WO2024013614A1 - Steering system of the steer-by-wire type for motor vehicles - Google Patents

Steering system of the steer-by-wire type for motor vehicles Download PDF

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Publication number
WO2024013614A1
WO2024013614A1 PCT/IB2023/056948 IB2023056948W WO2024013614A1 WO 2024013614 A1 WO2024013614 A1 WO 2024013614A1 IB 2023056948 W IB2023056948 W IB 2023056948W WO 2024013614 A1 WO2024013614 A1 WO 2024013614A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
steering
steering wheel
wheels
steering system
Prior art date
Application number
PCT/IB2023/056948
Other languages
French (fr)
Inventor
Giampaolo MASCHIETTI
Original Assignee
Stellantis Europe S.P.A.
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 Stellantis Europe S.P.A. filed Critical Stellantis Europe S.P.A.
Publication of WO2024013614A1 publication Critical patent/WO2024013614A1/en

Links

Classifications

    • 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
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Definitions

  • the present invention relates to steering systems of the steer-by- wire type for motor vehicles that have at least one pair of steering wheels, a driver steering wheel, a steering mechanism for imparting to the steering wheels a steering angle set via the driver steering wheel, and an electric motor for driving the steering mechanism.
  • An electronic control unit of the electric motor is operatively connected to the driver steering wheel and is configured in such a way that to a rotation of the driver steering wheel there corresponds, according to a pre-set ratio, a steering angle of the steering wheels imparted by the electric motor via the steering mechanism.
  • a device is provided for applying a feedback torque to the driver steering wheel during steering of the wheels.
  • Steering systems of the steer-by-wire type are known, for example, from the documents US2020/023893A1 , US2013/006474A1 , US2021 /387665A1 , US2020/023893A1 , US2021/354750A1 ,
  • the electronic control unit of these known systems acquires information regarding the speed of the vehicle, the instantaneous angle of the driver steering wheel, the position of the steering mechanism (traditionally formed by a sprocket-and-rack assembly), environmental conditions (humidity, rain), the lateral acceleration of the vehicle, the angle, and the moment of yaw.
  • the control unit regulates the current value of the steering ratio between the rotation of the driver steering wheel and the angle of the steering wheels according to programmable values considered optimal for each specific vehicle.
  • the document LIS2010/025144A1 describes a steering system corresponding to the pre-characterizing part of claim 1 .
  • the object of the invention is to provide a steering system of the steer-by-wire type as defined in the pre-characterizing part of claim 1 , the peculiar characteristic of which lies in that the psychophysical parameters may typically include biometric data, information on driver attention, information on driver fatigue, information on driver drowsiness, in addition to the way (pressure and torque) with which the driver steering wheel is gripped and manoeuvred by the driver, and other parameters still.
  • the sensors for detecting the psychophysical parameters may include, inter alia, heartrate-monitor electrodes applied to the driver steering wheel and one or more cameras for filming the driver.
  • FIG. 1 is provided purely by way of non-limiting example and is a schematic illustration of a diagram of the steering system of the steer-by-wire type for motor vehicles according to an embodiment of the invention.
  • the steering system of the steer-by- wire type for a vehicle having two front steering wheels 1 comprises in a generally known way a driver steering wheel 2 that governs the steering wheels 1 in an indirect way, through an electronic control unit 3.
  • the electronic control unit 3 performs steering of the wheels 1 via an electric motor 4 and a steering mechanism 5 comprising, once again in a conventional way, an assembly consisting of a sprocket 6 and a rack 7.
  • the electronic control unit 3 is configured in such a way to a rotation of the driver steering wheel 2 there corresponds, according to a pre-set but variable ratio, a steering angle of the steering wheels 1 imparted by the electric motor 4 via the steering mechanism 5.
  • the electronic control unit 3 receives at input and processes signals coming from a plurality of sensors, which include, in a known way, a sensor 8 for detecting the position of the steering mechanism 5 and hence the steering angle of the steering wheels 1 , a sensor 9 for detecting the angular position of the driver steering wheel 2, and a set of sensors 10 that detect both environmental parameters (for example, humidity, rain) and parameters regarding the vehicle, such as the speed of travel, its lateral acceleration, and the angle and moment of yaw.
  • a sensor 8 for detecting the position of the steering mechanism 5 and hence the steering angle of the steering wheels 1
  • a sensor 9 for detecting the angular position of the driver steering wheel 2
  • sensors 10 that detect both environmental parameters (for example, humidity, rain) and parameters regarding the vehicle, such as the speed of travel, its lateral acceleration, and the angle and moment of yaw.
  • a device 11 is provided, typically an electric actuator, for applying, via the electronic control unit 3, a feedback torque to the driver steering wheel 2 during steering of the wheels 1 .
  • the steer- by-wire steering system moreover includes a series of sensors 12 designed to detect psychophysical parameters of the driver during driving, and the electronic control unit 3 is moreover configured for varying the ratio between the angle imparted to the driver steering wheel 2 and the steering angle applied to the wheels 1 also, if necessary, as a function of these psychophysical parameters.
  • the above psychophysical parameters may include, in a non- exhaustive way, the following: biometric data; information on driver attention; information on driver fatigue; information on driver drowsiness; mode in which the driver steering wheel is gripped; pressure applied by the driver’s hands on the driver steering wheel; and torque applied to the driver steering wheel.
  • the system envisages the use of sensors and transducers of various types, which are generally within the reach of the person skilled in the branch.
  • the biometric data may be detected by transducers applied on the driver steering wheel, such as heartratemonitor electrodes for controlling heartrate.
  • Pressure and torque applied to the driver steering wheel can be detected by load cells and torsionmeter, whilst driver attention, fatigue, and drowsiness can be detected via one or more digital cameras that film the behaviour and the face of the driver and, via algorithms of facial and behavioural recognition, enable identification of possible psychophysical problems and anomalies in terms of stress.
  • the ratio between the rotation of the driver steering wheel and the steering angle may advantageously also be adapted, and if necessary modified, by the electronic control unit 3 as a function of the psychophysical parameters thus detected, which renders driving not only more efficient but also safer.
  • the electronic control unit 3 may also evaluate the advisability or the need to modify the feedback torque transmitted by the device 11 to the driver steering wheel 2, for example increasing it or else reducing it to improve driving comfort and controllability of the vehicle.

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

Abstract

A steering system of the steer-by-wire type for motor vehicles comprising sensors (12) for detecting psychophysical parameters of the driver during driving and an electronic control unit (3) configured for varying the ratio between rotation of the driver steering wheel (2) and the steering angle also as a function of the psychophysical parameters detected.

Description

Steering system of the steer-by-wire type for motor vehicles
****
TEXT OF THE DESCRIPTION
Field of the invention
The present invention relates to steering systems of the steer-by- wire type for motor vehicles that have at least one pair of steering wheels, a driver steering wheel, a steering mechanism for imparting to the steering wheels a steering angle set via the driver steering wheel, and an electric motor for driving the steering mechanism. An electronic control unit of the electric motor is operatively connected to the driver steering wheel and is configured in such a way that to a rotation of the driver steering wheel there corresponds, according to a pre-set ratio, a steering angle of the steering wheels imparted by the electric motor via the steering mechanism. Moreover, a device is provided for applying a feedback torque to the driver steering wheel during steering of the wheels.
Prior art
Steering systems of the steer-by-wire type are known, for example, from the documents US2020/023893A1 , US2013/006474A1 , US2021 /387665A1 , US2020/023893A1 , US2021/354750A1 ,
US2019/367084A1 , US2020/023892A1 , US11 , 247715B2,
US2019/168807A1 , US2019/176883A1 , US2020277006A1 .
Typically, the electronic control unit of these known systems acquires information regarding the speed of the vehicle, the instantaneous angle of the driver steering wheel, the position of the steering mechanism (traditionally formed by a sprocket-and-rack assembly), environmental conditions (humidity, rain), the lateral acceleration of the vehicle, the angle, and the moment of yaw. On the basis of these detected data the control unit regulates the current value of the steering ratio between the rotation of the driver steering wheel and the angle of the steering wheels according to programmable values considered optimal for each specific vehicle.
These data may not be sufficient to establish a ratio between rotation of the driver steering wheel and the steering angle that is truly optimal in terms of driving efficiency and safety. The document LIS2010/025144A1 describes a steering system corresponding to the pre-characterizing part of claim 1 .
Summary of the invention
The object of the invention is to provide a steering system of the steer-by-wire type as defined in the pre-characterizing part of claim 1 , the peculiar characteristic of which lies in that the psychophysical parameters may typically include biometric data, information on driver attention, information on driver fatigue, information on driver drowsiness, in addition to the way (pressure and torque) with which the driver steering wheel is gripped and manoeuvred by the driver, and other parameters still.
The sensors for detecting the psychophysical parameters may include, inter alia, heartrate-monitor electrodes applied to the driver steering wheel and one or more cameras for filming the driver.
Thanks to this proposed solution, driving of the vehicle equipped with the steer-by-wire steering system according to the invention is rendered not only more efficient but also safer.
Brief description of the drawings
The invention will now be described in detail with reference to the annexed Figure 1 , which is provided purely by way of non-limiting example and is a schematic illustration of a diagram of the steering system of the steer-by-wire type for motor vehicles according to an embodiment of the invention.
Detailed description of the invention
With reference to the figure, the steering system of the steer-by- wire type for a vehicle having two front steering wheels 1 comprises in a generally known way a driver steering wheel 2 that governs the steering wheels 1 in an indirect way, through an electronic control unit 3.
