WO2022179732A1 - Verfahren zum betrieb eines fahrzeugs und fahrzeug - Google Patents
Verfahren zum betrieb eines fahrzeugs und fahrzeug Download PDFInfo
- Publication number
- WO2022179732A1 WO2022179732A1 PCT/EP2021/083909 EP2021083909W WO2022179732A1 WO 2022179732 A1 WO2022179732 A1 WO 2022179732A1 EP 2021083909 W EP2021083909 W EP 2021083909W WO 2022179732 A1 WO2022179732 A1 WO 2022179732A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- steering handle
- steering
- vehicle
- unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000009897 systematic effect Effects 0.000 claims abstract description 15
- 230000010355 oscillation Effects 0.000 claims description 18
- 230000002596 correlated effect Effects 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 7
- 230000001419 dependent effect Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 6
- 230000032683 aging Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- 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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
Definitions
- the invention is based on a method for operating a vehicle according to the preamble of claim 1 and on a vehicle according to the preamble of claim 10.
- the invention also relates to a control device with a computing unit for carrying out such a method.
- Vehicles are known from the prior art, which summarize a conventional steering system with a steering handle, for example in the form of a steering wheel, a wheel steering angle adjuster in the form of a steering gear and a steering shaft for mechanically connecting the steering handle to the wheel steering angle adjuster.
- vehicles with steer-by-wire steering systems are known, which do not require a direct mechanical connection between a steering handle and the steered vehicle wheels and in which a steering command is transmitted to the steering handle exclusively electrically.
- the latter include a control unit that can be actuated by a driver and at least one wheel steering angle adjuster that is mechanically separate from the control unit.
- steering systems of this type also include at least one actuator unit which, in a normal operating state, is controlled using a torque signal from a torque sensor.
- the actuator unit can be provided to provide a steering torque, for example in the form of a support torque, and/or to generate a steering resistance and/or a restoring torque on the steering handle.
- a steering system is known, for example, from DE 102008 037870 B4 and/or DE 102018 123 615 A1.
- the torque sensors used are also safety-critical components, which must be calibrated and/or adjusted particularly precisely in order to avoid errors in the torque signal during ferry operation, since these can lead to uncontrolled movement of the steering handle, to track deviations in automated ferry operation, for example and/or can lead to an incorrectly recognized touch of the steering handle in automated ferry operation.
- deviations inherent in the system as well as the effects of aging and wear on the torque sensor must be taken into account.
- the object of the invention consists in particular in providing a method for operating a vehicle and a vehicle with improved inherent properties in terms of operational safety and/or functionality.
- the object is achieved by the features of claims 1, 9 and 10, while advantageous configurations and developments of the invention can be found in the dependent claims.
- the invention is based on a method for operating a vehicle, in particular a motor vehicle, the vehicle comprising a steering system with a steering handle, with an actuator unit which is operatively connected to the steering handle and with at least one torque sensor assigned to the actuator unit for detecting a torque signal.
- a compensation torque correlated with a systematic sensor offset of the torque sensor is determined in a calibration operating state and superimposed on the torque signal in an automated driving operating state to monitor contact with the steering handle.
- the compensation torque is thus determined in the calibration operating state.
- the compensating torque is superimposed in the automated driving mode with the torque signal in order to obtain a corrected torque signal, it being determined by evaluating the corrected torque signal whether the steering handle has been touched. be carried out and/or taking place or not (so-called hands-on detection or hands-off detection). With this configuration, operational reliability can be increased and/or functionality can be improved.
- a particularly precisely calibrated and/or adjusted torque sensor can be provided, which advantageously prevents incorrectly detected contact with the steering handle in automated ferry operation and/or reliably detects an inadmissible release of the steering handle in automated ferry operation.
- an impermissible release of the steering handle in automated ferry operation can be recognized and the driver can be warned and/or the vehicle can be brought into a safe state.
- the steering system can in particular be designed as a conventional steering system, in particular as an electric power steering system, and can include mechanical penetration.
- the actuator unit can be designed as a steering actuator to support a manual torque applied to the steering handle.
