EP3720756A1 - Method for operating a steering device, and steering device - Google Patents
Method for operating a steering device, and steering deviceInfo
- Publication number
- EP3720756A1 EP3720756A1 EP18795334.4A EP18795334A EP3720756A1 EP 3720756 A1 EP3720756 A1 EP 3720756A1 EP 18795334 A EP18795334 A EP 18795334A EP 3720756 A1 EP3720756 A1 EP 3720756A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering
- longitudinal
- steering device
- lateral acceleration
- control 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.)
- Pending
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
- B62D5/0481—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
- 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
-
- 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
-
- 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
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
Definitions
- the invention relates to a method for operating a steering device and a
- Steering devices with steering assistance have long been known.
- the steering assistance must be reduced and in extreme cases completely switched off.
- the driver has to apply an increased manual torque to hold the track during a steering operation.
- the necessary manual torques are dependent on speed, curvature and axle kinematics and can become so large that they are difficult to control by some drivers.
- a steering device with a steering assistance for a vehicle comprising a means for determining a request for reducing or switching off the steering assistance and a means for calculating a target yaw moment for steering assistance.
- a method for operating a motor vehicle with at least two wheel axles, of which at least one steerable wheels. Furthermore, at least one device is provided for wheel-specific influencing of a torque of the wheels.
- a steering of the wheels is supported in response to a desired steering angle by a power steering, wherein the operability of the power steering is monitored. If then a malfunction of the power steering is detected, a torque is influenced to set the desired steering angle to the steerable wheels by the device on only one of the steerable wheels.
- a targeted yaw moment supporting the steering movement is generated.
- a disadvantage of the known method is that a targeted steering over yawing moments control technology is quite difficult.
- wheel-specific braking operations can lead to instabilities of the vehicle, which complicates the controllability of the driver in such situations.
- a steering device Operate a steering device to provide, in case of failure or reduction of a steering assistance to reduce the demands on the manual torque and to create a suitable steering device.
- Steering support includes the procedural steps that the functioning of the
- Steering support is monitored, in case of failure, the steering assistance is reduced or turned off.
- the steering assistance is reduced or turned off.
- lateral acceleration are. If the speed is reduced, the lateral acceleration and thus the manual torque still to be applied are reduced by the driver in order to follow his desired trajectory and not to cause any potentially unsafe tracking deviations.
- a limit value for the lateral acceleration can be determined in advance, in which the remaining manual torque can be reliably controlled by each driver, since this is potentially dependent on the vehicle characteristics. This is a very simple scheme that can also be easily implemented in existing systems.
- the limit value for the lateral acceleration is preferably between 2 m / s 2 and 1 m / s 2 .
- a predetermined by the driver target longitudinal deceleration is detected and compared with the automatically set longitudinal deceleration, the greater of the two longitudinal delays is set. So if the driver brakes intuitively to make the manual torque more manageable, then depending on the desired longitudinal deceleration this set if the desired longitudinal deceleration is greater than the automatically set longitudinal deceleration. Ie the motor vehicle is delayed even more, so that the
- the target longitudinal acceleration is set and the automated longitudinal deceleration is terminated at a detected desired longitudinal acceleration of the driver over a time limit. If the driver accelerates, it is first determined whether this is longer than a time limit of, for example, one second. If the acceleration is shorter, this is regarded as a short misconduct and the vehicle is decelerated. If, on the other hand, a setpoint acceleration is detected beyond the time limit, it is assumed that the driver is quite conscious
- the steering device has at least one control unit, wherein the at least one
- Control unit is designed such that when reducing or switching off the steering assistance to detect or detect a lateral acceleration and to generate a control signal to automatically set a longitudinal delay until the lateral acceleration falls below a threshold.
- the at least one control unit may be, for example, an electronic stability program control unit or a brake control unit.
- the tasks are divided into different controllers, so for example a
- Steering control unit takes over the monitoring, an electronic stability program control unit takes over the detection of the lateral acceleration and the determination of the automated longitudinal deceleration as well as a brake control unit the implementation of the
- Fig. 1 is a schematic part illustration of a steering device and 2 is a flowchart of a method for operating a steering device.
- a part of a steering device 1 is shown, which has a steering handle 2 with a torque sensor 3.
- the steering device 1 a steering controller 4, a power electronics 5 and an electric motor 6, which is connected for example via a gear not shown with a rack 7.
- the steering device 1 an electronic stability program control unit 8 and a brake control unit 9, which controls not shown brakes.
- Steering control unit 4 determines depending on the manual torque M H and others
- the steering control unit 4 monitors the functionality of the power electronics 5 and the electric motor 6. This status is transmitted by the steering control unit 4 via a bus system 10. It can be provided that the fault-free state is transmitted or only the occurrence of an error.
- the electronic stability program control unit 8 continuously determines or detects inter alia the lateral acceleration a y of the motor vehicle. Now receives the electronic stability program controller 8 an error signal of
- Steering controller 4 or detects a failure of a fault-free operation of the
- the electronic stability program control unit 8 compares the current lateral acceleration a y with a limit value a g of, for example, 1.5 m / s 2 . If the current lateral acceleration a y is greater, then the electronic stability program controller 8 generates a network message with a longitudinal delay. This network message is received by the brake control unit 9 and implemented. The longitudinal deceleration is implemented until the detected lateral acceleration a y is smaller than the limit value a g . Due to the reduction of the speed V, the hand torque M h to be applied also decreases in order to keep the vehicle at the desired curvature when cornering when the steering assistance fails.
- the evaluation can also be done in the steering control unit 4, including the
- Steering controller 4 the current lateral acceleration a y, for example, in one Receives network message from the electronic stability program control unit 8 and then transmits the automatically generated longitudinal delay to the brake control unit 9.
- the calculation can also take place directly in the brake control unit 9, for which purpose the brake control unit 9 receives the status of the steering assistance and the transverse acceleration a y from the other control units.
- the brake control unit 9 receives the status of the steering assistance and the transverse acceleration a y from the other control units.
- the failure must occur in more than one transmission cycle. This prevents brake maneuvers due to pure data transmission problems.
- nominal longitudinal decelerations or nominal longitudinal accelerations of the driver are also taken into account, which the driver prescribes by actuating the brake pedal or accelerator pedal.
- the associated desired longitudinal deceleration is determined and compared with the determined longitudinal deceleration, with the respective greater longitudinal deceleration being converted by the brake control unit.
- FIG. 2 shows a schematic flow diagram 100 of the method.
- a defect of the steering assistance is detected, which leads to a reduction or a shutdown of the steering assistance.
- the current lateral acceleration a y is then detected and compared with a limit value a g . If the current lateral acceleration a y is smaller than the limit value a g , the method is ended. If the current lateral acceleration a y is greater, a longitudinal delay -a x is automatically determined in a third step S3.
- a target longitudinal deceleration target a x of the driver is greater than the longitudinal deceleration -a x , wherein the magnitude greater delay is set (step S5).
- the vehicle is decelerated (step S6), and the deceleration operation continues until the vehicle is stopped
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017221968.8A DE102017221968A1 (en) | 2017-12-05 | 2017-12-05 | Method for operating a steering device and steering device |
PCT/EP2018/078608 WO2019110184A1 (en) | 2017-12-05 | 2018-10-18 | Method for operating a steering device, and steering device |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3720756A1 true EP3720756A1 (en) | 2020-10-14 |
Family
ID=64049080
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18795334.4A Pending EP3720756A1 (en) | 2017-12-05 | 2018-10-18 | Method for operating a steering device, and steering device |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3720756A1 (en) |
CN (1) | CN111448123A (en) |
DE (1) | DE102017221968A1 (en) |
WO (1) | WO2019110184A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE544124C2 (en) * | 2019-10-13 | 2022-01-04 | Sentient Ab | A method and a system arrangement for vehicle steering and a vehicle with such a system |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2938806B2 (en) * | 1996-05-27 | 1999-08-25 | 本田技研工業株式会社 | Vehicle steering angle control device |
JPH10141102A (en) * | 1996-11-12 | 1998-05-26 | Honda Motor Co Ltd | Vehicle control device |
JP4713610B2 (en) * | 2008-03-31 | 2011-06-29 | 株式会社クボタ | Work vehicle control device |
CN201235814Y (en) * | 2008-06-25 | 2009-05-13 | 河北工业大学 | Electric power-assisted steering apparatus |
JP5332982B2 (en) * | 2009-07-08 | 2013-11-06 | 日産自動車株式会社 | Vehicle control device |
KR20130137892A (en) * | 2012-06-08 | 2013-12-18 | 현대자동차주식회사 | Method and apparauts for controlling steering force of motor driven power steering in fail case |
DE102012215100A1 (en) * | 2012-08-24 | 2014-02-27 | Continental Teves Ag & Co. Ohg | Method and system for promoting a uniform driving style |
DE102013202077A1 (en) | 2013-02-08 | 2014-08-14 | Zf Lenksysteme Gmbh | Steering device for vehicle, has detecting unit for detecting request to reduce or shutdown power assist, computation unit computing target yaw moment of assist, and transmission unit transmitting moment to electronic stability program unit |
CN203611729U (en) * | 2013-12-16 | 2014-05-28 | 三门峡速达交通节能科技股份有限公司 | Independent drive system of double-hub motor of electric automobile |
DE102014200608B4 (en) | 2014-01-15 | 2020-12-03 | Robert Bosch Automotive Steering Gmbh | Method and device for operating a motor vehicle |
DE102014201822A1 (en) * | 2014-02-03 | 2015-08-06 | Robert Bosch Gmbh | Method for operating a vehicle |
DE102015203270A1 (en) * | 2015-02-24 | 2016-08-25 | Robert Bosch Gmbh | Method and apparatus for adjusting a vehicle speed for a vehicle |
JP2016159683A (en) * | 2015-02-27 | 2016-09-05 | 富士通テン株式会社 | Vehicle control device, vehicle control system, and vehicle control method |
US9539998B2 (en) * | 2015-04-08 | 2017-01-10 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for improved control, response and energy management of a vehicle |
EP3090907B1 (en) * | 2015-05-05 | 2020-08-12 | Volvo Car Corporation | Secondary steering system unit, secondary steering system, vehicle and a method for secondary steering |
-
2017
- 2017-12-05 DE DE102017221968.8A patent/DE102017221968A1/en active Pending
-
2018
- 2018-10-18 CN CN201880078963.XA patent/CN111448123A/en active Pending
- 2018-10-18 EP EP18795334.4A patent/EP3720756A1/en active Pending
- 2018-10-18 WO PCT/EP2018/078608 patent/WO2019110184A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
CN111448123A (en) | 2020-07-24 |
WO2019110184A1 (en) | 2019-06-13 |
DE102017221968A1 (en) | 2019-06-19 |
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