CN1854004A - Method and device for stabilizing cars - Google Patents
Method and device for stabilizing cars Download PDFInfo
- Publication number
- CN1854004A CN1854004A CNA2006100746332A CN200610074633A CN1854004A CN 1854004 A CN1854004 A CN 1854004A CN A2006100746332 A CNA2006100746332 A CN A2006100746332A CN 200610074633 A CN200610074633 A CN 200610074633A CN 1854004 A CN1854004 A CN 1854004A
- Authority
- CN
- China
- Prior art keywords
- driver
- hand
- wheel torque
- steering
- zus
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000000087 stabilizing effect Effects 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000013461 design Methods 0.000 description 14
- 230000002349 favourable effect Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 7
- 230000035807 sensation Effects 0.000 description 4
- 230000003313 weakening effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an automobile stabilizing method, which is characterized by the following: detecting whether the automobile displays instable driving condition corresponding to vertical shaft; exerting resistance torque of steering wheel not dependant on driver; reducing or eliminating steering movement on the opposite rotary direction.
Description
Technical background
The present invention relates to be used for stablizing the method and apparatus of automobile.
By the known a kind of method and apparatus that is used for regulating vehicle dynamics of DE 102 15 465 A1.This device has at least one adjusting mechanism and sensor and calculating unit of being used to apply corrective action.At least the motoring condition of describing by float angle and yaw rate for example resembles steering-effecting and regulates then by a kind of corrective action arbitrarily.
Summary of the invention
Whether the present invention relates to a kind of method that is used for stablizing automobile, will detect automobile in the method has a kind of especially with respect to the unsettled motoring condition of vertical axis.
Core of the present invention is: depend on whether have unsettled motoring condition apply one with the independently irrelevant steering handwheel resisting moment of driver or torque on steering handwheel, this torque can make steering handwheel on the hand of rotation that unstable motoring condition is weakened or eliminate than on opposite hand of rotation more light and flexible carry out divertical motion, the driver can spend less power and rotates in other words.Therefore provide prompting in a kind of sense of touch to the driver, on that steering handwheel rotation direction, carried out stable to automobile exactly.
A kind of favourable design plan of the present invention is characterised in that, is meant a kind of excessive motoring condition that turns to for unstable motoring condition.
A kind of favourable design plan of the present invention is characterised in that, if exceed a predetermined threshold in the theoretical yaw rate and the deviation between the actual yaw rate of automobile, so just identifies to have and turns to excessive motoring condition.This parameter has been obtained in common driving dynamics control system and analyzing and processing, and does not therefore need the expense that is used for discerning the sensor that turns to excessive motoring condition of adding in this invention scope.
A kind of favourable design plan of the present invention is characterised in that,
-depend on whether unstable motoring condition is arranged, obtain an additional deflection angle that is superimposed on the deflection angle of setting by the driver, and
-depend on that adding deflection angle obtains the independently irrelevant steering handwheel resisting moment with the driver.
Additional rotation angle is the target parameter that will set and makes every effort to just can set this target parameter by the control that turns to of sense of touch by a steering handwheel resisting moment driver who independently has nothing to do with the driver.
A kind of favourable design plan of the present invention is characterised in that, if the additional deflection angle of being obtained less than the threshold value of a regulation, that does not just obtain with the independently irrelevant steering torque of driver or the steering torque that makes this and independently have nothing to do with the driver is zero.This for example can realize by means of a dead band.Therefore just form a deflection angle difference band and therefore also form the steering angle band that a driver can feel, in this band, allow little error turning to when turning under the excessive state of beginning when automobile, and the intervention of steering torque does not take place.
A kind of favourable design plan of the present invention is characterised in that the hand-wheel torque independently irrelevant with the driver is restricted to a maxim.
A kind of favourable design plan of the present invention is characterised in that the steering handwheel resisting moment independently irrelevant with the driver also depends on transverse acceleration in addition.Therefore when transitting to other surface friction coefficient, just improved driver's the sensation that turns to.