- the steering system is preferably designed as a steer-by-wire steering system and includes in particular an operating unit and at least one wheel steering angle adjuster which is mechanically separate from the operating unit and is provided for changing a wheel steering angle of at least one vehicle wheel as a function of a steering specification.
- the actuator unit is preferably part of the operating unit and mechanically coupled to the steering handle.
- the actuator unit is particularly preferably designed as a feedback actuator for generating a steering resistance and/or a restoring moment on the steering handle.
- the actuator unit is advantageously designed as an electrical three-phase machine, in particular as a synchronous machine and particularly preferably as a permanently excited synchronous machine, and is preferably controlled in a normal operating state by a controller unit using the torque signal of the torque sensor.
- the controller unit is intended in particular to provide a control functionality for operation of the actuator unit and consequently to regulate a movement of the steering handle and/or to adjust a steering feel.
- the torque signal of the torque sensor advantageously serves as the feedback variable.
- the regulator unit is preferably also integrated into a control unit of the vehicle, advantageously a control unit designed as a steering control unit.
- a "systematic sensor offset” is to be understood in particular as an offset error of the torque sensor, in particular in a rest position, and/or a, in particular systematic, deviation from a defined zero position and/or a defined zero point of the torque sensor, in particular in a rest position.
- the systematic sensor offset is caused in particular by the nature of the torque sensor and can include, for example, an initial offset, a system-inherent offset, an offset caused by aging and/or wear effects, an offset caused by internal friction effects and/or a temperature-related offset.
- a “calibration operating state” should be understood to mean an operating state, in particular during operation of the steering system and consequently of the torque sensor in the vehicle, in which the compensation torque is determined.
- At least one value of the compensation torque is determined for at least one defined deflection position of the steering handle.
- several values of the compensation torque are preferably determined for several different deflection positions of the steering handle.
- the calibration operating state and consequently the determination of the compensation torque could be carried out in particular in a further driving operating state, for example during further automated ferry operation of the vehicle.
- the calibration operating state and consequently the determination of the compensation torque are preferably carried out when the vehicle is stationary and particularly preferably in a special service operating mode.
- the vehicle includes at least one computing unit, which is provided to carry out the method for operating the vehicle.
- a “processing unit” is to be understood in particular as an electrical and/or electronic unit which has an information input, an information processing and an information output.
- the computing unit also advantageously has at least one processor, at least one operating memory, at least one input and/or output means, at least one operating program, at least one control routine, at least one control routine, at least one determination routine and/or at least one monitoring routine.
- the computing unit is in the calibration operating state intended to determine a compensation torque correlated with a systematic sensor offset of the torque sensor.
- the computing unit is at least intended to superimpose and evaluate the compensation torque for monitoring contact with the steering handle with the torque signal.
- the computing unit can be provided for initializing and/or for determining the calibration operating state.
- the computing unit is preferably also integrated into a control unit of the vehicle, advantageously a control unit designed as a steering control unit.
- “Provided” should be understood to mean, in particular, specially programmed, designed and/or equipped.
- the fact that an object is provided for a specific function is to be understood in particular to mean that the object fulfills and/or executes this specific function in at least one application and/or operating state.
- the torque signal and the compensating torque are superimposed in the automated driving mode in order to generate a corrected torque signal, and the corrected torque signal is supplied to a control observer to monitor contact with the steering handle. In this way, particularly simple and/or efficient monitoring can be achieved.
- the compensation torque is determined in the calibration operating state at a time and/or in a state in which the steering handle is not and/or is not being touched, in particular a so-called hands-off state.
- the compensation moment can advantageously be determined precisely and independently of external influences.
- an oscillating torque could be applied to the steering handle in the calibration operation, for example by means of the actuator unit and/or an oscillating unit, in particular an additional one.
- an oscillation in the torque signal in particular in the form of a damped Ten vibration is generated by the steering handle is deflected by activation of the actuator unit and a movement of the steering handle when reaching a predefined deflection position is stopped abruptly, in particular by braking the actuator unit.
- the actuator unit, the torque sensor and the steering handle act as an oscillating circuit and accordingly ensure that the forced oscillation triggered by the actuator unit is damped.
