EP4688531A1 - Procédé de génération d'une rétroaction de chaussée pour un conducteur de véhicule à partir d'excitations de chaussée basse fréquence d'un système de direction à commande électrique, et système de direction à commande électrique - Google Patents

Procédé de génération d'une rétroaction de chaussée pour un conducteur de véhicule à partir d'excitations de chaussée basse fréquence d'un système de direction à commande électrique, et système de direction à commande électrique

Info

Publication number
EP4688531A1
EP4688531A1 EP24712757.4A EP24712757A EP4688531A1 EP 4688531 A1 EP4688531 A1 EP 4688531A1 EP 24712757 A EP24712757 A EP 24712757A EP 4688531 A1 EP4688531 A1 EP 4688531A1
Authority
EP
European Patent Office
Prior art keywords
rack
steer
steering system
wire steering
roadway
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP24712757.4A
Other languages
German (de)
English (en)
Inventor
Matthias Schoelzel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP4688531A1 publication Critical patent/EP4688531A1/fr
Pending legal-status Critical Current

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
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • 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 invention relates to a method for generating road feedback from low-frequency road excitations of a steer-by-wire steering system for a vehicle driver according to claim 1 and a steer-by-wire steering system according to claim 8.
  • a steer-by-wire steering system for a vehicle driver according to claim 1 and a steer-by-wire steering system according to claim 8.
  • DE 10 2014 211 815 A1 for the prior art, reference is made to DE 10 2014 211 815 A1 by way of example.
  • So-called steer-by-wire steering systems for vehicles are already known in various forms from the state of the art. This differs from conventional steering systems in that the steering of the wheels is completely decoupled from the mechanical steering movement of the driver or only takes place via a purely electronic transmission.
  • the conventional mechanical transmission devices are no longer required; instead, the driver generates data through his steering movement on the so-called steering handle or steering wheel, which is fed into an electronic control unit.
  • This control module evaluates the data and converts it into appropriate steering commands. This controls the steering gear, which carries out the desired steering movement.
  • a steering wheel actuator or an actuation force simulator or a steering wheel motor or a feedback actuator is usually installed on the steering wheel module. Based on the available sensor data, control electronics calculate a control value for the feedback actuator, which then maps a steering wheel resistance to the steering wheel. Ideally, this should reflect the frictional connection between the tires and the road at an appropriate force level.
  • a method for generating road feedback from low-frequency road excitations of a steer-by-wire steering system for a vehicle driver is proposed.
  • Such road feedback in this case haptic, is provided by a steering wheel actuator of the steer-by-wire steering system.
  • Such a steering wheel actuator also referred to as a feedback actuator, is an actuator arranged in particular on a steering handle for initiating a steering process by a driver of a vehicle, which actuator generates, for example, the restoring force or the restoring torque for the steering handle or the steering wheel in order to provide a feel familiar from conventional steering systems.
  • Such a steering wheel actuator generates feedback which is transmitted to the driver or the steering handle based on wheel-road forces. This feedback is referred to as road feedback in the further course of the application.
  • the steering handle or steering device that a driver operates to achieve wheel steering is completely mechanically decoupled from the steered wheels.
  • these are synthetically generated or simulated by the actuation simulator, for example in the form of torques on the steering handle. It is intended that a rack position change occurs based on a rack force generated by a low-frequency road excitation.
  • Such low-frequency road excitation can be detected, for example.
  • This detection can be carried out, for example, by suitable sensors or measurements, calculation or simulation methods or the like. In particular, such detection is carried out by a so-called rack force estimator.
  • road excitation can also be detected by other suitable sensors or calculations or the like.
  • the rack force estimator works by estimating the current rack force based on the currents determined in the servo motor of the steering gear and other physical quantities. It can be determined whether road surface excitations in a conventional steering system would lead to a rack movement - and the associated steering wheel movement.
  • a rack position change is then preferably carried out.
  • This rack position change is carried out, for example, via a suitable rack position controller.
  • a haptic road feedback as explained above is then generated, e.g. in the form of a torque on the steering wheel actuator of the steer-by-wire steering system.
  • low-frequency road surface excitations are fed back to the steering handle.
  • low frequency includes excitations or vibrations that are in the range between approximately 0.2 Hz and 3 Hz.
  • the rack position change can be carried out by a rack position controller, whose controller stiffness is selected such that a slight change in the position of the rack - depending on the current rack force - is permitted.
  • the position controller Depending on the rack force that occurs, the position controller gives way (within a defined stiffness) and allows a certain deviation in the rack position. If a rack force is created by a low-frequency road excitation, the controller stiffness of the rack position controller allows a certain change in the position of the rack, so that it shifts or moves. As a direct response to this rack movement, which is detected by a suitable sensor (e.g. a rack position sensor), a corresponding feedback of this rack movement is given to the steering handle.
  • a suitable sensor e.g. a rack position sensor
  • this rack movement is then preferably corrected back to its original position - at the same time, the steering wheel angle on the steering handle is also set back to its original position.
  • the proposed method of reporting the rack position change to a vehicle driver enables authentic road feedback from low-frequency road excitations.
  • the rack position change takes place as a function of driving dynamics variables, such as the current vehicle speed, the lateral acceleration, the roll angle, a steering wheel angle or a steering wheel speed and/or as a function of the current excitation spectrum of the road (the amplitude and the frequency) and/or as a function of physical influencing variables (for example motor currents or steering gear properties).
  • driving dynamics variables such as the current vehicle speed, the lateral acceleration, the roll angle, a steering wheel angle or a steering wheel speed and/or as a function of the current excitation spectrum of the road (the amplitude and the frequency) and/or as a function of physical influencing variables (for example motor currents or steering gear properties).
  • the rack movement takes place according to one or more stored characteristic curves.
  • the path of the rack position change includes a limit value beyond which no further position change occurs. This limit value cannot be exceeded.
  • the limit value can also be set so that it can be changed depending on the current driving dynamics state (e.g. speed, lateral acceleration, steering wheel angle, steering wheel speed, etc.) and the excitation spectrum of the road (amplitude and frequency).
  • the limit value is - depending on the steering ratio - a value of approx. 1 mm.
  • a steer-by-wire steering system of a vehicle for carrying out the method according to one of claims 1 to 7 is also proposed.
  • the steering system comprises a rack that can be controlled by a control unit.
  • a change in the position of the rack can be detected by a suitable sensor (for example a rack position sensor) and can be fed back to the steering handle in the form of haptic feedback.
  • the steering system can comprise at least one detection unit for detecting the low-frequency excitations.
  • a unit can be, for example, one or more sensor units and/or a control unit for estimating or calculating or simulating the excitation.
  • the detection unit is a rack force estimator as already described above.
  • the steering system comprises a steering wheel actuator which can be controlled by a control unit and is configured to generate synthetic, haptic road feedback to a vehicle driver depending on the detected rack position change.
  • the steering system can comprise a rack position controller for adjusting the rack, the stiffness of which is selected such that a position deviation of the rack is permitted depending on the current rack force.
  • the advantage of the invention is that road information relevant to driving dynamics (limit area, road unevenness, etc.) can be made available to the driver as with a conventional steering system.
  • a rack position change characteristic curve is shown, whereby the rack travel x in mm depends on the force F acting on the rack (which in turn is generated by the road surface excitations). The higher the rack force F, the greater the change in rack position.
  • a limit value of 1 mm is set for the rack travel x. However, this limit value can be changed depending on the current driving situation and the current driving dynamics conditions as well as the excitation spectrum of the road surface.

Landscapes

  • 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

L'invention concerne un procédé de génération d'une rétroaction de chaussée pour un conducteur de véhicule à partir d'excitations de chaussée basse fréquence d'un système de direction à commande électrique, dans lequel, sur la base d'une force de crémaillère générée par une excitation de chaussée basse fréquence, un changement de position de la crémaillère a lieu, et une rétroaction de chaussée haptique à un actionneur de volant du système de direction à commande électrique est générée en fonction du changement de position de la crémaillère.
EP24712757.4A 2023-03-31 2024-03-06 Procédé de génération d'une rétroaction de chaussée pour un conducteur de véhicule à partir d'excitations de chaussée basse fréquence d'un système de direction à commande électrique, et système de direction à commande électrique Pending EP4688531A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023108287.6A DE102023108287A1 (de) 2023-03-31 2023-03-31 Verfahren zur Erzeugung einer Fahrbahnrückmeldung von niederfrequenten Fahrbahnanregungen eines Steer-By-Wire-Lenksystems für einen Fahrzeugfahrer sowie ein Steer-By-Wire-Lenksystem
PCT/DE2024/100180 WO2024199568A1 (fr) 2023-03-31 2024-03-06 Procédé de génération d'une rétroaction de chaussée pour un conducteur de véhicule à partir d'excitations de chaussée basse fréquence d'un système de direction à commande électrique, et système de direction à commande électrique

Publications (1)

Publication Number Publication Date
EP4688531A1 true EP4688531A1 (fr) 2026-02-11

Family

ID=90368186

Family Applications (1)

Application Number Title Priority Date Filing Date
EP24712757.4A Pending EP4688531A1 (fr) 2023-03-31 2024-03-06 Procédé de génération d'une rétroaction de chaussée pour un conducteur de véhicule à partir d'excitations de chaussée basse fréquence d'un système de direction à commande électrique, et système de direction à commande électrique

Country Status (4)

Country Link
EP (1) EP4688531A1 (fr)
CN (1) CN120936533A (fr)
DE (1) DE102023108287A1 (fr)
WO (1) WO2024199568A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112021007983T5 (de) * 2021-07-14 2024-05-23 Honda Motor Co., Ltd. Lenksystem für ein Fahrzeug
DE102024208572A1 (de) * 2024-09-10 2026-03-12 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Steer-by-Wire-Lenksystems

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014211815B4 (de) 2014-06-20 2025-12-24 Volkswagen Aktiengesellschaft Fortbewegungsmittel, Steer-by-wire-Lenksystem und Verfahren zum Verbessern einer haptischen Rückmeldung eines Steer-by-wire-Lenksystems
DE102018215555A1 (de) 2018-09-12 2020-03-12 Volkswagen Aktiengesellschaft Verfahren zum Ermitteln einer Zahnstangenkraft eines steer-by-wire-Lenksystems, steer-by-wire-Lenksystem und Fahrzeug
DE102018126337A1 (de) * 2018-10-23 2020-04-23 Schaeffler Technologies AG & Co. KG Elektromechanische Lenkungsanordnung und Verfahren zum Betreiben einer Lenkanordnung
DE102018132865A1 (de) 2018-12-19 2020-06-25 Thyssenkrupp Ag Verfahren zur Bestimmung eines Lenkgefühls eines Steer-by-Wire-Lenksystems
DE102020206703B3 (de) 2020-05-28 2021-11-04 Volkswagen Aktiengesellschaft Erzeugen von Lenkhandhabemomenten als haptische Rückmeldung bei Fahrzeuglenksystemen
DE102020210972A1 (de) * 2020-08-31 2022-03-03 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betrieb eines Fahrzeugs
DE102021110105A1 (de) * 2021-04-21 2022-10-27 Schaeffler Technologies AG & Co. KG Verfahren zur Ansteuerung eines Aktuators zur Bereitstellung eines Force-Feedback-Moments an einem Lenkrad eines Steer-by-Wire Lenksystems
CN115489598B (zh) 2022-09-27 2024-08-27 吉林大学 一种适用于不同驾驶员的线控转向不平路面路感反馈装置

Also Published As

Publication number Publication date
CN120936533A (zh) 2025-11-11
WO2024199568A1 (fr) 2024-10-03
DE102023108287A1 (de) 2024-10-02

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