A kind of favourable design plan of the present invention is characterised in that, that represents with characteristic curve depends on transverse acceleration with the independently irrelevant hand-wheel torque of driver, wherein characteristic curve has at least one part, in this section in along with the independently irrelevant hand-wheel torque of the increasing of transverse acceleration this and driver equally also strengthens.Characteristic curve can be stored in the controller especially easily.
A kind of favourable design plan of the present invention is characterised in that, if the driver implements divertical motion on the direction of the heaviness effort of steering handwheel, and this divertical motion satisfied the removal condition of regulation, and that just removes this hand-wheel torque that independently has nothing to do with the driver.Therefore avoided by of the supervision of additional steering torque to the driver.
A kind of favourable design plan of the present invention is characterised in that these removal conditions comprise: by with the independently irrelevant hand-wheel torque of driver and by the driver be applied on the steering handwheel hand-wheel torque or manually the hand-wheel torque that stack drew of moment less than the threshold value of a regulation.
A kind of favourable design plan of the present invention is characterised in that during the time gap of a specified length, synthetic hand-wheel torque must be lower than threshold value.So just can weaken being lower than in short-term.
A kind of favourable design plan of the present invention is characterised in that, if the cireular frequency of steering handwheel surpasses a defined threshold, that weakens with regard to the hand-wheel torque that this and driver are independently had nothing to do or recalls.Just avoided making the driver to have to thus in the face of the restive steering wheel angle speed of energy.
The present invention also comprises a kind of device of stable automobile in addition, and whether it includes detecting device and be used for detecting automobile and have a kind of especially with respect to the unsettled motoring condition of vertical axis.
Core according to device of the present invention is: also have executive device, be used to apply a hand-wheel torque that independently has nothing to do with the driver in steering handwheel, with these devices according to whether there being unsettled motoring condition to apply a hand-wheel torque that independently has nothing to do with the driver, this moment make steering handwheel on the hand of rotation that unstable motoring condition is weakened or eliminate than on opposite hand of rotation more light and flexible carry out divertical motion.
Favourable design plan according to method of the present invention also shows as the favourable design plan by the device of inventing, otherwise also like this.
Description of drawings
Accompanying drawing comprises Fig. 1 to 4.
Fig. 1 represents a possible characteristic curve, can revise additional steering torque according to transverse acceleration by this curve;
Fig. 2 represents a possible characteristic curve, and it has indicated turning to angular difference and turning to relation between the angular difference of weakening;
Fig. 3 represents the diagram of circuit according to the method for invention;
Fig. 4 represents the formation according to the device of invention.
The specific embodiment
According to the comparison of theoretical and actual yaw rate and can be by means of turning to excessive additional function to describe automobile sport around vertical axis to the analyzing and processing of other signal.By means of such function can identify various different road conditions get on the car itself turn to excessive.
Deflection angle that independently has nothing to do with the driver that can initiatively will add by means of the electric power steering that the driver is provided support in addition or steering torque are superimposed on steering torque and the deflection angle by driver's defined.This fixing steering gear ratio is used for guaranteeing when the stack of this steering torque turns to, and the sensation that turns to that can aware except the driver can realize equally also that by the actv. additional moment actv. adds deflection angle changing.
Because additional deflection angle turns to angular difference Δ δ not separate turn up the soil with driver's deflection angle to set, therefore must at first will add deflection angle or turn to angular difference Δ δ to convert additional steering torque M in other words when steering torque stack turns to
Zus, this moment is superimposed on driver's steering torque by EPS (electric boosting steering system) actuating unit.
Following design plan is suitable for and will turns to angular difference to convert to turn to the additional steering torque of excessive function:
1. the little angular difference that turns to should not convert additional steering torque to, because otherwise, the steering handwheel angle deviation of driver's minimum is because the EPS system just causes noisy additional steering torque immediately.This for example can realize by means of a dead band.Therefore the steering handwheel angle band that forms a kind of deflection angle difference band and therefore also provide the driver to feel allows little error turning to when turning under the excessive state of beginning when automobile, and the steering torque intervention does not take place in this band.
2. owing to security reason, the additional steering torque that is produced by the EPS system is restricted to maxim M when numerical value is big
The zus maximumTest confirms that maxim is fit between 5Nm and 7Nm.
3. the additional steering torque M that depends on transverse acceleration ay
ZusImproved the sensation that turns to when transitting to other friction coefficient.This for example can be undertaken by characteristic curve, and this curve additional steering torque when transverse acceleration raises also raises.Fig. 1 just represents such characteristic curve.Abscissa is the transverse acceleration ay (m/s of unit that acts on the automobile
2), ordinate is for doubly taking advantage of the MULT of system.The additional steering torque of obtaining be multiply by this coefficient.
4. in order to make additional moment level and smooth, can construct aviation value by two or more computation cycles.Obtain smoothly thus, just the time is gone up uniform additional moment, has only very small phase difference, just has only small time delay between ideal role time point in theory and the practical function time point.When phase difference is excessive, even can counterproductive, the just vibration of system's instability.
5. if the driver attempts to make the additional steering torque locking that inserts to live, that is to say to stop consciously to turn to that just makes additional steering torque weaken or removes when turning to excessive situation.This should play counteraction to the possible monitoring of driver.This driver reaction is just monitored identifying to turn under the excessive situation.Calculate driver's locking moment by additional additional steering torque and the manual moment addition of a driver measured or that tried to achieve that inserts for this reason.If the driver attempts the additional additional steering torque that inserts of full remuneration, according to the notation convention of its computing parameter, driver's locking moment just equals zero so.If driver's divertical motion is not followed the steering direction by the light and flexible of additional moment defined, manual moment of driver and additional moment just have contrary sign so.Coefficient calculated between the lower limit of the manual moment of locking multiply by 0 and 1 by additional steering torque.If driver's locking moment values is less than lower limit, the driver lives the motion of the additional steering torque that inserts with regard to locking so, and calculator needs only this driver's steering reaction continuation to the quantity of the calculation procedure counting that make progress.Counter counts downward in another case.A locking bit is set when reaching the meter reading of maximum permission.This obviously means: in the time gap of specified length the driver always with advised by the EPS system, that is to say the steering direction counterturn of light and flexible.If be provided with the locking bit, that just makes additional steering torque and multiplication that inserts, and for weakening of steering torque, this coefficient is less than 1, and for removing steering torque fully, this coefficient equals zero in other words.
Turn to excessive additional function driver just to have reason in time and counter steering suitably by described.The driver can control and controlledly reduce to turn to deviation to set up voluntarily by it in addition, and is sliding but also undesirable automobile is surveyed, thereby makes automobile always keep deflection stable.Therefore automobile originally always can also turn to and control under the excessive situation of power steering.
Below go through obtaining of steering angle difference or additional deflection angle.Obtain aforesaid additional deflection angle by the steering angle difference.
