SE1451451A1 - Steering assistance at engine stop - Google Patents

Abstract

Summary The present invention provides a power steering assistance in a vehicle, which can be used to assist in the event of a power failure in the vehicle. According to the present invention, an intention is determined in a driver of the vehicle, this intention being determined based on at least one sensor which at least partially obtains the vehicle's internal information. Then a current current cross situation is determined for the vehicle, where this cross situation is determined based on at least one sensor which at least partially obtains the vehicle's external information 'externally. After it is determined if there is a need for the power steering assistance, the viii story for the steering assistance, based on the established intention of the driver and on the established prevailing traffic situation. If it is determined that there is a need for power steering assistance, this power steering assistance is provided. Fig. 2

Description

TECHNICAL EMBODIMENT The present invention relates to a method for providing power steering assistance in a vehicle according to the preamble of claim 1. The present invention also relates to a system arranged for providing power steering assistance in a vehicle according to the preamble of a system, comprising the system of claim 25. computer programs and a computer program product, which implement the method according to the invention.

Background The following background description constitutes a description of the background to the present invention, and thus does not necessarily constitute prior art.

Today's vehicles often use a steering servo system to facilitate steering of the vehicle, that is to say to turn at least the vehicle's front wheel. A steering servo system on a vehicle also means that less force is required to turn the steering wheel in the vehicle when the wheels of the vehicle are to be turned. There are today hydraulic steering servo systems, electro-hydraulic steering servo systems and electric steering servo systems.

Without a steering servo system, vehicles become very difficult to maneuver, especially at low speeds. For heavy vehicles, such as trucks, buses or similar vehicles, it is virtually impossible to turn the driver's steering wheel if the steering servo system is not activated or is broken.

In the event of a power steering failure, ie the steering servo system stops providing power steering, the vehicle becomes very difficult to maneuver. Such a loss of power steering can occur, for example, if the vehicle has an engine stop, since 081-14 see 141121 pan text ready for inlamnine.docx; 2014-11-28 2 the power steering pump in a hydraulic power steering system is often connected to, and driven by, the motor. Such a steering servo failure can occur if one or more faults occur in a hydraulic and or an electric steering servo system in the vehicle.

Such power steering failures can be directly dangerous to traffic if they occur while driving, and can also be very annoying for a driver, if they occur, for example, when parking or other short movements of the vehicle. A previously presented solution to reduce these risks and this irritation has involved the installation of dual hydraulic steering servo systems, a primary system and a secondary system, in the vehicle. According to this solution, there has been a complete secondary backup system to engage and / or utilize if the primary system would no longer provide power steering.

Brief Description of the Invention A problem with the prior art solution, which utilizes dual hydraulic steering servo systems, is, however, that it becomes very costly to equip the vehicles with dual hydraulic steering servo systems, which causes the manufacturing cost of the vehicle to increase significantly. Another problem with this solution is that neither the primary nor the secondary system can provide power steering when it is driven by the engine and when the power steering failure has occurred due to engine failure.

It is therefore an object of the present invention to provide a method and system for steering assistance in the event of steering servo failure.

This object is achieved by the above-mentioned method according to the characterizing part of claim 1. The object is also achieved by the above-mentioned system according to the characterizing part of 081-14 see 140121 pan text ready for inlamnine.docx; 2014-11-28 3 claim 25, above-mentioned vehicle, and of the above-mentioned computer program and computer program product.

The present invention provides a power steering assistance in a vehicle, which can be used for steering assistance in the event of a steering servo failure in the vehicle. According to the present invention, an intention is determined to have a driver of the vehicle, wherein this intention is determined based on At least one sensor which at least partially obtains the vehicle internal information 'internally, that is to say information which can be at least partially obtained from the vehicle. Then, a radar current current situation is determined for the vehicle, where this vehicle situation is determined based on at least one sensor which at least partially obtains the vehicle's external information 'externally, that is to say information which can be obtained at least partially outside the vehicle. After this, it is determined whether a need is dangerous for the power steering assistance, that is to say for the steering assistance, based on the established intention of the driver and on the established radar traffic situation. If it is determined that there is a need for power steering assistance, this is provided according to the invention.

By utilizing the present invention, it can be stated that things maneuvering of the vehicle can always be provided, even in the event of a fault in the steering servo system and / or in the event of an engine stop. This is ensured by the power steering assistance being provided when faults in the steering servo systems and / or engine stops occur.

The present invention can be implemented with a very small addition to the vehicle manufacturing cost. The system according to the present invention largely utilizes systems, information and / or sensors which are usually already present in the vehicle, which means that the present invention can 081-14 see 141121 pan text ready for inlamnine.docx; 2014-11-28 4 implemented without naming Oka the vehicle's hardware complexity.

BRIEF DESCRIPTION OF THE DRAWINGS The invention will be further elucidated below with reference to the accompanying drawings, in which like reference numerals are used for like parts, and in: Figure 1 shows an exemplary vehicle in which the present invention may be implemented. Figure 3 shows a control unit in which the present invention can be implemented.

Description of Preferred Embodiments Figure 1 schematically shows a vehicle 100, for example a heavy vehicle such as a truck or a bus, in which the present invention may be implemented. The figure shows only schematically and simply the parts of the vehicle which can be used to describe the present invention.

The vehicle has at least two rotatable wheels 101, 102. The vehicle also has at least two additional wheels 103, 104. The rotatable wheels 101, 102 are rotated by turning a steering wheel 105 in the vehicle by the driver, which causes a steering column / steering column / steering shaft 106 to be rotated . The rotation of the steering column 106 can be transmitted, for example, by means of a rack guide device 107 to a linear movement of a steering arm 109 and a steering rod / parallel rod 108 which are coupled to the rotatable wheels 101, 102 and thereby form the wheels 101, 102 to rotate when the steering wheel is rotated. The rack guide device 107 can in more detail, for example 081-14 see 140121 pan text ready father inlamnine.docx; 2014-11-28 comprise a ball nut guide shaft, in which the force from the steering shaft 106 is transferred to a guide shaft by means of a threaded screw, and in which the threads may be provided with balls similar to a ball bearing to facilitate rotation. A nut is provided at the threaded screw to transfer the movement of the screw to a sector shaft. From the sector shaft, the force can be transmitted to a wheel spindle via a sector arm and a control arm 109 so that the wheel 101 can be rotated. The guide bar / parallel bar 108 is arranged between the wheels 101, 102 to allow the wheels to pivot similarly / simultaneously.

As mentioned above, it is required that the steering wheel 105 be turned with a relatively rigid force in order for the wheels 101, 102 to be turned, especially for heavy vehicles and at low speeds. Therefore, vehicles are often equipped with a steering servo system to make the vehicle more easily steered. The steering servo systems dampen the top stroke and push away from the lane.

Traditionally, only hydraulic steering servo systems are often used which are driven by a motor 141 in the vehicle, while the motor 141 is used to give the hydraulic fluid a volume flow with a certain pressure by driving a hydraulic pump 112. A hydraulic steering servo system also includes a hydraulic fluid reservoir 113 and a valve device 111.

The valve device 111 is arranged at the steering column 106 in order to ensure, at the neutral position of the steering wheel, i.e. when cornering straight ahead, that the hydraulic fluid is pumped around in the steering servo system with applied pressure. The valve device 111 is further arranged to cause the hydraulic pressure to increase when the steering wheel lowers its neutral pressure, i.e. when the steering wheel is turned. Thus, the valve device 111 is arranged to be opened / closed depending on whether the steering column 106 is rotated or not. As a result, the force created by the flood of the pressurized hydraulic fluid can change the steering wheel 081-14 see 140121 pan text clear father inlamnine.docx; 2014-11-28 6 rotated by the rider is used to help turn the wheels, for example by means of the rack device 107.

There are also only electric steering servo systems, in which a torque sensor 121 can be arranged at the steering column 106 to detect a torque with which the steering column 106 is rotated and the steering wheel 105 is rotated by the driver. The torque sensor 121 is coupled to an electric motor 122, which helps to turn the steering column 106. Thus, the electric motor 122 creates a force which is used to help turn the wheels 101, 102, for example by means of the rack device 107.

There are also electro-hydraulic steering servo systems, which include both a hydraulic steering servo system 111, 112, 113 and an electric steering servo system 121, 122. For an electro-hydraulic steering servo system, the non-hydraulic steering servo system 111, 112, 113 may be less powerful on a hydraulic steering servo system alone.

As mentioned above, there is a risk of steering servo failure if faults occur in a hydraulic steering servo system and / or in an electric steering servo system and / or if the motor 141 stops, whereby the hydraulic pump 112 is no longer driven around.

As described in more detail below, the vehicle 100 includes a control unit 300 which implements the method of the present invention. The control unit 300 includes a first fixing unit 310, a second fixing unit 320, a third fixing unit 330, and a control servo unit 340.

These units 310, 320, 330, 340 Or in the figure are drawn as separate units 310, 320, 330, 340. However, the units Above may be logically separated but be physically implemented in the same unit, or may be both logically and physically jointly arranged / implemented in units. As will be appreciated by those skilled in the art 081-14 see 140121 pan text ready father inlamnine.docx; 2014-11-28 7, the control unit 300 may also be arranged to control one or more additional units in the vehicle (not shown in the figure).

According to one aspect, the present invention provides a method for a power steering assist in a vehicle, which can be used as a steering aid in the event of a steering servo failure in the vehicle.

According to the present invention, in a first step 201 of the method, for example by using the first determining unit 310 described below, an intention of a driver of the vehicle is determined, this intention is determined based on at least one sensor which at least partially obtains the vehicle information internally, the viii saga information which can be obtained at least in part from the vehicle.

Then, in a second step 202 of the method, for example by using the second determining unit 320 described below, a current current cross situation for the vehicle is determined, this driving situation being determined based on at least one sensor which at least partially obtains the vehicle external information externally, the viii said information which can be obtained at least in part outside the vehicle.

After it is determined in a third step 203 of the method, for example by using the third determining unit 330 described below, if there is a need for the power steering assistance, the viii story for the steering aid, based on the determined intention of the driver and on the determined radiating traffic situation.

If it is determined that there is a need for power steering assistance, this power steering assistance is provided in a fourth step 204 of the method, for example by using the steering servo unit 340 described below. 081-14 see 140121 pan text ready for inlamnine.docx; 2014-11-28 8 According to an embodiment of the present invention, the need for power steering assistance with increasing current vehicle speed decreases. PA correspondingly increases the need for power steering assistance with decreasing current11 vehicle speed Vact • For example, for a stationary vehicle, it is more or less impossible for the driver to turn the steering wheel in the event of a power failure if the power steering assistance is not provided.

By utilizing the present invention, it can be ensured that such maneuvering of vehicles can always be provided, even in the event of power failure due to faults in the power steering system and / or in the event of an engine stop.

The present invention can be implemented with a very small addition to the vehicle manufacturing cost. The system of the present invention utilizes systems and sensors which are usually already present in the vehicle, which allows the present invention to be implemented without significantly increasing the hardware complexity of the vehicle.

There are a number of different steps that can be taken to provide power steering assistance in accordance with various embodiments of the present invention. For different types of power steering systems, different AtOrder may be possible to take father to provide the power steering assistance. Possible AtOrder for each control servo system are specified in the following paragraphs.

If the steering servo system is a hydraulic steering servo system only and one or more faults in its hydraulic steering servo system 111, 112, 113 occur, power steering assistance can be provided by activating braking of at least one wheel 101, 102, 103, 104 in the vehicle 100 by activating at least one corresponding brake device 151, 152, 153, 154 at respective wheels. By selectively braking certain wheels by activating selected braking devices 151, 152, 153, 081-14 see 140121 pan text ready father inlamninc.docx; 2014-11-28 9 154 the vehicle can farina's to turn. If, for example, activation of only the braking devices 151, 154 on the left side of the vehicle in the direction of travel is carried out, the vehicle will be helped to turn to the left. Correspondingly, an activation of only the braking devices 152, 153 on the right side of the vehicle in the direction of travel means that the vehicle is helped to turn to the right.

Functions and / or models for geometric conditions can be installed in the vehicle's front trailer. Based on these functions and / or models, the ratios between different required braking torques and gears / turns of the vehicle can then be determined. Thus, a certain desired rotation of the wheels 101, 102 can be related to a certain braking torque to be paforas.

Functions and / or models for restoring torque and mass over the wheels can also be defined, which means that the activation of the braking can take into account the ground and its friction. As a result, the braking can be optimized with the view of the eye.

Braking torque to be applied to achieve the desired rotations of the wheels 101, 102 and thus the desired turns of the vehicle can be calculated for each cross situation, or can be calculated in advance and stored in memories / folders.

If the steering servo system is a purely hydraulic steering servo system and one or more faults in its hydraulic steering servo system 111, 112, 113 occur, power steering assistance may be provided by activating a starter motor 142 in the vehicle. This action ensures that power steering assistance is provided, for example, in the event that the engine has stopped, i.e. at engine stop, the hydraulic steering servo system 111, 112, 113 no longer functioning due to its pump 112 no longer being driven around by the engine. Da 081-14 se 140121 panstext klar far inlamnine.docx; 2014-11-28 10 the starter motor 142 is activated to rotate the motor 141, the motor 141 will be rotated, for example at about half the idle speed, whereby the pump 112 can again be driven around. When the pump 112 is driven around, the hydraulic pressure and the hydraulic flow return to levels when the hydraulic control servo system 111, 112, 113 functions acceptably.

The procedures for providing power steering assistance for hydraulic steering servo systems only are summarized below in Table 1.

Table 1. Hydraulic steering servo system only If the steering servo system is instead an electro-hydraulic steering servo system and one or more faults occur in its hydraulic steering servo system 111, 112, 113, power steering assistance can be provided by activating braking of at least one wheel 101, 102, 103, 104 in the vehicle 100 by activating at least one corresponding braking device 151, 152, 153, 154 at the respective wheels. By selectively braking certain wheels by activating selected braking devices 151, 152, 153, 154, the vehicle can be shaped to pivot as described above.

If the steering servo system is an electrohydraulic steering servo system and one or more faults in its hydraulic steering servo system 111, 112 occur, power steering assistance may be provided by activating a starter motor 142 in the vehicle. This action ensures that power steering assistance is provided, for example, in the event that the engine has stopped, the viii saga Fault in hydraulic system Activate braking device Activate starter motor Engine stop Cause of steering servo failure Steering servo assistance 081-14 see 140121 pan text ready father inlamnine.docx; 2014-11-28 11 at engine stop, whereby the hydraulic control servo system 111, 112, 113 no longer works due to its pump 112 no longer being driven around by the engine 141. When the starter motor 142 is activated to pull around the engine 141, the pump 112 will again driven around, whereby the hydraulic pressure and the hydraulic surface return to levels at the hydraulic steering servo system 111, 112, 113 function acceptably.

If the steering servo system is an electro-hydraulic steering servo system and one or more faults in its hydraulic steering servo system 111, 112, 113 occur, power steering assistance can be provided by activating the electric steering servo system 121, 122. The electro-hydraulic steering servo system already has two built-in possible systems. considered to provide redundant shape for power steering. If, according to the present invention, it is determined 203 that there is a need for power steering assistance due to the hydraulic steering servo system not functioning properly, then steering servo assistance has been obtained by means of the electric steering servo system 121, 122. The electric motor 122 usually draws less tight than what If it is possible to drive the starter motor 142, it may be advantageous to primarily use the electric motor 122 to provide power steering assistance, especially if the battery in the vehicle is not fully charged.

Alternatively, the choice between activating the starter motor 142 and the electric motor 122 to provide power steering assistance may be made depending on the charge level of the battery.

Procedures for the provision of power steering assistance for electrohydraulic steering servo systems are summarized below in Table 2. 081-14 see 140121 pan text ready father inlamnine.docx; 2014-11-28 12 Cause of power failure Power steering assist Fault in hydraulic system Activate brake system Engine stop Activate starter motor Fault in hydraulic system Activate electric power steering system Table 2. Electrohydraulic power steering system If the power steering system is an electric power steering system only and one or more faults in this 122 power steering system 121, power steering assistance is provided by activating braking of at least one wheel 101, 102, 103, 104 in the vehicle 100 by activating at least one corresponding braking device 151, 152, 153, 154 at the respective wheels. By selectively braking certain wheels by activating selected braking devices 151, 152, 153, 154, the vehicle can be shaped to pivot as described above.

Measures for the provision of power steering assistance for electric steering servo systems only are summarized below in Table 3.

Table 3. Electrical control servo system only As described above, according to the present invention, at least one sensor 131 is used which at least partially obtains the vehicle internal information 'internally when the determination 201 of the driver's intention is to be performed. This at least one sensor 131 may according to various embodiments of the present invention comprise, or utilize, a torque sensor which is arranged Cause of steering servo failure Steering servo assistance Fault In electrical system Activate braking device 081-14 see 141121 pan text ready for inlamnine.docx; 2014-11-28 13 may detect a moment in a steering wheel 105 in the vehicle, karma of a moment in a steering column 106 in the vehicle, or karma of a moment in a control device 107 in the vehicle. In Figure 1, this has been schematically illustrated as the sensor 131 being connected to the torque sensor 121 in the electric control servo system. However, the sensor 131 could also be connected in a corresponding manner to the valve device 111 via the hydraulic steering servo system, or to some other torque sensor along the steering column / steering column 106 and / or in the steering device 107.

The at least one sensor 131 may, according to one embodiment, comprise one or more camera devices 134, which are arranged to identify one or more movements of the driver of the vehicle. Thus, the vehicle's internal information 'internally may have included image and / or video related information. These one or more camera devices 134 may comprise a monocamera which creates images from one position, a stereo camera which creates images from two positions and / or an active camera which creates images by utilizing projections. The mono camera is thus a traditional camera with a set of lenses with which images can be taken. The stereo camera has two sets of lenses with which pictures can be taken. These two sets of lenses are placed at different places in the room at a distance from each other, in the same way as the human eyes are placed at a distance between them, which allows distance in depth to be assessed, whereby three-dimensional information can be obtained through the stereo camera. The active camera includes a projection device, which is used to determine the position and movement of the vehicle's driver, in the same way that active cameras, for example, are often used in today's game consoles to allow players to control the game by moving their body in front of the game console's active camera. 081-14 se 140121 panstext klar far inlamnine.docx; 2014-11-28 14 The vehicle's internal information, including image and / or video-related information, can then be used to identify one or more dangers of the driver. This identification of movements can involve a number of steps.

A first such step may then comprise in this in-vehicle information internally identifying one or more objects related to the driver, such as identifying a body part of the driver. For example, parts of the face and / or one or more extremities, such as an arm or a leg, can be identified as objects of interest for further analysis.

These one or more identified objects are then classified in a subsequent step. For example, an object may be classified as "nose", "eyes", "finger", "arm" and / or "leg". One skilled in the art will recognize that a large number of classifications of body parts can be made in a similar manner.

The identified and classified objects are then analyzed to determine if they are moving in the room. One or more directional vectors are determined in one step for at least one of the one or more identified objects, the movements of the objects being determined.

These one or more fixed direction vectors are then compared with the respective corresponding threshold values and / or statistical models in a subsequent step, whereby the fixed movements of the objects can be identified. For example, it can be identified if the driver is looking to the right / left / straight ahead, if the driver is moving his arms as if to turn the steering wheel, or if the driver is moving an arm, a hand and / or a finger as if to shoot a correction pointer. A large number of different movements can be identified for the objects, of which only one has a fatal name. These identified movements can 081-14 see 140121 pan text ready father inlamninp.docx; 2014-11-28 then everything is used to establish the driver's intentions. If, for example, the driver looks to the left, tries to turn the steering wheel to the left and / or turns sip as if to blink at the left with the direction indicator, these identified distractions can be interpreted as the driver's intention is to turn left.

Other types of sensors may also be included in, or connected to, the at least one sensor 131 which at least partially retrieves internal vehicle information internally. For example, one or more capacitive sensors 133 may be used to determine the driver's intention. At least one of these one or more capacitive sensors 133 may then be arranged in the steering wheel 105 of the vehicle, and may then be used to frame the driver turning the steering wheel 105. For example, a steering wheel may be equipped with a number of capacitive sensors at the positions of the steering wheel. hailer in the steering wheel. At different turns of the steering wheel, the driver's hand will actuate the steering wheel with different pressures in different positions, which can be determined by these capacitive sensors 133. For example, if the driver tries to turn At left, the pressure against the steering wheel at the upper part of the driver's right hand will be greater than the pressure against the steering wheel at the lower part of the driver's right hand. If several capacitive sensors are arranged so that they can feel the pressure against the steering wheel at different parts of the steering wheel corresponding to the positions where the upper and lower parts of the driver's right hand rest against the steering wheel, then for example a driver intention to turn left can be identified. Correspondingly, an intention to turn right can also be identified.

The driver's sitting position and the burning of the sitting position can also be interpreted to identify the driver's intention. According to an embodiment of the present invention, at least one of the aforementioned one or more capacitive sensors arranged in a panel text ready for inlamnine.docx; 2014-11-28 16 danger seat in the vehicle to karma of how the driver moves in the seat when the vehicle is driven.

According to the present invention, a radiating cross-position for the vehicle based on At least one sensor 132 is established which at least partially retrieves external vehicle information externally, as mentioned above.

The determination of the radiating cross situation can, for example, be based on positioning information in combination with information about a section of road in front of the vehicle.

The information about the front section of the road may include information related to a topography, a curvature and / or a basis for the front road section. The information may also include a grain sample that other vehicles which are traveling, or have been traveling on, the road section in front have had.

The information about the leading road section can be provided based on map data, for example from digital maps. The information may also be provided based on information from one or more other vehicles, which communicate with the vehicle 100 directly (V2V) or communicate with the vehicle 100 via one or more vehicle external devices, such as servers, the cloud or the like (V2X). In systems where information exchange between vehicles is used, all information estimated by a vehicle can be provided to other vehicles, either directly, or via an intermediate unit such as a database or the like. The information can also be provided by a camera device 132 and / or a radar device 132 in the vehicle.

The at least one sensor which at least partially obtains the vehicle external information 'external needed in determining the radiating cross situation may comprise a 081-14 see 141121 pan text ready for inlamnine.docx; Positioning device 132, which is arranged to provide positioning information corresponding to the position of the vehicle. This positioning device can, for example, be provided by a device for determining GPS information (Global Positioning System), or information from other necessary positioning systems.

The at least one sensor which at least partially obtains the vehicle external information externally required in determining the riding cross situation may comprise a camera device and / or a radar device 132, which is arranged to identify objects with cheek location. The known location of the objects can be, for example, from Iran map data or from information provided by other vehicles. Such objects with a cheek location may comprise one or more road signs, one or more road lines, one or more road lanes, one or more roundabouts, one or more tunnel walls, one or more traffic lights and / or one or more other vehicles. Since it is thus known where these objects are located and the camera device and / or a radar device 132 can identify the objects when the vehicle is in these objects, the position of the vehicle can also be determined.

Using the positioning information, the position of the vehicle in relation to the map data can be determined so that the information can be extracted from the map data.

In several current cruise control systems, map data and positioning information are used for cruise control. Such systems can provide map data and positioning information to the system of the present invention, minimizing the complexity added to determining the information. 081-14 se 140121 panstext klar far inlamnine.docx; 2014-11-28 18 According to an embodiment of the present invention, the determination of the radiating cross situation is based on a current vehicle speed guard that the vehicle has. As mentioned above, the need for power steering assistance decreases with increasing current vehicle speed guard. The corresponding need is for the need for power steering assistance with decreasing current vehicle speed Vact • For example, for a stationary vehicle, it is more or less impossible for the driver to turn the steering wheel in the event of a power failure if the power steering assistance is not provided.

The determination of the radiating cross situation can also be based on a coefficient of friction on a lane of a lane section in front of the vehicle 100. The need for power steering assistance decreases with decreasing coefficient of friction. Correspondingly, the need for power steering assistance with an increasing coefficient of friction increases. The coefficient of friction of the wagon section can be determined, for example, based on information provided by a torque sensor and / or an angle sensor arranged for feeding at a steering column in the vehicle, by a sensor arranged for feeding wheel grinders and / or by an electric steering servo 121, 122. is also determined based on information provided by one or more other vehicles, directly or via one or more vehicle external units (V2V / V2X) as described above.

If, for example, ice floes and / or rolling gravel are present on the roadway, this can be included in the control of braking described above as power steering assistance, as it may be inappropriate to brake heavily during friction or law due to these ice floes and / or rolling gravel. For braking based on functions and / or models for restoring torque and mass Above the wheels, consideration can be given to the coefficient of friction 081-14 see 140121 pan text ready for inlamninc.docx; 2014-11-28 19 for the surface, whereby an optimized braking can be provided for the surface.

Those skilled in the art will appreciate that a method of providing power steering assistance according to the present invention may additionally be implemented in a computer program, which when executed on a computer, the computer performs the method. The computer program usually forms part of a computer program product 303, wherein the computer program product comprises a suitable digital non-volatile / permanent / permanent / durable storage medium on which the computer program Or is stored. The said non-volatile / permanent / durable / durable computer readable media consists of a readable memory, such as: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk drive, etc.

Figure 3 schematically shows a control unit 300. The control unit 300 comprises an enrichment unit 301, which may consist of essentially any suitable type of processor or microcomputer, e.g. a Digital Signal Processor (DSP), or an Application Specific Integrated Circuit (ASIC). The calculating unit 301 Or connected to a memory unit 302 arranged in the control unit 300, which provides the calculating unit 301 e.g. the stored program code and / or the stored data calculation unit 301 need to be able to perform calculations. The calculation unit 301 is also arranged to store partial or final results of calculations in the memory unit 302.

Furthermore, the control unit 300 is provided with devices 311, 312, 313, 314 for receiving and sanding in- and 081-14, respectively, see 140121 pan text ready for inlamnine.docx; 2014-11-28 output signals. These input and output signals may contain waveforms, pulses, or other attributes, which of the input signals receiving devices 311, 313 may be detected as information and may be converted into signals which may be processed by the calculating unit 301. These signals are then provided to the calculating unit 301. The devices 312 , 314 for sending output signals are arranged to convert calculation results from the calculation unit 301 to output signals for transmission to other parts of the vehicle control system and / or the component (s) for which the signals Or are intended, for example to brake systems 151, 152, 153, 154, to the starter motor. 142 and / or to a power steering system 111, 112, 113, 121, 122.

Each of the connections to the devices for receiving and transmitting input and output signals, respectively, may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Orientated Systems Transport bus), or any other bus configuration; or of a wireless connection A person skilled in the art will recognize that the above-mentioned computer may be the storage unit 301 and that the above-mentioned memory may be the memory unit 302.

General control systems in modern vehicles consist of a communication bus system consisting of one or more communication buses for interconnecting a number of electronic control units (ECUs), or controllers, and various components located in the vehicle. Such a control system may comprise a large number of control units, and the responsibility for a specific function may be divided into more than one control unit. Vehicles of the type shown include ants & 081-14 see 140121 pan text ready father inlamnine.docx; 2014-11-28 21 often significantly more control units than what is shown in figure 1 and figure 3, which is the choice for the person skilled in the art in the field of technology.

In the embodiment shown, the present invention is implemented in the control unit 300. However, the invention can also be implemented in whole or in part in one or more other control units already existing with the vehicle or in a control unit dedicated to the present invention.

Father and in this document units are often described as being arranged to perform steps in the method according to the invention.

This also includes that the units are adapted and / or arranged to perform these process steps.

The at least one control unit 300 is shown in Figure 1 as comprising separately marked units 310, 320, 330, 340. These units 310, 320, 330, 340 may be logically separated but be physically implemented in the same unit, or may be both logically and physically jointly arranged / implemented. For example, these units 310, 320, 330, 340 may correspond to different groups of instructions, for example in the form of program code, which are entered into, and used by, a processor when each unit is active / used to perform the respective process steps.

According to one aspect, the present invention provides a system for a power steering assistance in a vehicle, which can be used as a steering aid in the event of a steering servo failure in the vehicle 100.

According to the present invention, the system comprises a first determining unit 310, which is arranged for determining 201 an intention of a driver of the vehicle, wherein the first determining unit 310 is arranged to determine the intention based on at least one sensor 132 which at least partially collects the vehicle information internally, 081-14 se 141121 panstext klar far inlamnine.docx; 2014-11-28 22 the viii saga information which can be obtained at least in part from the vehicle 100.

The system also includes a second determining unit 320, which is arranged to determine 202 a current current crossing situation for the vehicle, where the second determining unit 320 is arranged to determine the crossing situation based on at least one sensor which at least partially obtains the vehicle external information externally, the said information which can be obtained at least in part outside the vehicle.

The system also comprises a third determining unit 330, which is arranged to determine 203 if there is a need for the power steering assistance, that is to say the steering aid, based on the determined intention of the driver and on the determined radiating traffic situation.

The system also includes a control servo unit 340, which is arranged to provide 204 of this power steering assistance. If it has been determined that there is a need for power steering assistance.

By utilizing the present invention, it can be ensured that vehicle maneuvering can always be provided, even in the event of a power failure due to a fault in the steering system and / or in the event of an engine stop.

The present invention can be implemented with a very small addition to the vehicle manufacturing cost. The system of the present invention utilizes systems and sensors which are usually already present in the vehicle, which enables the present invention to be implemented without compromising the hardware complexity of the vehicle.

The system of the present invention can be arranged to execute all of the above, and in the claims, described 081-14 see 140121 pan text clear father inlamnine.docx; 2014-11-28 23 the procedure embodiments, wherein the system for each embodiment receives the above-described advantages for each embodiment.

Those skilled in the art will also appreciate that the above system may be modified according to the various embodiments of the method of the invention.

In addition, the invention relates to a motor vehicle 100, for example a truck or a bus, comprising at least one system for providing power steering assistance.

The present invention is not limited to the above-described embodiments of the invention but relates to and encompasses all embodiments within the scope of the appended independent claims. 081-14 se 141121 panstext klar far inlamnine.docx; 11/28/2014 24

Claims (26)

A method for providing power steering assistance in a vehicle (100), characterized in that in the event of steering power failure, performing: - determining (201) an intention of a driver of said vehicle (100) based on at least one sensor (131) which at least partly the vehicle internally collects information I internally; Determining (202) a radiating cross situation for said vehicle (100) based on at least one sensor (132) which at least partially retrieves external vehicle information externally; 2. a determination (203) of whether there is a need for said power steering assistance based on said established intention of said driver and on said established radar traffic situation; and 3. a provision (204) of said power steering assistance if said need has been identified as dangerous. The method of claim 1, wherein said power steering failure is due to at least one in the group of: One or more faults in a hydraulic steering servo system (111, 112, 113) in said vehicle (100); 2. one or more faults in an electric steering servo system (121, 122) in said vehicle (100); and 3. an engine stop for an engine (141) in said vehicle (100). A method according to claim 2, wherein said power steering assistance in the event of one or more faults in said hydraulic steering servo system (111, 112, 113) in a hydraulic steering servo system alone comprises one or more actions in the group: 081-14 see 140121 pan text ready for submission. docx; 2014-11-28 1. an activation of braking of at least one wheel (101, 102, 103, 104) in said vehicle (100); and 2. an actuation of a starter motor (142) in said vehicle (100). The method of claim 2, wherein said power steering assistance at said one or more tel in said hydraulic steering servo system (111, 112, 113) of an electrohydraulic steering servo system comprises one or more actuators in the group: 1. activating braking of at least one wheel ( 101, 102, 103, 104) in said vehicle (100); 2. an activation of a starter motor (142) in said vehicle (100); and 3. an activation of said electric control servo system (121, 122). The method of claim 2, wherein said power steering assistance in the event of one or more faults in said electric steering servo system (121, 122) in a single electric steering servo system comprises activating braking of at least one wheel (101, 102, 103, 104) in said vehicle (100). A method according to any one of claims 1-5, wherein said at least one sensor (131) which at least partially retrieves vehicle internal information internally for said determination of said intention in said driver comprises one or more sensors in the group: 1. a torque sensor which is arranged to frame a torque in a steering wheel (105) in said vehicle (100); A torque sensor which is arranged to frame a torque in a steering column (106) in said vehicle (100); and - a torque sensor which is arranged to frame a torque in a control device (107?) in said vehicle (100). 081-14 se 140121 panstext klar far inlamnine.docx; 11/28/2014 26 A method according to any one of claims 1-6, wherein said at least one sensor (131) which at least partially retrieves pre-internal information in the said for determining said intention of said driver comprises one or more camera devices (134) which are arranged to identify one or more movements of said driver. The method of claim 7, wherein said one or more camera devices (134) comprise at least one in the group of: - a single camera; 1. a stereo camera; and 2. an active camera comprising at least one projection device. A method according to any one of claims 7-8, wherein said identifying said one or more movements of said driver comprises: 1. identifying one or more objects related to said driver; 2. classification of said one or more identified objects; Determining one or more directional vectors for at least one of said one or more identified objects; and 4. comparing said one or more directional vectors with the respective threshold values and / or statistical models. A method according to any one of claims 1-9, wherein said at least one sensor (131) which at least partially obtains pre-internal information internally for determining said intention of said driver comprises one or more capacitive sensors (133). 081-14 se 141121 panstext klar far inlamnine.doex; 11/28/2014 27 The method of claim 10, wherein at least one of said one or more capacitive sensors (133) is disposed in a steering wheel (105) of said vehicle (100) to frame how said driver rotates said steering wheel (105). The method of claim 10, wherein at least one of said one or more capacitive sensors (133) is disposed in a driver's seat of said vehicle (100) to frame how said driver moves. A method according to any one of claims 1-12, wherein said determining said radiating cross situation is based on positioning information in combination with information about a road section lying in front of said vehicle (100). The method of claim 13, wherein said information about said protruding vaginal sections comprises information related to one or more of: 1. a topography of said protruding vaginal sections; 2. a curvature of said forward section of vague; 3. a substrate of said protruding wagon section; and 4. a core sample for other vehicles which travel on said forward road section. A method according to any one of claims 13-14, wherein said information about said forward road section is provided based on one or more of: 1. map data; - one or more other vehicles (V2V / V2X); A camera device (132); and 3. a radar device (132). A method according to any one of claims 13-15, wherein said at least one sensor (132) which at least partially retrieves vehicle external information external to said 081-14 see 141121 pan text ready for inlamnine.docx; Determining the said radiating cross situation comprises one or more of: 1. a positioning device (132) which is arranged to provide said positioning information for said vehicle (100); A camera device (132) which is arranged to identify objects with kdnd location; and 3. a radar device (132) which is arranged to identify objects with kdnd location. A method according to claim 16, wherein said object with a candid location comprises one or more of: 1. one or more road signs; 2. one or more vaginal lines; 3. one or more vdgracken; - one or more roundels; 4. one or more tunnel walls; 5. one or more traffic lights; and 6. one or more other vehicles. A method according to any one of claims 1-17, wherein said determining said radiating cross situation is based on a current vehicle speed. The method of claim 18, wherein said need for said power steering assistance decreases with increasing current vehicle speed. A method according to any one of claims 1-19, wherein said determining said rescue driving situation is based on a coefficient of friction on a roadway for a road section in front of said vehicle (100). 081-14 se 140121 panstext klar far inlamnine.docx; 11/28/2014 29 The method of claim 20, wherein said need for said power steering assistance decreases with decreasing coefficient of friction. A method according to any one of claims 20-21, wherein said coefficient of friction is determined based on information provided by one or more of: 1. a torque sensor arranged to feed a steering column in said vehicle (100); An angle sensor arranged to feed a steering wheel in said vehicle (100); A sensor arranged for feeding wheel slip; 4. one or more other vehicles; V2V / V2X; and 5. an electric control servo system (121, 122). A computer program comprising program code, which, when said program code is executed in a computer, causes said computer to perform the procedure according to any of claims 1-22. A computer program product comprising a computer readable medium and a computer program according to claim 23, wherein said computer program is included in said computer readable medium. A system for providing power steering assistance in a vehicle (100), characterized by 1. a first determining unit (410) arranged for determining an intention of a driver of said vehicle (100) in the event of a steering servo failure based on at least one sensor (131) which at least partially retrieving vehicle external information internally; 2. a second determining unit (420) arranged to determine a radiating cross situation for said vehicle (100) based on at least one sensor (132) which at least partially retrieves vehicle external information externally; 081-14 se 140121 panstext klar far inlamninp.docx; 2014-11-28 3. a third determining unit (430) arranged for determining the need exists for said servo steering control based on said determined intention has said driver and on said fixed controlling traffic situation; and 4. a control servo unit (440) arranged to provide said power steering assistance if said need has been determined to be present. Vehicle (100), characterized by a system for providing power steering assistance according to claim 25, 081-14 see 140121 pan text ready for inlamnine.docx; 2014-11-28 100 1/3 \ - 132 '' '■ -101 109/0 I \ \ I 0/107, 151t1 //// 108 152 102 H 122 111 33 33 300 121 -106 -104 103 L, 141