DE102019004153A1 - Device for controlling the wheels of a vehicle and vehicle - Google Patents

Abstract

The invention relates to a device (1) for controlling wheels (3) of a vehicle (5), comprising a steering angle detection device (7), a control unit (9) and at least one actuator (11) per wheel (3) of the vehicle (5) , wherein the steering angle detection device (7) is set up to detect a steering angle (13) of a steering wheel of the vehicle (5) and to transmit it to the control unit (9), and wherein the at least one actuator (11) is set up to do so Actuating the wheel (3) assigned to the actuator (11) as a function of the detected steering angle in order to steer the vehicle (5) and, during operation of the direction (1), an operative connection (15) between the at least one actuator (11) and the Control unit (9) exists.

Description

The invention relates to a device for controlling the wheels of a vehicle and a vehicle.

In principle, devices for controlling the wheels of a vehicle are known. In such systems, a distinction is made between direct mechanical steering and so-called “steer-by-wire systems”. In the case of mechanical steering, the force transmitted by the driver to the steering wheel, possibly supported by a servo motor, is transmitted directly to the wheels via a corresponding mechanical device. In previously known steer-by-wire systems, the forces transmitted from the driver to the steering wheel are recorded by a steering angle sensor and, if necessary, a feedback motor, sometimes also referred to as a force feedback motor, provides feedback that corresponds to the driving situation of the vehicle. The actual mechanical transmission of the forces required for steering is transmitted to the wheels by a mechanical / hydraulic steering gear, which is arranged between the two wheels to be steered, and with the aid of an electric actuator.

From the German published application DE 199 12 169 A1 a steer-by-wire steering system is known, which consists of an electronically controlled electromotive steering actuator, which is attached to the steering gear of the front axle or to both front wheels, an electronic steering support and a feedback actuator unit. The driver's steering request is picked up on the steering wheel by an encoder. The feedback effects from the road can be transmitted to the driver via the steering wheel via the feedback actuator unit. The road feeling lost due to the omission of the steering column, which strongly influences the driver's wish, is simulated according to the invention by the feedback actuator unit.

A disadvantage of the prior art known to date is that in conventional systems - as described in more detail above, in particular the mechanical and / or hydraulic steering wheel systems - a mechanical steering movement - by means of a very complex, mechanical / hydraulic translation process - into a movement of the Rades must be translated. The disadvantage here is that during the parking process, for example, the steering wheel has to be turned by more than 800 ° (± 420 °) so that the wheels can be brought to the turning stop. Such steering wheel movements are only possible if the hands are crossed over and over the steering wheel several times. In particular, this entails a great loss of comfort and overall the maximum maneuvering speed is limited due to the necessary steering wheel rotations. In addition, driving safety and steering wheel size are negatively affected.

In the case of an autonomously driving car, in particular an autonomously parking car, there is also the problem that passengers staying near the steering wheel can injure themselves on the steering wheel rotating during the parking process.

Another problem is that the conventional steering systems mentioned above require a lot of installation space - sometimes referred to as a package problem. In the case of steer-by-wire steering systems, as is known, for example, from the aforementioned German published application, the steering column is removed, but the mechanical steering gear remains. It remains problematic with such steering gears that the maximum wheel rotation angle (wheel stop angle) is limited by the mechanics of steering gears. In addition, steering gears require a lot of installation space and are also very heavy and massive due to the high mechanical forces that have to be transmitted when steering. Furthermore, the steering gears are very complex - which is why they are expensive to repair. In addition, with all conventional steering systems known to date, it is not possible to actuate the two wheels of an axle independently of one another. However, it would be advantageous in terms of maneuverability, comfort and driving safety if this restriction did not exist.

The invention is therefore based on the object of providing a device for controlling the wheels of a vehicle and a vehicle, the disadvantages mentioned not occurring and in particular the maneuverability, the comfort and the driving safety can be significantly increased.

The object is achieved by providing the present technical teaching, in particular the teaching of the independent claims and of the preferred exemplary embodiments disclosed in the dependent claims and the description.

The object is achieved in particular by creating a device for controlling the wheels of a vehicle, comprising a steering angle detection device, a control unit and at least one actuator per wheel of the vehicle. The steering angle detection device is set up to detect a steering angle of a steering wheel of the vehicle and to transmit it to the control unit. The at least one actuator is set up to move the wheel assigned to the actuator, in particular connected and / or connectable, as a function of the detected steering angle actuate in order to steer the vehicle and, during operation of the device, there is an operative connection between the at least one actuator in the control unit. This has the particular advantage that improved maneuverability is achieved through an arbitrarily adjustable steering transmission angle from the steering wheel to the wheel to be actuated. In particular, this can significantly improve comfort when parking. In addition, safety is significantly improved by easier handling of the vehicle, as well as a more direct driving experience and better maneuverability. Furthermore, the elimination of many mechanical and / or hydraulic components reduces the complexity of the steering system, as a result of which advantages in terms of installation space and ease of maintenance can be achieved. In addition, it is a construction that is advantageous for lightweight construction, since significantly fewer components are required in comparison to conventional systems. Using force feedback, the feedback can be adjusted according to customer requirements, in particular in the direction of a more comfortable driving experience, but also in relation to a more sporty driving experience. Accordingly, it is preferably provided that the device additionally has a feedback device, sometimes also referred to as a force feedback device, which is operatively connected to the steering wheel of the vehicle, so that a force which a driver of the vehicle can transmit to the steering wheel can be transmitted simulates a direct road feeling. Interfering influences on the steering wheel, such as brake rubbing, are eliminated by the lack of a direct connection. In addition, the wheels can be controlled individually, that is to say in particular the two wheels of one axle, independently of one another, as a result of which the maneuverability and driving safety can be increased to a considerable extent. In addition, the parts necessary for the invention, taken individually, are in part already known and technically mature. In addition, during a demanding steering maneuver, such as parking, the maximum wheel lock - that is, from the far left to the far right wheel position - can be translated into a turning movement of only 200 ° for the steering wheel. In particular, this enables comfortable, more direct and safe steering of the vehicle. Reaching over the steering wheel or crossing hands is no longer necessary.

In connection with the present invention, the passage “to steer the vehicle” should be understood in particular to mean that the device sets a steering wheel angle corresponding to the detected steering angle, depending on the situation.

According to a development of the invention, it is provided that the operative connection between the control unit and the at least one actuator can be established by a radio device, consisting of a transmitting device, which is preferably assigned to the control unit, and a receiving device, which is preferably assigned to the actuator. The control unit is set up to forward a steering angle, which it receives from the steering angle detection device, to the at least one actuator in such a way that the wheel is actuated in accordance with the detected steering angle. This has the particular advantage that a necessary cable connection between the steering wheel and / or the control unit and the at least one actuator can be dispensed with. As a result, in particular a further space requirement through the steering system of the vehicle is avoided. Furthermore, it is preferably provided that one receiving device is provided per wheel, with one receiving device per actuator being particularly preferably provided.

According to a development of the invention, it is provided that the at least one actuator is designed as a movable actuating piston, which is preferably actuated by means of an electric motor, in particular a linear motor. As a result, it is possible in a simple manner to implement the forces required for steering in a simple manner.

According to a development of the invention, it is provided that the actuating piston is supported on a respective steering knuckle of the wheel. This has the particular advantage that the wheel can be actuated by the actuating piston in a particularly simple manner.

According to a development of the invention, it is provided that the operative connection between the control unit and each of the at least one actuator is formed by a separate radio connection. This has the particular advantage that the operative connection can be implemented in a particularly simple manner.

According to a development of the invention, it is provided that the device has a plurality of actuators per wheel, which are set up to actuate the wheel in a plurality of planes, for example steering angle and camber angle, it being particularly preferred to be able to control the steering angle and camber angle simultaneously to actuate. This has the particular advantage that each wheel can be moved in several planes at the same time (turning + tilting), so that in particular a turning circle or maneuverability and driving safety, especially when cornering and parking, can be significantly improved. In addition, comfort and sportiness can also be significantly increased.

The object is also achieved by creating a vehicle having a device according to the invention for controlling wheels of a vehicle or a device according to one of the previously described exemplary embodiments. The advantages already explained in connection with the device are realized in connection with the vehicle.

The invention is explained in more detail below with reference to the drawing. The single figure shows divided into three sub-figures A to C, three different embodiments of the device according to the invention.

The only 1 shows in three partial figures three different schematic representations of a respective embodiment of a device 1 for controlling wheels 3 of a vehicle 5 , having a steering angle detection device 7 , a control unit 9 and at least one actuator 11 per bike 3 of the vehicle 5 , The steering angle detection device 7 is set up a steering angle of a steering wheel 13 of the vehicle 5 to capture and to the control unit 9 to transmit, and wherein the at least one actuator 11 is set up to the actuator 11 assigned wheel 3 depending on the detected steering angle to actuate the vehicle 5 to steer and being in operation of the device 1 an active connection 15 between the at least one actuator 11 and the control unit 9 consists.

From the vehicle 5 is just a bike 3 shown in the respective sub-figures A to C.

The sub-figures A to C show that the operative connection 15 between the control unit 9 and the at least one actuator 11 through a radio device 17 can be produced, consisting of a transmitting device 21 , which is preferably the control unit 9 is assigned, and a receiving device 23 , which is preferably the actuator 11 is assigned, and wherein the control unit 9 is set up a steering angle, which they by the steering angle detection device 7 gets transmitted to the at least one actuator 11 to pass in the way that the wheel 3 is actuated according to the detected steering angle.

Sub-figures A to C also show that the at least one actuator 11 as a movable control piston 25 is formed, which is preferably actuated by means of an electric motor, in particular a linear motor.

It can also be seen from the partial figures A to C that the actuating piston is located on a respective steering knuckle 27 of the wheel 3 supported.

It is also preferably provided that the operative connection 15 between the control unit 9 and each of the at least one actuator 11 through a separate radio device 17 (not shown in the figures) is formed.

Furthermore, it can be seen from sub-figures B and C that the device 1 a plurality of actuators 11 per bike 3 which are set up, the wheel 3 to actuate in a plurality of levels, for example steering angle and camber angle.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• DE 19912169 A1 [0003]

Claims (7)

Device (1) for controlling wheels (3) of a vehicle (5), comprising a steering angle detection device (7), a control unit (9) and at least one actuator (11) per wheel (3) of the vehicle (5), the steering angle detection device (7) is set up to detect a steering angle (13) of a steering wheel of the vehicle (5) and to transmit it to the control unit (9), and the at least one actuator (11) is set up to move the actuator (11) to actuate the assigned wheel (3) as a function of the detected steering angle in order to steer the vehicle (5) and, during operation of the device (1), an operative connection (15) between the at least one actuator (11) and the control unit (9) consists. Device after Claim 1 , characterized in that the operative connection (15) between the control unit (9) and the at least one actuator (11) can be established by a radio device (17) consisting of a transmission device (21) which is preferably assigned to the control unit (9) , and a receiving device (23), which is preferably assigned to the actuator (11), and wherein the control unit (9) is set up to transmit a steering angle, which it receives from the steering angle detection device (7), to the at least one actuator (11 ) to pass on in such a way that the wheel (3) is actuated according to the detected steering angle. Device according to one of the preceding claims, characterized in that the at least one actuator (11) is designed as a movable actuating piston (25) which is preferably actuated by means of an electric motor, in particular a linear motor. Device according to one of the preceding claims, characterized in that the adjusting piston (25) is supported on a respective steering knuckle (27) of the wheel (3). Device according to one of the preceding claims, characterized in that the operative connection (15) between the control unit (9) and each of the at least one actuator (11) is formed by a separate radio device (17). Device according to one of the preceding claims, characterized in that the device (1) has a plurality of actuators (11) per wheel (3) which are arranged to set the wheel (3) in a plurality of planes, for example steering angle and camber angle, to actuate. Vehicle, comprising a device according to one of the preceding claims.

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