The high steering angle difference of obtaining for example can weaken by the characteristic of nonlinear curve before they being converted into additional steering torque.Therefore the driver can follow additional moment by the EPS defined with its divertical motion, catches steering handwheel and needn't repeatedly enclose.Therefore the additional moment of regulation can be controlled for the driver, and its method is to be attenuated to the controollable value.Use a kind of nonlinear characteristic curve that mates and just can turn to sensation turning under the excessive situation to use neatly.Nonlinear characteristic curve enough for this application target can realize that example as shown in FIG. 2 by two straight lines.The there is that still unimpaired standardized steering angle is poor on the abscissa direction.This is meant a kind of standardized parameter, in other words with the steering angle difference divided by the steering angle difference of maximum possible and therefore draw normalisation parameter between 0 and 1.Represented that on ordinate the standardized steering angle that weakens is poor.The there also be meant a kind of by the steering angle difference of maximum possible standardized parameter.As seen from Figure 2, numerical value did not weaken smaller or equal to 0.08 o'clock, because institute's target output parameter on the ordinate direction (=weaken steering angle poor) equals institute's target input parameter on the abscissa direction there.But strong weakening then takes place in the abscissa value for size 0.08, and for example the standardized steering angle difference of maximum possible is attenuated to 0.116 from numerical value 1.The steering angle difference of maximum possible at first depends on steering gear ratio.Linear transfer turns to excessive correction steering wheel angle when steering gear ratio is 16, and it is smaller or equal to about 110 °.Bigger toning correction steering wheel angle is limited to maximum 110 °, turns to excessive intervention thereby make the driver can follow EPS, catches steering handwheel and needn't enclose.
Equally also can carry out the reinforcement of the steering angle difference calculated according to the merchant of deflection angle speed and deflection angle or weaken.When just making when being positive, quotient turn to angular difference to weaken, when quotient is just strengthened when negative.Just can realize thus: the steering torque that causes thus act as and turns to excessive additional function that timely and clear and definite indication is provided.
Obviously meaning is as follows for this: if steering angle difference and deflection angle speed have same-sign, that is to say that the merchant for positive, can make the steering angle difference weaken slightly, because the wheel that turns to moves on the correct direction so.When different symbol, when that is to say the merchant for negative value, it is big that steering angle poor (depending on yaw rate deviation) just becomes, thereby import the counter steering motion rapidly.
In addition, if willing driver oneself counter steering on correct direction but also apace not only, that just makes additional steering torque weaken.In order in steering angle difference change curve, not occur interrupting, can implement these couplings continuously.
Even when deflection angle speed or steering wheel angle speed are higher, stable steering-effecting is weakened.Therefore when decontroling, steering hardware also therefore also jumping up of automobile weakened by steering torque by actv. steering angle difference.When decontroling steering handwheel, just do not had by driver's stripped deviation.If have big poor (motor turning is excessive enough big in other words) between theory and actual yaw rate, it is poor that this just acts on steering angle so, thereby produce additional steering torque, and this moment can worsen travel conditions when steering hardware is decontroled.Therefore may produce a kind of undesired jump up or a kind of lip-deep, the theoretical yaw rate state of Bian Huaing always is because this is a kind of function of EPS moment.
If the driver unclamps steering hardware when excessive turning to, when the additional steering torque of high stable acted on the steering handwheel, this steering wheel angle speed just may improve so.By the identification of this state with remove additional steering torque in time and just can realize making the driver always to face controollable steering handwheel speed, thereby make him can act on steering hardware again in this case, and can not come to harm.A kind of scheme that realizes is: the lower limit and the upper limit of current steering wheel angle speed and steering wheel angle speed are compared.If additional steering torque is greater than the lower limit of steering wheel angle speed, that just reduces additional torque.If steering wheel angle speed is between the bound of steering wheel angle speed, the steering angle difference of being calculated just multiply by a coefficient so before, and this coefficient is especially between 0 and 1.Additional steering torque is suppressed fully the steering wheel angle speed on being positioned at the steering wheel angle speed limit.For this situation, also coefficient can be expanded to negative value, so that under extreme case, produce the additional steering torque that hinders steering-wheel movement.
Represented diagram of circuit among Fig. 3 according to method of the present invention.Just in square 301, inquire after method is started in square 300, whether have one, especially a kind ofly turn to excessive motoring condition with respect to the unsettled motoring condition of automobile vertical axis.Be "No" (always using " n " expression in Fig. 3) if answer, that just is back to square 300.On the contrary, be "Yes" (always using " y " expression in Fig. 3) if answer, that is just obtained additional deflection angle Δ δ and obtains the independently irrelevant additional steering torque M with the driver 303 li of squares thus in square
Zus, it and the manual moment stack that is applied to by the driver on the steering handwheel.
Fig. 4 has represented the structure according to device of the present invention.Square 400 expression sensor component.This square for example includes a Yaw rate sensor that is used to detect actual yaw rate.The output signal of square 400 is transferred to detecting device 401, detects in this device, sees whether have unsettled motoring condition with respect to vertical axis.Also obtain independently irrelevant hand-wheel torque 401 li of squares with the driver, this moment make steering handwheel that unstable motoring condition is weakened or the hand of rotation eliminated on than on hand of rotation on the contrary more light and flexible carry out divertical motion.This hand-wheel torque is applied on the steering handwheel 403 for 402 li at executive device.
Claims (14)
1. method that is used for stablizing automobile,
-in the method, to detect automobile whether to have unsettled motoring condition (301), it is characterized in that, according to whether have unsettled motoring condition apply one with the independently irrelevant hand-wheel torque (M of driver
Zus), this moment make steering handwheel (403) on the hand of rotation that unstable motoring condition is weakened or eliminate than on opposite hand of rotation more light and flexible carry out divertical motion.
2. by the described method of claim 1, it is characterized in that, is a kind of excessive motoring condition that turns to for unstable motoring condition.
3. by the described method of claim 2, it is characterized in that if the deviation between the theoretical yaw rate of automobile and the actual yaw rate surpasses the threshold value of a regulation, that is just thought to have and turns to excessive motoring condition.
4. by the described method of claim 1, it is characterized in that,
Whether-basis exists unstable motoring condition to obtain an additional deflection angle (Δ δ) that is superimposed on the deflection angle that is set by the driver, and
-obtain independently irrelevant hand-wheel torque (M according to additional deflection angle (Δ δ) with the driver
Zus).
5. by the described method of claim 4, it is characterized in that as if the threshold value of the additional deflection angle of being obtained (Δ δ) less than regulation, that does not just obtain the independently irrelevant steering torque (M with the driver
Zus), the hand-wheel torque (M that this and driver are had nothing to do
Zus) value be zero.
6. by the described method of claim 1, it is characterized in that, this hand-wheel torque (M that independently has nothing to do with the driver
Zus) be limited to a maxim (M
The zus maximum).
7. by the described method of claim 1, it is characterized in that the described hand-wheel torque (M that has nothing to do with the driver
Zus) also depend on transverse acceleration (ay) in addition.
8. by the described method of claim 7, it is characterized in that, described, the hand-wheel torque (M that independently has nothing to do with the driver that represents by a characteristic curve
Zus) depend on transverse acceleration (ay), wherein characteristic curve has a position at least, in this position along with the increasing of transverse acceleration (ay), the hand-wheel torque (M that has nothing to do with the driver
Zus) equally also strengthen.
9. by the described method of claim 1, it is characterized in that, if the driver implements divertical motion on the direction of the heaviness of steering handwheel effort, and this divertical motion satisfied the removal condition of predesignating at least, and that is just with this hand-wheel torque removal that independently has nothing to do with the driver.
10. by the described method of claim 9, it is characterized in that described removal condition includes: by the hand-wheel torque (M that has nothing to do with the driver
Zus) and be lower than the threshold value of regulation by the hand-wheel torque that stack drew of the hand-wheel torque that the driver applied.
11., it is characterized in that the hand-wheel torque of obtaining must be lower than this threshold value in a time gap of specified length by the described method of claim 10.
12. by the described method of claim 1, it is characterized in that, if the cireular frequency of steering handwheel (403) greater than the threshold value of regulation, the hand-wheel torque (M that just makes this and driver independently have nothing to do
Zus) weaken or recall.
13. by the described method of claim 1, it is characterized in that, for unsettled motoring condition, be meant a kind of with respect to the vertical axis of automobile unsettled motoring condition.
14. a device that is used for stablizing automobile comprises
-be used to detect automobile whether the detecting device of unstable motoring condition (401) is arranged, it is characterized in that also having in addition
-executive device (402), be used for a hand-wheel torque that independently has nothing to do with the driver is applied to steering handwheel (403), depend on whether there is unsettled motoring condition and applies a hand-wheel torque that has nothing to do with the driver with these devices, this moment make steering handwheel on the hand of rotation that unstable motoring condition is weakened or eliminate than on opposite hand of rotation more light and flexible carry out divertical motion.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005018471.5A DE102005018471B4 (en) | 2005-04-21 | 2005-04-21 | Method and device for stabilizing a motor vehicle |
| DE102005018471.5 | 2005-04-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1854004A true CN1854004A (en) | 2006-11-01 |
| CN1854004B CN1854004B (en) | 2011-04-13 |
Family
ID=37067861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006100746332A Expired - Fee Related CN1854004B (en) | 2005-04-21 | 2006-04-21 | Method and device for stabilizing cars |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN1854004B (en) |
| DE (1) | DE102005018471B4 (en) |
| FR (1) | FR2884793A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103459238A (en) * | 2011-03-31 | 2013-12-18 | 蒂森克虏伯普利斯坦有限公司 | Yaw rate signal offset calculation |
| CN104276207A (en) * | 2013-07-05 | 2015-01-14 | 株式会社捷太格特 | Electric power steering system |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007001638A1 (en) * | 2007-01-11 | 2008-07-17 | Zf Lenksysteme Gmbh | Method for operating a power steering system |
| DE102007045211B4 (en) * | 2007-09-21 | 2010-11-11 | Ford Global Technologies, LLC, Dearborn | A method and apparatus for electrically controlling vehicle motion of a vehicle |
| DE102008012006B4 (en) * | 2008-03-01 | 2012-02-23 | Audi Ag | Method for operating an active steering system and active steering system |
| DE102010025704A1 (en) | 2010-06-30 | 2012-01-05 | Wabco Gmbh | Method for informing rider of vehicle e.g. motor car, about dangerous condition e.g. presence of snow on road surface, involves outputting feedback to rider of vehicle over steering wheel, when condition of road surface is dangerous |
| KR101791722B1 (en) | 2013-08-30 | 2017-10-30 | 주식회사 만도 | Steering control apparatus and method |
| DE102014204601B4 (en) * | 2013-10-24 | 2023-11-30 | Continental Autonomous Mobility Germany GmbH | Method for emergency avoidance assistance for a vehicle |
| DE102014005011A1 (en) | 2014-04-05 | 2015-10-08 | Audi Ag | Method and device for stabilizing a detected unstable driving state of a motor vehicle |
| DE102017103034B4 (en) | 2016-02-16 | 2022-02-10 | Steering Solutions Ip Holding Corporation | Steering system for detecting movement states of a vehicle |
| DE102016222985A1 (en) * | 2016-11-22 | 2018-05-24 | Volkswagen Aktiengesellschaft | Electromechanical steering and method for controlling electromechanical steering |
| DE102022119844A1 (en) | 2022-08-08 | 2024-02-08 | Bayerische Motoren Werke Aktiengesellschaft | Method for operating a steering system for a motor vehicle, in particular a motor vehicle, and motor vehicle |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3034430B2 (en) * | 1994-07-27 | 2000-04-17 | 本田技研工業株式会社 | Steering reaction force control device for vehicle steering system |
| JP3649119B2 (en) * | 2000-12-12 | 2005-05-18 | 日産自動車株式会社 | Lane Keep Assist Control Device |
