WO2024002557A1 - Système de direction à commande électrique, et procédé de fonctionnement d'un système de direction à commande électrique - Google Patents

Système de direction à commande électrique, et procédé de fonctionnement d'un système de direction à commande électrique Download PDF

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Publication number
WO2024002557A1
WO2024002557A1 PCT/EP2023/061528 EP2023061528W WO2024002557A1 WO 2024002557 A1 WO2024002557 A1 WO 2024002557A1 EP 2023061528 W EP2023061528 W EP 2023061528W WO 2024002557 A1 WO2024002557 A1 WO 2024002557A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
control device
actuator
steer
gear
Prior art date
Application number
PCT/EP2023/061528
Other languages
German (de)
English (en)
Inventor
Peter Iwanski
Dirk Dreyer
Original Assignee
Volkswagen Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2024002557A1 publication Critical patent/WO2024002557A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—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
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • 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
    • 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
    • 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
    • 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
    • B62D5/003—Backup systems, e.g. for manual steering
    • 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

Definitions

  • the invention relates to a steer-by-wire steering system and a method for operating a steer-by-wire steering system.
  • Steer-by-wire steering systems are usually designed in such a way that they have a steering column module and a steering gear that are mechanically decoupled and electrically connected.
  • a steering wheel angle is recorded and transmitted to a control unit of the steering gear in order to determine a target steering angle, which is then adjusted using a steering actuator.
  • the steering actuator is usually an electric motor that deflects a rack to set the desired steering angle on the wheels.
  • An actuator for generating a counter-torque is arranged on a steering column, so that the driver of the motor vehicle gets a steering feeling that he is familiar with from conventional steering systems. It is also known to design many of the structural units mentioned as redundant in order to ensure reliability. A wide variety of concepts are known as to how the respective redundancy or a fallback level can be guaranteed.
  • the invention is based on the technical problem of creating a steer-by-wire steering system that has improved reliability and of providing a corresponding method.
  • the steer-by-wire steering system has a steering column module and a steering gear.
  • the steering column module has a first sensor module and a second sensor module, each of which detects at least one steering wheel angle.
  • the steering column module also has a steering wheel, a steering column, and at least one actuator for generating a counter torque Steering column and at least two control devices for the at least one actuator to generate the counter torque.
  • the steering wheel is generally understood here as a steering handle in order to specify a desired steering angle.
  • the first control device for the at least one actuator is connected to a first control device of the steering gear via at least one bus connection.
  • the second control unit for the at least one actuator is connected to a second control unit of the steering gear via at least one second bus connection.
  • the first sensor unit is connected directly to the first control unit of the steering gear via a sensor interface and the second sensor unit is connected directly to the first control unit for the at least one actuator via a sensor interface.
  • the sensor interface is preferably designed as a SENT interface (Single Edge Nibble Transmission).
  • the steer-by-wire steering system is designed in such a way that, during error-free operation, the first control device of the at least one actuator transmits a steering wheel angle and a gear ratio to the first control device of the steering gear, which are then used to calculate the target steering angle.
  • the steering wheel angle transmitted via the sensor interface is used by the first control unit of the steering gear to calculate a target steering angle.
  • the first sensor module and the first control unit of the steering gear have a common power supply. This improves reliability overall, since the steering wheel angle is transmitted via two different transmission paths, namely via a bus connection and one via a sensor interface. Due to the common power supply from the first sensor module and the first control unit of the steering gear, the first sensor module still works even if the power supply to the first control unit of the at least one actuator fails. In the event of an error, the gear ratio can then be supplied to the first control unit from another unit and this uses the last transmitted gear ratio.
  • the steer-by-wire steering system is designed such that only if the first control device and the second control device fail for the at least one actuator, the steering wheel angle transmitted via the sensor interface from the first sensor module to the first control device of the steering gear is used to calculate the Target steering angle is used.
  • the advantage is the better coordination between the target steering angle and the counter torque, as long as a control unit of the at least one actuator is still working without errors, with the steering wheel angle of the sensor interface only being used in the event of a double error and total failure of the steering column module.
  • the first and second sensor modules are designed to additionally detect a manual torque.
  • the at least one actuator for generating a counter torque is designed as an electric motor with a first set and a second set of windings that are independent of each other, the first set of windings being controlled by the first control device for the actuator and the second set of windings is controlled by the second control unit.
  • a set has three windings each. Since the first and second control devices preferably have different voltage supplies and the rotor of the electric motor is very robust and fail-safe, the actuator is functional in the event of a wide variety of individual errors.
  • the first control device of the actuator and the first control device of the steering gear are connected to one another via a first bus system and a second bus system, the first bus system being designed as an exclusive bus system (e.g. private CAN), via which the steering wheel angle and the gear ratio is transferred.
  • the first bus system being designed as an exclusive bus system (e.g. private CAN), via which the steering wheel angle and the gear ratio is transferred.
  • an exclusive bus system e.g. private CAN
  • the first control device and the second control device of the at least one actuator have a communication connection, wherein the steer-by-wire steering system is designed such that the first control device transmits at least one steering wheel angle starting value to the second control device.
  • the communication preferably takes place continuously, so that the second control device knows the current steering wheel angle and the gear ratio.
  • the communication connection can also be designed as an exclusive bus connection (e.g. private CAN).
  • the second control unit of the actuator is designed to determine an absolute steering wheel angle using a rotor angle of the steering gear.
  • a steer-by-wire steering system 1 is shown schematically in FIG.
  • the steer-by-wire steering system 1 has a steering column module 2 and a steering gear 3.
  • the steering column module 2 has a steering wheel 4 and a steering column 5.
  • a first sensor module 6 and a second sensor module 7 are arranged on the steering column 5, wherein the first sensor module 6 and the second sensor module 7 are designed to detect a steering wheel angle (p and a hand torque on the steering wheel 4.
  • the steering column module 2 also has a Actuator 8 to generate a counter torque on the steering wheel 4, the actuator 8 being designed as an electric motor with a first set 9 and a second set 10 of windings, the first set 9 of windings being controlled by a first control unit 11 and the second set 10 of Windings are controlled by a second control device 12, with the associated power electronics not being shown for clarity reasons.
  • the first control device 11 and the second control device 12 are connected to one another via a communication connection 13.
  • the second sensor module 7 is connected to the first control device 11 via a sensor interface 14 connected for the actuator 8.
  • the steering gear 3 has a first control device 15 and a second control device 16.
  • the steering gear 3 also has two power electronics 17, 18, each of which controls a half motor 19, 20.
  • the two half motors 19, 20 work on a common rotor 21, which is connected to a rack 22 via a gear (not shown).
  • the two control devices 15, 16 control the power electronics 17, 18. As shown, one control device 15, 16 can control both power electronics 17, 18 or one control device 15, 16 can control one power electronics 17, 18.
  • a communication connection 23 between the first control device 15 and the second control device 16 is also shown.
  • the first sensor module 6 is directly connected to the first control unit 15 of the steering gear 3 via a sensor interface 24.
  • the first control unit 11 of the actuator 8 is connected to the first control unit 15 of the steering gear 3 via a first bus system 25 and a second bus system 26.
  • the first bus system 25 is designed as an exclusive bus system
  • the second bus system 26 is designed as a vehicle bus system on which other control devices also communicate, which is indicated by the outgoing line.
  • the control device 11 transmits the steering wheel angle (p of the second sensor module 7 and the gear ratio ü to the first control device 15 of the steering gear 3.
  • the second control device 12 of the actuator 8 is also via a further bus system 27, which is also used, for example, as a vehicle bus system is designed with the second control device 16 of the Steering gear 3 connected. It is further shown that a rotor angle q>R is transmitted to the second control device 16, which can alternatively or additionally also be supplied to the first control device 15.
  • the power supplies are not shown, although redundant elements each have a different power supply.
  • the steering column module 2 has a first and second voltage supply and the steering gear 3 has a first and second voltage supply, whereby these can be the same or independent of one another.
  • the voltage supply for the first sensor module 6 is the same as for the first control unit 15 of the steering gear 3.
  • the first control device 11 transmits the steering wheel angle (p and the gear ratio ü via the bus system 25 to the first control device 15 of the steering gear 3, which then determines a target steering angle from this and controls the power electronics 17, 18 accordingly. If the first control unit 11, the steering wheel angle (p and the gear ratio ü can be transmitted from the second control unit 12 to the second control unit 16 of the steering gear 3, the steering wheel angle (p being determined from the rotor angle >R with knowledge of the gear ratio ü. The second control unit also falls 12, the first control device 15 still receives the steering wheel angle (p from the first sensor module 6 and can calculate a corresponding target steering angle. The first control device 15 can also receive the gear ratio ü from another control device. With regard to the speed of data transmission transmission via the sensor interfaces is the fastest, followed by the exclusive bus systems, whereas the vehicle bus systems are the slowest.

