DE102021103609A1 - Device and method for protecting a vehicle wheel rim - Google Patents

Abstract

A device (101) for setting an auxiliary steering torque on a steered wheel (111) of a motor vehicle (100) is described. The device (101) is set up to determine that the steered wheel (111) collides or will collide with an obstacle (120). The device (101) is further set up to cause in response thereto that the auxiliary steering torque on the steered wheel (111) which assists the manual steering torque (202) exerted by the driver of the vehicle (100) is reduced.

Description

The invention relates to a device and a corresponding method that make it possible to protect a wheel rim of a vehicle from damage.

A motor vehicle typically has two or more wheels, each with a rim. During a driving manoeuvre, in particular during a parking manoeuvre, of the vehicle, it can happen that a wheel of the vehicle collides with an obstacle, in particular with a curb, and the rim of the wheel is damaged in the process. This may be the case in particular with a steered wheel, i.e. typically a front wheel, of the vehicle.

The present document deals with the technical task of protecting the wheel rims of a vehicle from damage in an efficient and reliable manner without reducing the driving comfort for a driver of the vehicle.

The object is solved by each of the independent claims. Advantageous embodiments are described inter alia in the dependent claims. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to the technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

According to one aspect, a device for adjusting the auxiliary steering torque on a steered wheel, in particular on a front wheel, of a motor vehicle is described. the auxiliary steering torque can be brought about by an (electric) motor, in particular by a power-assisted motor. The auxiliary steering torque can be effected on a steering rod and/or in a steering gear of the motor vehicle. The total steering torque effected at the steered wheel can be composed of the auxiliary steering torque and the manual steering torque (effected solely by the driver of the vehicle). In particular, the total steering torque effected on the steered wheel can correspond to the sum of the auxiliary steering torque and the manual steering torque.

The device can be set up to bring about a standard value of the auxiliary steering torque in a standard operation of the vehicle (in which, for example, no collision situation of the steered wheel with an obstacle was detected). The standard value can depend on the actual value of the manual steering torque, which is effected (alone) by the driver of the vehicle via a steering means (e.g. via a steering wheel) on the steered wheel. Alternatively or additionally, the standard value can depend on the actual value of the steering angle of the steered wheel. The device can be set up, for example, to determine the standard value of the auxiliary steering torque using predefined characteristic data from the actual value of the manual steering torque. By effecting an auxiliary steering torque with the default value, comfortable steering of the vehicle can be effected. On the other hand, the standard value of the auxiliary steering torque can be so high that the driver does not (reliably) recognize or cannot recognize a collision situation (in which the steered wheel collides with an obstacle, in particular with a curb). . This can lead to damage to the steered wheel, in particular the rim of the steered wheel.

The device may be configured to determine that the steered wheel collides or will collide with an obstacle (particularly a curb). In other words, the device can be set up to recognize a collision situation of the steered wheel. This can be detected based on sensor data from one or more sensors of the vehicle.

Furthermore, the device can be set up, in response to the detected collision situation, to cause the auxiliary steering torque on the steered wheel to be reduced. In particular, the value of the auxiliary steering torque can be caused to be reduced from the default value when it has been determined that the steered wheel collides or will collide with an obstacle.

A selective reduction of the (motor-generated) auxiliary steering torque can thus be brought about in the presence of a collision situation. In this way, damage to the steered wheel, in particular to the rim of the steered wheel, can be reduced or completely avoided in an efficient and reliable manner.

As already explained above, the vehicle can include an (electric) motor that is set up to bring about the auxiliary steering torque (on the steering rod and/or on the steering gear). The device may be arranged to cause the motor to reduce the value of the auxiliary steering torque when it has been determined that the steered wheel collides or will collide with an obstacle. A selective reduction of the auxiliary steering torque can thus be brought about in a particularly reliable manner.