The electronic control unit 3 performs steering of the wheels 1 via an electric motor 4 and a steering mechanism 5 comprising, once again in a conventional way, an assembly consisting of a sprocket 6 and a rack 7. The electronic control unit 3 is configured in such a way to a rotation of the driver steering wheel 2 there corresponds, according to a pre-set but variable ratio, a steering angle of the steering wheels 1 imparted by the electric motor 4 via the steering mechanism 5.
The electronic control unit 3 receives at input and processes signals coming from a plurality of sensors, which include, in a known way, a sensor 8 for detecting the position of the steering mechanism 5 and hence the steering angle of the steering wheels 1 , a sensor 9 for detecting the angular position of the driver steering wheel 2, and a set of sensors 10 that detect both environmental parameters (for example, humidity, rain) and parameters regarding the vehicle, such as the speed of travel, its lateral acceleration, and the angle and moment of yaw.
A device 11 is provided, typically an electric actuator, for applying, via the electronic control unit 3, a feedback torque to the driver steering wheel 2 during steering of the wheels 1 .
According to the peculiar characteristic of the invention, the steer- by-wire steering system moreover includes a series of sensors 12 designed to detect psychophysical parameters of the driver during driving, and the electronic control unit 3 is moreover configured for varying the ratio between the angle imparted to the driver steering wheel 2 and the steering angle applied to the wheels 1 also, if necessary, as a function of these psychophysical parameters.
The above psychophysical parameters may include, in a non- exhaustive way, the following: biometric data; information on driver attention; information on driver fatigue; information on driver drowsiness; mode in which the driver steering wheel is gripped; pressure applied by the driver’s hands on the driver steering wheel; and torque applied to the driver steering wheel.
To detect the above information and data the system according to the invention envisages the use of sensors and transducers of various types, which are generally within the reach of the person skilled in the branch. For instance, the biometric data may be detected by transducers applied on the driver steering wheel, such as heartratemonitor electrodes for controlling heartrate. Pressure and torque applied to the driver steering wheel can be detected by load cells and torsionmeter, whilst driver attention, fatigue, and drowsiness can be detected via one or more digital cameras that film the behaviour and the face of the driver and, via algorithms of facial and behavioural recognition, enable identification of possible psychophysical problems and anomalies in terms of stress.
In this way, during driving of the vehicle, the ratio between the rotation of the driver steering wheel and the steering angle may advantageously also be adapted, and if necessary modified, by the electronic control unit 3 as a function of the psychophysical parameters thus detected, which renders driving not only more efficient but also safer. For instance, in a detected condition of driver fatigue there may intervene a reduction of the effort required for steering the wheels, or else the steering radius may be varied so as to prevent fast rotation of the driver steering wheel from possibly leading to instability of the vehicle that the driver might not be able to handle. At the same time the electronic control unit 3 may also evaluate the advisability or the need to modify the feedback torque transmitted by the device 11 to the driver steering wheel 2, for example increasing it or else reducing it to improve driving comfort and controllability of the vehicle.
Of course, the details of construction and the embodiments may widely vary with respect to what has been described and illustrated herein, without thereby departing from the scope of the present invention as defined in the ensuing claims.

Claims

1. A steering system of the steer-by-wire type for motor vehicles that have at least one pair of steering wheels (1 ), a driver steering wheel (2), a steering mechanism (5) for imparting to the steering wheels a steering angle set via the driver steering wheel, an electric motor (4) for driving said steering mechanism, an electronic control unit (3) of said electric motor operatively connected to said driver steering wheel and configured so that to a rotation of the driver steering wheel there corresponds, according to a pre-set ratio, a steering angle of said steering wheels imparted by the electric motor via said steering mechanism, and a device (11 ) for applying a feedback torque to the driver steering wheel during steering of the wheels, further comprising sensors (12) for detecting psychophysical parameters of the driver during driving and wherein the electronic control unit is moreover configured for varying said ratio also as a function of the psychophysical parameters detected, said steering system being characterized in that said parameters include the way in which the driver steering wheel is gripped by the driver.
2. The steering system according to claim 1 , characterized in that said parameters comprise biometric data.
3. The steering system according to claim 1 or claim 2, characterized in that said parameters include information on driver attention.
4. The steering system according to one or more of the preceding claims, characterized in that said parameters include information on driver fatigue.
5. The steering system according to one or more of the preceding claims, characterized in that said parameters include information on driver drowsiness.
6. The steering system according to one or more of the preceding claims, characterized in that said parameters include the pressure applied on the driver steering wheel by the driver’s hands.
7. The steering system according to one or more of the preceding claims, characterized in that said parameters include the torque applied by the driver to the driver steering wheel.
8. The steering system according to one or more of the preceding claims, characterized in that said sensors include at least one camera.
9. The steering system according to one or more of the preceding claims, characterized in that said sensors include pressure sensors applied to the driver steering wheel.
10. The steering system according to one or more of the preceding claims, characterized in that said sensors include heartratemonitor electrodes applied to the driver steering wheel.
11. A motor vehicle equipped with a steering system of the steer-by-wire type according to one or more of the preceding claims.
12. A method of steer-by-wire steering for a motor vehicle having at least one pair of steering wheels (1), a driver steering wheel (2), a steering mechanism (5) for imparting to the steering wheels a steering angle set via the driver steering wheel, an electric motor (4) for driving said steering mechanism, and an electronic control unit (3) of said electric motor operatively connected to said driver steering wheel and configured so that to a rotation of the driver steering wheel there corresponds, according to a pre-set ratio, a steering angle of said steering wheels imparted by the electric motor via said steering mechanism, wherein said electronic control unit varies said ratio also as a function of psychophysical parameters of the driver detected during driving, said method being characterized in that said parameters include the way in which the driver steering wheel is gripped by the driver.
13. The method according to claim 12, characterized in that it comprises the step of detecting the pressure applied on the driver steering wheel by the driver’s hands.
14. The method according to claim 12, characterized in that it comprises the step of detecting the torque applied by the driver to the driver steering wheel.
PCT/IB2023/056948 2022-07-11 2023-07-05 Steering system of the steer-by-wire type for motor vehicles WO2024013614A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102022000014569A IT202200014569A1 (en) 2022-07-11 2022-07-11 "Steer-by-wire steering system for motor vehicles"
IT102022000014569 2022-07-11

Publications (1)

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WO2024013614A1 true WO2024013614A1 (en) 2024-01-18

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Citations (16)

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JPH06297983A (en) * 1992-07-01 1994-10-25 Mazda Motor Corp Characteristic changing device for automobile and method thereof
JP2000052997A (en) * 1998-08-06 2000-02-22 Toyota Motor Corp Steering unit for vehicle
US20050006170A1 (en) * 2003-07-09 2005-01-13 Dirrig John Ernest Variable power steering assist using driver grip pressure
JP2006131184A (en) * 2004-11-09 2006-05-25 Nissan Motor Co Ltd Driving posture maintaining device
US20100025144A1 (en) 2008-07-31 2010-02-04 Gm Global Technology Operations, Inc. Control adaptation of variable gear ratio steering
US20130006474A1 (en) 2011-06-28 2013-01-03 Mando Corporation Steering angle sensor failure detection system
US20170197656A1 (en) * 2016-01-08 2017-07-13 Lg Electronics Inc. Steering input apparatus and vehicle
US20190168807A1 (en) 2016-08-10 2019-06-06 Thyssenkrupp Presta Ag Controlling a steer-by-wire steering system
US20190176883A1 (en) 2017-12-07 2019-06-13 Steering Solutions Ip Holding Corporation Rack-limiting condition detection and the corresponding steering wheel torque feedback for steer by wire steering systems
US20190367084A1 (en) 2018-05-29 2019-12-05 Mando Corporation Apparatus and method for controlling of steer by wire system
US20200023893A1 (en) 2018-07-23 2020-01-23 Ford Global Technologies, Llc Steer-by-wire feedback torque
US20200023892A1 (en) 2018-07-20 2020-01-23 Mando Corporation Apparatus and method for controlling steer-by-wire system
US20200277006A1 (en) 2019-02-28 2020-09-03 Steering Solutions Ip Holding Corporation Method and system for electronic power steering angle control with non-zero initial condition
US20210354750A1 (en) 2020-05-12 2021-11-18 Hyundai Mobis Co., Ltd. Apparatus and method for controlling steer-by-wire system
US20210387665A1 (en) 2018-10-18 2021-12-16 Mando Corporation Steer-by-wire-type steering apparatus
US11247715B2 (en) 2016-05-20 2022-02-15 Ford Global Technologies, Llc Steer-by-wire system, motor vehicle, and method for operating a steer-by-wire system

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06297983A (en) * 1992-07-01 1994-10-25 Mazda Motor Corp Characteristic changing device for automobile and method thereof
JP2000052997A (en) * 1998-08-06 2000-02-22 Toyota Motor Corp Steering unit for vehicle
US20050006170A1 (en) * 2003-07-09 2005-01-13 Dirrig John Ernest Variable power steering assist using driver grip pressure
JP2006131184A (en) * 2004-11-09 2006-05-25 Nissan Motor Co Ltd Driving posture maintaining device
US20100025144A1 (en) 2008-07-31 2010-02-04 Gm Global Technology Operations, Inc. Control adaptation of variable gear ratio steering
US20130006474A1 (en) 2011-06-28 2013-01-03 Mando Corporation Steering angle sensor failure detection system
US20170197656A1 (en) * 2016-01-08 2017-07-13 Lg Electronics Inc. Steering input apparatus and vehicle
US11247715B2 (en) 2016-05-20 2022-02-15 Ford Global Technologies, Llc Steer-by-wire system, motor vehicle, and method for operating a steer-by-wire system
US20190168807A1 (en) 2016-08-10 2019-06-06 Thyssenkrupp Presta Ag Controlling a steer-by-wire steering system
US20190176883A1 (en) 2017-12-07 2019-06-13 Steering Solutions Ip Holding Corporation Rack-limiting condition detection and the corresponding steering wheel torque feedback for steer by wire steering systems
US20190367084A1 (en) 2018-05-29 2019-12-05 Mando Corporation Apparatus and method for controlling of steer by wire system
US20200023892A1 (en) 2018-07-20 2020-01-23 Mando Corporation Apparatus and method for controlling steer-by-wire system
US20200023893A1 (en) 2018-07-23 2020-01-23 Ford Global Technologies, Llc Steer-by-wire feedback torque
US20210387665A1 (en) 2018-10-18 2021-12-16 Mando Corporation Steer-by-wire-type steering apparatus
US20200277006A1 (en) 2019-02-28 2020-09-03 Steering Solutions Ip Holding Corporation Method and system for electronic power steering angle control with non-zero initial condition
US20210354750A1 (en) 2020-05-12 2021-11-18 Hyundai Mobis Co., Ltd. Apparatus and method for controlling steer-by-wire system

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