WO2016083011A2 - Procédé et dispositif d'étalonnage d'un dispositif générateur de signaux d'un module à pédale de frein haptique pour véhicule à moteur ainsi que module à pédale de frein haptique - Google Patents

Procédé et dispositif d'étalonnage d'un dispositif générateur de signaux d'un module à pédale de frein haptique pour véhicule à moteur ainsi que module à pédale de frein haptique Download PDF

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Publication number
WO2016083011A2
WO2016083011A2 PCT/EP2015/073700 EP2015073700W WO2016083011A2 WO 2016083011 A2 WO2016083011 A2 WO 2016083011A2 EP 2015073700 W EP2015073700 W EP 2015073700W WO 2016083011 A2 WO2016083011 A2 WO 2016083011A2
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
voltage
polynomial
pedal
stop element
Prior art date
Application number
PCT/EP2015/073700
Other languages
German (de)
English (en)
Other versions
WO2016083011A3 (fr
Inventor
Ulrich Bauer
Lukas Froehlich
Udo Sieber
Alexandre Wagner
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP15787491.8A priority Critical patent/EP3224689A2/fr
Publication of WO2016083011A2 publication Critical patent/WO2016083011A2/fr
Publication of WO2016083011A3 publication Critical patent/WO2016083011A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/30—Controlling members actuated by foot
    • G05G1/44—Controlling members actuated by foot pivoting

Definitions

  • the invention relates to a method for calibrating a signaling device of a haptic accelerator pedal module for a motor vehicle. Furthermore, the invention relates to a device for carrying out such a method and a haptic accelerator pedal module with such a device.
  • Modern motor vehicles are increasingly being equipped with haptic accelerator pedal modules, which can reliably transmit information to a driver of the motor vehicle by means of a haptic signal that can be felt on an accelerator pedal or accelerator pedal.
  • a haptic signal is realized in the form of a force acting counter to an actuation of a pedal lever of the accelerator pedal module by the driver.
  • haptic accelerator pedal modules may have a signaling device with an actuator, which is operatively connected to a movable stop element, wherein the stop element can be displaced by means of the actuator in the direction of a component of the pedal lever, thereby generating the actuation of the pedal lever counteracting force as a haptic signal ,
  • a position of the stop element In order to generate the haptic signal reliably and with a defined force in any position of the pedal lever, usually has a position of the stop element according to the position of the Pedal lever can be adjusted.
  • the position of the stop element is often sensed with a sensor element and by means of the actuator, the stop element is displaced according to the position of the pedal lever. Due to production-related tolerances and / or due to tolerances in an installation of the accelerator pedal module in a motor vehicle, it may be necessary to determine a stop position of the pedal lever by a calibration process.
  • a method for calibrating a pedal module of a motor vehicle is known from DE 10 2004 009 846 AI, in which the pedal module is installed in the motor vehicle and actuated to a stop position.
  • Embodiments of the present invention may advantageously enable to provide a reliable, low maintenance and low cost haptic accelerator pedal module.
  • the signal transmitter device has a spring element coupled to a shaft of an actuator and a stop element.
  • the stop element is designed to be on a pedal nose of a
  • Actuation of the pedal lever acting force to produce as a haptic signal is characterized in particular in that it comprises the following steps: displacing, by actuating the actuator, the stop element along a travel path between a first position of the stop element, in which the spring element is relaxed, preferably maximally relaxed, and a second Position in which the spring element is tensioned; Determining, along the travel, an actuator sensor voltage generated by a sensor of the actuator and correlated with a position of the actuator and determining and a to
  • the values of the actuator sensor voltage and of the actuator voltage or of the actuator current determined along the travel path can be stored at least temporarily in a memory.
  • they can be made accessible, for example, by means of a software implemented on a computer or a computer for the step of approximating.
  • Torsion spring may have trained spring element which is connected to an actuator which can be driven for example by an electric motor.
  • the stop element On the spring element usually the stop element is arranged, which can press against the pedal nose of the pedal lever and thereby one of
  • Actuation of the pedal lever by a driver counteracting counterforce can generate as a haptic signal.
  • a position of the pedal lever and a position of the actuator can be determined for example by means of the sensor or by means of suitable sensor elements and / or angle sensors, such as Hall sensors. For example, the position of the actuator over that generated by the sensor or the sensor element
  • Actuator sensor voltage can be determined. Furthermore, in order independently of the position of the pedal lever to exert a certain desired force as a haptic signal on this, a twist angle of the spring element should also be detected and the position of the stop element must be the position of
  • Target position for the actuator can be determined.
  • the desired position can be represented by a desired angle and / or a corresponding actuator voltage and / or a corresponding actuator current for the actuator.
  • One difficulty therefore may be the points of contact between
  • Detecting stop element and pedal nose for any position of the pedal lever can advantageously a set of points of contact of the stop element with the pedal nose on a measurement, in particular of the actuator and / or the actuator, in at least one defined pedal position, preferably in two defined pedal positions, such as a first idle corresponding position
  • a sensor element for measuring the angle of rotation of the spring element can thus advantageously be dispensed with, so that the accelerator pedal module as a whole can be made cost-effective, low-maintenance and robust.
  • the "first position of the stop element” may here and hereinafter denote a position in which the spring element is maximally relaxed as a coupling element between stop element and actuator within the design limits and the stop element fully releases the pedal nose, i.e. in which the pedal lever over an entire
  • Pedalweg is movable without touching the stop element.
  • the "second position of the stop element” can designate a position in which the spring element is tensioned and the stop element rests with force on the pedal nose.
  • the "actuator sensor voltage” may here and below denote a voltage which can be generated and output by the sensor, for example a Hall sensor and / or an angle sensor, of the actuator and which with a position and / or a rotation angle and / or an actuation degree of Actuator can correlate.
  • the "first and second regions” may each designate a value range of the actuator voltage and / or the actuator current, in which the actual measurement of the actuator current and / or the actuator voltage as a function of the actuator sensor voltage is approximated by the first and second polynomials.
  • the "intersection point of the first polynomial and of the second polynomial" can lie between the first region and the second region with respect to a value of the actuator sensor voltage and that value of the second polynomial
  • the invention provides for the actuator sensor voltage as well as the actuator voltage and / or the actuator current along the
  • the first and the second polynomial can then be fitted to a profile of the actuator current and / or the actuator voltage, in each case as a function of the actuator sensor voltage, and an intersection point between the first and the second polynomial can be determined.
  • the shaft of the actuator for displacing the stop element at a constant rotational speed actuated. Keeping constant the rotational speed can advantageously the approximation of the first or second area with the first or
  • the rotational speed of the shaft of the actuator may indicate a traversing speed and / or an angular speed of the shaft. According to a translation between actuator and
  • Wave can be a rotational speed or travel speed or
  • Angular velocity of the actuator to be identical to the rotational speed of the shaft or different from this.
  • the rotational speed is given here purely by way of example in units of angular degrees per second. Any other units, such as revolutions per second, are conceivable.
  • a constant speed of rotation in the above ranges can be beneficial, as if too slow
  • So-called stick-slip effects can occur, whereby current ripple occur in the measurement of the actuator current and the duration of the calibration process can be increased.
  • the rotational speed is set too high, annoying overshoots in the course of the current can occur, which can occur at the beginning of a displacement of the stop element or a movement of the actuator by overcoming a static friction, for example a gear between the actuator and the shaft.
  • the first polynomial is a zero-order polynomial.
  • the actuator current approximated by the first polynomial in the first region and / or the actuator voltage is constant.
  • the second polynomial is a
  • the second polynomial can depict a linear dependence of the actuator current and / or the actuator voltage on the actuator sensor voltage in the second region or
  • the step of displacing the stopper member comprises moving the stopper member from the first one Position to the second position and from the second position back to the first position.
  • the stop element can be moved from the first position in which it can fully release the pedal nose, in the second position in which it can rest with force on the pedal nose, and be driven back into the first position.
  • Stop element is thus once moved in the direction of the pedal nose and once away from this, wherein the spring element is once stretched and then relaxed again. A reverse travel of the stop element from the second position to the first position and back to the second position is possible.
  • the pedal lever is fixed in a position during the displacement of the stop element.
  • a fixing of the pedal lever can advantageously a goodness of the determination of
  • Polynomial would increase movement of the pedal lever, such as during displacement of the stop member, i. during a calibration phase, falsify the determination of the touch point.
  • the pedal lever such as during displacement of the stop member, i. during a calibration phase, falsify the determination of the touch point.
  • Pedal lever in a position corresponding to an idle, i. a position in which the pedal lever is completely unactuated, or in a position corresponding to a full load, i. in a position in which the pedal lever is operated at maximum, fixed.
  • the method further comprises the following steps, which can be carried out at a fixed position of the pedal lever, for example, before the remaining steps of the method: actuating the actuator with a time-varying first control voltage up to a first mechanical end stop of the actuator and storing a first limit voltage and / or a first angular position of the actuator after reaching the first end stop; and actuating the actuator with a time-varying second control voltage up to a second mechanical end stop of the actuator and storing a second limit voltage and / or a second angular position of the actuator after reaching the second end stop.
  • the first differs the first control voltage up to a first mechanical end stop of the actuator and storing a first limit voltage and / or a first angular position of the actuator after reaching the first end stop
  • actuating the actuator with a time-varying second control voltage up to a second mechanical end stop of the actuator and storing a second limit voltage and / or a second angular position of the actuator after reaching the second end stop.
  • the first differs
  • Movement directions can be moved. It is crucial that the actuator or actuator rotate the shaft in two opposite directions of rotation can, which could be achieved in other embodiments, for example, by a gear change. Thus, advantageously, the first and second mechanical end stops, between which the actuator can be moved, can be determined.
  • Limit voltage can in each case denote a value of the Aktuatorsensorespecially, which of the sensor of the actuator in each case one of the two mechanical end stops corresponding position or
  • Angle position of the actuator can be output. According to one embodiment of the invention, determining the
  • Polynomial The intersection of the first and second polynomial can be
  • the first polynomial for determining the point of intersection may be extrapolated in particular to values of the actuator sensor voltage, which may be smaller in magnitude than values of the actuator sensor voltage in the first range, and the second polynomial may be extrapolated in particular to values of the actuator sensor voltage that are greater than values of the actuator sensor voltage
  • Actuator sensor voltage in the second region can be.
  • the point of intersection may lie at values of the actuator sensor voltage which are greater in magnitude than the values of the sensor sensor voltage
  • Actuator sensor voltage in the first region can be. Accordingly, to determine the point of intersection, alternatively or additionally
  • a second aspect of the invention relates to an apparatus for performing the
  • the device may be installed as a control unit in the motor vehicle and / or a
  • Another aspect of the invention relates to a haptic accelerator pedal module for a motor vehicle with a signal generator device for driving an actuator of the accelerator pedal module, wherein the accelerator pedal module is a device for
  • the haptic accelerator pedal module can already be calibrated by the manufacturer and a calibration information obtained during the calibration can already be stored by the manufacturer in the device.
  • the accelerator pedal module according to the invention after installation in a
  • FIG. 1A and 1B each show a part of a haptic accelerator pedal module according to an embodiment of the invention.
  • FIG. 2 illustrates process steps that can be used in a method according to the invention for calibrating a haptic accelerator pedal module according to an exemplary embodiment of the invention.
  • FIGS. 1A and 1B each show part of a haptic accelerator pedal module 10 according to an embodiment of the invention.
  • the accelerator pedal module 10 has a pedal lever 12, which is rotatably or pivotally mounted in a housing and on which a pedal plate 14 is arranged at one end.
  • a driver of the motor vehicle can shift the pedal lever 12 by depressing the pedal plate 14 from a rest position of the pedal lever 12, whereby, for example, a torque of an engine of the motor vehicle can be controlled according to a position of the pedal lever 12.
  • Signaling device 18 has an actuator 20, which may be embodied for example as a DC motor.
  • the actuator 20 is coupled via a gear 22, which may be designed as a worm gear, and a shaft 24 with a spring element 26, which may be designed as a torsion spring.
  • a stop element 28 is further arranged, which is for generating the haptic signal to a pedal nose
  • the pedal nose 30 is arranged at a further end of the pedal lever, which is opposite to the pedal plate 14.
  • the pedal lug 30 can be considered as an attack element, on which the actuator 20 via the stop element 28 for
  • Generating the haptic signal can attack. Basically, the
  • Pedal nose 30 at an arbitrary position along a circumference of the
  • Pedal lever 12 for example, be arranged laterally on the pedal lever 12, and / or any position along a longitudinal direction of the pedal lever 12, wherein the stop member 28 may be arranged according to the position of the pedal lug 30 on the pedal lever 12.
  • the signal transmitter device 18 has a sensor 32, which may be designed as a Hall sensor, for example, and which may be designed to sense a position of the actuator 20, such as an angular position of the actuator 20.
  • the sensor 32 may, for example, designate a rotation angle sensor for determining an angular position of the actuator 20. If a haptic signal is to be generated at the accelerator pedal module 10 or at the pedal lever 12, then a rotor of the actuator 20 is set in rotation, wherein the rotation is transmitted via the gear 22 to the shaft 24.
  • the stop element 28 is displaced in the direction of the pedal nose 30. If the stop element 28 touches the pedal nose 30, the spring element 26 is at least partially tensioned, as a result of which an actuation of the pedal lever 12 out of the rest position is generated as a haptic signal. After the haptic signal has been generated, the stop element 28 can again be moved away from the pedal nose 30 by means of the actuator 20.
  • Pedal lever 12 acting force acts, for example, in the direction of
  • Rest position of the pedal lever 12 which may correspond, for example, a neutral position of the pedal lever 12 in a built-in motor vehicle accelerator pedal module 10.
  • the accelerator pedal module 10 has a device 33, which is designed to provide a method for calibrating the
  • Signaling device 18 as described above and described in detail below, perform and / or which is designed to a
  • Calibration information such as in a storage device of the device 33 to deposit.
  • the device 33 may be installed as a control unit in the motor vehicle or designed as a device with a manufacturer of the accelerator pedal module 10, for example.
  • the stored calibration information corresponding to a position of the pedal lever 12, a position of the stop element 28 and / or an angular position of the actuator 20 necessary for this position and / or a necessary actuator voltage or an actuator current for operating the
  • desired desired force and / or signal strength can be generated without that a force measuring device must be provided for determining a force exerted by the stop element 28 on the pedal nose 30 and / or the pedal lever 12 force.
  • a force measuring device such an angular position and / or position of the actuator 20 can be translated into a force acting on the pedal lever 12 as a haptic signal force or can be from the desired force of the haptic
  • FIG. 2 illustrates process steps that can be used in a method according to the invention for calibrating a haptic accelerator pedal module 10.
  • Stop element 28 freely movable between a first mechanical end stop and a second mechanical end stop.
  • end stops such as an end stop corresponding angular position of the actuator 20 and / or an end stop
  • the mechanical end stops can first be approached and output by means of each one of the end stops
  • Coordinate system of the actuator 20 are clamped, which approximately in the form of a percentage deflection of the actuator 20 as a function of
  • Actuator sensor voltage can be displayed.
  • the actuator 20 is actuated or moved with a time-variable first control voltage up to the first mechanical end stop and, after reaching the first mechanical end stop, a first angular position of the actuator 20 measured when the end stop is reached and / or a first limit voltage corresponding to the first end stop or a first
  • the actuator 20 can be actuated or moved in the opposite direction up to the second mechanical end stop with a second time-variable control voltage, which may differ from the first control voltage with respect to its polarity, wherein a second one reaches when the second mechanical end stop is reached
  • Angle position and / or a second limit voltage or a second limit of the Aktuatorsensornaps can be stored in the storage device.
  • the first and the second control voltage can be realized for example by a time-ramped rising voltage of different polarity, by means of which the actuator 20 can be moved to the first and the second mechanical end stop.
  • This can be represented, for example, as a so-called duty cycle (represented as pulse width modulation PWM) between -100% and + 100% as a function of time.
  • PWM pulse width modulation
  • the actuator 20 in each case an end stop a maximum actuator current or a maximum actuator voltage in the positive and negative direction of movement of the actuator 20 may be supplied, wherein the respective limit stops at the latest - 100% duty cycle or + 100% duty cycle can be achieved.
  • Spring element 26 at the first end stop (at the latest at -100%) or at the second end stop (at the latest at + 100%) can each be fully cocked and the shaft 24 thus can not be rotated.
  • the actuator 20 can be actuated by way of example as described below, value values being merely exemplary below. Starting from a position which, for example, 0% duty cycle
  • the actuator 20 can correspond, the actuator 20 can be driven, for example, to -100% duty cycle.
  • the shaft 24 rotates with until the
  • Spring element 26 is fully stretched after the arrival of the stop element on the first end stop, which may be the case, for example, at -80% Duty Cylce. When the spring element 26 is fully cocked, the angle of rotation of the changes
  • Actuator 20 is no longer and consequently also the sensor signal of the sensor 32, such as the Aktuatorsensornaps remains constant. Regardless, the duty cycle can be continued to -100%, so that it can be ensured that the first mechanical end stop is reached. In this position of the actuator 20 corresponding to the first end stop, the sensor
  • Counter direction can be driven to + 100%, such as by reversing the actuator 20 supplied actuator voltage and / or the actuator current or alternatively, for example, by switching a transmission between the actuator and shaft in a reverse gear.
  • the second mechanical end stop can be achieved, for example, at + 75% duty cycle, starting from reaching the second end stop the shaft 24 does not rotate further, since the spring element 26 in turn can be fully tensioned. Nevertheless, the duty cycle can be driven to + 100% without this having any influence on the rotation of the shaft 24. In this second stop position corresponding position of the actuator 20 or at + 100% duty cycle, the sensor voltage signal or the second
  • the first and second mechanical end stops may each be in the form of the first and second limit voltages and / or the first and second angular positions as for the accelerator pedal module 10 in a defined position of the pedal lever 12 (e.g.
  • the first and second mechanical limit stops may thus be available for the calibration method as explained above and in detail below.
  • the aim of the calibration may be in particular to determine a point of contact between the stop element 28 and the pedal nose 30 for at least one fixed position of the pedal lever 12.
  • the touch point is determined at two fixed positions of the pedal lever 12, such as a position at a fully unactuated pedal lever 12, which can correspond to an idle position, and a position of the pedal lever 12 at a fully actuated or fully depressed pedal lever 12, which correspond to a full load position can.
  • the stop element 28 with the actuator 20 can be regulated to an arbitrary position of the pedal lever 12.
  • the actuator 20 does not necessarily have to be driven completely against the two end stops.
  • stopper member 28 should be displaced with the actuator 20 along a travel path which is from a first position of the
  • the actuator 20 is moved over the entire travel at a constant rotational speed or angular velocity.
  • Pedal lever 12 is preferably initially in the neutral position, wherein during actuation of the actuator 20 and / or during the
  • Aktuatorenenorposition the actuator 20 correlated Aktuatorenenorposition be measured.
  • Fig. 2 Such a measurement is shown by way of example in Fig. 2, in which the actuator current along the travel as a function of
  • Actuator sensor voltage is shown.
  • the actuator sensor voltage is plotted on the x axis and the actuator current is plotted on the y axis, with the actuator current being indicated in FIG. 2 on the respective axes
  • Actuator voltage can be represented as a function of the actuator sensor voltage. Also other representations, such as a logarithmic, a
  • a first branch 36 corresponds to a displacement of the stop element 28 in the direction of the pedal nose 30 and a second branch 38 corresponds to a movement of the stop element 28 in the opposite direction.
  • a second branch 38 corresponds to a movement of the stop element 28 in the opposite direction.
  • Stop element 28 the pedal nose 30 during displacement from the first mechanical stop, which may for example be in a range between 2.5 V and 3 V actuator sensor voltage, not yet in the direction of the pedal lug 30, the actuator current (or the actuator voltage) initially remains constant, as apart from a mechanical resistance, for example
  • Resistor acts on the stop element 28.
  • the actuator 20 does not necessarily have to be moved from the first end stop for the calibration method according to the invention, but at least over a certain extent
  • Range of values in which the stop element 28 does not touch the pedal nose 30 will continue to a constant angular velocity or
  • the actuator current falls due to an example. linearly increasing load linearly, as exemplified in Fig. 2 in the value range of around
  • the actuator 20 is thereby moved in the direction of the second mechanical end stop, which, for example, in a range between 0 V and 0.4 V.
  • Actuator sensor voltage may be.
  • the actuator 20 does not necessarily have to be connected to the second one for the calibration method according to the invention
  • End stop be moved, but at least over a certain
  • Range of values in the linearly sloping region in order to be able to determine a slope of the linearly sloping region or curve with sufficient precision. If the actuator 20 has been moved far enough, then the actuator 20 can be moved in the opposite direction. Reversing the
  • Movement direction of the actuator 20 is in Fig. 2 at the vertical
  • the energy stored in the spring element 26 can first be converted into kinetic energy of the actuator 20.
  • the spring element 26 drives the actuator 20 until the spring element 26 is completely relaxed, which is constant when the actuator 20 is controlled
  • Actuator voltage is substantially constant.
  • the same movement of the actuator 20 in the angular space may also result in increasing actuator sensor voltages.
  • the actuator sensor voltage may also have negative values.
  • the actuator 20 in other embodiments may also result in increasing actuator sensor voltages.
  • Embodiments are also moved by increasing values of the actuator current and / or assume the actuator current positive values.
  • Efficiency and associated high friction losses may also be necessary a drive torque for the case in which the spring element 26 is maximally relaxed and further a constant angular velocity of the actuator 20 is to be controlled. This becomes clear in FIG. 2 in branch 36 and in branch 38 by a current offset that differs from zero in each case.
  • Actuator current is generated in branch 36, i. in the event that the stopper member 28 is displaced in the direction of the pedal nose 30, a first region 40 of
  • Actuator sensor voltage determined, which is selected such that the
  • Stop member 28 is not always in mechanical contact with the pedal nose 30 during a displacement in the first area. Accordingly, in the first region, the actuator current (or the actuator voltage) is in
  • a second area 42 in the branch 36 is determined, wherein the second area 42 is selected such that the
  • Stop element 28 is always in mechanical contact with the pedal nose 30 during a displacement in the second region 42.
  • a third region 44 which is the first Area 40 of the branch 36 may correspond, and a fourth area 46, which may correspond to the second area 42 of the branch 36, are determined.
  • the actual profile of the actuator current (or actuator voltage) as a function of the actuator sensor voltage may be approximated by a first polynomial, the first polynomial being a zero-order polynomial, i. can be reproduced by a horizontal straight line.
  • the actual profile of the actuator current (or actuator voltage) as a function of the actuator sensor voltage may be approximated by a second polynomial, where the second polynomial is a first degree polynomial, i. can be represented by a straight line with a constant slope.
  • the third region 44 may be approximated by a third polynomial of zeroth degree and the fourth region 46 by a fourth polynomial of the first degree.
  • the calibration point or the contact point in the branch 36 is now used as the intersection point 48 of the linear approximation of the measurement of the actuator current (or the
  • Actuator voltage) in the second region 42 and the constant approximation in the first region 40 i. determined as intersection 48 of the first polynomial and the second polynomial.
  • the touch point for the branch 38 can be determined as the intersection point 50 of the third polynomial and the fourth polynomial.
  • the respective polynomials may result in smaller and / or larger values of the actuator sensor voltage than values in the first and third, respectively
  • Area 40, 44 and / or in the second and fourth area 42, 46 are extrapolated.
  • the actuator 20 is, in fixed position of the
  • Pedal lever 12 for example, in a direction of movement over the first region 40, in which the stop element 28, the pedal nose 30 does not touch, and on the second region 42, in which the stop element 28 bears against the pedal nose 30 and the spring element 26 is tensioned with constant Moving speed, wherein the actuator current and / or the
  • Actuator voltage and the Aktuatorsensorhov measured and / or recorded The actuator current and / or the actuator voltage may be, for example, in the Euclidean space as a function of the actuator sensor voltage are linearly plotted as shown in FIG. Subsequently, in each case one straight line can be determined by approximation or fitting of the measured values in the first and second regions 40, 42. The two straight lines do not run parallel in the Euclidean space, so that the intersection 48 of the two straight lines can be determined. The intersection 48 corresponds to the
  • Touch point can then be determined or calculated for any positions of the pedal lever 12, the corresponding points of contact.
  • Actuator sensor voltage is not linear, but for example, logarithmic, exponential or arbitrary different and / or in any other
  • Coordinate system or space (such as a non-orthogonal
  • Embodiment or implementation can be converted, such as by
  • the actuator sensor voltage at the intersections 48, 50 of the two branches 36, 38 and / or a corresponding angular position of the actuator 20 can then as
  • Calibration value for the contact point between the stop element 28 and pedal nose 30 used and / or stored in a storage device.
  • the calibration points or contact points for the branch 36 and the branch 38 can differ only by an influence of a hysteresis of a spring characteristic of the spring element 26. In practice, it makes sense to adjust the calibration point or point of contact in branch 36, i. when mounting the spring element 26, since the steeper slope of the actuator current in the second region 42 can provide a correspondingly more accurate result compared to the fourth region 46.
  • Traverse speed may depend, it should be kept constant during the calibration amount. As optimal has one
  • Range of around 100-130 ° / s exposed Range of around 100-130 ° / s exposed.
  • the calibration procedure may then be used for the full load position of the pedal lever 12, i. in a fully actuated or depressed pedal lever 12, wherein the zero order polynomials from the previously performed calibration with unconfirmed pedal lever 12 can be adopted and only the slopes of the actuator current (or actuator voltage) in regions 42 and 46, respectively can be approximated by a polynomial of the first degree.
  • the respective regions 40, 44 within which the actuator current (or the actuator voltage) is approximated by the first and third polynomial must be suitably selected.
  • the second and fourth area 42,46 must be chosen appropriately.
  • these regions 40, 42, 44, 46 in particular a value of the actuator current (or of the actuator voltage), a variance of the actuator current (or of the actuator voltage) on the basis of past measured values, an interval or value range of
  • Actuator sensor voltage and / or an absolute angle of the actuator 20 are taken into account.
  • monitoring can additionally take place, which checks whether the accuracy is given in the respective approximation. This may in particular include a check for a minimum number of measuring points used.
  • regions 40, 42, 44, 46 may be made, for example, by the known least squares method offline as well as online. However, other mathematical methods are also conceivable.
  • a Hall sensor for example in conjunction with a magnetic element designed as a permanent magnet for determining an angular position or angular position or position of the actuator 20 may be used or even another
  • Angle sensor e.g. as a potentiometer type.
  • the actuator sensor voltage can be determined approximately via an analog interface. Instead of the analogue one can also use a digital SE NT interface, wherein the actuator current (or the actuator voltage) can then be applied via digital increments.
  • the calibration method described above can usually be carried out for the first time by a manufacturer of the accelerator pedal module 10, for example directly after its production at one end of a production belt.
  • the accelerator pedal module 10 can be recalibrated in the idle position in the motor vehicle.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

L'invention concerne un procédé d'étalonnage d'un dispositif générateur de signaux (18) d'un module à pédale de frein (10) haptique pour véhicule à moteur, ainsi qu'un dispositif d'exécution du procédé. Le dispositif générateur de signaux (18) présente un élément élastique (26) couplé à un arbre (24) d'un actionneur (20), et un élément de butée (28) conçu pour venir en contact avec la base (30) d'un levier formant pédale (12) du module à pédale d'accélérateur (10) et pour générer une force, sous forme de signal haptique, agissant à l'encontre de la direction de commande du levier formant pédale (12). Le procédé est caractérisé en ce qu'il présente notamment les étapes suivantes : déplacement de l'élément de butée (28) dans une course de déplacement comprise entre une première position et une deuxième position; détermination, dans la course de déplacement, de la tension d'un capteur d'actionneur ainsi que de la tension cédée à l'actionneur (20) pour déplacer l'élément de butée (28) et/ou de l'intensité cédée à l'actionneur (20) pour déplacer l'élément de butée (28); approchement par approximation d'une première plage (40) d'intensité et/ou de tension de l'actionneur par un premier polynôme; approchement par approximation d'une deuxième plage (42) d'intensité et/ou de tension de l'actionneur par un deuxième polynôme; et détermination d'un point d'intersection (48) entre le premier et le deuxième polynôme afin de déterminer un point de contact entre l'élément de butée (28) et la base (30) de la pédale.
PCT/EP2015/073700 2014-11-27 2015-10-13 Procédé et dispositif d'étalonnage d'un dispositif générateur de signaux d'un module à pédale de frein haptique pour véhicule à moteur ainsi que module à pédale de frein haptique WO2016083011A2 (fr)

Priority Applications (1)

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EP15787491.8A EP3224689A2 (fr) 2014-11-27 2015-10-13 Procédé et dispositif d'étalonnage d'un dispositif générateur de signaux d'un module à pédale de frein haptique pour véhicule à moteur ainsi que module à pédale de frein haptique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014224234.7A DE102014224234B3 (de) 2014-11-27 2014-11-27 Verfahren und Vorrichtung zum Kalibrieren einer Signalgebervorrichtung eines haptischen Fahrpedalmoduls für ein Kraftfahrzeug sowie haptisches Fahrpedalmodul
DE102014224234.7 2014-11-27

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WO2016083011A2 true WO2016083011A2 (fr) 2016-06-02
WO2016083011A3 WO2016083011A3 (fr) 2016-07-21

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EP (1) EP3224689A2 (fr)
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Cited By (1)

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Publication number Priority date Publication date Assignee Title
US20150323953A1 (en) * 2013-01-29 2015-11-12 Robert Bosch Gmbh Accelerator pedal unit

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016001362B4 (de) * 2016-02-06 2018-06-28 Audi Ag Drift-Assistenzsystem für ein Kraftfahrzeug
DE102016203176B3 (de) * 2016-02-29 2017-04-20 Robert Bosch Gmbh Bestimmen des Berührpunkts eines Fahrpedalaktuators mit einem Fahrpedal
DE102018122664A1 (de) 2018-09-17 2020-03-19 Wabco Gmbh Verfahren zum Ermitteln von Sprüngen und/oder Knickpunkten in einer Betätigungscharakteristik einer Betätigungseinheit, Auswertemodul und Fahrzeug

Citations (1)

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Publication number Priority date Publication date Assignee Title
DE102004009846A1 (de) 2004-02-28 2005-09-15 Robert Bosch Gmbh Verfahren zum Kalibrieren eines Pedalmoduls eines Kraftfahrzeugs

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DE102011079375A1 (de) * 2010-10-06 2012-04-12 Conti Temic Microelectronic Gmbh Verfahren zum Betrieb einer Fahrpedaleinheit für Kraftfahrzeuge
DE102013205281A1 (de) * 2013-01-29 2014-07-31 Robert Bosch Gmbh Fahrpedaleinheit

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004009846A1 (de) 2004-02-28 2005-09-15 Robert Bosch Gmbh Verfahren zum Kalibrieren eines Pedalmoduls eines Kraftfahrzeugs

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150323953A1 (en) * 2013-01-29 2015-11-12 Robert Bosch Gmbh Accelerator pedal unit
US9870020B2 (en) * 2013-01-29 2018-01-16 Robert Bosch Gmbh Accelerator pedal unit

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EP3224689A2 (fr) 2017-10-04
WO2016083011A3 (fr) 2016-07-21

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