The device can be set up to determine the actual value of the manual steering torque (e.g. based on the sensor data of a steering-means sensor on the steering means of the vehicle). The actual value of the manual steering torque can then be compared with a reference value, and it can be determined based on the comparison, in particular if the actual value of the manual steering torque is greater than the reference value, that the steered Wheel collides or will collide with an obstacle (i.e. a collision situation exists). By taking into account the actual value of the manual steering torque (caused solely by the driver of the vehicle on the steering means of the vehicle), the presence of a collision situation of the steered wheel can be detected in a particularly reliable manner.

The device can be set up to determine the actual value of the steering angle of the steered wheel (e.g. on the basis of the sensor data from the steering means sensor). Alternatively or additionally, the device can be set up to determine the actual value of the steering angle speed of the steered wheel (e.g. on the basis of the sensor data from the steering means sensor). Alternatively or additionally, the device can be set up to determine the actual value of the (driving) speed of the vehicle. Alternatively or additionally, the device can be set up to determine the actual value of the weight and/or the (additional) load of the vehicle. Alternatively or additionally, the device can be set up to determine an actual value of a braking torque and/or a braking pressure on one or more wheel brakes of the vehicle. The reference value of the manual steering torque can then be based on the actual value of the steering angle, based on the actual value of the steering angle speed, based on the actual value of the speed of the vehicle, based on the actual value of the weight and /or the loading of the vehicle, and/or on the basis of the actual value of the braking torque and/or the braking pressure. In this way, the presence of a collision situation of the steered wheel can be detected with a particularly high level of reliability and robustness.

The device can be set up to determine a differential value of the manual steering torque, with which the actual value of the manual steering torque exceeds the reference value. The difference value can thus show how much the actual value exceeds the reference value of the manual steering torque. This can be taken as an indicator of the counterforce exerted by the obstacle on the steered wheel.

The auxiliary steering torque, in particular the value of the auxiliary steering torque, can then be reduced depending on the difference value of the manual steering torque. In particular, this can be done in such a way that the value of the auxiliary steering torque is further reduced as the difference value increases. The support of the steering by the auxiliary steering torque can thus be reduced as the value of the manual steering torque increases. In this way, damage to the steered wheel can be reduced or avoided in a particularly reliable manner.

The device can be set up to determine the (past and/or ahead) travel trajectory and/or the (past and/or ahead) driving path of the vehicle. The travel path can indicate the area of the road traveled by the vehicle that is covered by the vehicle when traveling along the travel trajectory (and in which no obstacle should be located to avoid a collision). The driving trajectory and/or driving path can be determined on the basis of odometry data in relation to the odometry (in particular in relation to the steering angle and/or the driving speed and/or the wheel speed) of the vehicle.

It can then be determined in a particularly robust and reliable manner based on the driving trajectory and/or based on the driving path whether the steered wheel collides or will collide with an obstacle, or whether the steered wheel does not collide or will collide with an obstacle. The one or more driving trajectories and/or driving hoses recorded in the past (e.g. as part of a maneuvering process) can be used in particular to determine the free space in which there is no obstacle. This free space information can then be used to determine in a particularly reliable manner whether or not the steered wheel collides with an obstacle.

The device can be set up to detect an obstacle in the area surrounding the vehicle (in particular in the area surrounding the steered wheel) on the basis of environmental data from one or more environmental sensors, in particular from a camera. It can then be determined in a particularly reliable and robust manner on the basis of the surroundings data that the steered wheel collides or will collide with the detected obstacle.

Alternatively or additionally, the device can be set up to determine counterforce data relating to a counterforce acting on the steered wheel against the manual steering torque (and against the auxiliary steering torque) (e.g. based on sensor data from a wheel sensor of the steered wheel). It can then be determined in a particularly reliable and robust manner on the basis of the counterforce data that the steered wheel collides or will collide with an obstacle.

