945 W EP2004052945 W EP 2004052945W WO 2005047085 A1 WO2005047085 A1 WO 2005047085A1
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WO
WIPO (PCT)
Prior art keywords
steering
angle
vehicle
assignment
error
Prior art date
Application number
PCT/EP2004/052945
Other languages
German (de)
English (en)
Inventor
Jürgen Böhm
Original Assignee
Continental Teves Ag & Co. Ohg
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2005047085A1 publication Critical patent/WO2005047085A1/fr

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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
    • B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear

Definitions

  • the invention relates to a method for improving the operation of a vehicle steering system and to a vehicle steering system for motor vehicles, with a steering handle which can be actuated by the driver of the motor vehicle and with an actuating unit assigned to the steered vehicle wheels, which is operatively connected to the steering handle and by means of which, if necessary, more Elements such as Tie rods and track levers, the steered vehicle wheels to set a desired one
  • Steering angle are pivotable, and which vehicle steering has a device for determining a steering wheel angle of the steering handle and a pivoting angle that describes the position of the pivotable vehicle wheels.
  • Overlay steering also referred to as "ESAS"
  • ESAS Overlay steering
  • the invention solves this problem by providing a vehicle steering system with the features of the independent claims.
  • the steering wheel angle is measured.
  • the pivoting angle is measured.
  • an assignment error or an assignment deviation is compensated for by a measure which does not lead to an undesired steering movement which irritates a driver of the vehicle.
  • an assignment error or an assignment deviation is compensated for by a compensating movement, which takes place during a first steering movement by the driver after starting to drive.
  • the method is used for superimposed steering.
  • an assignment error or an assignment deviation is compensated for by a compensating movement by means of an overlay function of the overlay steering.
  • vehicle steering for motor vehicles, with a steering handle which can be actuated by the driver of the motor vehicle and an actuating unit which is assigned to the steered vehicle wheels and is operatively connected to the steering handle and by means of, if necessary, other elements, such as, for example, Tie rods and track levers, the steered vehicle wheels can be pivoted to set a desired steering angle, and which vehicle steering has a device for determining a steering wheel angle of the steering handle and a pivoting angle that describes the position of the pivotable vehicle wheels, which is characterized in that the vehicle steering system has an error detection unit , by means of which an error or a deviation in an association between the
  • Steering wheel angle and the swivel angle is determined, and that the vehicle steering system has a compensation unit, by means of which the assignment error or the assignment deviation is compensated.
  • the vehicle steering system has a steering wheel angle sensor and a sensor for detecting the pivoting angle.
  • the vehicle steering is a superimposed steering and that an assignment error or an assignment deviation by one
  • Overlay actuator of the overlay steering is compensated.
  • superimposition steering here means a steering system in which a steering angle entered by the driver can be superimposed by means of a superimposition actuator by means of a further angle (additional steering angle) in accordance with other variables, in particular driving dynamics variables.
  • An electric actuator in particular an electric motor, is preferably used as the superposition actuator, which acts on a superimposition gearbox and can largely set the additional steering angle independently of the driver.
  • the electric motor-driven superposition gear is preferably arranged between a torsion bar of a steering valve (torsion bar) and a steering gear or a pinion of a rack and pinion steering.
  • a mechanical interlock and / or a self-locking design of the superposition gear is advantageously also provided. This ensures that a rotary movement of the electric motor required to apply an additional steering angle can only be carried out by setting an appropriate motor torque and not by an attacking motor load torque (e.g. driver or restoring torque).
  • FIG. 2 shows a block diagram of a control concept for intervention by a driving dynamics controller
  • FIG. 3 shows a block diagram of a control concept for compensating for a steering angle misalignment
  • Fig. 4 is a graphical plot of a slope limiting function.
  • 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.
  • the superposition gear (1) is installed here in a superimposed steering (2) 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).
  • Steering angle is set by a controller (8) which controls the electric motor (5).
  • the controller (8) signals from
  • the pivoting angle is recorded as the angle of rotation ⁇ R (15) of the pinion (32) ("pinion angle") of the steering gear (31).
  • 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 "pinion angle" ⁇ R (15), the motor angle ⁇ Mo t (34) of the motor (5) is also measured with a third sensor (33). detected.
  • the requirements regarding accuracy and resolution for the sensors (10, 33) when detecting the angle of rotation ⁇ R of the pinion (33) and the motor angle ⁇ Mo t (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.
  • An error determination (40) is assigned to the controller (8), by means of which an error or a deviation in an association between the steering wheel angle, the driver steering angle ⁇ H (11) and the pivoting angle, here the “pinion angle” ⁇ R (15), is determined.
  • a compensation error or an assignment deviation according to the invention is compensated for by means of a compensation control by means of a corresponding control of the motor (5).
  • FIG. 2 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 ⁇ E sp (39), which intervenes to correct the system.
  • additional steering angle ⁇ E sp (39) which intervenes to correct the system.
  • Desired steering ratio i E sAs a gain factor ⁇ ⁇ , ESAs (41) determined, which results in the driver's request ⁇ CD , DRV (42). This is superimposed with the additional steering angle ⁇ ESP (39) resulting from the driving dynamics controller (38).
  • the resulting setpoint for the steering angle ⁇ R , CMD (43) is fed to the control circuit (44) for the superimposed steering.
  • the overlay can have a positive influence on the driving behavior and vehicle dynamics in accordance with a recognized driving situation, the driving stability on the one hand and the agility of the vehicle being increased can be.
  • dynamic steering interventions are implemented to support the driver in his steering work.
  • the assignment error is detected and compensated for. This is shown in more detail in FIG. 3.
  • the steering wheel misalignment resulting from the described mapping error is compensated for in such a way that it does not lead to any unwanted and irritating steering movements for the driver. Ideally, the driver does not notice the correction of this assignment error.
  • the value for the maximum angular change (57) of the rise limiting function (55) is dependent on the steering speed (58) of the driver: From the by differentiation (59) of the driver's east CMD, DRV (42) steering speed determined east CD, DRV (58) a maximum rise limitation
  • Steering speed ⁇ C D, DRV (58) performs measurable steering movement
  • the increase limitation function (55) also allows a change of ⁇ 0 , B.
  • the steering angle misalignment ⁇ 0 determined to zero during the system initialization phase is reduced in the following way:
  • the difference calculated in this way is fed to a limiter function (63) which, taking into account the maximum rise limitation
  • Input variable supplied to a discrete-time integration module (64), in which the new output variable of the module (64) is calculated from the addition of the old output variable and the signal d ⁇ o. Since the value S 0 after the end of the system initialization phase, the selection module (65) has the value 1 and the selection module (53) has the value 0, which means that the output variable of the time-discrete integration module (64) represents the newly determined, limited value d ⁇ 0B for the steering wheel misalignment .
  • the limited value ⁇ o , B newly determined by these steps for the steering angle misalignment is fed to the superimposition for the steering angle control (54).
  • the maximum value for the rise limitation is determined in accordance with the procedure shown in FIG. 4.
  • FIG. 4 is a plot of the gradient ⁇ 0 , with which the steering angle misalignment can be compensated for as
  • the straight lines with the slope Ki and K 2 mean the maximum speed value for the compensation of the steering angle misalignment depending on the
  • ⁇ o, MAx represents the maximum value for the rate of change with which
  • Compensation speed + ⁇ o, MAx can be selected based on comfort considerations and based on the available actuator dynamics.
  • d ⁇ 0 , m al (57) is thus a function of the steering angle misalignment ⁇ 0 and the differentiated steering angle misalignment ⁇ 0 , normalized to the controller loop time.
  • controller loop time is the time for one
  • the loop time is typically 2 msec (milliseconds) to 5 msec.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un procédé pour améliorer le fonctionnement de la direction d'un véhicule, selon lequel on établit une erreur ou un écart dans la correspondance entre un angle de braquage au volant mesuré ou déterminé ou évalué et un angle de pivotement véritablement saisi ou déterminé ou évalué, lequel angle de pivotement décrit une position de pivotement des roues du véhicule, une erreur de correspondance détectée ou bien un écart de correspondance détecté entre l'angle de braquage au volant et l'angle de pivotement étant alors compensés.
PCT/EP2004/052945 2003-11-14 2004-11-12 Procede pour ameliorer le fonctionnement de la direction d'un vehicule et direction d'un vehicule WO2005047085A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10353336.2 2003-11-14
DE10353336 2003-11-14
DE102004048495.3 2004-10-05
DE102004048495A DE102004048495A1 (de) 2003-11-14 2004-10-05 Verfahren zur Verbesserung des Betriebs einer Fahrzeuglenkung und Fahrzeuglenkung

Publications (1)

Publication Number Publication Date
WO2005047085A1 true WO2005047085A1 (fr) 2005-05-26

Family

ID=34593368

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/052945 WO2005047085A1 (fr) 2003-11-14 2004-11-12 Procede pour ameliorer le fonctionnement de la direction d'un vehicule et direction d'un vehicule

Country Status (2)