| GB2372020A (en) * | 2001-02-07 | 2002-08-14 | Lucas Industries Ltd | Haptic controller for electrically-assisted power steering in road vehicles |
| GB0106924D0 (en) | 2001-03-20 | 2001-05-09 | Lucas Industries Ltd | Oversteer steering assistance controller |
| DE10141425B4 (en) | 2001-08-23 | 2006-05-11 | Daimlerchrysler Ag | Method for driving state-dependent steering assistance |
| DE10215465B9 (en) | 2002-03-28 | 2017-08-10 | Volkswagen Ag | Method and device for controlling the driving dynamics |
| JP4151389B2 (en) * | 2002-11-26 | 2008-09-17 | トヨタ自動車株式会社 | Vehicle behavior control device |
| JP3966256B2 (en) * | 2003-08-25 | 2007-08-29 | トヨタ自動車株式会社 | Control device for electric power steering device |
| US20050065694A1 (en) * | 2003-09-18 | 2005-03-24 | Gero Nenninger | Method and device for considering the driver's steering response in stabilizing a vehicle-trailer combination |
| DE10354662B4 (en) | 2003-11-22 | 2012-11-15 | Robert Bosch Gmbh | Method and device for assisting the driver of a motor vehicle in driving-dynamic borderline situations |
| DE102004029835A1 (en) | 2004-06-19 | 2005-12-29 | Robert Bosch Gmbh | Method and device for steering assistance in understeer situations |
-
2005
- 2005-04-21 DE DE102005018471.5A patent/DE102005018471B4/en active Active
-
2006
- 2006-04-20 FR FR0603497A patent/FR2884793A1/en active Pending
- 2006-04-21 CN CN2006100746332A patent/CN1854004B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103459238A (en) * | 2011-03-31 | 2013-12-18 | 蒂森克虏伯普利斯坦有限公司 | Yaw rate signal offset calculation |
| CN103459238B (en) * | 2011-03-31 | 2015-10-21 | 蒂森克虏伯普利斯坦有限公司 | Yaw rate signal calculations of offset |
| CN104276207A (en) * | 2013-07-05 | 2015-01-14 | 株式会社捷太格特 | Electric power steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1854004B (en) | 2011-04-13 |
| FR2884793A1 (en) | 2006-10-27 |
| DE102005018471A1 (en) | 2006-10-26 |
| DE102005018471B4 (en) | 2024-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1854004A (en) | Method and device for stabilizing cars | |
| EP3406506B1 (en) | Vehicle control device | |
| CN101454189B (en) | Electromechanical steering with steering recommendation | |
| US9545949B2 (en) | Steering control apparatus and a steering apparatus using the same | |
| US8155818B2 (en) | Vehicle control system | |
| WO2014108984A1 (en) | Steering control device | |
| JP5626480B2 (en) | Steering control device | |
| EP2189356B1 (en) | Method for compensating steering of motor drive power steering system | |
| EP2998198B1 (en) | Electric power steering system | |
| WO2014108983A1 (en) | Steering control device | |
| US20180065660A1 (en) | Steering control apparatus | |
| US20100126795A1 (en) | Electric power steering apparatus for vehicles | |
| WO2016152746A1 (en) | Electric brake device | |
| US11465674B2 (en) | Steering apparatus | |
| US20200361517A1 (en) | Control device for steering apparatus | |
| CN113734276A (en) | Steering ratio synchronization for steer-by-wire systems | |
| DE112020003779T5 (en) | ELECTRIC POWER STEERING DEVICE, CONTROL DEVICE FOR AN ELECTRIC POWER STEERING DEVICE AND CONTROL METHOD | |
| JP5949949B2 (en) | Steering control device | |
| JP2010280289A (en) | Steering device and method of controlling steering | |
| JP5967208B2 (en) | Steering control device | |
| JP2018184129A (en) | Steering control method and steering control apparatus | |
| CN112407034A (en) | Steering device | |
| KR20210080659A (en) | Control apparatus and method of rear wheel steer | |
| CN113195339B (en) | Steering control device | |
| JP5772344B2 (en) | Vehicle steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110413 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |