SE539681C2 - Procedure and system for providing power steering assistance in the event of power steering failure - Google Patents

Abstract

The present invention provides single servo steering assistance in a vehicle, which can be utilized in steering assistance in the event of steering servo 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 collects the vehicle internal information Inmmm. Then a 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 external information IÜQÜE. If it is determined if there is a need for the power steering assistance, that is to say for the steering assistance, based on the determined detention of the driver and on the determined prevailing traffic situation. If it is determined that there is a need for power steering assistance, this power steering assistance is provided. Fig. 2 O8l-l4 see l4ll2l pan text ready for submission.docX; 20l4-ll-28

Description

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

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

Today's vehicles often use a steering servo system to fail to steer the vehicle, that is to say to at least turn the vehicle's front wheel. A steering servo system on a vehicle thus means that less force is required to turn the steering wheel in the vehicle when the vehicle's wheels 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 almost impossible to turn the steering wheel for the driver if the steering servo system is not activated or is broken.

In the event of a power steering failure, ie when the power steering system stops providing power steering, the vehicle thus becomes very difficult to maneuver. Such a steering servo failure can occur, for example, if the vehicle has an engine stop, since the steering servo pump in a hydraulic steering servo system is often connected to, and driven by, the engine. Such a steering servo failure can also occur if one or more faults occur in a hydraulic and or an electric steering servo system in the vehicle.

Such steering servo failures can be directly dangerous to traffic, if they occur while driving, and can also be very annoying to drivers, if they occur, for example, when parking or other shorter 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 then been a complete secondary backup system to connect and / or use if the primary system would no longer provide power steering.

Brief description of the invention A problem with the previously known solution, which utilizes dual hydraulic steering servo systems, is, however, that it becomes very expensive to equip the vehicles with dual hydraulic steering servo systems, which means that the manufacturing cost of the vehicle increases considerably. Another problem with this solution is that neither the primary nor the secondary system can provide power steering if it is driven by the motor and if the power steering failure has occurred due to a motor stop.

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 marking part of claim 1. The object is also achieved by the above-mentioned system according to the marking part of claim 25, the above-mentioned vehicle, and by the above-mentioned computer program and computer program product.

The present invention provides single servo steering assistance in a vehicle which can be utilized steering assist in the event of a steering servo failure in the vehicle. According to the present invention, an intention is established in a driver of the vehicle, this intention being determined based on at least one sensor which at least partially acquires the vehicle inside information Inmam, i.e. information which can be obtained at least partially within the vehicle. Then a prevailing current driving situation for the vehicle is determined, which driving situation is determined based on at least one sensor which at least partially retrieves the vehicle's external information, ie information which is at least partially kept outside the vehicle. After this, it is determined if there is a need for the power steering assistance, that is to say 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 servo control assistance, this is provided according to the invention.

By utilizing the present invention, it can be ensured that such maneuvering of the vehicle is always provided at the edge, 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 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 be implemented without significantly increasing the hardware complexity of the vehicle.

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 which: Figure 1 shows an exemplary vehicle in which the present invention may be implemented. Figure 2 shows a flow chart of a method according to the present invention. 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 can 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 swivel 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 single steering column / steering column / steering axle 106 to be rotated. The rotation of the steering wheel rod 106 can for instance be transferred by means of a single rack control device 107 to a linear movement of a steering arm 109 and a steering rod / parallel rod 10 which are connected to the rotatable wheels 101, 102 and thereby cause the wheels 101, 102 to rotate when the steering wheel is rotated.

The rack guide device 107 may in more detail comprise, for example, a ball nut steering gear, in which the force from the steering shaft 106 is transmitted to a steering gear by means of a threaded screw, and in which the threads may be provided with a ball-like ball bearing to facilitate rotation. A nut arranged at the threaded screw to transmit screw movement 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 cause the wheel night to pivot similarly / simultaneously.

As mentioned above, the steering wheel 105 is required to be rotated with a relatively large force in order for the wheels 101, 102 to be rotated, especially for heavy vehicles and at low speeds. Therefore, vehicles are often equipped with a steering servo system to make the vehicle easier to steer. The steering servo systems also dampen impacts and shocks from the road surface.

Traditionally, only hydraulic steering servo systems are used which are driven by a motor 141 in the vehicle, where the motor 141 is used to give the hydraulic fluid a volume flow at 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 wheel rod 106 so that in the neutral position of the steering wheel, i.e. when driving straight ahead, ensure that the hydraulic fluid is pumped around in the steering servo system at the pressure. The valve device 111 is further arranged to cause the hydraulic pressure to be raised when the steering wheel leaves its neutral position, i.e. when the steering wheel is turned. That is, the valve device 111 is arranged to be opened / closed depending on whether the steering rod 106 is rotated or not. Hereby the force created by the flow of the pressurized hydraulic fluid when the steering wheel is turned by the driver can be 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 one-moment sensor 121 can be arranged at the steering column 106. which the steering column 106 rotates the dowel 105 is rotated by the driver. The torque sensor 121 is connected 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 input hydraulic steering servo system 111, 112, 113 may be less powerful than a hydraulic steering servo system alone.

As mentioned above, there is a risk of steering servo failure in the event of a hydraulic steering servo system and / or an electric steering servo system and / or if the motor 141 stops, the hydraulic pump 112 no longer being 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 are shown in the figure as separate units 310, 320, 330, 340. However, the units may also be logically separated. but be physically implemented in a single unit, or can be both logically and physically jointly arranged / implemented in units. As will be appreciated by those skilled in the art, the control unit 300 may additionally 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 assistance in a vehicle, which can be used as a steering aid in the event of 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 3010 described below, an intention of one driver of the vehicle is established, this intention being determined based on at least one sensor which at least partially obtains the vehicle, which at least contains information. partially obtainable within the vehicle.

Then, in a second step 202 of the method, for example by using the second fixing unit 320 described below, a prevailing current driving situation is determined in the vehicle, this driving situation being determined based on at least one sensor which at least partially obtains the vehicle, as well as the information provided. partially obtainable outside the vehicle.

After that, it is determined in a third step 203 of the method, for example by using the third fixing unit 330 described below, if a need exists, the power steering control assistance, i.e. for the steering assistance, based on the determined intention of the driver and on the determined prevailing traffic situation.

If it is determined that there is a need for servo control assistance, this servo control assistance is provided in a fourth step 204 of the method, for example by using the control servo unit 340 described below.

According to one embodiment of the present invention, the need for power steering assistance decreases with increasing current vehicle speed selection. Correspondingly, the need for power steering assistance increases with decreasing current vehicle speed selection. 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 power steering assistance is not provided.

By utilizing the present invention, it can be ensured that such maneuvering of vehicles is always provided, even in the event of power steering 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, allowing 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 according to various embodiments of the present invention. For different types of power steering control systems, different measures may be possible to provide the power steering assistance. Possible measures for each control servo system are stated in the following paragraphs.

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 assist may 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 respective wheels. By selectively braking certain wheels by activating selected braking devices 151, 152, 153, 154, the vehicle can be forced 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 left. Correspondingly, an activation only of the braking devices 152, 153 on the right side of the vehicle in the direction of travel causes the vehicle to be helped to turn to the right.

Functions and / or models for pre-geometric conditions of the vehicle's front trailer can be set up. Based on these functions and / or models, the ratios between different applied 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 applied. 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. In this way, the braking can be optimized with regard also to, for example, slippery surfaces.

Braking torque to be applied to achieve desired twists of the wheels 101, 102 and thus desired turns of the vehicle can be calculated for each driving 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 assist may be provided by activating a starter motor 142 in the vehicle. This measure ensures that the power steering assist 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. When the starter motor 142 is activated to rotate the motor 141, the commercial motor 141 is to be rotated, for example, at about half the speed, whereby the pump 112 can be driven again. When the pump 112 is driven around, the hydraulic pressure and hydraulic flow reach levels when the hydraulic control system 111, 112, 113 operates acceptably. Measures for the provision of servo-controlled hydraulic steering servo systems are summarized below in Table 1.

Cause of steering servo failure Steering servo assistance Fault in hydraulic system Activating brake device Engine stop Activating starter motor Table 1. Hydraulic steering servo system only If the steering servo system is instead an electrohydraulic steering servo system and one or more faults in its hydraulic steering servo system 111, 112, 113 102, 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 caused 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 actuator causes power steering assistance to be 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 operating 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 motor 141, the pump 112 will again be driven around, the hydraulic pressure and hydraulic flow again reaching levels when the hydraulic control servo system 111, 112, 113 operates acceptably.

If the steering servo system is an electrohydraulic steering servo system and one or more faults in its hydraulic steering servo system111, 112, 113 occur, power steering assist may be provided by activating the electric steering servo system 121, 122. The electrohydraulic steering servo system already has two built-in possible systems. 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 hair steering servo assistance can be obtained using the electric steering servo system 121, 122. The electric motor 122 usually draws less current than what is needed to drive the starter motor. 142, so it may be advantageous to primarily use the electric motor 122 to provide power steering assistance, especially if a 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 dependent on the charge level of the battery. Measures for providing power steering assistance for electro-hydraulic steering servo systems are summarized below in Table 2. 12 Cause of steering servo failure Steering servo assistance Fault in hydraulic system Activate brake device Activate starter motor Fault in hydraulic system Activate electric steering servo system Table 2. Electrohydraulic steering electric system electric steering servo systems 121, 122 arise, power steering assistance may 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 respective wheels. By selectively braking certain wheels by means of activation of selected braking devices 151, 152, 153, 154, the vehicle can be made to pivot as described above. Measures for the provision of power steering assistance only to electric steering servo systems are summarized below in Table 3.

Cause of steering servo failure Steering servo assistance Fault in electrical system Activating brake device Table 3. Only electric steering servo system As described above, according to the present invention at least one sensor 131 is used which at least partially retrieves the vehicle inside information when the determination 201 of the stool intention is to be performed. This at least one sensor 131 may according to various embodiments of the present invention comprise, or use, a torque sensor which is arranged 13 for sensing a torque in a steering wheel 105 in the vehicle, sensing torque in a steering column 106 in the vehicle, or sensing a torque 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 for the hydraulic steering servo system, or to another 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 in-vehicle vehicle information may include image and / or video related information. These one or more camera devices 134 may include a monocamera which creates images from a single 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 when the traditional camera with a set of lenses with which images can be captured. The stereo camera has two sets of lenses with which pictures can be taken. These two sets of lenses are placed in different places in the room with a distance between them, in the same way as the human eyes are placed with a distance between them, which means that distances in depth can be assessed, whereby three-dimensional information can be obtained through the stereo camera. The active camera includes a single projection device, which is used to determine the position and movement of the vehicle driver, in the same way as active cameras, for example, are often used in today's game consoles to let players control the game by moving their body in front of the game console's active camera. The vehicle internal information Inmam, including image and / or video related information, can then be used to identify one or more movements of the driver. This identification of movements can involve a number of steps.

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

These one or more identified objects are then classified in a subsequent step. For example, an object can be classified as "nose", "eyes", "finger", "arm" and / or "leg". A person skilled in the art realizes that a large number of classifications of body parts can be performed in the corresponding manner.

The identified and classified objects are then analyzed to determine if they are moving in space. 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 care and / or statistical models in a subsequent step, whereby the fixed movements of the objects can be identified. Example whisper hair is 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 operate a direction indicator control. A large number of different movements can be identified for the objects, of which only a few names are named. These identified movements can then be used to determine driver intentions. If, for example, the driver looks to the left, tries to turn the steering wheel to the left and / or moves as if to flash to the left with the direction indicator, these identified movements can be interpreted as the driver's intention being to turn to the left. Other types of sensors may also be included in, or connected to, the at least one sensor 131 which at least partially retrieves the vehicle internal information Inmam. For example, one or more capacitive sensors 133 may be used to determine the intention of the driver. At least one of these one or more capacitive sensors 133 can then be arranged in the steering wheel 105 of the vehicle, and can then be used to sense how the driver turns the steering wheel 105. For example, a steering wheel can be equipped with a number of capacitive sensors on the steering wheel positions where the driver holds the steering wheel. At different turns of the steering wheel, the driver's hand will actuate the steering wheel with different pressures on the different seats, which can be fixed by these capacitive sensors 133. For example, if the driver tries to turn left, the pressure on the steering wheel at the top of the driver's right hand will be greater. the driver's right hand. Although several capacitive sensors are arranged so that they sense the imprint against the steering wheel at different parts of the steering wheel corresponding to deposits where the upper and lower parts of the driver's right hand rest against the steering wheel, for example a single driver intention to bend left can be identified. In a similar way, an intention to turn right can also be identified. The driver's sitting position and change of sitting position can also be interpreted to identify the driver's intention. According to one embodiment of the present invention, therefore, at least one of said one or more capacitive sensors is arranged in a driver's seat in the vehicle to sense how the driver moves in the seat when the vehicle is driven.

According to the present invention, a prevailing driving situation for the vehicle is established 202 based on at least one sensor 132 which at least partially acquires the vehicle external information Ie fi sm, as mentioned above.

The determination of the prevailing driving situation can for example be based on positioning information in combination with information about a wave section in front of the vehicle. The information about the front wave section may include information related to a topography, a curvature and / or a base for the front wave section. The information may also include a driving pattern. other vehicles which are ridden, or have ridden on the front wave section have had.

The information about the leading wave section is 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 communicating with the vehicle 100 directly (V2V) or communicating with the vehicle 100 via one or more vehicle external devices, such as servers, the cloud or the like (V2X). Thus, in systems where information exchange between vehicles is utilized, information estimated by one vehicle can be provided to other vehicles, either directly, or via an intermediate unit such as a database or the like. The information may 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 captures the vehicle external information Iaaam needed in determining the prevailing driving situation may comprise a positioning device 132, which is arranged to provide positioning information corresponding to the vehicle position. This positioning device can for instance consist of a device for determining GPS information (GlobalPositioning System), or information from other therefore suitable positioning systems.

The at least one sensor which at least partially captures the external vehicle information needed in determining the prevailing driving situation may comprise a camera device and / or a radar device 132, which is arranged to identify objects with known location. The object location of the objects can, for example, be known from map data or from information provided from other vehicles. Such objects with known placement may comprise one or more wave signs, one or more wave lines, one or more wave streaks, 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 immersion 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.

With the aid of the positioning information, the vehicle position 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 then provide map data and positioning information to the system of the present invention, which minimizes the complexity addition for determining the information. According to an embodiment of the present invention, the determination of the prevailing driving situation is based on a current vehicle speed wax that the vehicle has. As mentioned above, the need for power steering assistance with increasing current vehicle speed decreases. Correspondingly, the need for power steering assistance increases with decreasing current vehicle speed selection. 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 power steering assistance is not provided.

The determination of the prevailing driving situation can also be based on a coefficient of friction on a wave path for a wave section in front of the vehicle 100. The need for power steering assistance reduces hair with a decreasing coefficient of friction. Correspondingly, the need for power steering assistance increases with increasing coefficient of friction. The coefficient of friction of the wave section can be determined, for example, based on information provided by a torque sensor and / or an angle sensor device for measuring at a steering column in the vehicle, by a single sensor arranged for measuring wheel grinding and / or by an electric control servo 121, 122. The coefficient of friction one or more other vehicles, directly or through one or more vehicle external units (V2V / V2X) as described above.

If, for example, ice patches and / or rolling gravel are present on the wave track, this is included in the control of the braking described above as servo steering assistance, as it may be inappropriate to brake sharply if the friction is low due to these ice patches and / or rolling gravel. For braking based on functions and / or models for restoring torque and mass over the wheels, consideration can be given to the coefficient of friction 19 for the ground, whereby a braking optimized for the ground can be provided.

Those skilled in the art will appreciate that a method of providing remote control assistance according to the present invention may additionally be implemented in a computer program, which when executed on a computer causes the computer to execute the method. The computer program usually forms part of an end computer program product 303, the computer program product comprising properly digital / non-volatile / durable storage medium on which the computer program is stored. Said non-volatile / permanent / durable / durable computer lockable media consists of a readable memory, such as, for example: ROM (Read-OnlyMemory), PROM (Programmable Read-Only Memory), EPROM (ErasablePROM), Flash memory, EEPROM (Electrically Erasable PROM ), a hard disk drive, etc.

Figure 3 schematically shows a control unit 300. The control unit 300 comprises a computing unit 301, which may be essentially any suitable type of processor or microcomputer, e.g. a Digital SignalProcessor (DSP), or an Application Specific Integrated Circuit (ASIC). The computing unit 301 is connected to a memory unit 302 arranged in the control unit 300, which provides the computing unit 301 e.g. the stored program code and / or the stored data the computing unit 301 needs 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 transmitting input and output signals, respectively. These input and output signals may contain waveforms, pulses, or other attributes, which the input signals receiving devices 311, 313 are detected as information and may be converted into signals which may be processed by the computing unit 301. These signals are then provided to the computing unit 301. The output signals 312, 314 arranged to convert conversion results from the calculation unit 301 to output signals for transmission to other parts of the vehicle's control system and / or the component (s) for which the signals are intended, for example to brake systems 151, 152, 153, 154, starter motor 142 and / or to a steering servo 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 OrientatedSystems Transport bus), or any other bus configuration; or by a wireless connection A person skilled in the art realizes that the above-mentioned computer can be constituted by the remote unit 301 and that the above-mentioned memory can be constituted by the memory unit 302.

Generally, 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 on the vehicle. Such a control system can comprise a large number of control units, and the responsibility for a specific function can be divided into more than one control unit. Vehicles of the type shown thus thus often comprise considerably more control units than are shown in Figure 1 and Figure 3, which is well known to the person skilled in the art.

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 vehicles already existing control units or in a control unit dedicated to the present invention.

Here 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 method steps.

The at least one control unit 300 is shown in Figure 1 as including separately marked units 310, 320, 330, 340. These units 310, 320, 330, 340 may be logically separated and be physically implemented in the same unit, or may be both logically and physically arranged together. 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 utilized by, a processor where the respective unit is active / utilized to perform respective process steps.

According to one aspect, the present invention provides a power steering assistance system 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 obtains the vehicle information Inmün, 10 22 so to speak. information which can be obtained at least in part within the vehicle l00.

The system also comprises a second determining unit 320, which is arranged to determine 202 of a prevailing current driving situation for the vehicle, the second determining unit 320 being arranged to determine the driving situation based on at least one sensor which at least partially retrieves the vehicle external information which is at least partially information. outside the vehicle.

The system also includes a third determining unit 330, which is arranged to determine 203 if there is a need for the power steering assistance, i.e. the control assistance, based on the established intention of the driver and on the established prevailing traffic situation.

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

By utilizing the present invention, it can be ensured that such maneuvering of vehicles is always provided, even in the event of power steering 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, allowing the present invention to be implemented without significantly increasing the hardware complexity of the vehicle.

The system according to the present invention can be arranged to carry out all the method embodiments described above, and in the claims, wherein the system for each embodiment obtains the above-described advantages for each embodiment.

Those skilled in the art will also appreciate that the above system may be modified according to 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 appended dependent

Claims (23)

Method for providing power steering assistance in a vehicle (100), characterized in that in the event of steering power failure, performing: - a determination (201) of an intention of a driver named vehicle (100) based on at least one sensor (131) which at least partially obtains the vehicle interior informationInmün, wherein said at least one sensor (131) which at least partially obtains the vehicle internal information Inm fl n said determination of said intention by said driver comprises one or more sensors in the group: - a torque sensor which is arranged to sense one moment in a steering wheel (105) in said vehicles (100); a torque sensor which is arranged to sense a torque in a steering column (106) in said vehicle (100); and - a torque sensor which is arranged to detect a torque in a control device (107) in said vehicle (100}; /, »{FmmaHw:% mcmm:% d - a determination (202) of a prevailing driving situation said vehicle ( 100) based on at least one sensor (132) which at least partially obtains the vehicle external information externally; - a determination (203) of whether there is a need for said servo control steering based on said determined intention of said driver and on said determined prevailing traffic situation, said determining said prevailing driving situation current vehicle speed va fi and wherein said need for said power steering assistance decreases with increasing current vehicle speed vam; and - a provision (204) of said servo steering assistance if said need has been determined to exist. A method according to claim 1, wherein said steering servo failure is due to at least one in the group of: - one or more faults in a hydraulic steering servo system 112, 113) in said - one or more faults in an electric steering servo system 122) - a motor stop for a motor A method according to claim 2, in said vehicle (111, vehicle (100); (121, (100); and (141) in said vehicle (100), wherein said power steering assistance in said one or more faults in said hydraulic only hydraulic actions in the group: steering servo system (111, 112, 113) in a steering servo system comprises one or more - an activation of braking of at least one wheel (101, 102, 103, 104) in said vehicle (100), and - an activation of a starter motor ( In said vehicle (100). The method of claim 2, wherein said power steering assistance in the event of one or more faults in said hydraulic electrohydraulic action in the group: steering servo systems (111, 112, 113) in a steering servo system comprises one or more - an actuation of braking of at least one wheel (101 , 102, 103, 104) in said vehicle (100); an activation of a starter motor (142) in said vehicle (100), and - 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 26 braking of at least one wheel (101, 102, 103, 104) in tribunal 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 data for said determination of said intention of said driver comprises or several camera devices (134) which are arranged to identify one or more movements of said driver. A method according to claim 6, wherein said one or more camera devices (134) comprise at least one in the group of: - a monocamera; - a stereo camera; and - an active camera comprising at least one projection device. A method according to any one of claims 6-7, wherein said identifying said one or more movements of said driver comprises: - identifying one or more object related said drivers; - classification of said one or more identified objects; determining one or more direction vectors for at least one of said one or more identified objects, and - comparing said one or more direction vectors with the respective threshold maintenance and / or statistical models. A method according to any one of claims 1-8, wherein said at least one sensor (131) which at least partially retrieves vehicle data for said determination of said intention of said driver comprises one or more capacitive sensors (133). A method according to claim 9, wherein at least one of said one or more capacitive sensors (133) is arranged in a steering wheel (105) in said vehicle (100) for sensing how said driver turns said steering wheel (105). A method according to claim 9, wherein at least one of said one or more capacitive sensors (133) is arranged in a driver's seat in said vehicle (100) for sensing how said driver moves. A method according to any one of claims 1-11, wherein said determining said prevailing driving situation is based on positioning information in combination with information about a road section lying in front of said vehicle (100). A method according to claim 12, wherein said information about said front road section comprises information related to one or more of: - a topography of said front road section; a curvature of said front section of road; - a base of said front road section; and - a driving pattern for other vehicles traveling on said front section of road. A method according to any one of claims 12-13, wherein said information about said front road section is provided based on one or more of: - map data; - one or more other vehicles (V2V / V2X); - a camera device (132); and - a radar device (132). 28 A method according to any one of claims 12-14, wherein said at least one sensor (132) which at least partially retrieves external vehicle information for determining said prevailing driving situation comprises one or more of: a positioning device (132) arranged to provide said positioning information for 100); a camera device (132) which is arranged to identify objects of known location; and - a radar device (132) which is arranged to identify objects with known location. A method according to claim 15, wherein said object with capable placement comprises one or more of: - one or more wave signs; - one or more wave lines; - one or more wavers; - one or more roundels; - one or more tunnel walls; - one or more traffic lights; and - one or more other vehicles. A method according to any one of claims 1-16, wherein said determining of said prevailing driving situation is based on a coefficient of friction on a wave path for a wave section in front of said vehicle (100). The method of claim 17, wherein said need for said power steering assistance decreases with decreasing coefficient of friction. A method according to any one of claims 17-18, wherein said coefficient of friction is determined based on information 29 provided by one or more of: - a torque sensor arranged for measuring a steering column of said vehicle (100); - an angle sensor arranged for measuring a steering column called vehicle (100); a sensor arranged for measuring wheel grinding; - one or more other vehicles; V2V / V2X; and - an electric control servo system (121, 122). A computer program comprising program code, said program code being executed in a computer causing said computer to perform the method according to any of claims 1-19. A computer program product comprising a computer readable medium and a computer program according to claim 20, wherein said computer program is included in said computer readable medium. A system for providing power steering assistance in a vehicle (100), characterized by a first determining unit (410) arranged predetermining an intention of a driver of said vehicle (100) in the event of steering power failure based on at least one sensor (131) which at least partially acquires vehicle information IhmHn, yarvid said at least one seneor (131) _, fÃFmmaHw:% mcmm:% d which at least partially acquires the vehicle information lma fi n for said determination of said intention in said, iß (FmmanemFmtwbrRw _c-- «_; _, _ __ _ _ _ -V _ e. _ _ _ __ _ _ lxlíFormatted: Font oolor: Red1.01. (119 1111191 d '..1 ,. ~ fi .. v “_' vill Lššzíc: TSöhb-'D-. vïëï qfllfâïjåfïïï ment a m: nor which is arranged to sense a torque in a steering wheel (105) in said vehicle (lÛÜ); ~ a torque sensor which is arranged to detect a torque in a (106) in said vehicle (; “ooh a mement.e'f if is provided for sensing a torque in a (107) in said vehicle (100 - a second fixing unit (4 20) arranged to determine a single driving situation for said vehicle (100) based on at least one sensor (132) which at least partially acquires the vehicle external information doctrine; a third determining unit (430) arranged predetermining whether there is a need for said servo control assistance based on said determined intention of said driver and on said determined prevailing traffic situation, said determining of said prevailing / r «(FmmaHewFmtwbnRw Formatted: Fonted: Fonted): : Font oolor: Fted körsïtuatian bam .i raéarrvrtrie: .íßel with increasing current vehicle speed vin; f, »{Fmmmæd;% mcmm;% d 222% Formatted: Font oolor: Fted enstyrservoenhet (440) arranged for providing the emergency service has been determined to exist. Vehicle (100), characterized by a system for providing power steering assistance according to claim 22.