WO2004065081A1 - Procede d'etablissement de la position angulaire du volant d'un vehicule automobile, equipe d'un systeme d'assistance electrique a la direction - Google Patents
Procede d'etablissement de la position angulaire du volant d'un vehicule automobile, equipe d'un systeme d'assistance electrique a la direction Download PDFInfo
- Publication number
- WO2004065081A1 WO2004065081A1 PCT/FR2003/003769 FR0303769W WO2004065081A1 WO 2004065081 A1 WO2004065081 A1 WO 2004065081A1 FR 0303769 W FR0303769 W FR 0303769W WO 2004065081 A1 WO2004065081 A1 WO 2004065081A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering wheel
- angle
- angular position
- motor
- steering
- Prior art date
Links
Classifications
-
- 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
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
-
- 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
Definitions
- the invention relates to a method for establishing the angular position of the steering wheel of a motor vehicle, equipped with an electric steering assistance system which comprises an electric assistance motor intended to apply to the integral steering column. a suitable assistance torque from the steering wheel and an electronic control computer for controlling the electric assistance motor from information on the angular position of the steering wheel as well as data memory means.
- the present invention aims to provide a method of establishing the angular position of the steering wheel, which eliminates the problems of the prior art, which have just been stated.
- the method according to the invention is characterized in that the angular position of the flywheel is established from data relating to the angular position of the rotor of the assistance motor.
- FIG. 1 is a perspective view of an electric power steering system (DAE) for a motor vehicle, according to the state of the art
- FIG. 1 shows, to facilitate understanding of the invention, an electric power steering system (DAE) for a motor vehicle which comprises a steering column device 1 carrying at its upper end a steering wheel 2 capable of being actuated by the driver of the vehicle, a mechanical steering device 3 on which the lower end of the steering column 1 acts and an electric assistance motor 4 with which a reduction gear is associated 5.
- the mechanical steering device 3 comprises, so known per se, a steering box 6 inside which is axially movable a rack, not shown, and coupling bars on the right and left side 6, 7 each coupled by one end to the rack and at the other end to the steering device of a front wheel of the vehicle.
- the rack is moved axially by a pinion not shown, which is integral in rotation with the lower end of the steering column 1. Since the steering wheel 2 is mounted in rotation on the upper end of the steering column 1, a rotation of this steering wheel causes, via of the steering column 1, the axial displacement of the coupling rods 7 and 8.
- the assistance motor 4 is controlled by an electronic computer 10 comprising an ECU device, a random access memory (RAM), a read only memory (ROM or FLASH) and an electrically erasable and programmable read only memory (EEPROM) which is a non-volatile memory. volatile.
- the traditional assistance system furthermore comprises a torque sensor 11 and a steering column angle sensor 12. It is also known to associate the assistance motor 4 with a resolver 13 intended to establish the angular position of the motor rotor, a function which could also be performed by a Hall effect sensor.
- the invention provides a method of establishing the angular position of the steering wheel 2, in an electric driving assistance system, one major feature of which is that it can dispense with an angular position sensor. of the flywheel, such as the sensor 12 shown in FIG. 1, based on position data of the rotor of the motor 4, which are established for driving the latter.
- FIG. 2 gives the functional block diagram of a computer 10 according to the invention, the various functions being embodied by modules represented in the form of rectangles or circles. It can be seen that the motor 4 is controlled by a motor control module
- the adder 15 establishes the signal to be applied to the module 14 from three input signals.
- a first input signal is supplied by a basic assistance module 16 intended to determine a setpoint torque from a torque signal C coming from a formatting and validity check module 17 signals generated by the torque sensor 11 indicated in FIG. 1 and from the information relating to the speed V of the vehicle provided by a module 18 for shaping and verifying the signals coming from the bus device 19 of vehicle data transmission.
- the adder receives at a second input output signals from an active reversibility module 20 allowing the steering wheel to return to its position 0.
- This module produces its output signal from information relating to the speed V of the vehicle and information relating to the angular position of the rotor of the motor 4, given by a module for calculating the angle of the rotor, designated by the reference 21.
- the adder receives a third input signal from a module 22 relating to other functions of the electrical assistance system, established on the basis of information on the angular speed ⁇ of the rotor of the assistance motor 4, provided by a module 23 for shaping the angular position signals of the rotor - Motor 4 from resolver 13 for determining the angle of the rotor.
- FIG. 2 shows in addition to the modules which have just been mentioned and which constitute the application layer of the computer 10, the bottom layer 24 which contains all of the programs which make it possible to run the application layer and manage communication with the equipment side.
- the stop and initialization functions are indicated, indicated respectively by the references 25 and 26, insofar as these two functions are particularly important. a role in the context of the present invention.
- the non-volatile EEPROM memory designated by the reference 27.
- An essential characteristic resides in the fact, as symbolized by arrow lines, that, when the vehicle is stopped the angles of the steering wheel 4 and the rotor of the motor are recorded in the EEPROM 27 as indicated by the ⁇ values eeprom and GC EEROM - ⁇ es values are read during initialization and transmitted to the module 21 for calculating motor angle adapted to establish the flywheel angle ⁇ init at initialization and the flywheel angle ⁇ t by also receiving from module 23 the value of the angle ⁇ (t) of the motor rotor 4.
- the sensors and the assistance motor can be supplied only when the assistance system is started.
- the position of the steering wheel 2 is calculated as a function of the position read from the engine rotor, the position of the rotor, which was stored in the non-volatile memory during the previous stopping of the vehicle and the absolute and multi-turn steering wheel angle stored in non-volatile memory during the previous stop. If the position of the steering wheel 2 has remained unchanged between the stopping of the DAE assistance system and the awakening of the computer 10, the real steering wheel angle and the angle stored in the memory will be identical:
- the flywheel angle is therefore recorded in non-volatile memory when the computer is put on standby and the value read during initialization.
- the invention makes it possible to establish the real angle of the steering wheel from the position information of the resolver 13 associated with the motor 4.
- the variation of the angle during the stopping of the DAE system is proportional to the difference in the positions of the resolver between the moments of standby and the awakening of the computer. So we get:
- ⁇ n i means the flywheel angle calculated at initialization, ⁇ eeprom the flywheel angle stored in the EEPROM memory, cci n i t the engine angle measured at 004/065081
- the method according to the invention in the case of a change in the steering wheel angle between the moments of standby and the awakening of the computer therefore involves recording in the non-volatile memory of the steering wheel angle during the setting in computer standby, reading the steering wheel angle stored in the non-volatile memory during initialization, recording in the non-volatile memory of the position of the engine rotor during standby, reading of the position of the motor rotor, stored in the memory during initialization and the calculation, of the real flywheel angle during initialization from this data, according to formula (2) above.
- the steering angle ⁇ (t ) is periodically recalculated at time t from the previous calculation as a function of the difference in the positions of the rotor of the assistance motor according to the following equation:
- ⁇ (t) is the flywheel angle calculated at time t
- ⁇ ( -i ) is the flywheel angle calculated in the previous cycle
- ⁇ (t ) is the angle of the motor rotor measured at time t
- ⁇ ( t -i) is the rotor angle measured in the previous cycle
- ⁇ r eductor is the ratio of the reducer.
- the method according to the invention also makes it possible to take into account any errors in calculating the absolute angle of the steering wheel, which could be caused for example by special conditions such as parking maneuvers, battery outages, repair operations in a garage.
- the invention also makes it possible to regularly validate the information on the steering wheel angle and to readjust it by using registration algorithms, more particularly registration of the position 0 of the steering wheel.
- a method for determining position 0 is described in European patent EP 1 211 161. According to this method thus known, the angle 0 is determined when predetermined conditions are met, namely when the speed of the vehicle is not zero and greater than a predetermined speed, the flying torque is close to 0 Nm, with variations in torque less than a predetermined value and when the two preceding conditions are maintained for a period of time long enough to confirm that the vehicle has a straight path and that it is not about a release of the wheel.
- the method according to the invention is also applicable to systems comprising steering columns equipped with locking devices thereof, but also in the case where the column is not blocked.
- the process according to the invention guarantees, from the initialization of the DAE system, great precision and certainty on the calculation of the steering wheel angle if this angle has been established after the computer has been put on standby and is less than a half-turn of the motor rotor.
- the method according to the invention is compatible with all types of blocking of the column.
- the calculated steering angle is recorded in the EEPROM memory of the computer, after switching off the ignition of the vehicle.
- the driver locks and locks the column by turning the steering wheel until a notch in the column is face of the anti-theft bar which, by a mechanical system, blocks it.
- the steering wheel angle will be initialized with precision if this angle established after standby is less than half a turn of the engine rotor.
- the steering wheel angle will be corrected after the DAE system is switched on when the angle 0 described above is detected.
- the vehicle could be equipped with a locking system having numerous locking points so that the flywheel can never turn more than half a turn of the engine rotor.
- the invention is of course applicable to vehicles equipped with a manual locking system of the column by electrical locking acting on the motor shaft.
- These locking systems which are known in the state of the art, comprise an anti-theft ring fixed on the motor axis and comprising one or more notches in which an anti-theft bar is capable of engaging under the effect of '' a motor allowing direct connection of the bar or a mechanical spring system.
- the DAE system After switching off the vehicle, the DAE system is put on standby and the angle information is recorded in non-volatile memory.
- the invention guarantees with this locking system a precise angle during the next initialization, according to equation (2) given above.
- the method according to the invention is also compatible with a column locking system as described in French patent FR 010 26 71.
- This system allows the anti-theft bar to be engaged by a command from the DAE system. After the ignition is switched off, the engine of the DAE system and all the other components of this system remain powered for a short time. The motor is controlled in order to rotate the motor shaft. The angle of rotation performed is calculated so that one of the notches in the lock ring is positioned opposite the anti-theft bar which then engages. The steering wheel angle is recalculated and saved in the non-volatile memory of the computer. With this locking system, the invention guarantees precisely the angle of the steering wheel according to the formula (1) given above.
- the invention is also applicable to vehicles which are not equipped with a locking system or in the case where the driver does not manually block the column or in the cases where the locking systems cannot function properly .
- the steering wheel angle and the position of the motor rotor will be saved in non-volatile memory, as described above.
- the steering wheel angle will be calculated according to equation (2) given above.
- the accuracy of the angle cannot be guaranteed at initialization.
- this guarantee could be given after the activation of the registration module described above.
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)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10393984T DE10393984T5 (de) | 2002-12-24 | 2003-12-17 | Verfahren zur Bestimmung der Winkelposition des Lenkrades eines Kraftfahrzeuges, welches mit einem System der elektrischen Unterstützung der Lenkung ausgerüstet ist |
AU2003300650A AU2003300650A1 (en) | 2002-12-24 | 2003-12-17 | Method for determining the angular position of a motor vehicle steering wheel, equipped with an electrical power steering system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0216664A FR2848974B1 (fr) | 2002-12-24 | 2002-12-24 | Procede d'etablissement de la position angulaire du volant d'un vehicule automobile, equipe d'un systeme d'assistance electrique a la direction |
FR02/16664 | 2002-12-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004065081A1 true WO2004065081A1 (fr) | 2004-08-05 |
Family
ID=32406511
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2003/003769 WO2004065081A1 (fr) | 2002-12-24 | 2003-12-17 | Procede d'etablissement de la position angulaire du volant d'un vehicule automobile, equipe d'un systeme d'assistance electrique a la direction |
Country Status (4)
Country | Link |
---|---|
AU (1) | AU2003300650A1 (fr) |
DE (1) | DE10393984T5 (fr) |
FR (1) | FR2848974B1 (fr) |
WO (1) | WO2004065081A1 (fr) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2876972B1 (fr) | 2004-10-25 | 2006-12-29 | Koyo Steering Europ K S E Soc | Procede pour la determination de la position angulaire du volant de conduite d'une direction assistee electrique de vehicule automobile |
FR2894550B1 (fr) * | 2005-12-14 | 2008-01-11 | Koyo Steering Europ K S E Soc | Procede de determination de la position angulaire absolue du volant de conduite d'une direction assistee electrique de vehicule automobile |
DE102006029587A1 (de) * | 2006-06-28 | 2008-01-03 | Jungheinrich Ag | Verfahren zur Einstellung eines Lenkbereichs bei einer elektrischen Lenkung für ein Flurförderzeug |
DE102007021625B4 (de) * | 2007-05-09 | 2015-10-08 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Initialisierung des Fahrerlenkwinkels an einem zweispurigen Kraftfahrzeug |
CN111547128B (zh) * | 2020-04-21 | 2022-06-14 | 浙江吉利汽车研究院有限公司 | 一种电动转向系统的中位自学习方法、装置及存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5465210A (en) * | 1994-08-18 | 1995-11-07 | General Motors Corporation | Method for determining a vehicle steering wheel center position |
EP1211161A2 (fr) * | 2000-11-27 | 2002-06-05 | Koyo Seiko Co., Ltd. | Capteur d'angle de direction pour véhicule automobile et direction assistée utilisant celui-ci |
DE10103404A1 (de) * | 2001-01-26 | 2002-08-01 | Daimler Chrysler Ag | Lenksystem für Fahrzeuge, Verfahren zum Initialisieren eines Lenksystems und Verfahren zum Betreiben eines Lenksystems |
-
2002
- 2002-12-24 FR FR0216664A patent/FR2848974B1/fr not_active Expired - Fee Related
-
2003
- 2003-12-17 DE DE10393984T patent/DE10393984T5/de not_active Withdrawn
- 2003-12-17 WO PCT/FR2003/003769 patent/WO2004065081A1/fr active Application Filing
- 2003-12-17 AU AU2003300650A patent/AU2003300650A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5465210A (en) * | 1994-08-18 | 1995-11-07 | General Motors Corporation | Method for determining a vehicle steering wheel center position |
EP1211161A2 (fr) * | 2000-11-27 | 2002-06-05 | Koyo Seiko Co., Ltd. | Capteur d'angle de direction pour véhicule automobile et direction assistée utilisant celui-ci |
DE10103404A1 (de) * | 2001-01-26 | 2002-08-01 | Daimler Chrysler Ag | Lenksystem für Fahrzeuge, Verfahren zum Initialisieren eines Lenksystems und Verfahren zum Betreiben eines Lenksystems |
Also Published As
Publication number | Publication date |
---|---|
DE10393984T5 (de) | 2007-03-22 |
FR2848974A1 (fr) | 2004-06-25 |
FR2848974B1 (fr) | 2006-06-09 |
AU2003300650A1 (en) | 2004-08-13 |
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