DE102013016040A1 - Method of providing feedback state of steering system to driver of motor vehicle, involves generating haptic feedback by superimposing target engine torque with feedback torque for switching-off the steering system - Google Patents
Method of providing feedback state of steering system to driver of motor vehicle, involves generating haptic feedback by superimposing target engine torque with feedback torque for switching-off the steering system Download PDFInfo
- Publication number
- DE102013016040A1 DE102013016040A1 DE201310016040 DE102013016040A DE102013016040A1 DE 102013016040 A1 DE102013016040 A1 DE 102013016040A1 DE 201310016040 DE201310016040 DE 201310016040 DE 102013016040 A DE102013016040 A DE 102013016040A DE 102013016040 A1 DE102013016040 A1 DE 102013016040A1
- Authority
- DE
- Germany
- Prior art keywords
- steering system
- feedback
- torque
- switching
- unit
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
- B62D5/0484—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 monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
-
- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
- B62D5/0487—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 monitoring the steering system, e.g. failures detecting motor faults
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0295—Inhibiting action of specific actuators or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Abstract
Description
Die Erfindung betrifft ein Verfahren, um einen Lenksystemzustand an einen Kraftfahrzeuglenker zu melden.The invention relates to a method for reporting a steering system condition to a vehicle operator.
Aus dem Stand der Technik sind elektrisch unterstützte Lenksysteme wie Servolenkungen bekannt, die über eine Selbstdiagnose verfügen. Diese Selbstdiagnose erkennt interne, elektrische Fehler im Rotorlagensensor und im elektrischen Ansteuerpfad des Elektromotors. Tritt ein solcher Fehler auf, wird die elektrische Lenkunterstützung schlagartig und vollständig abgeschaltet. Der Fehler wird gemeldet, was in aller Regel optisch oder akustisch mittels des vorhandenen Kombi-Instruments des Fahrzeugs erfolgt.Electrically assisted steering systems, such as power steering systems, which have a self-diagnosis are known from the prior art. This self-diagnosis detects internal, electrical errors in the rotor position sensor and in the electrical drive path of the electric motor. If such an error occurs, the electrical steering assistance is abruptly and completely switched off. The error is reported, which is usually done visually or acoustically using the existing instrument cluster of the vehicle.
Für den Lenker des Fahrzeugs ist es sehr unkomfortabel, wenn die elektrische Lenkunterstützung schlagartig völlig wegfällt. Es kann vorkommen, dass der Fahrer die Warnmeldung im Kombi-Instrument nicht wahrnimmt und durch die plötzliche schwergängige Lenkbarkeit des Kraftfahrzeugs überrascht wird. Dadurch kann sich die Unfallgefahr mit dem Fahrzeug erhöhen.For the driver of the vehicle, it is very uncomfortable when the electric steering assistance abruptly completely eliminated. It may happen that the driver does not perceive the warning message in the instrument cluster and is surprised by the sudden sluggish steerability of the motor vehicle. This can increase the risk of accidents with the vehicle.
Ausgehend von diesem Stand der Technik ist es Aufgabe der vorliegenden Erfindung, ein Rückmeldeverfahren für den Lenker oder Fahrer des Fahrzeugs zu schaffen, das ihn rechtzeitig und komfortabel über die Abschaltung der elektrisch unterstützten Lenkung informiert.Based on this prior art, it is an object of the present invention to provide a feedback method for the driver or driver of the vehicle, which informs him timely and comfortable about the shutdown of the electrically assisted steering.
Diese Aufgabe wird durch das Verfahren zur Rückmeldung eines Lenksystemzustandes mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved by the method for the feedback of a steering system state with the features of claim 1.
Weiterbildungen des Rückmeldeverfahrens sind in den Unteransprüchen ausgeführt.Further developments of the feedback method are set forth in the subclaims.
In einer Ausführungsform des erfindungsgemäßen Verfahren zur Rückmeldung eines Lenksystemzustandes an einen Kraftfahrzeuglenker oder -führer, eines Kraftfahrzeugs, das ein elektrisch unterstütztes Lenksystem mit einer Steuereinheit, einer Auswerteeinheit und einem Lenkbedienelement aufweist, und dessen Lenkbedienelement mit einem Aktuator und einer Rückmeldungseinheit operativ verbunden ist, wobei der Aktuator und die Rückmeldungseinheit in das Lenksystem integriert sind, folgende Schritte auf:
In einem ersten Schritt wird ein aktueller Zustand des Aktuators erfasst und der Zustand in der Auswerteeinheit ausgewertet. Dabei wird festgestellt, ob eine Störung des elektrisch unterstützten Lenksystems vorliegt. Sollte eine solche Störung vorliegen, wird in einem nächsten Schritt der Aktuator mittels der Steuereinheit abgeschaltet, wodurch die elektrisch unterstützte Lenkung durch das Lenksystem ebenfalls abgeschaltet wird. In einem weiteren Schritt wird bei Abschalten des elektrisch unterstützten Lenksystems eine haptische Rückmeldung an dem Lenkbedienelement durch Überlagerung eines Motorsolldrehmoments mit einem Rückmeldedrehmoment mittels der Rückmeldungseinheit erzeugt.In one embodiment of the method according to the invention for the feedback of a steering system state to a driver or driver of a motor vehicle having an electrically assisted steering system with a control unit, an evaluation unit and a steering control, and whose steering control is operatively connected to an actuator and a feedback unit, wherein the actuator and the feedback unit are integrated in the steering system, the following steps:
In a first step, a current state of the actuator is detected and evaluated the state in the evaluation. It is determined whether there is a fault in the electrically assisted steering system. If such a fault is present, the actuator is turned off in a next step by means of the control unit, whereby the electrically assisted steering is also switched off by the steering system. In a further step, when the electrically assisted steering system is switched off, haptic feedback is generated on the steering control element by superposition of a target engine torque with a feedback torque by means of the feedback unit.
Wenn daher das elektrisch gesteuerte Lenksystem ausfällt, so wird ein haptisches Signal, geeigneter Weise eine Vibration des Lenkbedienelements erfolgen und so den Fehler anzeigen. Der Fahrer oder Lenker (hierin als Synonyme verwendet), der ja zumindest immer eine Hand am Lenkrad hat, wird schnell und direkt über den Ausfall des elektrisch gesteuerten Lenksystems informiert und kann entsprechend handeln. Aktuell wird als „Lenkbedienelement” ein Lenkrad des Kraftfahrzeugs verstanden, generell kann aber das Lenkbedienelement auch eine andere Vorrichtung, etwa ein Joystick, sein.Therefore, if the electrically controlled steering system fails, a haptic signal, suitably a vibration of the steering control element and thus indicate the error. The driver or driver (used herein as synonyms), who has at least one hand on the steering wheel, is quickly and directly informed of the failure of the electrically controlled steering system and can act accordingly. Currently, as "steering control" a steering wheel of the motor vehicle understood, but in general, the steering control element and another device, such as a joystick be.
Haptische Rückmeldesignale, die mittels der Lenkbedieneinheit an den Lenker des Fahrzeugs weitergegeben werden, bisher nur bei Änderungen eines Fahrzeugzustandes bezogen auf eine Lenksituation, wie Spuränderungen des Fahrzeugs selbst, bekannt. So werden etwa in der
Die erfindungsgemäße Art haptischer Rückmeldung wird dazu genutzt, den Fahrer auf einfache Weise schnell zu informieren und zu warnen, auch wenn das elektrisch unterstütze Lenksystem ausfällt.The type of haptic feedback according to the invention is used to quickly inform and warn the driver in a simple manner, even if the electrically assisted steering system fails.
Dazu kann die Erfindung vorsehen, dass das Rückmeldedrehmoment einen sinusförmigen zeitlichen Signalverlauf aufweist. Alternativ kann der zeitliche Signalverlauf des Rückmeldedrehmoments auch rechteckförmig oder dreiecksförmig sein. Auch sind unterschiedliche, in sich variierende Muster möglich, die ein bestimmtes Vibrationsmuster an der Lenkbedieneinheit erzeugen. Der Lenker kann hierdurch in die Lage versetzt werden, unterschiedliche haptische Rückmeldungen selbst zu unterscheiden und einer bestimmten Fehlermeldung zuzuordnen. Dabei kann neben des Musters der Überlagerung auch deren Stärke geeignet gewählt werden, so dass der Lenker eine deutliche, aber in ihrer Intensität regulierte, haptische Rückmeldung erhält.For this purpose, the invention can provide that the feedback torque has a sinusoidal time waveform. Alternatively, the temporal signal curve of the feedback torque may also be rectangular or triangular. Also, different, varying patterns are possible, which generate a specific vibration pattern on the steering control unit. The driver can thereby be enabled to distinguish different haptic feedback itself and one Assign specific error message. In this case, in addition to the pattern of the superposition and their strength can be selected appropriately, so that the handlebar receives a clear, but regulated in their intensity, haptic feedback.
Ferner sieht die Erfindung vor, dass das Motorsolldrehmoment ein Sollmoment eines Elektromotors des Aktuators oder der Rückmeldeeinheit sein kann. So kann leicht eine geeignete Frequenz des Rückmeldedrehmoments gewählt und das Motordrehmoment entsprechend überlagert werden.Furthermore, the invention provides that the engine target torque may be a desired torque of an electric motor of the actuator or the feedback unit. Thus, a suitable frequency of the feedback torque can be easily selected and the engine torque can be superimposed accordingly.
Erfindungsgemäß kann vorgesehen sein, dass die Störung des elektrisch unterstützten Lenksystems in einem Fehler in einem Rotorlagensensor des Lenksystems liegt. Alternativ kann die Störung auch in einem elektrischen Ansteuerpfad des in dem Aktuator integrierten Elektromotors auftreten. Beide Arten von Störungen haben in der Regel die Abschaltung der elektrisch unterstützten Lenkung zur Folge. Daneben können auch andere Störungen von elektrischen oder elektronischen Komponenten des Lenksystems die Abschaltung hervorrufen bzw. durch die haptische Rückmeldung angezeigt werden.According to the invention it can be provided that the fault of the electrically assisted steering system is due to a fault in a rotor position sensor of the steering system. Alternatively, the fault may also occur in an electrical drive path of the electric motor integrated in the actuator. Both types of interference usually result in the disconnection of the electrically assisted steering. In addition, other disturbances of electrical or electronic components of the steering system can cause the shutdown or be displayed by the haptic feedback.
Zusätzlich zur haptischen Rückmeldung kann die Erfindung vorsehen, dass beim Abschalten des elektrisch unterstützten Lenksystems eine optische oder auch akustische Rückmeldung an den Lenker erfolgt. Als optische Rückmeldung kann eine Warnmeldung auf einer Anzeigeeinheit, bevorzugt einem Monitor eines Kombi-Instruments des Fahrzeugs angezeigt werden. Um eine akustische Rückmeldung zu geben, kann ein entsprechendes Warnsignal mittels einer akustischen Ausgabeeinheit wie einem im Fahrzeug vorliegenden Lautsprechers ausgegeben werden. Der Lautsprecher kann dem Kombi-Instrument des Fahrzeugs zugeordnet sein. Der Fehler im Lenksystem damit haptisch und zusätzlich mittels akustischer oder optischer Unterstützung anzeigt werden, so dass der Fahrer, insbesondere wenn der elektrische Fehler bei Geradeausfahrt auftritt, bevor er in die nächste Kurve fährt, effektiv und schnell vorgewarnt werden kann.In addition to the haptic feedback, the invention can provide that when switching off the electrically assisted steering system, an optical or acoustic feedback to the handlebar takes place. As an optical feedback, a warning message can be displayed on a display unit, preferably a monitor of a combination instrument of the vehicle. In order to give an acoustic feedback, a corresponding warning signal can be output by means of an acoustic output unit such as a loudspeaker present in the vehicle. The loudspeaker may be associated with the instrument cluster of the vehicle. The error in the steering system thus haptically and additionally by means of acoustic or optical support are displayed, so that the driver, especially if the electrical error occurs when driving straight ahead, before he drives into the next corner, can be forewarned effectively and quickly.
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102004047545 A1 [0009] DE 102004047545 A1 [0009]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE201310016040 DE102013016040A1 (en) | 2013-09-26 | 2013-09-26 | Method of providing feedback state of steering system to driver of motor vehicle, involves generating haptic feedback by superimposing target engine torque with feedback torque for switching-off the steering system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE201310016040 DE102013016040A1 (en) | 2013-09-26 | 2013-09-26 | Method of providing feedback state of steering system to driver of motor vehicle, involves generating haptic feedback by superimposing target engine torque with feedback torque for switching-off the steering system |
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DE102013016040A1 true DE102013016040A1 (en) | 2014-04-10 |
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DE201310016040 Withdrawn DE102013016040A1 (en) | 2013-09-26 | 2013-09-26 | Method of providing feedback state of steering system to driver of motor vehicle, involves generating haptic feedback by superimposing target engine torque with feedback torque for switching-off the steering system |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017003352A1 (en) | 2017-04-06 | 2018-01-04 | Daimler Ag | Method for operating a vehicle |
WO2022184303A1 (en) * | 2021-03-05 | 2022-09-09 | Zf Friedrichshafen Ag | Method for monitoring a vehicle |
EP4306381A1 (en) * | 2022-07-13 | 2024-01-17 | thyssenkrupp Presta Aktiengesellschaft | Control system by wire of a motor vehicle and method for operating such a control system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004047545A1 (en) | 2004-09-30 | 2006-04-06 | Daimlerchrysler Ag | Haptic driver response generating method for vehicle, involves activating acknowledgement device and generating excitation parameters with sinusoidal temporal characteristics for generating haptic driver response |
-
2013
- 2013-09-26 DE DE201310016040 patent/DE102013016040A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004047545A1 (en) | 2004-09-30 | 2006-04-06 | Daimlerchrysler Ag | Haptic driver response generating method for vehicle, involves activating acknowledgement device and generating excitation parameters with sinusoidal temporal characteristics for generating haptic driver response |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017003352A1 (en) | 2017-04-06 | 2018-01-04 | Daimler Ag | Method for operating a vehicle |
WO2022184303A1 (en) * | 2021-03-05 | 2022-09-09 | Zf Friedrichshafen Ag | Method for monitoring a vehicle |
EP4306381A1 (en) * | 2022-07-13 | 2024-01-17 | thyssenkrupp Presta Aktiengesellschaft | Control system by wire of a motor vehicle and method for operating such a control system |
BE1030713B1 (en) * | 2022-07-13 | 2024-02-12 | Thyssenkrupp Presta Ag | “By-wire” operating system of a motor vehicle and method for operating such an operating system |
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R230 | Request for early publication | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |