EP3386839A1 - Procédé d'assistance active de la direction pour un véhicule bloqué et appareil de commande - Google Patents

Procédé d'assistance active de la direction pour un véhicule bloqué et appareil de commande

Info

Publication number
EP3386839A1
EP3386839A1 EP16805453.4A EP16805453A EP3386839A1 EP 3386839 A1 EP3386839 A1 EP 3386839A1 EP 16805453 A EP16805453 A EP 16805453A EP 3386839 A1 EP3386839 A1 EP 3386839A1
Authority
EP
European Patent Office
Prior art keywords
steering angle
steering
control mode
special control
predetermined
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.)
Withdrawn
Application number
EP16805453.4A
Other languages
German (de)
English (en)
Inventor
Frank Haller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP3386839A1 publication Critical patent/EP3386839A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/0205—Mechanical indicators, e.g. in or near steering wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • 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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B62D5/046—Controlling the motor
    • B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Definitions

  • the invention relates to a method for controlling an electrically actuatable steering actuator for a motor vehicle, wherein a check is carried out with regard to the presence of a fixed ⁇ driven situation and a special control mode is activated in the presence of a predetermined condition.
  • a check is carried out with regard to the presence of a fixed ⁇ driven situation and a special control mode is activated in the presence of a predetermined condition.
  • the invention is based on the consideration that a suitable steering angle curve can cause a stuck vehicle to come free again.
  • the steering angle curve is a course of the steering angle as a function of time.
  • Such a suitable steering angle curve is therefore adjusted according to the invention in a special control mode by a steering actuator, which is designed for the driver-independent setting of a steering angle.
  • the special control mode is activated when a standstill is detected and the standstill lasts longer than a predetermined time limit.
  • a standstill is advantageously always determined when an evaluation of the measured wheel speeds of non-driven wheels reveals that these wheels are not turning. This is preferably determined when the measured wheel speeds are below a predetermined threshold.
  • a standstill is detected only when all non-driven wheels do not rotate.
  • An alternative method for standstill detection evaluates data from an environment detection of the vehicle to detect a standstill. For example, a stoppage can be detected if the environment does not change over a predetermined period of time, or if detected objects do not change their position relative to the vehicle over a predetermined period of time.
  • Further methods for standstill detection use, for example, data of a longitudinal acceleration sensor and / or data of a position determination system (for example GPS) and / or evaluate driver actions, such as e.g. Steering wheel movements, off.
  • the special control mode is activated when a standstill is detected and a determined drive torque is above a predetermined limit.
  • a stuck state is detected when over a predetermined period of time
  • Standstill is detected and a determined drive torque during the same period of time above a predetermined Torque limit is.
  • Such a state of the vehicle can detect a stuck situation with high reliability.
  • the special control mode is activated when all the following conditions are met:
  • the special control mode is activated when the said conditions are met during a predetermined period of time.
  • the special control mode is activated by an input of the driver.
  • Be ⁇ particularly preferably the input of the driver via an interface, such as a button.
  • the driver receives a message that the special control mode is activated.
  • this message is haptically characterized in that not only the steered wheels, but also the steering wheel are moved by the steering actuator, which adjusts the steering angle.
  • a message to the driver that the special control mode is activated by a visual and / or acoustic signal.
  • the steering angle curve corresponds to a back and forth about a reference value.
  • a steering angle curve in which initially a change in the angle is set in one direction and then a change in the other direction is set.
  • the steering angle curve is controlled such that a deflection of the steered wheels takes place at least once to one side relative to the neutral position (straight wheels) and then to the other side relative to the neutral position.
  • the steering angle curve corresponds to a periodic course with a predetermined period and amplitude.
  • the steering angle curve is described by a periodic function. Constantly differentiable functions prove to be particularly advantageous since they lead to steering movements which the driver perceives as uniform. For example, a sine function can be advantageously used.
  • a maximum steering angle and a minimum steering angle for the steering angle course are predetermined.
  • a maximum amount of the steering deflection is predetermined relative to a reference value.
  • the reference value corresponds to the neutral position.
  • the amplitude is selected such that the maxima and minima of the course correspond to the minimum, and respectively the maximum, predetermined steering angles.
  • the minimum and maximum steering angles are determined in accordance with a recognized background condition. For example, a smaller maximum (and larger minimum) steering angle is given when the vehicle is on sand to prevent the vehicle from further digging in by the movement of the wheels. A larger maximum (and smaller minimum) steering angle is given when the vehicle is on rocky ground, for example .
  • the surface texture can be determined by various ⁇ Dener methods, such as an evaluation of the environment recognition.
  • the predetermined minimum and the predetermined maximum steering angle are temporally variable and, while the special control mode is active, adapted. For example, a first
  • Steering angle course are selected with a relatively small maximum and large minimum steering angle and, if this does not lead to a termination of Festge ⁇ driven state over a predetermined period of time, then a course can be set with a larger maximum and smaller minimum steering angle.
  • the maximum steering angle and the minimum steering angle are each calculated by means of a predetermined mathematical function as a function of time.
  • the special control mode is terminated when a movement of the vehicle in the longitudinal direction is detected.
  • a movement of the vehicle in the longitudinal direction is advantageously determined by means of the same method or the same methods, by means of which a stoppage of the vehicle has been detected.
  • the special control mode is terminated by an input of the driver, wherein such input via an interface (button) or by setting a brake pressure that is greater than a brake ⁇ pressure limit, or via a movement of the steering wheel or via a Hold the steering wheel against the adjustment by the steering actuator during a predetermined period of time can take place.
  • the driver can advantageously terminate the Sondersteu ⁇ ermodus at any time.
  • a termination of the special control mode is provided when the driver engages against the driver-independent control. This is the case, for example, if the driver holds the steering wheel for a predetermined time so that automatic control can not take place or if he actively steers against the control.
  • a braking intervention of the driver preferably likewise represents a termination condition.
  • a drive torque is predetermined by a control unit, which abuts on ⁇ driving torque on at least one driven axle.
  • a drive torque is needed to propel the vehicle as soon as the wheels grip again.
  • the drive torque is constant over the duration of the activation of the special control mode.
  • a specification of a drive torque by a control unit during the special control mode has the advantage that at any time a drive of the wheels is present should they attack again. It is difficult and uncomfortable for the driver to control an even torque himself by means of an accelerator pedal.
  • the drive torque at the beginning of the special control mode is continuously increased to a predetermined value and / or lowered continuously to zero at the end of the special control mode.
  • the drive torque is particularly preferably defined by a ⁇ assisting assistance system, in particular an automatic speed control system. Is such an assistance system too Beginning of the special control mode active, so it is advantageous to use the predetermined by the assistance system torque.
  • FIG. 1 an apparatus for performing a method according to Invention ⁇ ;
  • FIG. 2 shows an exemplary course of several variables during the execution of an example method.
  • FIG. 1 shows a device for carrying out a method according to the invention.
  • the device is contained in a motor vehicle.
  • la, lb, lc, ld denote the wheels of the motor vehicle.
  • the steerable wheels of the vehicle la and lb can be adjusted in a wheel angle 10a, 10b relative to the longitudinal axis of the vehicle.
  • the device includes a steering wheel 4, on which in a steering wheel angle 11 can be adjusted.
  • a sensor ⁇ arrangement 2 of the steering wheel angle 11 and / or the wheel angle 10 a, 10 b are measured.
  • the sensor arrangement 2 is connected to a control unit 6 and transmits the measured steering wheel angle 11 and / or wheel angle 10 a, 10 b to the control unit 6.
  • a steering angle LW can be adjusted independently of the driver.
  • the wheel angle are adjusted 10a, 10b, and preferably the
  • the steering actuator 3 is connected to the control unit 6. If a special ⁇ control mode is active, the control unit 6 transmits steering angle requirements which correspond to a steering angle curve LW (t) to the steering actuator 3 Steering angle requirements are converted by the steering actuator 3 by adjusting the steering angle curve.
  • the device has, for example, a drive unit 5, for example a vehicle drive motor, which is connected to one or more vehicle axles and drives the wheels of the driven axles.
  • the drive unit 5 is connected to the control unit 6.
  • a Antriebsmo ⁇ torque request is transmitted to the drive unit 5 such as by the controller, which is implemented by the drive unit 5 as a driving torque.
  • the drive unit 6 is, for example according connected to an input interface 7 ⁇ (eg. Key).
  • the driver can activate and exit the special control mode via this input interface 7.
  • the drive unit 6 is also connected according to the example with means 8, which can detect a brake operation of the driver, such as a brake light switch.
  • the drive unit 6 is connected according to the example with means 9 for detecting a stoppage of the vehicle.
  • a duration of the standstill is determined either by the means for
  • Stand detection 9 measured and transmitted to the control unit 6 or detected by the control unit 6 itself.
  • the special control mode is activated, for example, when a standstill is detected by the means for standstill detection 9 and the duration of the standstill is longer than a predetermined time limit.
  • the special mode is then activated, for example pursuant to, when a standstill by means of level detection Still ⁇ 9 is detected and the detected engine torque of the Drive unit 5 is above a predetermined torque limit.
  • the special control mode is activated only when these conditions are present during a predetermined period of time.
  • the rotational speeds of the driven wheels are detected and transmitted to the control unit 6. The special control mode is then activated, for example, if all the following conditions are met:
  • All driven wheels of the vehicle have speeds greater than zero.
  • FIG. 2 shows an exemplary course of several variables during the execution of an example method.
  • a steering actuator eg steering actuator 3 in Fig. 1 set, steering angle curves 25, 26, 35 and 36 shown (time courses LW (t)) and in the figure parts 2c and 2f a status indicator 27 of a standstill detection.
  • the time is plotted on the x-axes 21, 22, a steering angle is plotted on the y-axes 20 in the figure parts 2a, 2b, 2d and 2e, and the value on the y-axis 32 in the figure parts 2c and 2f
  • the status indicator of the standstill detection is applied.
  • Figs. 2a, 2b and 2c respectively show a beginning of a special control mode
  • Figs. 2d, 2e and 2f respectively show a termination of a special control mode.
  • standstill is detected and the status indicator 27 is set from zero ("no standstill") to one ("standstill detected”).
  • a special tax mode is then ⁇ example according to the time 29 after a standstill during a time period 31 that is longer than a predetermined time limit value, through recognized as valid activated.
  • a maximum steering angle value 23 and a minimum steering angle value 24 for the steering angle curve LW (t) are specified.
  • the current steering angle at the beginning of the special control mode (input steering angle) 33, 34 is determined and compared with the minimum and maximum steering angle values 23, 24.
  • FIG. 2a shows the steering angle curve LW (t) set in the special control mode by the steering actuator in the case that the input steering angle 33 is greater than the maximum steering angle value 23.
  • a course mirrored in accordance with the x axis is used, for example, if the Input steering ⁇ angle is smaller than the minimum steering angle value 24 and all subsequent considerations apply analogously.
  • the steering angle is linearly reduced by the actuator according to the example until it lies below the maximum steering angle value 23.
  • a value for the slope of the linear course is specified.
  • the course 25 is, for example, in a course described by a sine function on.
  • the transition between the linear course and the sinusoidal curve takes place in such a way that the course is continuously differentiable at each point, since this is perceived by the driver as being particularly uniform.
  • FIG. 2b shows the steering angle curve LW (t) set in the special control mode by the steering actuator in the event that the input steering angle is smaller than the maximum steering angle. value 23, but greater than zero.
  • a correspondingly mirrored on the x-axis course is used, for example, when the input steering angle 34 is less than zero but greater than the minimum steering angle value 24.
  • a point of the sine curve is determined as the starting point at which the
  • the special control mode is ended when no standstill is more than recognized.
  • the special control mode is not terminated abruptly, but a return portion of the steering angle through the steering actuator to a neutral position (straight ahead) takes place after completion of the standstill.
  • a completion of the special tax mode is performed by linearly from the value at the time 30 to zero (neutral ⁇ position / straight-ahead position) is provided to the set by the steering actuator steering angle, as shown by the steering angle curve 36 of Figure 2e.
  • the special control mode is terminated by reducing the amplitude over time, as illustrated, for example, in the course 35 of FIG. 2d.
  • the special control mode can be ended.

Abstract

L'invention concerne un procédé de commande d'un actionneur de direction (3) électrique d'un véhicule automobile, selon lequel un contrôle est effectué quant à la présence d'une situation de blocage et, en présence d'une condition prédéfinie, un mode de commande spécial est activé, l'actionneur de direction (3) étant conçu pour ajuster un angle de direction (LW) indépendamment du conducteur, et l'actionneur de direction (3) ajustant une variation de l'angle de direction (LW(t)) dans le mode de commande spécial.
EP16805453.4A 2015-12-10 2016-12-02 Procédé d'assistance active de la direction pour un véhicule bloqué et appareil de commande Withdrawn EP3386839A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015224760.0A DE102015224760A1 (de) 2015-12-10 2015-12-10 Verfahren zur aktiven Lenkunterstützung bei festgefahrenem Fahrzeug und Steuergerät
PCT/EP2016/079672 WO2017097681A1 (fr) 2015-12-10 2016-12-02 Procédé d'assistance active de la direction pour un véhicule bloqué et appareil de commande

Publications (1)

Publication Number Publication Date
EP3386839A1 true EP3386839A1 (fr) 2018-10-17

Family

ID=57471897

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16805453.4A Withdrawn EP3386839A1 (fr) 2015-12-10 2016-12-02 Procédé d'assistance active de la direction pour un véhicule bloqué et appareil de commande

Country Status (4)

Country Link
US (1) US20180370562A1 (fr)
EP (1) EP3386839A1 (fr)
DE (1) DE102015224760A1 (fr)
WO (1) WO2017097681A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018201131A1 (de) 2018-01-25 2019-07-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ansteuerung der Bremsen eines stillstehenden oder in den Stillstand kommenden Kraftfahrzeugs
JP7283406B2 (ja) * 2020-01-31 2023-05-30 トヨタ自動車株式会社 車両
KR20220118114A (ko) * 2021-02-18 2022-08-25 주식회사 만도 차량의 조향 제어 장치 및 방법

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4407757A1 (de) * 1993-03-08 1994-09-15 Mazda Motor Vorrichtung zur Erfassung von Hindernissen für ein Fahrzeug
GB2344326A (en) * 1998-12-04 2000-06-07 Rover Group Vehicle steering control
US7469176B2 (en) * 2004-06-16 2008-12-23 Land Rover Vehicle control system for traversing obstacles
DE102008036048A1 (de) 2008-08-01 2010-02-04 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Ansteuerung von Fahrzeugkomponenten zum automatischen Freischaukeln eines Kraftfahrzeugs
US10106249B2 (en) * 2011-02-04 2018-10-23 Borealis Technical Limited Method of operating aircraft drive to move an aircraft under adverse ground conditions
JP5813438B2 (ja) * 2011-09-26 2015-11-17 株式会社ジェイテクト 電動パワーステアリング装置の制御装置
DE102013218664A1 (de) 2013-09-18 2015-03-19 Zf Friedrichshafen Ag Verfahren und Vorrichtung zur Steuerung eines Freischaukelmodus eines Fahrzeugs

Also Published As

Publication number Publication date
DE102015224760A1 (de) 2017-06-14
US20180370562A1 (en) 2018-12-27
WO2017097681A1 (fr) 2017-06-15

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