- the compensation torque can then advantageously be determined or read off in the steady state. Due to the forced oscillation triggered by the actuator unit, the compensation torque for a defined deflection of the steering handle can advantageously be determined easily and in particular in the vehicle.
- exactly one value of the compensation torque could be determined for exactly one defined deflection position of the steering handle.
- particularly precise monitoring in particular for a large number of deflections of the steering handle, can be achieved if the compensation torque is determined in the calibration operating state for a number of different deflection positions of the steering handle and varies in the automated driving operating state depending on a current deflection position of the steering handle and/or adjusted.
- an oscillation is preferably generated in the torque signal for the different deflection positions, in which the steering handle is deflected by activation of the actuator unit and a movement of the steering handle is stopped abruptly when the respective deflection position is reached, with the corresponding value for the Compensation torque is stored together with the corresponding deflection position.
- a current deflection position is then preferably determined and, depending on the current deflection position, a value for the compensating torque that is correlated with the current deflection position is determined and/or read out, which is then overlaid with the torque signal.
- the compensation moment is particularly advantageous for at least four, advantageous for at least ten, and particularly preferably for at least twenty, different deflection positions of the steering handle are determined and varied and/or adjusted accordingly in the automated driving mode.
- a value of the compensation torque is used for a next larger deflection position of the steering handle or a next smaller deflection position of the steering handle.
- a calibration effort can be minimized and at the same time a particularly resource-saving method can be provided.
- the corresponding deflection position be stored in a table of values together with the value for the compensating torque and that the compensating torque in the automated driving mode be retrieved from the table of values and/or read out depending on the current deflection position of the steering handle .
- the calibration operating state be repeated at regular time intervals, for example at every system start or annually or every two years, such as in particular at a motor vehicle inspection and/or customer service appointment.
- the effects of aging and wear on the torque sensor can advantageously be taken into account and compensated for.
- the method for operating the vehicle and the vehicle should not be limited to the application and embodiment described above.
- the method for operating the vehicle and the driving tool for fulfilling a function described herein can be one of a number of individual elements, components and units mentioned herein from deviating number.
- Fig. la-b a vehicle with an example as a steer-by-wire
- 3a-c exemplary diagrams of various signals for determining a compensation torque in a calibration operating state
- FIG. 4 shows an exemplary flowchart with main method steps of a method for operating the vehicle.
- FIGS 1a and 1b show a vehicle 10 in the form of a passenger vehicle with a plurality of vehicle wheels 32 and a steering system 12 in a simplified representation.
- the vehicle 10 presently includes a manual driving mode and at least one automated driving mode.
- the steering system 12 has an operative connection with the vehicle wheels 32 and is provided for influencing a direction of travel of the vehicle 10 .
- the steering system 12 is designed in the present case as a steer-by-wire steering system, in which a steering specification is electrically forwarded to the vehicle wheels 32 in at least one operating state.
- a steering system could also be designed as a conventional steering system, in particular as an electric power steering system.
- the steering system 12 has a wheel steering angle adjuster 34 known per se.
- the wheel steering angle adjuster 34 is designed as a central adjuster, for example.
- the wheel steering angle adjuster 34 has an operative connection with at least two of the driving wheels 32 , in particular two front wheels, and is intended to convert the steering specification into a steering movement of the vehicle wheels 32 .
- wheel steering angle adjuster 34 includes a steering control element 36, embodied, for example, as a toothed rack, and an actuator unit 38 that interacts with steering control element 36.
- Actuator unit 38 is designed as a steering actuator, in particular as an electric motor, and is provided for controlling steerable vehicle wheels 32.
- a steering system could of course also include a plurality of wheel steering angle adjusters, in particular designed as single wheel adjusters.
- an actuator unit could include multiple electric motors.
- a wheel steering angle adjuster could in principle also be designed as a conventional steering gear and mechanically connected to a steering handle via a steering shaft.
- the steering system 12 has an operating unit 40 that can be actuated in particular by a driver and/or occupants.
- the operating unit 40 is mechanically separate from the wheel steering angle adjuster 34 .
- the operating unit 40 is purely electrically connected to the wheel steering angle adjuster 34 .