The device can be set up to combine or fuse one or more of the above information or indicators in order to determine the presence of a collision situation with particularly high reliability and robustness. In other words, the device can be set up to determine a number of indications of a collision of the steered wheel with an obstacle. Exemplary indicators are (as described above): an indicator dependent on the actual value of the manual steering torque; an index dependent on the travel trajectory and/or the driving path of the vehicle; an indicator based on environmental data from one or more environmental sensors of the vehicle; and/or an indicator dependent on the counterforce acting on the steered wheel against the manual steering torque. The indications of a collision of the steered wheel with an obstacle can then be merged and/or combined in order to determine in a particularly reliable and robust manner that the steered wheel has collided or will collide with an obstacle.

The device can be set up to cause (via a user interface of the vehicle) to issue a message to the driver of the vehicle to the effect that the auxiliary steering torque has been reduced and/or that a collision situation of the steered wheel with an obstacle has been detected was when it was determined that the steered wheel collides or will collide with an obstacle. By issuing a notice, the extent of damage to the steered wheel can be further reduced.

According to a further aspect, a (multi-lane) (road) motor vehicle (in particular a passenger car or a truck or a bus) is described which comprises the device described in this document.

According to a further aspect, a method for protecting a steered wheel of a motor vehicle from damage is described. The method includes determining that the steered wheel is colliding or will collide with an obstacle. The method further includes, in response thereto, reducing the auxiliary steering torque at the steered wheel.

According to a further aspect, a software (SW) program is described. The SW program can be set up to be executed on a processor (e.g. on a vehicle's control unit) and thereby to carry out the method described in this document.

According to a further aspect, a storage medium is described. The storage medium can comprise a SW program which is set up to be executed on a processor and thereby to carry out the method described in this document.

It should be noted that the methods, devices and systems described in this document can be used both alone and in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in many different ways.

• 1a ein beispielhaftes Fahrzeug mit einer Hilfskraft-unterstützten Lenkung;
• 1b eine beispielhafte Kollisions-Situation;
• 2 einen beispielhaften Zusammenhang zwischen dem Lenkwinkel und dem Hand-Lenkmoment einer Lenkvorrichtung des Fahrzeugs; und
• 3 ein Ablaufdiagramm eines beispielhaften Verfahrens zum Schutz einer Fahrzeug-Felge.

The invention is described in more detail below using exemplary embodiments. show it

• 1a an example vehicle with power assisted steering;
• 1b an example collision situation;
• 2 an exemplary relationship between the steering angle and the manual steering torque of a steering device of the vehicle; and
• 3 a flowchart of an exemplary method for protecting a vehicle wheel rim.

As stated at the outset, the present document is concerned with providing reliable and efficient protection of a vehicle rim from damage as a result of collision with an obstacle. In this context shows 1a exemplary components of a motor vehicle 100 having a front axle with one or more front wheels 111 and a rear axle with one or more rear wheels 112 . The one or more front wheels 111 can be steered manually by the driver of the vehicle 100 via a steering means 105, in particular via a steering wheel.

The driver of the vehicle 100 can apply a manual steering torque or manual steering torque cause on the steering means 105. The hand steering torque is transmitted via a steering rod 104 to a steering gear 103 and from there to the one or more steered wheels 111 of the vehicle 100 . The vehicle 100 also has an auxiliary power motor 106 which is set up to bring about an auxiliary force or an auxiliary steering torque on the steering rod 104 in order to support the driver of the vehicle 100 in steering the vehicle 100 . The manual steering torque caused by the driver can be detected by a steering means sensor 108 . A control device 101 of the vehicle 100 can operate the auxiliary motor 106 depending on the sensor data of the steering means sensor 108 . In particular, the auxiliary steering torque brought about by the power-assisted motor 106 can be set as a function of the sensor data from the steering means sensor 108, in particular as a function of the actual value of the manual steering torque.

Vehicle 100 may also include one or more wheel sensors 107 that are set up to provide sensor data that make it possible to determine or estimate a counterforce exerted on a steered wheel 111 .

