WO2004022411A1 - Dispositif et procede relatifs a une direction assistee pour vehicules a moteur a direction electromecanique - Google Patents

Dispositif et procede relatifs a une direction assistee pour vehicules a moteur a direction electromecanique Download PDF

Info

Publication number
WO2004022411A1
WO2004022411A1 PCT/EP2003/009288 EP0309288W WO2004022411A1 WO 2004022411 A1 WO2004022411 A1 WO 2004022411A1 EP 0309288 W EP0309288 W EP 0309288W WO 2004022411 A1 WO2004022411 A1 WO 2004022411A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
support
end stop
angle
assistance
Prior art date
Application number
PCT/EP2003/009288
Other languages
German (de)
English (en)
Inventor
Olaf Kwasny
Klaus Wahnschaffe
Holger Manz
Original Assignee
Volkswagen
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 Volkswagen filed Critical Volkswagen
Publication of WO2004022411A1 publication Critical patent/WO2004022411A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0469—End-of-stroke control

Definitions

  • the invention relates to a device and a method for steering assistance for vehicles with electromechanical steering.
  • a central steering limiting valve which lowers a working pressure of the servomotor when a maximum value of a steering angle of a vehicle wheel determined by mechanical end stops on the vehicle is reached, is both directly connected to the pump pressure line of a power steering pump connected to the servomotor and can also be controlled by sensing elements influenced by the steering angle.
  • An analog valve used as a steering limiting valve is influenced by a control signal in such a way that the working pressure is reduced in proportion to the increase in the steering angle.
  • electromechanical steering systems are known, an auxiliary force being applied by an electric servo motor in addition to a steering angle specified by the driver by means of a steering wheel via a continuous mechanical connection.
  • An adjustment angle applied overall by the steering means and servo motor is limited by mechanical end stops. If an end stop is not recognized, the servo motor continues to support with high current. This can result in high power and thus fuel consumption or a failure of the steering as a result.
  • the invention is therefore based on the technical problem of creating a device and a method for driving situation-dependent steering support for vehicles with electromechanical steering, electronic components being protected against overloading.
  • a support angle and / or support torque applied by a servo motor for the steering support becomes dependent on the driving situation, for example depending on a steering angle, controlled and / or regulated, the support angle and / or the support torque is reduced by a variable software end stop, the software end stop being increased at least with increasing steering angle.
  • An angle value can be determined, for example, as a software end stop, by means of which the support angle is reduced or a torque which counteracts the support torque.
  • the software stop which reduces steering assistance, prevents the servo motor from overheating and reduces the average power consumption.
  • an end stop is suggested to a driver which corresponds to an end stop known, for example, from hydraulic systems. This leads to an improvement in a steering feel in the area of a mechanical end stop. This also protects the mechanical components against being turned too quickly into the end stop.
  • the software end stop is additionally dependent on a steering angular velocity. Taking the steering angular velocity into account has a damping effect, so that protection against rapid turning into the mechanical end stop is improved.
  • the software end stop is determined from at least one spring characteristic and one damper characteristic.
  • the spring support reduces the steering assistance in the vicinity of the mechanical end stop in quasi-static conditions.
  • the damper characteristic prevents the steering from being steered into the mechanical end stop at too high a steering angle speed.
  • Fig. 1 shows a schematic diagram of an electromechanical steering
  • Fig. 1 shows a schematic diagram of an electromechanical steering system with steering support, comprising a steering means 1 designed as a steering wheel and a servo motor 2, which are connected to a rack 3 via gears 11, 21.
  • the rack 3 can be controlled via a known steering connection, not shown also not shown steerable wheels of a vehicle connected.
  • the steering means 1 is operatively connected via a torsion bar 10 and the gear 11 to the rack 3.
  • an assist torque determined in a computing unit 4 is additionally applied by the servo motor 2.
  • An additional movement of the rack 3 by the servo motor 2 leads to a torsion of the torsion bar 10.
  • the torsion of the torsion bar 10 can be measured by a known torque sensor 51.
  • a driving situation of the vehicle can be described by driving speed v, steering angle ⁇ , steering angle speed ⁇ ° and steering torque ⁇ ⁇ .
  • the driving speed v is determined by a sensor 52, for example a speedometer, the steering angle ⁇ by a sensor 53.
  • the steering angle speed ⁇ ° is determined by a sensor 54.
  • All recorded values of the driving situation are fed to the computing unit 4.
  • a support moment and / or a support angle is determined on the basis of this data.
  • a software stop 6 is also determined as a function of the steering angle ⁇ and the steering angle speed ⁇ ° .
  • the software stop 6 can be integrated into the computing unit 4 or can be trained with its own computing unit.
  • the software end stop 6 reduces steering assistance when a mechanical end stop of the steering angle ⁇ is reached, which results in significant advantages.
  • the detection leads to a reduction in the average current consumption and thus to a reduction in fuel consumption, an improvement in the steering feel at the stop, protection of the mechanical components against too rapid turning into the mechanical end stop and protection of the electronic components against overheating.
  • a reduction in the support provided by the servo motor depending on the steering angle is achieved using two characteristic curves, a so-called spring characteristic and a damper characteristic. While the spring characteristic has the task of reducing the steering assistance in a quasi-static state, the damper characteristic prevents the steering from being steered into the stop at too high a steering angle speed.
  • FIG. 2 schematically shows a course of the software stop 6 determined as a function of the steering angle ⁇ .
  • the dashed line shows a maximum value of the steering angle ⁇ max .

Landscapes

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

Abstract

Dispositif et procédé relatifs à une direction assistée pour véhicules à moteur à direction électromécanique. Selon ledit procédé, les roues du véhicule, pouvant être dirigées, sont connectées, en vue de leur actionnement, tant à un moyen de direction (1) influencé par un conducteur qu'à un servomoteur électrique (2). Un angle d'assistance et / ou un couple d'assistance appliqués par le servomoteur (2) à la direction assistée sont commandés et / ou régulés en fonction de la situation de roulement et l'angle d'assistance et / ou le couple d'assistance sont réduits par une butée logicielle variable (6), ladite butée logicielle variable (6) étant augmentée au moins avec l'augmentation de l'angle de direction (δ).
PCT/EP2003/009288 2002-09-06 2003-08-21 Dispositif et procede relatifs a une direction assistee pour vehicules a moteur a direction electromecanique WO2004022411A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10244067.0 2002-09-06
DE2002144067 DE10244067A1 (de) 2002-09-06 2002-09-06 Vorrichtung und Verfahren zur Lenkunterstützung für Fahrzeuge mit elektromechanischer Lenkung

Publications (1)

Publication Number Publication Date
WO2004022411A1 true WO2004022411A1 (fr) 2004-03-18

Family

ID=31969404

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2003/009288 WO2004022411A1 (fr) 2002-09-06 2003-08-21 Dispositif et procede relatifs a une direction assistee pour vehicules a moteur a direction electromecanique

Country Status (2)

Country Link
DE (1) DE10244067A1 (fr)
WO (1) WO2004022411A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007049112A1 (fr) * 2005-10-28 2007-05-03 Toyota Jidosha Kabushiki Kaisha Systeme de direction assistee
WO2010062222A1 (fr) * 2008-11-26 2010-06-03 Volvo Construction Equipment Ab Procédé pour étalonner un capteur d'angle et véhicule avec un capteur d'angle
EP3795454A1 (fr) * 2019-09-13 2021-03-24 Jtekt Corporation Dispositif de commande de direction

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005038390B4 (de) * 2004-12-07 2014-10-30 Volkswagen Ag Lenkung eines Fahrzeugs
DE102006003428B4 (de) * 2006-01-25 2020-10-08 Robert Bosch Gmbh Elektromechanische Lenkvorrichtung sowie Verfahren zur Realisierung eines Software-Endanschlags
DE102006052092B4 (de) * 2006-11-04 2021-01-07 Robert Bosch Gmbh Verfahren zum Betrieb eines Servolenksystems
DE102007001638A1 (de) 2007-01-11 2008-07-17 Zf Lenksysteme Gmbh Verfahren zum Betreiben einer Hilfskraftlenkung
DE102007045781A1 (de) * 2007-09-25 2009-04-09 Deere & Company, Moline Landwirtschaftliches Fahrzeug
DE102007055773A1 (de) 2007-12-12 2009-06-18 Zf Lenksysteme Gmbh Verfahren für den Betrieb einer elektrischen Hilfskraftlenkung
DE102008056471A1 (de) 2008-05-02 2009-11-05 Volkswagen Ag Lenksystem und Verfahren zum Betreiben eines Lenksystems
DE102008028055A1 (de) 2008-06-12 2009-12-17 Volkswagen Ag Verfahren zur Bereitstellung der Lenkleistung für eine elektromechanische Lenkung
DE102009008591A1 (de) 2009-02-12 2010-08-19 Volkswagen Ag Elektromechanische Lenkung mit Endanschlag
DE102009055941B4 (de) 2009-11-26 2022-12-22 Volkswagen Ag Fahrzeuglenkung
DE102011122772A1 (de) 2011-11-02 2013-05-02 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Elektrische Begrenzung eines Lenkeinrichtungsstellweges
FR3006277B1 (fr) 2013-06-04 2017-02-17 Jtekt Europe Sas Utilisation d’un moteur d’assistance de direction pour simuler une butee de fin de course de ladite direction
US10906581B2 (en) 2017-12-07 2021-02-02 Steering Solutions Ip Holding Corporation Rack-limiting condition detection and the corresponding steering wheel torque feedback for steer by wire steering systems
DE102018133697B4 (de) 2018-12-28 2021-11-18 Volkswagen Aktiengesellschaft Elektromechanische Kraftfahrzeuglenkung
DE102022203958A1 (de) 2022-04-25 2023-10-26 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs, Kraftfahrzeug

