SE1851368A1 - Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle - Google Patents

Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle

Info

Publication number
SE1851368A1
SE1851368A1 SE1851368A SE1851368A SE1851368A1 SE 1851368 A1 SE1851368 A1 SE 1851368A1 SE 1851368 A SE1851368 A SE 1851368A SE 1851368 A SE1851368 A SE 1851368A SE 1851368 A1 SE1851368 A1 SE 1851368A1
Authority
SE
Sweden
Prior art keywords
steering
vehicle
arrangement
eps
steerable wheels
Prior art date
Application number
SE1851368A
Other languages
Swedish (sv)
Other versions
SE542744C2 (en
Inventor
Malte Rothhämel
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851368A priority Critical patent/SE542744C2/en
Priority to DE102019006855.6A priority patent/DE102019006855A1/en
Publication of SE1851368A1 publication Critical patent/SE1851368A1/en
Publication of SE542744C2 publication Critical patent/SE542744C2/en

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
    • 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
    • B62D15/021—Determination of steering angle
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/06—Steering behaviour; Rolling behaviour
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/023—Determination of steering angle by measuring on the king pin
    • 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

Landscapes

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

Abstract

The present invention relates to a method performed by a control device (100) for facilitating estimating the steering angle of the steerable wheels (LW, RW) of a vehicle (V). The vehicle (V) comprises a steering system (HSS) for steering the steerable wheels (LW, RW) of the vehicle (V). The steering system comprises a steering wheel (SW), an electric power steering arrangement (EPS) operably connected to the steering wheel (SW), a hydraulic power steering arrangement (HPS) operably connected to the electric power steering arrangement (EPS) and the steerable wheels (LW, RW) of the vehicle (V). The method comprises the steps of, during a calibration process: detecting the wheel angle of the steerable wheels (LW, RW) by means of one or more angle detectors (110) arranged in connection to the steerable wheels (LW, RW); collecting calibration information comprising: detecting the steering angle associated with the electric power steering arrangement (EPS); detecting the steering wheel torque; and detecting the torque associated with the electric power steering arrangement (EPS); and, by means of a model (M) for the steering system (HSS), correlating the thus collected calibration information with the actual detected wheel angels of the steerable wheels (LW, RW).The present invention also relates to a control device for facilitating estimating the steering angle of the steerable wheels of a vehicle. The present invention also relates to a computer program and a computer readable medium.

Claims (13)

32 CLAIIVIS
1. A method (l\/l1) performed by a control device (100) for facilitatingestimating the steering angle (d) of the steerable wheels of a vehicle (V), thevehicle comprising a steering system (HSS) for steering the steerable wheels(LW, RW) of the vehicle (V), the steering system comprising a steering wheel(SW), an electric power steering arrangement (EPS) operably connected tothe steering wheel (SW), a hydraulic power steering arrangement (HPS)operably connected to the electric power steering arrangement (EPS) and thesteerable wheels (LW, RW) of the vehicle (V), the method comprising the stepsof, during a calibration process: - detecting (S1) the wheel angle (d) of the steerable wheels (LW, RW) bymeans of one or more angle detectors arranged in connection to the steerablewheels; - collecting (S2) calibration information comprising: detecting the steeringangle associated with the electric power steering arrangement (EPS);detecting the steering wheel torque; and detecting the torque associated withthe electric power steering arrangement (EPS); and, - by means of a model (l\/l) for the steering system (HSS), correlating (S3)the thus collected calibration information with the actual detected wheel angelsof the steerable wheels (LW, RW).
2. A method according to claim 1, comprising the step of, during vehicleoperation, detecting information corresponding to the collected calibrationinformation for estimating the wheel angle of the steerable wheels (LW, RW)by means of said model (l\/l).
3. A method according to claim 1 or 2, wherein the step of collectingcalibration information further comprises collecting information comprising oneor more of: detecting vehicle speed; detecting the steering angle velocityassociated with the electric power steering arrangement; and detecting the steering wheel angle. 33
4. A method according to any of claims 1-3, wherein the electric powersteering arrangement (EPS) comprises a torsion bar (TB1) for operableconnection to the steering wheel (SW).
5. A method according to any of claims 1-4, wherein the hydraulic powersteering arrangement (HPS) comprises a torsion bar (TB2) for operableconnection to the electric power steering arrangement (EPS).
6. A control device (100) for facilitating estimating the steering angle (d) ofthe steerable wheels of a vehicle (V), the vehicle comprising a steering system(HSS) for steering the steerable wheels (LW, RW) of the vehicle (V), thesteering system comprising a steering wheel (SW), an electric power steeringarrangement (EPS) operably connected to the steering wheel (SW), ahydraulic power steering arrangement (HPS) operably connected to theelectric power steering arrangement (EPS) and the steerable wheels (LW,RW) of the vehicle (V), the control device (100) being configured to, during acalibration process: - detect the wheel angle (d) of the steerable wheels (LW, RW) by means ofone or more angle detectors (110) arranged in connection to the steerablewheels (LW, RW); - collect calibration information comprising: detect the steering angleassociated with the electric power steering arrangement (EPS); detect thesteering wheel torque; and detect the torque associated with the electric powersteering arrangement (EPS); and, - by means of a model for the steering system (HSS), correlate the thuscollected calibration information with the actual detected wheel angels of thesteerable wheels (LW, RW).
7. A control device according to claim 6, the control device (100) beingconfigured to, during vehicle operation, detect information corresponding tothe collected calibration information for estimating the wheel angle of the steerable wheels by means of said model. 34
8. A control device according to claim 6 or 7, wherein the control device (100),when collecting calibration information, further is configured to collectinformation comprising one or more of: detect vehicle speed; detect thesteering angle velocity associated with the electric power steering arrangement; and detect the steering wheel angle.
9. A control device according to any of claims 6-8, wherein the electric powersteering arrangement (EPS) comprises a torsion bar (TB1) for operableconnection to the steering wheel (SW).
10. A control device according to any of claims 6-9, wherein the hydraulicpower steering arrangement (HPS) comprises a torsion bar (TB2) for operableconnection to the electric power steering arrangement (EPS).
11. A vehicle (V1) comprising a control device (100) according to any of claims6-10.
12. A computer program (P) for facilitating estimating the steering angle of thesteerable wheels of a vehicle, said computer program (P) comprising programcode which, when run on an electronic control unit (100) or another computer(500) connected to the electronic control unit (100), causes the electronic control unit to perform the steps according to claim 1-5.
13.A computer readable medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the method according to anyone of claims 1-5.
SE1851368A 2018-11-02 2018-11-02 Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle SE542744C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1851368A SE542744C2 (en) 2018-11-02 2018-11-02 Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle
DE102019006855.6A DE102019006855A1 (en) 2018-11-02 2019-10-01 Method and control device for facilitating the estimation of the steering angle of the steerable wheels of a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1851368A SE542744C2 (en) 2018-11-02 2018-11-02 Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle

Publications (2)

Publication Number Publication Date
SE1851368A1 true SE1851368A1 (en) 2020-05-03
SE542744C2 SE542744C2 (en) 2020-07-07

Family

ID=70469667

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1851368A SE542744C2 (en) 2018-11-02 2018-11-02 Method and control device for facilitating estimating the steering angle of the steerable wheels of a vehicle

Country Status (2)

Country Link
DE (1) DE102019006855A1 (en)
SE (1) SE542744C2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976833B (en) * 2020-08-10 2021-11-02 驭势科技（北京）有限公司 Method, device and equipment for calibrating steering wheel parameters and storage medium

Also Published As

Publication number Publication date
DE102019006855A1 (en) 2020-05-07
SE542744C2 (en) 2020-07-07

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