Landscapes

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

Abstract

L'invention concerne un système de direction à commande électrique, le système de direction à commande électrique comprenant un module de colonne de direction et un mécanisme de direction, le module de colonne de direction comprenant un premier module de capteur et un second module de capteur qui détectent chacun au moins un angle de volant, le module de colonne de direction comprenant également un volant, une colonne de direction, au moins un actionneur pour générer un couple antagoniste sur la colonne de direction, et deux dispositifs de commande pour le ou les actionneurs pour générer le couple antagoniste, le mécanisme de direction ayant au moins deux dispositifs de commande, le premier dispositif de commande pour le ou les actionneurs étant raccordé à un premier dispositif de commande du mécanisme de direction par l'intermédiaire d'au moins une connexion de bus, et le second dispositif de commande pour le ou les actionneurs étant raccordé à un second dispositif de commande du mécanisme de direction par l'intermédiaire d'au moins une connexion de bus.
PCT/EP2023/061528 2022-06-28 2023-05-02 Système de direction à commande électrique, et procédé de fonctionnement d'un système de direction à commande électrique WO2024002557A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022206518.2A DE102022206518A1 (de) 2022-06-28 2022-06-28 Steer-by-Wire-Lenksystem und Verfahren zum Betreiben eines Steer-by-Wire-Lenksystems
DE102022206518.2 2022-06-28

Publications (1)

Publication Number Publication Date
WO2024002557A1 true WO2024002557A1 (fr) 2024-01-04

Family

ID=86424855

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/061528 WO2024002557A1 (fr) 2022-06-28 2023-05-02 Système de direction à commande électrique, et procédé de fonctionnement d'un système de direction à commande électrique

Country Status (2)

Country Link
DE (1) DE102022206518A1 (fr)
WO (1) WO2024002557A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10112514A1 (de) * 2000-12-22 2002-06-27 Volkswagen Ag X-by-wire-System für ein Fahrzeug
US20040193344A1 (en) * 2003-03-27 2004-09-30 Toyoda Koki Kabushiki Kaisha Vehicle steering apparatus and method for controlling the same
EP1268257B1 (fr) * 2000-03-27 2006-07-26 Continental Teves AG & Co. oHG Direction de vehicule et module de direction pour direction de vehicule
US20210009202A1 (en) 2019-07-09 2021-01-14 Denso Corporation Steering control device
DE102019007715A1 (de) * 2019-11-07 2021-05-12 Daimler Ag Steer by Wire System

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1268257B1 (fr) * 2000-03-27 2006-07-26 Continental Teves AG & Co. oHG Direction de vehicule et module de direction pour direction de vehicule
DE10112514A1 (de) * 2000-12-22 2002-06-27 Volkswagen Ag X-by-wire-System für ein Fahrzeug
US20040193344A1 (en) * 2003-03-27 2004-09-30 Toyoda Koki Kabushiki Kaisha Vehicle steering apparatus and method for controlling the same
US20210009202A1 (en) 2019-07-09 2021-01-14 Denso Corporation Steering control device
DE102019007715A1 (de) * 2019-11-07 2021-05-12 Daimler Ag Steer by Wire System

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Publication number Publication date
DE102022206518A1 (de) 2023-12-28

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