DE102004034126A1 - Road vehicle with steer-by-wire system has fall-back level that uses ESP to produce steering movement according to steering element position, brake vehicle to rest if implausibility exists between steering element sensor, yaw rate sensor - Google Patents

Road vehicle with steer-by-wire system has fall-back level that uses ESP to produce steering movement according to steering element position, brake vehicle to rest if implausibility exists between steering element sensor, yaw rate sensor Download PDF

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Publication number
DE102004034126A1
DE102004034126A1 DE200410034126 DE102004034126A DE102004034126A1 DE 102004034126 A1 DE102004034126 A1 DE 102004034126A1 DE 200410034126 DE200410034126 DE 200410034126 DE 102004034126 A DE102004034126 A DE 102004034126A DE 102004034126 A1 DE102004034126 A1 DE 102004034126A1
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Prior art keywords
steering
vehicle
steer
sensor
esp
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DE200410034126
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German (de)
Inventor
Robert Girschick
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/005—Emergency systems using brakes for steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/413—Plausibility monitoring, cross check, redundancy

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

Abstract

The vehicle is engine powered and steerable by a steer-by-wire system with a manually operated steering element with a steering position sensor (SAS) and a steer-by-wire element that interacts with steerable wheels, an electronic stability program (ESP) that can be brought into interaction with the brakes and a yaw rate sensor (YRS). If an implausibility exists between the steering element sensor and the yaw rate sensor a fall-back level is activated that uses the ESP function to produce a steering movement according to the steering position of the steering element and to brake the vehicle to a halt.

Description

Die Erfindung betrifft ein motorbetriebenes, lenkbares Straßenfahrzeug mit einem Steer-by-Wire-System, das ein manuell betätigbares Lenkelement, einen die Lenkposition des Lenkelementes erfassenden Sensor und ein Steer-by-Wire-Element, das mit lenkbaren Rädern des Fahrzeugs zusammen wirkt, aufweist sowie mit einem elektronischen Stabilisierungsprogramm (ESP) für das Fahrzeug, das in Wirkverbindung mit den Bremsen des Fahrzeugs bringbar ist und einen Gierratensensor aufweist.The The invention relates to a motorized, steerable road vehicle with a steer-by-wire system, which is a manually operated Steering, a the steering position of the steering element detected Sensor and a steer-by-wire element that with steerable wheels the vehicle acts together, as well as having an electronic Stabilization Program (ESP) for the vehicle, which can be brought into operative connection with the brakes of the vehicle is and has a yaw rate sensor.

Motorbetriebene, lenkbare Straßenfahrzeuge werden in immer größerem Umfang mit ESP, dem elektronischen Stabilisierungsprogramm, ausgerüstet. Hierbei handelt es sich um ein Anti-Schleuderprogramm. Ein elektronisches System erkennt über Sensoren in Bruchteilen von Sekunden, wenn sich ein Fahrzeug in eine andere Richtung bewegt als der Fahrer lenkt. Durch gezielten Eingriff auf Bremse und Motor verhindert dann ESP ein Schleudern des Fahrzeugs, wobei es natürlich nicht die Grenzen der Physik aufheben kann.Motorized, steerable road vehicles are becoming ever larger equipped with ESP, the electronic stabilization program. in this connection it is an anti-skid program. An electronic System detects via sensors in fractions of seconds, when one vehicle changes to another Direction moves as the driver steers. Through targeted intervention on Brake and engine then prevents ESP from skidding the vehicle, being natural can not break the boundaries of physics.

Damit das ESP auf kritische Fahrsituationen reagieren kann, muss die Elektronik zwei Fragen beantworten und miteinander abgleichen: Einerseits die Frage, wohin der Fahrer das Fahrzeug lenkt, andererseits die Frage, wohin das Auto fährt. Wohin der Fahrer sein Auto lenken möchte, erkennt ESP bei ei nem Fahrzeug, das mit einem Lenkrad versehen ist, mit Hilfe eines dem Lenkrad zugeordneten Lenkwinkelsensors. Es gleicht diese Informationen mit den Daten von Drahtdrehzahlsensoren ab. Bis zu 150-mal pro Sekunde vergleicht ESP den vom Fahrer gewünschten Fahrzustand über den Lenkwinkelsensor mit dem tatsächlichen Kurs des Fahrzeugs. Die tatsächliche Fahrbewegung ermittelt ESP über einen Gierratensensor, der die Drehbewegung des Fahrzeugs um seine Hochachse erfasst, ggf. zusätzlich über einen Querbeschleunigungssensor. Erkennt die elektronische Auswertung der Steuereinheit, dass die tatsächliche Fahrzeugbewegung vom Richtungswunsch des Fahrers deutlich abweicht und damit Schleudergefahr eintritt, dann greift das System innerhalb von Sekundenbruchteilen in das Bremsen- und Motormanagement ein.In order to the ESP can react to critical driving situations, the electronics must answer two questions and compare them: on the one hand the question where the driver steers the vehicle, on the other hand, the question of where to go The car drives. Where does the driver want to steer his car, ESP recognizes in one Vehicle equipped with a steering wheel with the help of a Steering wheel associated steering angle sensor. It resembles this information with the data from wire speed sensors. Up to 150 times per second ESP compares the driving condition desired by the driver over the Steering angle sensor with the actual Course of the vehicle. The actual Travel movement determines ESP via a yaw rate sensor which detects the rotational movement of the vehicle around its Vertical axis detected, possibly in addition to a Lateral acceleration sensor. Detects the electronic evaluation the control unit that the actual Vehicle movement deviates significantly from the direction of the driver and thus the risk of skidding occurs, then the system intervenes within fractions of a second into brake and engine management.

Die dem ESP insbesondere zugeordneten Bauteile des Fahrzeugs sind beispielsweise eine Hydraulikeinheit mit elektronischem Steuergerät, ein aktiver Bremskraftverstärker/Drucksensoren, eine Drosselklappensteuereinheit, ein Motorsteuergerät, ein Lenkradwinkelsensor, ein Gierraten- und Querbeschleunigungssensor und vier Raddrehzahlsensoren.The The ESP, in particular, associated components of the vehicle are, for example a hydraulic unit with electronic control unit, one active Brake booster / pressure sensors a throttle control unit, an engine control unit, a steering wheel angle sensor, a yaw rate and lateral acceleration sensor and four wheel speed sensors.

Zur Zeit werden nur einige wenige x-by-Wire-Systeme auf dem Markt angeboten. Typischerweise werden Systeme wie EPB (Electrical Parc Brake), Drive-by-Wire (elektrischer Drosselklappenversteller), Shift-by-Wire, Brake-by-Wire schon heute angeboten. Das Steer-by-Wire-System wird zur Zeit nur für ausgewählte Nutzfahrzeuge angeboten. Die Lenkung erfolgt hierbei über einen Lenkhebel, ähnlich einem Joystick. Die Lenkungseinrichtung ist hierbei voll redundant oder sogar dreifach ausgeführt, um eine sichere Funktion und Zuverlässigkeit zu gewährleisten.to Only a few x-by-wire systems are available on the market at this time. Typically, systems such as EPB (Electrical Parc Brake), Drive-by-Wire (electric throttle adjuster), shift-by-wire, brake-by-wire already offered today. The steer-by-wire system is currently only available for selected commercial vehicles offered. The steering takes place via a steering lever, similar to one Joystick. The steering device is fully redundant or even performed in triplicate, to ensure safe operation and reliability.

Die Vorteile eines Steer-by-Wire-Systems sind beim Crash, dem geringen Gewicht, einer einfachen Anpassung an verschiedene Fahrgegebenheiten, einer einfachen Änderung der Lenkübersetzung, neuen Möglichkeiten in der Cockpit-Gestaltung, usw. zu sehen.The Advantages of a steer-by-wire system are in the crash, the low Weight, a simple adaptation to different driving conditions, a simple change the steering ratio, new options in the cockpit design, etc. to see.

Nachteilig ist, dass die Lenkung das System mit den höchsten Sicherheitsanforderungen ist. Die Lenkung muss in allen Situationen funktionieren. Aus Sicherheitsgründen ist ein Steer-by-Wire-System daher vollredundant auszuführen. Diese vollredundante Ausführung des Systems ist sehr teuer und aufwändig. Daher ist eine wirtschaftliche Produktion des Steer-by-Wire-Systems für den Massenmarkt zur Zeit nicht möglich.adversely is that the steering system with the highest safety requirements is. The steering must work in all situations. For security reasons a steer-by-wire system therefore fully redundant perform. These fully redundant design The system is very expensive and expensive. Therefore, an economic Production of the steer-by-wire system for the mass market at the moment not possible.

Aufgabe der vorliegenden Erfindung ist es, ein Straßenfahrzeug gemäß der eingangs genannten Art so weiter zu bilden, dass das Steer-by-Wire-System nur einfach vorhanden sein braucht, dennoch aber dessen sichere Funktion und Zuverlässigkeit gewährleistet ist.task The present invention is a road vehicle according to the above so-called type so that the steer-by-wire system just need to be present, but nevertheless its safe Function and reliability guaranteed is.

Gelöst wird die Aufgabe durch ein Fahrzeug der eingangs genannten Art, wobei bei einer Unplausibilität zwischen Sensor (SAS) des Lenkelements und Gierratensensor (YRS) eine Rückfallebene des Steer-by-Wire-Systems wirksam ist, die die Funktion des elektronischen Stabilitätsprogramms (ESP) nutzt, um eine Lenkbewegung des Fahrzeugs entsprechend der Lenkposition des Lenkelements zu erzeugen und das Fahrzeug zum Stillstand abzubremsen.Is solved the task by a vehicle of the type mentioned, wherein with an implausibility between sensor (SAS) of steering element and yaw rate sensor (YRS) a fallback level the steer-by-wire system is effective, which is the function of the electronic stability program (ESP) uses a steering movement of the vehicle according to the To generate steering position of the steering element and the vehicle to a halt decelerate.

Die Erfindung beschreibt eine Rückfallebene eines Steer-by-Wire-Systems, die die Funktion des ESP nutzt, um eine Lenkbewegung zu erzeugen und das Fahrzeug in die mit dem Lenkrad oder einer anderen geeigneten Einrichtung angezeigte Richtung zu steuern.The Invention describes a fallback of a Steer-by-wire system that uses the function of ESP to provide a steering movement to generate and place the vehicle in the one with the steering wheel or another appropriate direction indicated direction.

Wenn die Elektronik des Steer-by-Wire-Systems aussetzt, übernimmt das ESP automatisch die Funktion der Lenkung und kann gewährleisten, dass das Fahrzeug sicher zum Stehen kommt. Das ESP kann durch gezieltes Abbremsen der einzelnen Räder das Fahrzeug in die gewünschte Richtung, zum Beispiel zum Straßenrand, lenken.When the electronics of the steer-by-wire system suspends, the ESP automatically takes over the function of the steering and can ensure that the vehicle comes to a safe stop. The ESP can be controlled by selectively braking the individual wheels which steer the vehicle in the desired direction, for example to the roadside.

Ist der Sensor, der den Fahrerwunsch aufnimmt, voll redundant aufgebaut, kann bei Ausfall eines Sensors der andere die Funktion übernehmen. Das eigentliche Steer-by-Wire-System ist jedoch nur einfach vorhanden.is the sensor that receives the driver's request, fully redundant, If one sensor fails, the other one can take over the function. The actual steer-by-wire system However, it is only available.

Die Erfindung basiert auf der Annahme, dass die Rückfallebene nur in sehr seltenen Fällen benötigt wird und daher keinen hohen Lenkkomfort für den Fahrer besitzen muss. Vielmehr muss gewährleistet sein, dass der Fahrer sicher lenken kann, insbesondere sicher an den Straßenrand lenken kann.The Invention is based on the assumption that the fallback level is only very rare make needed and therefore does not have to have high steering comfort for the driver. Rather, it must be ensured that the driver can steer safely, in particular safely to the roadside can direct.

Gemäß der Erfindung dient ein im Fahrzeug vorhandenes System als redundante Rückfallebene. Das Steer-by-wire-System kann auf diese Weise wirtschaftlich und sicher mit alle seinen Vorteilen dargestellt werden.According to the invention serves a system present in the vehicle as a redundant fallback level. The Steer-by-wire system can be economical and safe in this way be presented with all its advantages.

Die Erfindung ist nachfolgend stark vereinfacht anhand der Zeichnung zweier Figuren dargestellt, wobei die 1 den Zustand des normalen Betriebes, die 2 den Zustand des sicheren Fehler-Betriebes veranschaulicht.The invention is shown in a highly simplified manner with reference to the drawing of two figures, wherein the 1 the state of normal operation, the 2 illustrates the state of safe fault operation.

Die Figuren zeigen die erfindungsgemäßen Details für den Bereich der lenkbaren Vorderachse eines Straßenfahrzeugs.The Figures show the details of the invention for the Area of the steerable front axle of a road vehicle.

Veranschaulicht ist, dass das Lenkrad über einen Lenkwinkelsensor SAS und das Steer-by-Wire-System mit den beiden Rädern des Fahrzeugs zusammen wirkt. Das elektronische Stabilitätsprogramm ESP wirkt mit dem Lenkwinkelsensor und den den Rädern zugeordneten Bremsen zusammen. Mit dem ESP wirkt der Gierratensensor YRS zusammen.Demonstrates is that the steering wheel over a Steering angle sensor SAS and the steer-by-wire system with the two wheels the vehicle interacts. The electronic stability program ESP interacts with the steering angle sensor and the brakes associated with the wheels. The yaw rate sensor YRS interacts with the ESP.

1 zeigt den normalen Betrieb bei funktionierender Elektronik des Steer-by-Wire-Systems. In diesem Fall ist das ESP nicht aktiv, so dass die Bremsen nicht auf die Räder einwirken. 1 shows the normal operation with functioning electronics of the steer-by-wire system. In this case, the ESP is not active, so the brakes do not act on the wheels.

2 verdeutlicht den Fall, dass zwischen dem Lenkwinkelsensor SAS und dem Gierratensensor YRS eine Unplausibilität festgestellt wird. In diesem Fall wird der sichere Fehler-Betrieb erreicht, indem das ESP aktiviert wird und entsprechend der Lenkposition des Lenkrads bzw. der Position des Lenkwinkelsensors auf die Bremse bzw. Bremsen des Fahrzeugs im Sinne einer Bremsbewegung einwirkt. Lenkt der Fahrer beispielsweise nach rechts, wird dies vom Lenkwinkelsensor erkannt und es bewirkt das aktive ESP eine Abbremsung des – auf die Fahrtrichtung bezogen – vorderen rechten Rades, so dass das Fahrzeug durch die einseitige Abbremsung nach rechts zum Straßenrand bewegt wird, bis das abgebremste Fahrzeug dort zum Stehen kommt. 2 illustrates the case that between the steering angle sensor SAS and the yaw rate sensor YRS an implausibility is detected. In this case, the safe fault operation is achieved by the ESP is activated and acts in accordance with the steering position of the steering wheel or the position of the steering angle sensor on the brake or braking of the vehicle in the sense of a braking movement. For example, if the driver steers to the right, this is detected by the steering angle sensor and active ESP causes a deceleration of the front right wheel relative to the direction of travel, so that the vehicle is moved to the roadside by the one-sided braking to the right until the vehicle brakes comes to a halt there.

Claims (2)

Motorbetriebenes, lenkbares Straßenfahrzeug mit einem Steer-by-Wire-System, das ein manuell betätigbares Lenkelement, einen die Lenkposition des Lenkelements erfassenden Sensor (SAS) und ein Steer-by-Wire-Element, das mit lenkbaren Rädern des Fahrzeugs zusammen wirkt, aufweist, sowie mit einem elektronischen Stabilitätsprogramm (ESP) für das Fahrzeug, das in Wirkverbindung mit den Bremsen des Fahrzeugs bringbar ist und einen Gierratensensor (YRS) aufweist, dadurch gekennzeichnet, dass bei einer Unplausibilität zwischen Sensor (SAS) des Lenkelements und Gierratensensor (YRS) eine Rückfallebene des Steer-by-Wire-Systems wirksam ist, die die Funktion des elektronischen Stabilitätsprogramms (ESP) nutzt, um eine Lenkbewegung des Fahrzeugs entsprechend der Lenkposition des Lenkelements zu erzeugen und das Fahrzeug zum Stillstand abzubremsen.An engine powered steerable road vehicle having a steer-by-wire system comprising a manually operable steering member, a steering position sensing element (SAS), and a steer-by-wire element cooperating with steerable wheels of the vehicle , and with an electronic stability program (ESP) for the vehicle, which is engageable in connection with the brakes of the vehicle and having a yaw rate sensor (YRS), characterized in that in an implausibility between the sensor (SAS) of the steering element and Yaw rate sensor (YRS) a fallback mode of the steer-by-wire system is effective, which uses the function of the electronic stability program (ESP) to generate a steering movement of the vehicle according to the steering position of the steering element and to decelerate the vehicle to a standstill. Fahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass der Sensor (SAS) zum Erfassen der Lenkposition des Lenkelements voll redundant aufgebaut ist.Vehicle according to claim 1, characterized in that in that the sensor (SAS) detects the steering position of the steering element fully redundant.
DE200410034126 2004-07-15 2004-07-15 Road vehicle with steer-by-wire system has fall-back level that uses ESP to produce steering movement according to steering element position, brake vehicle to rest if implausibility exists between steering element sensor, yaw rate sensor Withdrawn DE102004034126A1 (en)

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DE200410034126 DE102004034126A1 (en) 2004-07-15 2004-07-15 Road vehicle with steer-by-wire system has fall-back level that uses ESP to produce steering movement according to steering element position, brake vehicle to rest if implausibility exists between steering element sensor, yaw rate sensor

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WO2007147526A1 (en) 2006-06-23 2007-12-27 Terex Demag Gmbh Rear axle steering for a mobile crane
DE102013202077A1 (en) * 2013-02-08 2014-08-14 Zf Lenksysteme Gmbh Steering device for vehicle, has detecting unit for detecting request to reduce or shutdown power assist, computation unit computing target yaw moment of assist, and transmission unit transmitting moment to electronic stability program unit
DE102017125605A1 (en) 2017-11-02 2019-05-02 Schaeffler Technologies AG & Co. KG Chassis with friction brake device and vehicle with the chassis
DE102019007715A1 (en) * 2019-11-07 2021-05-12 Daimler Ag Steer by wire system
DE102021210841B3 (en) 2021-09-28 2023-02-09 Volkswagen Aktiengesellschaft Steering system and method of operating a steering system

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DE19632251B4 (en) * 1996-08-09 2004-08-26 Volkswagen Ag Device and method for steering a motor vehicle
DE10115809A1 (en) * 2001-03-30 2002-10-17 Bayerische Motoren Werke Ag Steering assistance method and steering assistance system in a motor vehicle
US20030098197A1 (en) * 2001-11-23 2003-05-29 Daniel Laurent Electrical steering for vehicle, with triple redundancy
DE10227295A1 (en) * 2002-06-19 2004-01-15 Daimlerchrysler Ag Steering system of a non-track bound motor vehicle
EP1384636A1 (en) * 2002-07-25 2004-01-28 Delphi Technologies, Inc. Method and system for providing secondary vehicle directional control through braking

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007147526A1 (en) 2006-06-23 2007-12-27 Terex Demag Gmbh Rear axle steering for a mobile crane
DE102006028957A1 (en) * 2006-06-23 2007-12-27 Terex-Demag Gmbh & Co. Kg Rear axle steering for a vehicle crane
DE102006028957B4 (en) * 2006-06-23 2009-07-09 Terex Demag Gmbh Rear axle steering for a vehicle crane
US7878291B2 (en) 2006-06-23 2011-02-01 Terex Demag Gmbh Rear axle steering system for a mobile crane
DE102013202077A1 (en) * 2013-02-08 2014-08-14 Zf Lenksysteme Gmbh Steering device for vehicle, has detecting unit for detecting request to reduce or shutdown power assist, computation unit computing target yaw moment of assist, and transmission unit transmitting moment to electronic stability program unit
DE102017125605A1 (en) 2017-11-02 2019-05-02 Schaeffler Technologies AG & Co. KG Chassis with friction brake device and vehicle with the chassis
DE102019007715A1 (en) * 2019-11-07 2021-05-12 Daimler Ag Steer by wire system
DE102021210841B3 (en) 2021-09-28 2023-02-09 Volkswagen Aktiengesellschaft Steering system and method of operating a steering system
EP4155170A1 (en) 2021-09-28 2023-03-29 Volkswagen Ag Steering system and method for operating same

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