- the operating unit 40 comprises a steering handle 14, for example in the form of a steering wheel, and a further actuator unit 18, in particular mechanically coupled to the steering handle 14.
- the further actuator unit 18 is designed as a feedback actuator and at least for generating a steering resistance and/or a restoring moment on the steering handle 14 is provided.
- the further actuator unit 18 comprises at least one electric motor (not shown), in particular designed as a permanently excited synchronous motor.
- control unit 40 includes at least one torsion element 42, in the present case in particular a torsion bar, which is provided for a rotation depending on a movement of the steering handle 14.
- a steering handle could also be designed as a joystick, as a steering lever and/or as a steering ball or the like.
- a further actuator unit could also include several electric motors. It is also conceivable to connect a control unit and a wheel steering angle adjuster to one another by means of a steering shaft, such as in a conventional steering system.
- the steering system 12 comprises at least one torque sensor 22.
- the torque sensor 22 is part of the operating unit 40 and is arranged in particular in the region of the torsion element 42.
- the torque sensor 22 is assigned to the further actuator unit 18 .
- the torque sensor 22 is intended to detect a torque signal 24 correlated with a rotation of the gate sion element 42 .
- a torque sensor could also be designed separately from an operating unit, such as in a conventional steering system.
- the vehicle 10 has a control device 28 .
- the control unit 28 is embodied as a central steering control unit and is consequently part of the steering system 12.
- the control unit 28 has an electrical connection with the wheel steering angle adjuster 34.
- the control unit 28 also has an electrical connection to the operating unit 40 .
- the control device 28 is provided for controlling an operation of the steering system 12 .
- the control unit 28 is presently provided to activate the actuator unit 38 as a function of a signal from the operating unit 40, for example as a function of a steering input and/or a manual torque.
- the control unit 28 is also provided to control the additional actuator unit 18 as a function of a signal from the wheel steering angle adjuster 34 .
- control unit 28 includes a computing unit 30.
- the computing unit 30 includes at least one processor (not shown), for example in the form of a microprocessor, and at least one operating memory (not shown).
- the arithmetic unit 30 includes at least one operating program stored in the operating memory with at least one control routine, at least one regulating routine, at least one determination routine and at least one compensation routine.
- a vehicle could also include several control devices, with a first control unit having at least one first computing unit being assigned to an operating unit, while a second control unit having at least one second computing unit being assigned to a wheel steering angle adjuster. In this case, the first control device and the second control device could electrically communicate with each other.
- a control unit could also be different from a steering system and designed, for example, as a central control unit of a vehicle.
- FIG. 2 shows a simplified, schematic structure of a part of the control device 28 and in particular a simplified basic block diagram of a control circuit for the further actuator unit 18.
- the steering system 12 has a control circuit 16.
- the control circuit 16 is operatively connected to the steering handle 14 and is used in particular to regulate a movement of the steering handle 14 and/or to adapt a steering feel that can be perceived on the steering handle 14 .
- the control circuit 16 includes the additional actuator unit 18 and the torque sensor 22, with the torque signal 24 of the torque sensor 22 serving as a feedback variable.
- the control circuit 16 includes an electrical and/or electronic controller unit 20 for controlling the additional actuator unit 18 .
- the regulator unit 20 is designed as a torque regulator, in the present case in particular as a status regulator.
- the control circuit 16 includes a steering feel module 44 in the present case.
- the steering feel module 44 is integrated into the control unit 28 and has an electrical connection to the processing unit 30 .
- the steering feel module 44 is provided to provide a setpoint specification 48 for a steering feel that can be perceived in particular on the steering handle 14 and to supply it to the controller unit 20 as a reference variable.
- a steering feel module entirely.
- a functionality of a steering feel module and/or a controller unit could also be integrated into a computing unit.
- the torque sensor 22 used is a safety-critical component. Accordingly, the torque sensor 22 must be calibrated and/or adjusted particularly precisely in order to avoid errors in the torque signal 24 during the driving operation.
- torque sensors can have a systematic sensor offset, which is due to the nature of the respective torque sensor and, for example, may include an inherent system offset and/or an offset caused by aging and/or wear effects.
- the sensor offset means that in what is known as a hands-off state, in which a control deviation should actually disappear and consequently the further actuator unit 18 should not be activated, there is a control deviation not equal to zero. A triggering of the further actuator unit 18 triggered by this can then lead to an uncontrolled movement of the steering handle 14 and thus to a falsely recognized touching of the steering handle 14 and/or a falsely recognized th release in automated ferry operation.
- the arithmetic unit 30 in particular is provided to carry out the method and for this purpose has in particular a computer program with corresponding program code means.
- a first computing unit of a first control unit, assigned to an operating unit, could also be provided for carrying out the method.
- a compensation torque 26 correlated with a systematic sensor offset of the torque sensor 22 is determined in a calibration operating state.
- determined compensation torque 26 is superimposed on torque signal 24 and evaluated in an automated driving mode to monitor contact with steering handle 14 .
- determined compensation torque 26 can be fed into control circuit 16 to reduce and in particular to compensate for the systematic sensor offset of torque sensor 22 and can be compared with at least one signal from control circuit 16, advantageously torque signal 24. In principle, however, such a compensation of the systematic sensor offset of the torque sensor 22 could also be dispensed with.
- the calibration operating state is carried out during operation of the steering system 12 and consequently the torque sensor 22 in the vehicle 10, preferably when the vehicle 10 is stationary
- Include service mode of operation which can be activated by a driver and/or occupants of the vehicle 10 or by a service employee, for example by means of an on-board computer.
- the compensation moment 26 is determined at a point in time and/or in a state in which the steering handle 14 is not and/or is not being touched, in particular a so-called hands-off state.
- the calibration operating mode can be repeated at regular time intervals or depending on the situation, ie if necessary.
- a calibration operating state could also be carried out in a further driving operating state, for example during automated ferry operation.
- an oscillation is generated in the torque signal 24 in that the steering handle 14 is deflected by activation of the additional actuator unit 18 and a movement of the steering handle 14 when a predefined deflection position is reached by braking the additional actuator unit 18 is stopped abruptly.
- the additional actuator unit 18, the torque sensor 22 and the steering handle 14 act as an oscillating circuit and accordingly ensure that the forced oscillation triggered by the additional actuator unit 18 is damped.
- the compensation torque 26 can then be determined or read off in the steady state.
- the forced oscillation can eliminate a system-immanent hysteresis in torque sensor 22, which is caused in particular by internal friction of torque sensor 22 and a resulting deviation from a zero position and/or a zero point. Due to the oscillation in the form of the damped vibra tion, however, the torque sensor 22 or the torque signal 24 moves around the actual zero position and/or the actual zero point and finally levels off at the actual zero. Basically, there is a similar effect as with the demagnetization of a permanent magnet by means of an alternating magnetic field. The compensation moment 26 can then be determined on the basis of the actual zero position and/or the actual zero point. Alternatively, however, it is also conceivable to use an actuator unit and/or an oscillation unit, in particular an additional one Apply oscillating torque to a steering handle and thereby generate a forced oscillation.
- the compensating torque 26 in the Calibration Be operating state for several different deflection positions of the steering handle 14 is determined.
- an oscillation is generated in the torque signal 24 for the different deflection positions in that the steering handle 14 is deflected by activation of the further actuator unit 18 and a movement of the steering handle 14 is abruptly stopped when the respective deflection position is reached.
- the corresponding value for the compensation torque 26 is then stored together with the corresponding deflection position and is preferably stored in a particularly non-volatile memory unit 46, preferably in the form of a table of values.
- the compensation torque 26 is determined for at least twenty-five different deflection positions of the steering handle 14 .
- one value of a compensation torque for example a maximum value, could also be determined for exactly one defined deflection position of a steering handle.
- the corrected torque signal 50 can then be fed to an observer 72 to monitor the contact with the steering handle 14 be determined by evaluating the corrected torque signal 50, whether a touch of the steering handle 14 occurs and / or takes place or not (so-called hands-on detection or hands-off detection).
- Observer 72 is in the form of a control engineering observer and is operatively connected to control circuit 16 in the present case. In addition, observer 72 is integrated into control unit 28 and has an electrical connection to computing unit 30 .
- the compensation torque 26 can be supplied to the control circuit 16 and offset against at least one signal from the control circuit 16 .
- the torque signal 24 is combined with the compensation torque 26 superimposed to generate the corrected torque signal 50 .
- the corrected torque signal 50 can then, in addition to the reduction and in particular to compensate for the systematic sensor offset of the torque sensor 22, be offset against the setpoint specification 48 of the controller unit 20 or be fed directly to the controller unit 20 as an input variable. In principle, however, such a compensation of the systematic sensor offset of the torque sensor 22 could also be dispensed with.
- the compensation torque 26 is varied and/or adjusted in the automated driving mode as a function of a current deflection position 52 of the steering handle 14 .
- a current deflection position 52 of the steering handle 14 is first determined and a value of the compensation torque 26 assigned to the current deflection position 52 is determined.
- the compensating torque 26 is retrieved and/or read out from the storage unit 46 and in particular the value table as a function of the current deflection position 52 of the steering handle 14 and the torque signal 24 is superimposed.
- a value of the compensating moment 26 is used for a next larger deflection position of the steering handle 14 or a next smaller deflection position of the steering handle 14 .
- missing values could also be determined by means of an interpolation.
- FIGS. 3a to 3c show exemplary diagrams of various signals for determining the compensation torque 26 in the calibration operating state.
- a torque in [Nm] is plotted on an ordinate axis 54 in FIG. 3a.
- a time in [s] is shown on an abscissa axis 56 .
- a curve 58 shows a course of the torque signal 24 in the calibration operating state.
- the course of the torque signal 24 shows that a system-immanent hysteresis in the torque sensor 22 can be eliminated by the forced oscillation.
- the torque sensor 22 or the torque signal moves as a result of the oscillation in the form of the damped oscillation 24 around the actual zero position and/or the actual zero point and finally levels off at the actual zero.
- the sensor offset of the torque sensor 22 in [Nm] is plotted on an ordinate axis 60 in FIG. 3b.
- a deflection of the steering handle 14, present in particular in the form of a steering angle, is shown in [°] on an abscissa axis 62.
- a group of points 64 shows a course of the sensor offset of the torque sensor 22 for several different deflection positions of the steering handle 14.
- the course of the sensor offset of the torque sensor 22 shows that the sensor offset fluctuates depending on the deflection positions of the steering handle 14 .
- the compensation torque 26 is therefore advantageously determined for a large number of different deflection positions of the steering handle 14 .
- a deflection of the steering handle 14, present in particular in the form of a steering angle, is plotted in [°] on an ordinate axis 66.
- a time in [s] is shown on an abscissa axis 68 .
- a curve 70 visualizes the method for determining the compensation torque 26 in the calibration operating state, with an oscillation in the torque signal 24 being generated by the steering handle 14 being deflected by activation of the additional actuator unit 18 and a movement of the steering handle 14 when reaching one respective deflection position by braking the further actuator unit 18 is stopped abruptly. This results in the stepped profile of curve 70 shown in FIG. 3c.
- FIG. 4 shows an exemplary flowchart with main process steps of the process for operating vehicle 10.
- a method step 80 corresponds to a calibration operating state in which the compensation torque 26 correlated with the systematic sensor offset of the torque sensor 22 is determined.
- a ser vice operating mode is activated and then to determine the compensation onsmoments 26 generates an oscillation in the torque signal 24 by the Steering handle 14 is deflected by activation of the further actuator unit 18 and a movement of the steering handle 14 is stopped abruptly when a predefined deflection position is reached by braking the further actuator unit 18 .
- the determination of the compensation torque 26 for several different deflection positions of the steering handle 14 can be repeated.
- a method step 82 corresponds to an automated driving mode in which the compensating torque 26 is superimposed on the torque signal 24 to monitor contact with the steering handle 14 and is evaluated.
- the torque signal 24 and the compensation torque 26 are superimposed on one another and fed to the observer 72 .
- the compensation torque 26 is varied and/or adjusted as a function of a current deflection position 52 of the steering handle 14 .