Country Link
DE (1) DE102004048495A1 (fr)
WO (1) WO2005047085A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2019020A3 (fr) * 2007-07-25 2009-12-30 Denso Corporation Appareil de direction assistée doté d'un dispositif de détection de défaillance pour capteurs d'angle de rotation
DE102006030576B4 (de) * 2005-07-25 2016-09-15 Trw Automotive U.S. Llc Lenkvorrichtung

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006041236B4 (de) * 2006-09-02 2015-09-24 Robert Bosch Automotive Steering Gmbh Verfahren zum Betrieb eines Servolenksystems
DE102006041237B4 (de) * 2006-09-02 2009-12-03 Zf Lenksysteme Gmbh Verfahren zum Betrieb eines Servolenksystems
JP4289465B2 (ja) * 2006-09-14 2009-07-01 三菱電機株式会社 車両用操舵装置
DE102007002266A1 (de) * 2007-01-16 2008-07-17 GM Global Technology Operations, Inc., Detroit Verfahren zum Betrieb eines Kraftfahrzeugs während eines Fahrmanövers
DE102007019739B4 (de) * 2007-04-26 2015-05-21 Audi Ag Verfahren zum Bestimmen einer Korrektur eines Lenkwinkels
DE102008036039B4 (de) * 2008-08-01 2010-07-22 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Überwachung und Ansteuerung eines Positions-Stellers
JP2013060146A (ja) * 2011-09-14 2013-04-04 Jtekt Corp 車両操舵装置の制御装置
DE102014200100B4 (de) 2013-01-15 2018-04-05 Ford Global Technologies, Llc Lenkwinkelfehlerkorrektur
DE102014226615B4 (de) * 2014-12-19 2017-11-09 Volkswagen Aktiengesellschaft Kraftfahrzeug-Lenksystem und Verfahren zur Einstellung der Lenkradposition bei einem Kraftfahrzeug-Lenksystem
JP6826377B2 (ja) * 2016-05-27 2021-02-03 本田技研工業株式会社 車両用操舵装置
DE102021202482B4 (de) 2021-03-15 2023-06-29 Continental Automotive Technologies GmbH Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999001320A1 (fr) * 1997-06-30 1999-01-14 Robert Bosch Gmbh Procede et dispositif pour le reglage de grandeurs representatives du mouvement d'un vehicule
EP0983926A2 (fr) * 1998-09-02 2000-03-08 DaimlerChrysler AG Système de direction pour automobiles non guidées
DE10034135C1 (de) * 2000-07-13 2001-10-25 Daimler Chrysler Ag Verfahren und Vorrichtung zur präzisen Ermittlung des Drehmomentes einer fahrerbetätigten Lenkhandhabe in einem Fahrzeug mit elektrischer Fahrzeuglenkung
WO2002002389A1 (fr) * 2000-07-04 2002-01-10 Robert Bosch Gmbh Procede pour diriger un vehicule a direction assistee
US20020092696A1 (en) * 2001-01-17 2002-07-18 Hubert Bohner Steering system for motor vehicles
EP1253061A2 (fr) * 2001-04-26 2002-10-30 Eaton Corporation Dispositif de couple pour une direction de type "steer-by-wire" électronique

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999001320A1 (fr) * 1997-06-30 1999-01-14 Robert Bosch Gmbh Procede et dispositif pour le reglage de grandeurs representatives du mouvement d'un vehicule
EP0983926A2 (fr) * 1998-09-02 2000-03-08 DaimlerChrysler AG Système de direction pour automobiles non guidées
WO2002002389A1 (fr) * 2000-07-04 2002-01-10 Robert Bosch Gmbh Procede pour diriger un vehicule a direction assistee
DE10034135C1 (de) * 2000-07-13 2001-10-25 Daimler Chrysler Ag Verfahren und Vorrichtung zur präzisen Ermittlung des Drehmomentes einer fahrerbetätigten Lenkhandhabe in einem Fahrzeug mit elektrischer Fahrzeuglenkung
US20020092696A1 (en) * 2001-01-17 2002-07-18 Hubert Bohner Steering system for motor vehicles
EP1253061A2 (fr) * 2001-04-26 2002-10-30 Eaton Corporation Dispositif de couple pour une direction de type "steer-by-wire" électronique

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006030576B4 (de) * 2005-07-25 2016-09-15 Trw Automotive U.S. Llc Lenkvorrichtung
EP2019020A3 (fr) * 2007-07-25 2009-12-30 Denso Corporation Appareil de direction assistée doté d'un dispositif de détection de défaillance pour capteurs d'angle de rotation
US7743875B2 (en) 2007-07-25 2010-06-29 Denso Corporation Power steering apparatus having failure detection device for rotation angle sensors

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