Furthermore, the vehicle 100 can include one or more environment sensors 102 that are set up to capture environment data (i.e. sensor data) in relation to the environment of the vehicle 100 . Exemplary environment sensors 102 are a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

1b shows an exemplary driving situation, eg during a parking maneuver, in which a steered wheel 111 of vehicle 100 collides with an obstacle 120, eg with a curb. The collision of the wheel 111 with the obstacle 120 may result in damage to the rim of the wheel 111.

The control device 101 of the vehicle 100 can be set up to recognize on the basis of the sensor data from one or more sensors 102, 107, 108 of the vehicle 100 that a wheel 111, 112, in particular a steered wheel 111, of the vehicle 100 with a Obstacle 120 collides or will collide. This can be detected, for example, on the basis of a fusion of one or more different indicators and/or on the basis of a fusion of sensor data from a number of sensors 102, 107, 108 of vehicle 100.

In response, the assist steer torque (effected by the power assist motor 106) may be caused to be reduced (compared to the default value of the assist steer torque effected when a collision situation is not present). As a result, the force with which the wheel 111 collides with the obstacle 120 is reduced, thereby also reducing the risk and/or extent of damage to the rim of the wheel 111. Furthermore, the manual steering torque to be applied by the driver of vehicle 100 for steering is increased by reducing the auxiliary steering torque. This allows the driver to sense and/or recognize the presence of an obstacle 120 at the steered wheel 111 with increased reliability.

The device 101 can be set up to recognize an obstacle 120 with which the vehicle wheel 111 collides or (in the near future) could collide on the basis of the surroundings data, in particular on the basis of the image data from a camera. Alternatively or additionally, device 101 can be set up to determine a movement trajectory 122 and/or a travel path 121 of vehicle 100 on the basis of the steering angle of vehicle 100 . It can then be recognized on the basis of the trajectory 122 and/or on the basis of the driving path 121 that the vehicle wheel 111 collides or could collide with an obstacle 120 .

Alternatively or additionally, a collision-free area for vehicle 100 can be determined on the basis of determined movement trajectory 122 and/or determined driving path 121 of vehicle 100 . In particular, on the basis of the movement trajectory 122 traveled in the (recent) past and/or the driving path 121 of the vehicle 100 traveled over in the (recent) past (e.g. during a maneuvering operation), a space in the vicinity of the vehicle 100 can be determined in which no obstacle 120 is present. This information can be used as part of a sensor fusion as a plausibility check to detect whether vehicle wheel 111 collides with an obstacle 120 or not.

Alternatively or additionally, device 101 (as exemplified in 2 shown) be set up to determine an actual relationship 212 between the manual steering torque 202 caused by the driver and the steering angle 201 of the vehicle 100 (eg based on the sensor data of the steering means sensor 108). The actual context 212 can be compared to a reference context 211, the reference context 211 being dependent, for example, on a standard context 210, which indicates the relationship between the manual steering torque 202 to be applied and the steering angle 201, which is present when the steered wheel 111 can be moved freely without an obstacle 120 being present. The reference context 211 can be shifted by a tolerance offset compared to the norm context 210, for example.

If it is recognized that the actual manual steering torque 202 applied by the driver (at a specific steering angle 201) is higher than the reference manual steering torque 202 indicated by the reference context 211, it can be concluded that the steered Wheel 111 collides with an obstacle 120.

The device 101 can thus be set up to ascertain different indications that the steered wheel 111 of the vehicle 100 has collided or will collide with an obstacle 100 . The different indicators can be merged in order to identify a collision situation in a particularly reliable and robust manner.

• • eine Umfeldsensorik 102, die eine Kollisions-Situation erkennt (z.B. Kamera, Radar, etc.);
• • einen durchfahrenen Fahrschlauch 121 der Fahrsituation; und/oder
• • das von dem Fahrer bewirkte Hand-Lenkmoment 202.

Based on a fusion of information, the supporting steering torque can thus be reduced if necessary in order to reduce or prevent damage to the rim of a wheel 111 . The fusion of information can include

• • an environment sensor system 102, which detects a collision situation (eg camera, radar, etc.);
• • a driving path 121 traveled through of the driving situation; and or
• • the manual steering torque 202 caused by the driver.

If environment sensor system 102 detects a situation in which there is a possibility that a wheel 111 may come into contact with a curb or an obstacle 120, then steering torque 202 and/or driving path 121 can be evaluated as part of a sensor fusion in order to to check a possible collision for plausibility. The fusion can increase the reliability of the detection of a collision situation, which means that unnecessary interventions in the steering can be avoided (in order to continue to ensure a high level of driving comfort).

If there is an increased manual steering torque 202 , it can be concluded that the tire of wheel 111 is resting against a curb 120 . A standard force curve 210 with a certain tolerance threshold can be taken as a basis for the detection of such a situation on the basis of the manual steering torque 202 . As soon as actual torque 202 exceeds curve 211 “standard force 210 plus tolerance threshold”, it can be assumed that the tire of wheel 111 is in contact with an obstacle 120 .

A detection via the driving tube 121 can take place as follows: Starting from an inclined or level road, a rectangle formed by the (four) wheels 111, 112 of the vehicle 100 can scan the level of the road when driving through and it can be checked whether the rectangle collides or will collide with a detected obstacle 120, or alternatively whether the rectangle does not collide with an obstacle 120.

In response to the detection of the tire of a wheel 111 abutting an obstacle 120, the assist steering torque may be reduced so as to prevent or at least reduce damage to the rim of the wheel 111.

3 12 shows a flowchart of an exemplary (possibly computer-implemented) method 300 for protecting a steered wheel 111, eg a front wheel, of a motor vehicle 100 from damage.

The method 300 includes determining 301 that the steered wheel 111 collides or will collide with an obstacle 120, in particular with a curb. This can be determined, for example, on the basis of the sensor data from a steering means sensor 108 and/or an environment sensor 102 of vehicle 100 and/or a wheel sensor 107 (in particular by merging sensor data).

The method 300 also includes, in response thereto, reducing 302 the (motor-generated) auxiliary steering torque on the steered wheel 111. The auxiliary steering torque typically goes beyond the manual steering torque 202 caused by the driver of the vehicle 100 (i.e. the auxiliary steering torque adds to the manual steering torque 202). The value, in particular the standard value, of the auxiliary steering torque typically depends on the actual value of manual steering torque 202 . In response to a detected collision situation (where the steered wheel 111 collides or will collide with an obstacle 120), the value of the assist steering torque may be reduced from the default value. In this way, damage to the steered wheel 111 caused by the collision with the obstacle 120 can be reliably reduced or avoided.

The measures described in this document can reduce the extent of damage to vehicle rims in an efficient and reliable manner. The fusion of information from different information sources makes it possible to detect a collision situation in a reliable and robust manner, so that erroneous reductions in the auxiliary steering torque and an associated reduction in driving comfort can be avoided.

The present invention is not limited to the exemplary embodiments shown. esp In particular, it should be noted that the description and the figures are only intended to illustrate the principle of the proposed methods, devices and systems by way of example.

Claims (12)

Device (101) for setting an auxiliary steering torque on a steered wheel (111) of a motor vehicle (100); wherein the device (101) is set up - to determine that the steered wheel (111) collides or will collide with an obstacle (120); and - in response thereto causing the auxiliary steering torque at the steered wheel (111) assisting a manual steering torque (202) exerted by a driver of the vehicle (100) to be reduced. Device (101) according to claim 1 , wherein the device (101) is set up - to determine an actual value of the manual steering torque (202); - To compare the actual value of the manual steering torque (202) with a reference value; and - based on the comparison, in particular if the actual value of the manual steering torque (202) is greater than the reference value, to determine that the steered wheel (111) collides or will collide with an obstacle (120). Device (101) according to claim 2 , wherein the device (101) is set up - to determine an actual value of a steering angle (201) of the steered wheel (111); and/or - to determine an actual value of a steering angle speed of the steered wheel (111); and/or - to determine an actual value of a speed of the vehicle (100); - to determine an actual value of a weight of the vehicle (100); and/or - to determine an actual value of a braking torque and/or a braking pressure of one or more wheel brakes of the vehicle (100); and - the reference value of the manual steering torque (202) based on the actual value of the steering angle (202), based on the actual value of the steering angle speed, based on the actual value of the speed of the vehicle (100). Determine based on the actual value of the weight of the vehicle (100) and / or based on the actual value of the braking torque and / or the brake pressure. Device (101) according to one of claims 2 until 3 , wherein the device (101) is set up - to determine a differential value of the manual steering torque (202) with which the actual value of the manual steering torque (202) exceeds the reference value; and - to reduce the auxiliary steering torque, in particular a value of the auxiliary steering torque, as a function of the difference value of the manual steering torque (202), in particular such that the value of the auxiliary steering torque is further reduced as the difference value increases . Device (101) according to one of the preceding claims, wherein the device (101) is set up - to determine a driving trajectory (122) and/or a driving path (121) of the vehicle (100); and - to determine based on the driving trajectory (122) and/or the driving path (121) whether the steered wheel (111) collides or will collide with an obstacle (120), or whether the steered wheel (111) does not collide with an obstacle ( 120) collides or will collide. Device (101) according to one of the preceding claims, wherein the device (101) is set up - to detect an obstacle (120) in an area surrounding the vehicle (100) on the basis of environmental data from one or more environmental sensors (102), in particular from a camera, of the vehicle (100); and - to determine on the basis of the environment data that the steered wheel (111) collides or will collide with the detected obstacle (120). Device (101) according to one of the preceding claims, wherein the device (101) is set up - to determine counterforce data in relation to a counterforce acting on the steered wheel (111) against the manual steering torque (202), in particular on the basis of sensor data from a wheel sensor (107) of the steered wheel (111); and - determine based on the counterforce data that the steered wheel (111) collides or will collide with an obstacle (120). Device (101) according to one of the preceding claims, wherein the device (101) is set up - to determine a plurality of indications of a collision of the steered wheel (111) with an obstacle (120); the indicia comprising - an indicia dependent on an actual value of the manual steering torque (202); - An indication dependent on a driving trajectory (122) and/or on a driving path (121) of the vehicle (100); - On the basis of environmental data from one or more environmental sensors (102) of the vehicle (100) dependent indicator; and/or - a counterforce acting on the steered wheel (111) against the manual steering torque (202). dependent index; and - fusing the indicia of a collision of the steered wheel (111) with an obstacle (120) to determine that the steered wheel (111) collides or will collide with an obstacle (120). Device (101) according to one of the preceding claims, wherein the device (101) is set up - in a standard operation, to effect a standard value of the auxiliary steering torque; wherein the standard value depends, in particular only, on an actual value of the manual steering torque (202) and/or on an actual value of a steering angle (201) of the steered wheel (111), and - causing the value of the auxiliary steering torque to be reduced from the default value when it has been determined that the steered wheel (111) collides or will collide with an obstacle (120). Device (101) according to any one of the preceding claims, wherein the device (101) is set up to cause a message to the driver of the vehicle (100) is issued to the effect that the auxiliary steering torque has been reduced and / or that a collision - situation of the steered wheel (111) with an obstacle (120) has been detected when it has been determined that the steered wheel (111) collides or will collide with an obstacle (120). Device (101) according to any one of the preceding claims, wherein - The vehicle (100) comprises a motor (106) which is set up to cause the auxiliary steering torque; and - the device (101) is arranged to cause the motor (106) to reduce the value of the auxiliary steering torque when it has been determined that the steered wheel (111) collides or will collide with an obstacle (120). Method (300) for protecting a steered wheel (111) of a motor vehicle (100) from damage; the method (300) comprising - determining (301) that the steered wheel (111) collides or will collide with an obstacle (120); and - in response thereto, reducing (302) an auxiliary steering torque at the steered wheel (111) which adds to a manual steering torque (202) effected by a driver of the vehicle (100).

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