- the exemplary flow chart in FIG. 4 is only intended to describe a method for operating vehicle 10 as an example.
- individual process steps can also vary or additional process steps can be added.
- varying and/or adjusting a compensation torque as a function of a current deflection position of a steering handle could also be dispensed with.
- the method could also be applied analogously to a conventional steering system, in particular an electric power steering system, with a steering actuator being used as the actuator unit in this case to support a manual torque applied to a steering handle.
Abstract
Description
Claims
Priority Applications (2)
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US18/264,708 US20240051597A1 (en) | 2021-02-25 | 2021-12-02 | Method for Operating a Vehicle, and Vehicle |
CN202180094616.8A CN116897126A (zh) | 2021-02-25 | 2021-12-02 | 用于运行车辆的方法和车辆 |
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DE102021104487.1A DE102021104487A1 (de) | 2021-02-25 | 2021-02-25 | Verfahren zum Betrieb eines Fahrzeugs und Fahrzeug |
DE102021104487.1 | 2021-02-25 |
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WO2022179732A1 true WO2022179732A1 (de) | 2022-09-01 |
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PCT/EP2021/083909 WO2022179732A1 (de) | 2021-02-25 | 2021-12-02 | Verfahren zum betrieb eines fahrzeugs und fahrzeug |
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US (1) | US20240051597A1 (de) |
CN (1) | CN116897126A (de) |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3244111B2 (ja) * | 1996-12-24 | 2002-01-07 | トヨタ自動車株式会社 | ステアリング装置 |
DE102008037870B4 (de) | 2007-08-17 | 2011-07-14 | Sauer-Danfoss Aps | Lenksystem zur Steuerung der Bewegung eines Lenkelements |
DE102018123615A1 (de) | 2017-09-25 | 2019-03-28 | Mando Corporation | Steer-by-wire-System und Steuerungsverfahren desselben |
FR3094693A1 (fr) * | 2019-04-03 | 2020-10-09 | Renault S.A.S. | Procede de determination d’un couple residuel de colonne de direction d’un vehicule automobile |
Family Cites Families (4)
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DE10034135C1 (de) | 2000-07-13 | 2001-10-25 | Daimler Chrysler Ag | Verfahren und Vorrichtung zur präzisen Ermittlung des Drehmomentes einer fahrerbetätigten Lenkhandhabe in einem Fahrzeug mit elektrischer Fahrzeuglenkung |
JP2002337705A (ja) | 2001-05-18 | 2002-11-27 | Mitsubishi Electric Corp | パワーステアリングシステム |
KR101621747B1 (ko) | 2014-12-15 | 2016-05-17 | 주식회사 만도 | 전동식 조향장치 및 그 제어방법 |
US10071764B2 (en) | 2016-11-11 | 2018-09-11 | Steering Solutions Ip Holding Corporation | Methods to control a steering system |
-
2021
- 2021-02-25 DE DE102021104487.1A patent/DE102021104487A1/de active Pending
- 2021-12-02 WO PCT/EP2021/083909 patent/WO2022179732A1/de active Application Filing
- 2021-12-02 US US18/264,708 patent/US20240051597A1/en active Pending
- 2021-12-02 CN CN202180094616.8A patent/CN116897126A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3244111B2 (ja) * | 1996-12-24 | 2002-01-07 | トヨタ自動車株式会社 | ステアリング装置 |
DE102008037870B4 (de) | 2007-08-17 | 2011-07-14 | Sauer-Danfoss Aps | Lenksystem zur Steuerung der Bewegung eines Lenkelements |
DE102018123615A1 (de) | 2017-09-25 | 2019-03-28 | Mando Corporation | Steer-by-wire-System und Steuerungsverfahren desselben |
FR3094693A1 (fr) * | 2019-04-03 | 2020-10-09 | Renault S.A.S. | Procede de determination d’un couple residuel de colonne de direction d’un vehicule automobile |
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CN116897126A (zh) | 2023-10-17 |
DE102021104487A1 (de) | 2022-08-25 |
US20240051597A1 (en) | 2024-02-15 |
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