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3908217A1 (de) * 1988-03-15 1989-09-28 Fuji Heavy Ind Ltd Verfahren und einrichtung zum steuern einer elektrischen servolenkung
WO2001020412A1 (fr) * 1999-09-17 2001-03-22 Delphi Technologies, Inc. Systeme de gestion du choc de fin de course
EP1167158A1 (fr) * 2000-06-23 2002-01-02 Société de Mécanique d'Irigny Direction assistée électrique pour véhicule automobile

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3908217A1 (de) * 1988-03-15 1989-09-28 Fuji Heavy Ind Ltd Verfahren und einrichtung zum steuern einer elektrischen servolenkung
WO2001020412A1 (fr) * 1999-09-17 2001-03-22 Delphi Technologies, Inc. Systeme de gestion du choc de fin de course
EP1167158A1 (fr) * 2000-06-23 2002-01-02 Société de Mécanique d'Irigny Direction assistée électrique pour véhicule automobile

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007049112A1 (fr) * 2005-10-28 2007-05-03 Toyota Jidosha Kabushiki Kaisha Systeme de direction assistee
US7828111B2 (en) 2005-10-28 2010-11-09 Toyota Jidosha Kabushiki Kaisha Power steering system
WO2010062222A1 (fr) * 2008-11-26 2010-06-03 Volvo Construction Equipment Ab Procédé pour étalonner un capteur d'angle et véhicule avec un capteur d'angle
EP3795454A1 (fr) * 2019-09-13 2021-03-24 Jtekt Corporation Dispositif de commande de direction
US11897555B2 (en) 2019-09-13 2024-02-13 Jtekt Corporation Steering control device

Also Published As

Publication number Publication date
DE10244067A1 (de) 2004-04-01

Similar Documents

Publication Publication Date Title
WO2004022411A1 (fr) Dispositif et procede relatifs a une direction assistee pour vehicules a moteur a direction electromecanique
EP0175781B1 (fr) Mecanisme de direction pour un vehicule a moteur
EP1537005B1 (fr) Dispositif et procede relatifs a une direction assistee pour vehicules a moteur a direction electromecanique
EP1772349B1 (fr) Procédé de contrôle pour un dispositif de direction assistée électrique
DE4207719C2 (de) Fremdkraft-Lenkanlage für Kraftfahrzeuge
EP1849682A1 (fr) Procédé destiné au réglage de la direction
EP1537004B1 (fr) Dispositif et procede de mesure de couple de rotation con us pour une direction electromecanique
DE3942494A1 (de) Hinterradlenkanordnung fuer ein fahrzeug mit vierradlenkung
EP1536971B1 (fr) Procede et dispositif d'identification du degre d'attention d'un conducteur de vehicule
DE102012022900A1 (de) Verfahren und Vorrichtung zum Einstellen eines Software-Endanschlags
EP0980813B1 (fr) Système de direction pour un véhicule équipé avec un dispositif de suivi de piste
DE102006043069B4 (de) Verfahren zum Betrieb eines elektronischen Servolenksystems
EP1094965B1 (fr) Direction electriquement assistee destinee a des vehicules
DE102005019316B4 (de) Verfahren zur Erkennung eines von einem Fahrer verursachten Lenkeingriffs in ein Servolenksystem eines Kraftfahrzeugs
EP3727998B1 (fr) Procédé destiné à faire fonctionner un système de direction à orientation par câbles pour un véhicule automobile et système de direction pour un véhicule automobile
DE3936536A1 (de) Hinterradlenkanlage fuer ein kraftfahrzeug
DE102020206435B4 (de) Verfahren zur Beeinflussung einer Bewegung einer Lenkhandhabe eines Steer-by-Wire-Lenksystems in einem Fahrzeug
DE102006053029A1 (de) Verfahren zum Betrieb eines elektronisch geregelten Servolenksystems
EP1970289B1 (fr) Procédé destiné au fonctionnement d'un système de direction assistée électrique
EP1526997B1 (fr) Direction de vehicule automobile comprenant une direction a superposition
EP1944219A1 (fr) Procédé de commande d'une direction assistée
EP1862372A1 (fr) Système de direction assistée pour un véhicule
EP1990254B1 (fr) Procédé de fonctionnement pour un système de direction d'un véhicule doté d'un moteur électrique
DE10011710B4 (de) Verfahren zum Bestimmen einer Mittelstellung bei einem Fahrzeuglenksystem sowieLenksystem zur Durchführung des Verfahrens
DE102017213415B4 (de) Verfahren zum Betrieb einer Lenkvorrichtung

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CN JP US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP