JP4704538B2 - Method and apparatus for assisting torque control of electric servo steering - Google Patents

Method and apparatus for assisting torque control of electric servo steering Download PDF

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Publication number
JP4704538B2
JP4704538B2 JP2000037389A JP2000037389A JP4704538B2 JP 4704538 B2 JP4704538 B2 JP 4704538B2 JP 2000037389 A JP2000037389 A JP 2000037389A JP 2000037389 A JP2000037389 A JP 2000037389A JP 4704538 B2 JP4704538 B2 JP 4704538B2
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Prior art keywords
assist torque
ignition
minimum value
servo steering
torque
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JP2000037389A
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JP2000233763A (en
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ブレシュ トビアス
オット ヘルベルト
ムッター ミカエル
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は，電動サーボステアリングの支援トルク制御方法及びその装置に関し，さらに詳細には，点火を解除した後あるいは非常走行へ移行した後に，車両の電動サーボステアリングを介して機械的操舵システムに伝達される支援トルクを低減する支援トルクの制御方法及びその装置に関する。
【０００２】
【従来の技術】
従来のサーボステアリングにおいては，点火を解除した後あるいは非常走行へ移行した後に，機械的操舵システムに伝達される支援トルクが突然かつ制御されずに戻ることがあった。このことは，運転者の操舵が不正確になり，あるいは運転者の意図しない操舵動作が実行され，車両走行の快適性が損なわれていた。
【０００３】
【発明が解決しようとする課題】
したがって，本発明の課題は，点火を解除する場合あるいは非常走行に移行する場合に即座に，電動サーボステアリングから機械的操舵システムに伝達される支援トルクを所望に制御して，全時点で運転者の快適さと確実性を保証することが可能な，新規かつ改良された電動サーボステアリングの支援トルク制御方法及びその装置を提供することにある。
【０００４】
【課題を解決するための手段】
上記課題を解決するため，請求項１に記載の発明では，点火が解除された後あるいは非常走行に移行した後に車両の電動サーボステアリングを介して機械的操舵システムに伝達される支援トルクを制御する方法であって，前記点火が解除されたか否かあるいは前記非常走行への移行が実行されたか否かを認識する認識工程と，前記認識工程で前記点火の解除あるいは前記非常走行への移行が認識された場合に，バッテリ電圧，モータ温度及び電動サーボステアリングの出力段温度からなる群から選択される少なくとも一つの車両状況あるいは周囲状況に応じて，前記支援トルクを最小値に低減する制御工程と，を有し，前記制御工程において，前記支援トルクを連続的又は段階的に低減することを特徴とする支援トルク制御方法が提供される。
【０００５】
本項記載の発明では，点火が解除された後あるいは非常走行に移行した後に，支援トルク低減の時間的変化を定めるアルゴリズムを介して，電動サーボステアリングの支援トルクが最小値に低減されるので，サーボステアリングのより高い信頼性及び快適性を得ることができる。
【０００７】
また，請求項２に記載の発明のように，前記支援トルクの前記最小値は，ゼロである如く構成すれば，突然に戻る支援トルクが最終的に運転手に伝達されなくなるので，サーボステアリングのより高い信頼性及び快適性を得ることができる。
【０００８】
また，請求項３に記載の発明のように，前記支援トルクを最小値に低減するためのアルゴリズムは，特性曲線としてメモリに格納される如く構成すれば，時間推移する特性曲線からなるアルゴリズムを，メモリから読み出して支援トルクを低減するので，アルゴリズムの計算に必要な時間が節約でき，迅速に対応することができる。
【０００９】
また，請求項４に記載の発明のように，前記支援トルクを最小値に低減するためのアルゴリズムは，数式により表現される如く構成すれば，その式からサーボステアリングの支援トルク低減の時間的な推移を計算することができる。
【００１０】
また，請求項５に記載の発明のように，前記車両状況あるいは前記周囲状況に応じて形成されるパラメータに従って，複数の異なるアルゴリズムを選択し，前記支援トルクを制御する如く構成すれば，車両状況と周囲状況に応じて支援トルク低減の時間的推移あるいは低減期間の異なるアルゴリズムから，好適なアルゴリズムを選択することができるので，サーボステアリングのより高い信頼性及び快適性を得ることができる。
【００１１】
また，請求項６に記載の発明のように，前記アルゴリズムは，マップ形式で格納される如く構成すれば，マップを介して好適にモータトルクを低減することができる。
【００１３】
また，上記課題を解決するため，請求項７に記載の発明のように，点火が解除された後あるいは非常走行に移行した後に車両の電動サーボステアリングにより機械的操舵システムに伝達される支援トルクを制御する装置であって，前記電動サーボステアリングは，前記点火が解除されたか否かあるいは前記非常走行への移行が実行されたか否かを認識し，かつ，前記点火の解除あるいは前記非常走行への移行が認識された場合にバッテリ電圧，モータ温度及び電動サーボステアリングの出力段温度からなる群から選択される少なくとも一つの車両状況あるいは周囲状況に応じて連続的又は段階的に前記支援トルクを最小値に低減する，開ループ制御／閉ループ制御ユニットを有することを特徴とする支援トルクの制御装置が提供される。
【００１４】
本項記載の発明では，点火が解除された後あるいは非常走行に移行した後に，支援トルク低減の時間的変化を定めるアルゴリズムを介して，電動サーボステアリングの支援トルクが最小値に低減されるので，サーボステアリングのより高い信頼性及び快適性を得ることができる。
【００１５】
また，請求項８に記載の発明のように，前記開ループ制御／閉ループ制御ユニットは，車両内センサ又は他の制御装置から前記車両状況あるいは前記周囲状況に関する信号を受信する如く構成すれば，車両状況あるいは周囲状況に応じて，支援トルク低減の時間的推移あるいは低減期間の異なる好適なアルゴリズムを選択することができるので，サーボステアリングのより高い信頼性及び快適性を得ることができる。
【００１６】
また，請求項９に記載の発明のように，前記開ループ制御／閉ループ制御ユニットはメモリを有し，前記メモリには１又は２以上の異なるアルゴリズムが特性曲線あるいはマップ形式で格納される如く構成すれば，アルゴリズムの計算に必要な時間が節約でき，迅速に対応することができる。
【００１７】
【発明の実施の形態】
以下，本発明の好適な実施の形態について，添付図面を参照しながら詳細に説明する。尚，以下の説明及び添付図面において，同一の機能及び構成を有する構成要素については，同一符号を付することにより，重複説明を省略する。
【００１８】
（第１の実施の形態）
以下，図１を参照しながら，第１の実施の形態について説明する。図１は，サーボステアリングの支援トルクを低減する複数の特性曲線の時間的変化を示すグラフ図である。なお，このグラフ図は，縦軸は支援トルクｍｍｏｔ（Ｎｍ），横軸は時間ｔを示す。
【００１９】
なお，本実施形態においては，時間Ｔ０で，点火が解除されたこと，あるいは非常走行への移行が実行されたことが検出され，サーボステアリングの支援トルクｍｍｏｔが値０（Ｎｍ）まで低減されるものと仮定して説明する。
【００２０】
図１に示すように，支援トルクは，直線Ａ（図中，一点鎖線で示す）に沿って，通常駆動の場合の目標値Ｕから最小値ゼロに線形的に低減される。このとき車両状況と周囲状況に応じて，直線Ａの勾配を異なるよう設定し，より短時間あるいは長時間で支援トルクｍｍｏｔの最小値に到達させることもできる。
【００２１】
このような制御は，電動サーボステアリングの開ループ制御／閉ループ制御ユニット（図示せず）により実行される。まず，開ループ制御／閉ループ制御ユニット（図示せず）は，点火が解除されたか，あるいは非常走行への移行が行われたかを認識する認識工程を実行する。次いで，認識工程で点火の解除あるいは非常走行への移行が認識された場合には，予め設定されたアルゴリズム，あるいは所定の車両状況と周囲状況を用いて選択されたアルゴリズムに従って，支援トルクを最小値に低減する制御工程を実行する。
【００２２】
この開ループ制御／閉ループ制御ユニットは，車両内に設置されるセンサ，例えばモータ温度センサ，電動サーボステアリングの出力段温度検出センサ，バッテリ電圧検出センサ，走行速度検出センサあるいは車両内に設置される他の開ループ制御ユニットあるいは閉ループ制御ユニットから信号を受信して制御工程を実行する。また，開ループ制御／閉ループ制御ユニットは，マップあるい特性曲線を格納するメモリを有する。
【００２３】
一般に，支援トルクｍｍｏｔを低減する車両状況あるいは周囲状況に関する複数の関数は，マップに格納するか，あるいは数学的な式から計算することができる。即ち，車両状況と周囲状況により定められるパラメータをその式に代入して計算される。
【００２４】
（第２の実施の形態）
次に，第２の実施の形態について図１に基づいて説明する。第１の実施の形態においては，直線Ａ（図中，一点鎖線で示す）に従って，支援トルクを通常駆動の目標値Ｕから最小値ゼロに線形的に低減したが，本実施形態のように，例えばサイン関数の一部などの曲線Ｂに沿ってサーボステアリングの支援トルクｍｍｏｔを低減することもできる。
【００２５】
本実施形態においても，モータ及び周囲状況に従って選択されたパラメータに従って，曲線の形状を設定することができる。また，複数の曲線をマップに格納し，支援トルクｍｍｏｔの最小値への到達時間を，より短時間あるいは長時間に調整することもできる。
【００２６】
（第３の実施の形態）
上記第１及び第２の実施形態の低減関数は連続的であったが，本実施形態のように，階段状曲線（曲線Ｃ）などのように支援トルクを段階的に低減することもできる。
【００２７】
本実施形態においても，車両状況に及び周囲状況に従って階段の高さ及び幅を異なるように設定することができる。また，同様に，複数の曲線をマップに格納し，支援トルクｍｍｏｔの最小値への到達時間を，より短時間あるいは長時間に調整することもできる。
【００２８】
以上，本発明に係る好適な実施の形態について説明したが，本発明はかかる構成に限定されない。当業者であれば，特許請求の範囲に記載された技術思想の範囲内において，各種の修正例および変更例を想定し得るものであり，それらの修正例および変更例についても本発明の技術範囲に包含されるものと了解される。
【００２９】
例えば，上記実施形態においては，３種類の特性曲線を使用して支援トルクを低減する構成を例に挙げて説明したが，上記以外の特性曲線を使用して好適に支援トルクを低減することもできる。
【００３０】
【発明の効果】
点火が解除された後あるいは非常走行に移行した後に，支援トルク低減の時間的変化を定めるアルゴリズムを介して，電動サーボステアリングの支援トルクが最小値に低減されるので，サーボステアリングのより高い信頼性及び快適性を得ることができる。
【図面の簡単な説明】
【図１】サーボステアリングの支援トルクを低減する複数の特性曲線の時間的変化を示すグラフ図である。
【符号の説明】
Ａ，Ｂ，Ｃ 特性曲線[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and apparatus for assisting torque control of an electric servo steering, and more specifically, after the ignition is released or the vehicle is shifted to emergency running, it is transmitted to the mechanical steering system via the electric servo steering of the vehicle. The present invention relates to an assist torque control method and apparatus for reducing the assist torque.
[0002]
[Prior art]
In the conventional servo steering, the support torque transmitted to the mechanical steering system may return suddenly and uncontrolled after the ignition is released or the vehicle shifts to emergency running. This means that the driver's steering becomes inaccurate, or the steering operation unintended by the driver is executed, and the comfort of traveling the vehicle is impaired.
[0003]
[Problems to be solved by the invention]
Therefore, the problem of the present invention is that the assist torque transmitted from the electric servo steering to the mechanical steering system is controlled as desired immediately when the ignition is released or when the emergency shift is made, and the driver is It is an object of the present invention to provide a new and improved electric servo steering assist torque control method and apparatus capable of guaranteeing the comfort and certainty of the motor.
[0004]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the invention according to claim 1 controls the assist torque transmitted to the mechanical steering system via the electric servo steering of the vehicle after the ignition is released or after the shift to emergency running. A recognition step of recognizing whether or not the ignition is released or whether or not the transition to the emergency travel is performed, and the recognition step recognizes the cancellation of the ignition or the transition to the emergency travel. If it is, the control process of the battery voltage, according to at least one vehicle condition or ambient conditions is selected from the group consisting of motors temperature and electric servo steering output stage temperature, reducing the assistance torque to a minimum value When the possess, in the control step, supporting torque control method characterized by continuously or stepwise reduce the assistance torque is provided
[0005]
In the invention described in this section, the assist torque of the electric servo steering is reduced to the minimum value through an algorithm for determining the temporal change of the assist torque reduction after the ignition is released or after shifting to the emergency running. Higher reliability and comfort of servo steering can be obtained.
[0007]
Further, if the minimum value of the assist torque is configured to be zero as in the invention described in claim 2 , the assist torque that returns suddenly cannot be transmitted to the driver in the end. Higher reliability and comfort can be obtained.
[0008]
According to a third aspect of the present invention, if the algorithm for reducing the assist torque to the minimum value is configured to be stored in a memory as a characteristic curve, an algorithm consisting of a time-varying characteristic curve, Since the support torque is reduced by reading from the memory, the time required for the algorithm calculation can be saved and a quick response can be made.
[0009]
According to a fourth aspect of the present invention, if the algorithm for reducing the assist torque to the minimum value is configured as expressed by a mathematical expression, the time for reducing the assist torque of the servo steering is calculated from the expression. The transition can be calculated.
[0010]
Further, as in the fifth aspect of the invention, if a plurality of different algorithms are selected according to parameters formed according to the vehicle situation or the surrounding situation, and the support torque is controlled, the vehicle situation Since a suitable algorithm can be selected from algorithms with different temporal transitions or reduction periods of assist torque reduction according to the surrounding conditions, higher reliability and comfort of servo steering can be obtained.
[0011]
Further, as in the invention described in claim 6 , if the algorithm is configured to be stored in the map format, the motor torque can be suitably reduced via the map.
[0013]
Further, in order to solve the above-described problem, as in the invention described in claim 7 , after the ignition is released or after the shift to the emergency running, the assist torque transmitted to the mechanical steering system by the electric servo steering of the vehicle is obtained. The electric servo steering recognizes whether or not the ignition is released or whether or not the transition to the emergency running is performed, and releases the ignition or switches to the emergency running. battery voltage when the transition is recognized, continuously or stepwise the assistance torque in accordance with at least one vehicle condition or ambient conditions selected from the group consisting of motors temperature and electric servo steering output stage temperature There is provided a control device for assist torque, characterized in that it has an open loop control / closed loop control unit that reduces to a minimum value.
[0014]
In the invention described in this section, the assist torque of the electric servo steering is reduced to the minimum value through an algorithm for determining the temporal change of the assist torque reduction after the ignition is released or after shifting to the emergency running. Higher reliability and comfort of servo steering can be obtained.
[0015]
Further, as in the invention described in claim 8 , if the open loop control / closed loop control unit is configured to receive a signal related to the vehicle situation or the ambient situation from an in-vehicle sensor or other control device, Since it is possible to select a suitable algorithm having a different time transition or reduction period of the assist torque reduction according to the situation or the surrounding situation, higher reliability and comfort of the servo steering can be obtained.
[0016]
According to a ninth aspect of the present invention, the open loop control / closed loop control unit has a memory, and the memory is configured such that one or more different algorithms are stored in a characteristic curve or map format. If this is done, the time required to calculate the algorithm can be saved and a quick response can be made.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In the following description and the accompanying drawings, components having the same function and configuration are denoted by the same reference numerals, and redundant description is omitted.
[0018]
(First embodiment)
Hereinafter, a first embodiment will be described with reference to FIG. FIG. 1 is a graph showing temporal changes of a plurality of characteristic curves for reducing servo steering assist torque. In this graph, the vertical axis represents the support torque m mot (Nm), and the horizontal axis represents time t.
[0019]
In this embodiment, at time T0, it is detected that ignition has been released or the transition to emergency running has been performed, and the servo steering assist torque m mot is reduced to a value of 0 (Nm). It is assumed that
[0020]
As shown in FIG. 1, the assist torque is linearly reduced from the target value U in the case of normal driving to the minimum value zero along a straight line A (indicated by a one-dot chain line in the figure). At this time, the slope of the straight line A can be set differently depending on the vehicle situation and the surrounding situation, and the minimum value of the assist torque m mot can be reached in a shorter time or a longer time.
[0021]
Such control is executed by an open loop control / closed loop control unit (not shown) of the electric servo steering. First, an open loop control / closed loop control unit (not shown) executes a recognition process for recognizing whether the ignition has been released or the transition to emergency running has been performed. Next, when it is recognized in the recognition process that the ignition has been released or the transition to emergency driving has been recognized, the assist torque is set to the minimum value according to a preset algorithm or an algorithm selected using a predetermined vehicle situation and surrounding situation. The control process is reduced to a minimum.
[0022]
This open-loop control / closed-loop control unit is a sensor installed in the vehicle, such as a motor temperature sensor, an electric servo steering output stage temperature detection sensor, a battery voltage detection sensor, a traveling speed detection sensor, or other sensors installed in the vehicle. The control process is executed by receiving a signal from the open loop control unit or the closed loop control unit. The open loop control / closed loop control unit has a memory for storing a map or a characteristic curve.
[0023]
In general, a plurality of functions relating to the vehicle situation or the surrounding situation for reducing the assist torque m mot can be stored in a map or calculated from mathematical expressions. That is, the calculation is performed by substituting the parameters determined by the vehicle situation and the surrounding situation into the equation.
[0024]
(Second Embodiment)
Next, a second embodiment will be described with reference to FIG. In the first embodiment, the support torque is linearly reduced from the target value U for normal driving to the minimum value zero according to the straight line A (indicated by a one-dot chain line in the figure). However, as in this embodiment, For example, the servo steering assist torque m mot can be reduced along a curve B such as a part of a sine function.
[0025]
Also in the present embodiment, the shape of the curve can be set according to the parameters selected according to the motor and the surrounding conditions. It is also possible to store a plurality of curves in a map and adjust the time for reaching the minimum value of the assist torque m mot to be shorter or longer.
[0026]
(Third embodiment)
Although the reduction functions of the first and second embodiments are continuous, the support torque can be reduced stepwise as in the case of this embodiment, such as a stepped curve (curve C).
[0027]
Also in this embodiment, the height and width of the stairs can be set differently according to the vehicle situation and the surrounding situation. Similarly, a plurality of curves can be stored in the map, and the time for reaching the minimum value of the assist torque m mot can be adjusted to be shorter or longer.
[0028]
The preferred embodiment according to the present invention has been described above, but the present invention is not limited to such a configuration. A person skilled in the art can assume various modifications and changes within the scope of the technical idea described in the claims, and the modifications and changes are also within the technical scope of the present invention. It is understood that it is included in
[0029]
For example, in the above-described embodiment, the configuration in which the assist torque is reduced using three types of characteristic curves has been described as an example. However, the assist torque can be suitably reduced using other characteristic curves. it can.
[0030]
【The invention's effect】
Since the assist torque of the electric servo steering is reduced to the minimum value through an algorithm that determines the temporal change of the assist torque reduction after the ignition is released or after the transition to emergency driving, the servo steering is more reliable. And you can get comfort.
[Brief description of the drawings]
FIG. 1 is a graph showing temporal changes of a plurality of characteristic curves for reducing servo steering assist torque.
[Explanation of symbols]
A, B, C characteristic curve

Claims (9)

点火が解除された後あるいは非常走行に移行した後に車両の電動サーボステアリングを介して機械的操舵システムに伝達される支援トルクを制御する方法であって，
前記点火が解除されたか否かあるいは前記非常走行への移行が実行されたか否かを認識する認識工程と，
前記認識工程で前記点火の解除あるいは前記非常走行への移行が認識された場合に，バッテリ電圧，モータ温度及び電動サーボステアリングの出力段温度からなる群から選択される少なくとも一つの車両状況あるいは周囲状況に応じて，前記支援トルクを最小値に低減する制御工程と，
を有し，
前記制御工程において，前記支援トルクを連続的又は段階的に低減することを特徴とする支援トルク制御方法。A method for controlling an assist torque transmitted to a mechanical steering system via an electric servo steering of a vehicle after ignition is released or after transition to emergency running,
A recognition step for recognizing whether or not the ignition is released or whether or not the transition to the emergency running has been executed;
If the release of the ignition in the recognition process or migration of the to emergency run is recognized, the battery voltage, or at least one vehicle condition selected from the group consisting of motors temperature and electric servo steering output stage temperature A control step for reducing the assist torque to a minimum value according to the surrounding situation;
I have a,
In the control step, the support torque is reduced continuously or step by step . 前記支援トルクの前記最小値は，ゼロであることを特徴とする請求項１に記載の支援トルク制御方法。The assist torque control method according to claim 1 , wherein the minimum value of the assist torque is zero. 前記支援トルクを最小値に低減するためのアルゴリズムは，特性曲線としてメモリに格納されることを特徴とする請求項１又は２に記載の支援トルク制御方法。 3. The assist torque control method according to claim 1, wherein an algorithm for reducing the assist torque to a minimum value is stored in a memory as a characteristic curve. 前記支援トルクを最小値に低減するためのアルゴリズムは，数式により表現されることを特徴とする請求項１又は２に記載の支援トルク制御方法。 3. The assist torque control method according to claim 1, wherein the algorithm for reducing the assist torque to a minimum value is expressed by a mathematical expression. 前記車両状況あるいは前記周囲状況に応じて形成されるパラメータに従って，複数の異なるアルゴリズムを選択し，前記支援トルクを制御することを特徴とする請求項１，２，３あるいは４のうちいずれか１項に記載の支援トルク制御方法。In accordance with the vehicle condition or parameter which is formed in accordance with the ambient conditions, and select a plurality of different algorithms, any one of claims 1, 2, 3 or 4, wherein the controller controls the assisting torque The assist torque control method described in 1. 前記支援トルクを最小値に低減するためのアルゴリズムは，マップ形式で格納されることを特徴とする請求項５に記載の支援トルク制御方法。6. The assist torque control method according to claim 5 , wherein an algorithm for reducing the assist torque to a minimum value is stored in a map format. 点火が解除された後あるいは非常走行に移行した後に車両の電動サーボステアリングにより機械的操舵システムに伝達される支援トルクを制御する装置であって，
前記電動サーボステアリングは，前記点火が解除されたか否かあるいは前記非常走行への移行が実行されたか否かを認識し，かつ，前記点火の解除あるいは前記非常走行への移行が認識された場合にバッテリ電圧，モータ温度及び電動サーボステアリングの出力段温度からなる群から選択される少なくとも一つの車両状況あるいは周囲状況に応じて連続的又は段階的に前記支援トルクを最小値に低減する，開ループ制御／閉ループ制御ユニットを有することを特徴とする支援トルク制御装置。A device for controlling the assist torque transmitted to the mechanical steering system by the electric servo steering of the vehicle after the ignition is released or after the transition to emergency running,
The electric servo steering recognizes whether or not the ignition has been released or whether or not the transition to the emergency travel has been executed, and when the release of the ignition or the transition to the emergency travel has been recognized. battery voltage, is reduced to a minimum value continuously or stepwise the assistance torque in accordance with at least one vehicle condition or ambient conditions is selected from the group consisting of motors temperature and electric servo steering output stage temperature, open A support torque control device comprising a loop control / closed loop control unit. 前記開ループ制御／閉ループ制御ユニットは，車両内センサ又は他の制御装置から前記車両状況あるいは前記周囲状況に関する信号を受信することを特徴とする請求項７に記載の支援トルク制御装置。8. The assist torque control device according to claim 7 , wherein the open loop control / closed loop control unit receives a signal related to the vehicle situation or the ambient situation from an in-vehicle sensor or another control device. 前記開ループ制御／閉ループ制御ユニットはメモリを有し，前記メモリには１又は２以上の異なるアルゴリズムが特性曲線あるいはマップ形式で格納されることを特徴とする請求項７又は８に記載の支援トルク制御装置。The has an open-loop control / closed-loop control unit memory, support torque according to claim 7 or 8 in the memory 1 or 2 or more different algorithms, characterized in that it is stored in a characteristic curve or map format Control device.
JP2000037389A 1999-02-16 2000-02-16 Method and apparatus for assisting torque control of electric servo steering Expired - Fee Related JP4704538B2 (en)

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