Patent Grant
11565742
This application claims priority to German Patent Application No. DE 10 2019 206 980.0, filed on May 14, 2019 with the German Patent and Trademark Office. The contents of the aforesaid Patent Application are incorporated herein for all purposes.
The invention relates to a method and a steering control apparatus for determining a control variable for adjusting servo steering torque in a vehicle steering system. The vehicle can be a motor vehicle and in particular a passenger car or truck. The vehicle steering system can be a servo steering system.
This background section is provided for the purpose of generally describing the context of the disclosure. Work of the presently named inventor(s), to the extent the work is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.
Modern motor vehicles have an electric servomotor that generates an additional or exclusive (steer by wire) steering force for deflecting the vehicle wheels. Both versions are included in the invention. The steering force in this context is also termed servo steering torque and can alternatively also be termed steering assist torque.
In doing so, a driver's request for the steering angle is for example detected by means of a torque or angle of rotation sensor in a steering column, which is connected to a steering mechanism, and is transmitted to a steering control apparatus. The steering control apparatus then generates an actuating signal for a power electronics circuit which then generates corresponding control currents based thereupon for the electric motor (servomotor).
Driver assistance systems are known such as for example lane keeping systems that prevent the lane from being unintentionally left. These supply signals to the steering control apparatus that correspond to a steering request from the driver assistance system in order to also generate steering torque, and in particular driver-independent steering torque. In doing so, part of the steering torque requested by the driver assistance system is added to the input signal of the sensor which detects the driver's steering request, and a direct portion for the actuating signal is therefore also generated. This produces haptic feedback in the driver assistance system for the motor vehicle driver, depending on whether the steering request from the driver assistance system acts in the direction of the driver's steering request or in the opposite direction.
The steering request by the driver assistance system is frequently also termed offset torque, or such offset torque is generated based on this steering request (for example using speed-dependent characteristics). The term “offset” refers to the fact that a steering torque specified according to the driver's steering request is changed by the steering request from the driver assistance system, and an offset (i.e., a deviation) from the driver's steering request arises.
The goal in designing a vehicle steering system is frequently to enable a specific haptic feedback for the motor vehicle driver, at least in certain driving situations, even when a driver assistance system intervenes in steering. This is also termed adjusting a specific steering feel. In this case, it may be difficult to specifically adjust and predict the interaction between the driver's steering request and the offset torque. For example, the ultimately achieved haptic feedback for the motor vehicle driver also depends on the friction effects within the vehicle steering system. Friction can in particular occur between a rack and pinion driven by the servomotor that deflects the vehicle wheels upon being displaced.
It is known in particular to suitably adapt the offset torque in light of such friction effects (for example to modify its value according to a characteristic) in order to adjust a specific steering feel for the driver. This allows the friction effects to at least partially be compensated. However, this is restricted to sliding friction effects, which can be estimated precisely enough. The background in this regard can be found in DE 10 2004 021 951 A1. Such estimations and calculated compensations are not feasible with desired precision for conditions of static friction. An effect of static friction in vehicle steering systems is for example discussed in WO 08/116555 A1.
An object of the present invention is to improve the adjustment of a specific steering feel for a motor vehicle driver even when driver assistance systems intervene in steering, such as in light of potential conditions of static friction.
The object is achieved by a method and an apparatus according to the independent claims. Embodiments of the invention are the discussed in the dependent claims and the following description.
It is noted that the aforementioned features, embodiments, and versions may also be provided in the solution according to the invention, or respectively can relate thereto.
In a first exemplary aspect, a method is provided for adjusting a servo steering torque in a vehicle steering system, wherein the servo steering torque can be generated by an actuator of the vehicle steering system. The method comprises: receiving a driver's steering request; receiving a steering request from at least one driver assistance system; receiving at least one driving dynamics variable; determining a static state in which a change of the driver's steering request and the driving dynamics variable each is below a predetermined threshold; and if the static state has been determined: adjusting the servo steering torque by regulating, wherein a control variable for the regulation is determined based on a driver's steering request and the steering request by the driver assistance system.
In another exemplary aspect, a steering control apparatus is provided for determining a control variable for adjusting a servo steering torque in a vehicle steering system, wherein the servo steering torque can be generated by an actuator of the vehicle steering system. The steering control apparatus receives the following: a driver's steering request; a steering request from at least one driver assistance system; and at least one driving dynamics variable. The steering control apparatus is configured to determine a static state in which a change of the driver's steering request and the driving dynamics variable each is below a predetermined threshold; and to ascertain, in a static state, a control variable for regulating the servo steering torque on the basis of a driver's steering request and the steering request from the driver assistance system.
The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features will be apparent from the description, drawings, and from the claims.
Specific embodiments of the invention are here described in detail, below. In the following description of embodiments of the invention, the specific details are described in order to provide a thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the instant description.
In general, a first exemplary aspect provides determining specific operating states of a vehicle steering system and, in situations in which predominant sliding friction exists, or respectively is probable, taking into account potential steering interventions by a driver assistance system in the context of regulation. It was found that in particular during an operating state in which constant driving dynamics as well as constant (driver) steering torque exist (for example while driving in a roundabout or driving through a long curve), applying a corresponding offset torque by a regulation to the vehicle steering system can lead to a natural steering feel from the perspective of the driver. In particular in this state, the offset torque can be offset with a manual torque currently applied by the driver, or respectively added thereto in order to adjust the resulting target steering torque by a regulation. The current driver's steering request can for example correspond to an initial driver's steering request upon the recognition of the static state, and/or saved as such.
In general, the driver's steering request can correspond to a manual steering torque detected by sensors, wherein it is possible for the determined driver's steering request (for example the corresponding sensor signal) to not be exclusively ascribable to forces generated by the driver, for example due to a mechanical coupling to a rack which can also be moved independent of the driver (for example by an actuator).
This procedure ensures that an offset torque by the driver assistance system can be applied without significant impairment of the steering feel, even though the influence of the static friction is mathematically difficult to compensate for, or respectively to take into account.
Contrastingly in other operating states in which a predominant static friction exists, or respectively is probable, a control can be provided that compensates for the sliding friction, for example mathematically, or respectively based on a model. The control can enable a more natural steering feel than a regulation if the latter would have to function on the basis of an actual variable that is only estimated or imprecisely measured.
Optionally, regulating and controlling can be switched depending on the existing operating state. In particular it can be provided that, according to the present aspect, a static state explained below and at least one of a first and second dynamic state are ascertainable. Depending on the determined state, regulating or controlling can be effectuated. The terms ‘regulating’ and ‘regulation’ in the present context is used interchangeably with closed-loop control.
Specifically, the present exemplary aspect relates to a method for adjusting a servo steering torque in a vehicle steering system, wherein the servo steering torque can be generated by an actuator (such as a servomotor) of the vehicle steering system, comprising:
The driver's steering request may be manual torque in corresponding embodiments. This can be measured by means of sensors mentioned at the onset. The driver's steering request, or respectively the torque, can be determined in addition or alternatively, or also based on a model (i.e., calculated), for which, e.g., currently acting driving dynamics variables can be used, and/or a vehicle model (such as for example a conventional single track model) can be employed.
The steering request by the driver assistance system may be transmitted by a control device in corresponding embodiments. It may for example specify a magnitude of a desired offset torque, or respectively desired steering intervention torque.
The driving dynamics variable may for example be a yaw rate, a transverse acceleration, a vehicle speed, a steering position, a steering speed, and/or at least one wheel speed. These can be ascertained and/or determined based on a model using known sensors (such as from an ESP system).
The control variable can be a control variable for power electronics of the actuator in order for it to generate, or respectively effectuate the servo steering torque.
The threshold for recognizing the static state can be chosen so that it is (essentially) 0, i.e., the static state can correspond to an absent change of the mentioned variables.
If a static state has been recognized, which for example may be determined by a steering control apparatus explained below, the current driver's steering request can be saved. The steering request by the driver assistance system can then be offset with the saved driver's steering request (for example added taking into account the sign). For example, a target variable for controlling (such as a target torque and in particular target servo steering torque) can be determined as the variables, or respectively using the offset variables, in particular by addition as described. Then a regulation can be effectuated so that this target variable can actually be achieved. To accomplish this, for example a corresponding actual variable (for example an actual servo steering torque or actual driver's steering request) in the form of a control loop can be fed back so that the control variable can be continuously adapted based on existing control deviations.
In some embodiments, it can be provided that the current and/or saved driver's steering request is used as a reference for a driver's steering request without the intervention of the driver assistance system (i.e., it approximates the driver's steering request or is considered as a request that exists, or respectively would exist without the intervention of the driver assistance system).
For example, a difference may be formed between this reference and a driver's steering request measured after recognizing the static state and not necessarily saved, and the result of this may be used as an actual variable for regulating. For example, this difference can be used as, or respectively considered, a currently implemented actual steering request by the driver assistance system. For regulation, a rule deviation may then be formed between a maintained target and the present actual steering request by the driver assistance system. This rule deviation may, e.g., then be supplied to a (closed-loop) regulator that ascertains the control variable entirely or at least partially.
Another component of the control variable may optionally be determined in a conventional way by means of a steering assist function and/or steering system function, for example by controlling. This can for example determine a control variable for generating a steering assist torque by the actuator based on a current driver's steering request as well as received dynamic variables (e.g., the vehicle speed), and/or saved characteristics.
In this case, it has proven to be beneficial for a natural steering feel to occur in the recognized static state by introducing, or respectively adjusting the desired offset torque of the driver, and for the steering request by the driver assistance system to be implementable in a specific way. With dynamic states as will be explained below, it was contrastingly recognized that a corresponding regulation based on operating variables that potentially vary quickly can result in a less intuitive steering feel, which is why a control is favorable in that case.
Some embodiments provide that the method furthermore comprises the following:
In some embodiments, this is done so that a control variable of the control is determined based on a driver's steering request, the steering request by the driver assist system, and a sliding friction variable.
The control can include determining a target variable (for example a target servo steering torque or a (target) overall steering request) using the driver's steering request, the steering request from the driver assistance system, and may be for example the sliding friction variable as well. On this basis, the control variable can then be determined to implement this target variable in corresponding embodiments. However, feeding back an actual variable (for example an actual servo steering torque) may be omitted in this case.
The sliding friction variable may be determined in a known manner using previously saved tables, functions and/or characteristics. By taking into account the sliding friction variable, sliding friction effects can be at least partially (mathematically) compensated, for example because one of the other variables, or the determined target and or control variable, can then be suitably raised or lowered in order to overcome a sliding friction component so that this does not undesirably distort a steering feel.
In other embodiments, the method furthermore comprises:
These embodiments furthermore provide that if the second dynamic state exists, the following is carried out:
It has been shown that in this case, despite probably dominant static friction given a lack of a change in the driver's steering request, a control can lead to a natural steering feel since haptic feedback due to the driving dynamics, or respectively the surface driven on is not as it were unintentionally, or respectively accidentally regulated as a result of a regulation.
Some embodiments provide that if the servo steering torque is adjusted by regulating, there is a switch to controlling the servo steering torque. This can for example be the case if a regulation difference within regulating becomes zero. Consequently, the benefits of controlling after overcoming the friction can be brought to bear as quickly as possible. In principle, the control can then be executed according to any of the variations described herein.
In some embodiments, it can be provided in this context that the servo steering torque is controlled taking into account a static friction variable, wherein the static friction variable is determined using a regulation deviation in the regulation of the servo steering torque. The regulation deviation can be determined as the difference between a target servo steering torque specified in the context of regulating and a received actual servo steering torque.
In general, any regulation described herein can be performed at least until the static state no longer exists, and/or until one of the first or second dynamic states exist.
Some embodiments provide that the static friction variable determined according to one of the above versions is saved, and a plurality of saved static friction variables is evaluated for fault recognition. Expressed otherwise, values of the static friction variable can be recorded continuously, and/or over the life of the vehicle, and/or during an operation of the vehicle. If the static friction variable decreases unexpectedly or strongly increases unexpectedly (or respectively if the static friction variable meets a predetermined critical variation criterion), it can be inferred that a fault exists in the steering system. This fault can then be compensated by adapting for example the control, and/or warnings can be output.
In some embodiments, the driver's steering request is determined based on a model. For example, the driver's steering request that the driver would apply without the intervention of driver assistance is determined based on a model. This can be provided in addition or alternatively to capturing the driver's steering request by measuring. For example, a difference can be formed between this variable determined based on a model and the driver's steering request determined by measuring. This difference can be used as an actual variable of regulating, for example as an implemented actual steering request, or respectively an actual offset of the driver assistance system.
As mentioned in the preceding, it can also be provided that the dynamics variable is determined based on a model.
Conventional approaches such as for example the single track model, multitrack model or tooth load observer are possible as the model in each of the above cases. These may also access dynamics variables described herein as input variables.
The invention in a second exemplary aspect also relates to a (for example digital and/or electronic) steering control apparatus (for example comprising at least one processor apparatus) for determining a control variable for adjusting a servo steering torque in a vehicle steering system, wherein the servo steering torque can be generated by an actuator of the vehicle steering system,
wherein the steering control apparatus receives the following:
The steering control apparatus may for example comprise all additional features and versions in order to provide all of the steps, effects, operating states and interactions described herein. For example, the steering control apparatus may be configured to execute the method according to the first aspect or any combination of embodiments described herein. All of the above-explained embodiments of the features of the method may also be provided for the identical features of the steering control apparatus, or respectively applied thereto.
Reference will now be made to the drawings in which the various elements of embodiments will be given numerical designations and in which further embodiments will be discussed.
Specific references to components, process steps, and other elements are not intended to be limiting. Further, it is understood that like parts bear the same or similar reference numerals when referring to alternate figures. It is further noted that the figures are schematic and provided for guidance to the skilled reader and are not necessarily drawn to scale. Rather, the various drawing scales, aspect ratios, and numbers of components shown in the figures may be purposely distorted to make certain features or relationships easier to understand.
Components/steps of the same type or with the same effect may be provided with the same reference numbers.
Moreover, the vehicle steering system 1 has a steering control apparatus 5, a power electronics 6, an electric servomotor (actuator) 7 and a rack 8. The servomotor 7 has a rotor position sensor 9, from whose signals the position of the rack 8 and therefore the steering angle can be inferred.
The signals from the torque sensor 4 and the signals from the driver assistance systems 10, 11 which indicate a steering request MFAS from these driver assistance systems 10, 11 are fed to the steering control apparatus 5. The driver assistance systems 10, 11 and steering control apparatus 5 are connected to each other by a bus system 12. Moreover, the steering control apparatus 5 also obtains at least the vehicle speed V as the driving dynamics variable D (or any other of the aforementioned driving dynamics variables D) from a sensor or controller (not shown).
Depending on the input variables MH, V and the steering request MFAS from the driver assistance systems 10, 11, the steering control apparatus 5 generates a control variable in the form of an actuating signal S for the power electronics 6 that then correspondingly energizes the servomotor 7 so that it can move the rack 8 by the servo steering torque M_U. In this case, the servomotor 7 can be connected to the rack 8 by a gear unit (not shown). The conversion of the servo steering torque M_U into a rack movement is in principle associated with friction. The rotor position sensor 9 supplies a rotor angle φ, by means of which the position of the rack 8 can be determined based on the known transmission ratio. It is also noted that the input shaft 3 is mechanically engaged with the rack 8, and the actuator 7 functions as a steering support actuator. A torque generated by the actuator 7 therefore also affects the steering mechanism 2, the input shaft 3, as well as the measuring signals of the torque sensor 4.
In the following, the generation of the control variable S in various operating states, and in particular various friction states, will be further explained with reference to
In
This shows that the target steering request MFAS_S from the driver assistance systems (target offset torque) 10, 11 is received as a target variable to be adjusted. This corresponds to the general steering request MFAS from the driver assistance systems 10, 11 in
Stated more precisely, the manual steering torque MH_OFAS which existed during recognition and consequently at the beginning of the static state is saved in a storage apparatus 21 and then used as a reference for adjusting the target steering request MFAS_S from the driver assistance systems 10, 11. The saved manual steering torque MH_OFAS corresponds to the manual steering torque MH without the intervention of the driver assistance systems 10, 11. This is subtracted from a current manual steering torque MH, wherein the obtained difference corresponds to the actual steering request MFAS_I from the driver assistance system 10, 11 (i.e., the actual offset in the steering mechanism 2). Accordingly, the manual steering torque MH and in particular the saved manual steering torque MH_OFAS, or respectively a difference between these variables provides a reference for determining the extent to which the target steering request MFAS_S from the driver assistance system 10, 11 has already been implemented (i.e., adjusted).
As furthermore shown in
In an embodiment, another component of the control variable Ss is determined to provide basic steering system functions. In the shown example, this is achieved by means of a control function 23 that could also be termed a steering system function (and/or steering force support function). This control function 23 receives for example the current driver's steering request MH and e.g. the dynamics variables V, D as well in order, by using the received variables, to then determine the corresponding control variable Ss in a known manner and for example by a speed-dependent characteristic.
Optionally, a pilot control may also be provided in which the target steering request MFAS_S from the driver assistance system 10, 11 and the driver's steering request MH are added and fed to the control function 23. The optional summation node 25 and the associated signal flow focus thereupon.
The portrayed solution is distinguished in this context in particular by the step of recognizing the static state and then activating the described regulation in order to then determine the control variable S for adjusting the servo steering torque M_U. Moreover, the solution is distinguished in that the regulation is based on the (current) driver's steering request MH present in the static state and, stated more precisely, is saved as the initially existing (current) driver's steering request MH_OFAS. The (target) steering request MFAS from the driver assistance system 10, 11 is as it were adjusted, or respectively taken into account by regulating when generating the servo steering torque M_U.
Another signal flow indicated with a dashed line in
It should be noted that the corresponding feedback may be for example activated only after saving the current manual steering torque MH as the variable MH_OFAS upon recognizing the static state.
Alternatively, it can be provided that the manual steering torque MH_OFAS without the intervention of the driver assistance system 10, 11 is determined based on a model instead of saving by means of a storage apparatus 21. In this case, a model block could be added instead of the storage apparatus 21 in
A version is shown in
By means of a conversion function 27 that for example is a component of the control algorithm (and in any other way as well), for example a friction state may be taken into account in this case. To accomplish this, a sliding friction variable is estimated using conventional solutions, and the control variable S is appropriately adapted in order to compensate for the sliding friction variable.
Consequently, the steering control apparatus 5 can therefore optionally either execute the regulation from
The invention is not restricted to the portrayed exemplary embodiments, nor in particular to their individual details and features. Further embodiments and versions have been explained above in the general descriptive section.
For example, it can also be provided that once the regulation deviation “e” from
The invention has been described in the preceding using various exemplary embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor, module or other unit or device may fulfil the functions of several items recited in the claims.
The mere fact that certain measures are recited in mutually different dependent claims or embodiments does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.
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