WO2017001084A1 - Système de direction pour véhicule autonome - Google Patents

Système de direction pour véhicule autonome Download PDF

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Publication number
WO2017001084A1
WO2017001084A1 PCT/EP2016/059652 EP2016059652W WO2017001084A1 WO 2017001084 A1 WO2017001084 A1 WO 2017001084A1 EP 2016059652 W EP2016059652 W EP 2016059652W WO 2017001084 A1 WO2017001084 A1 WO 2017001084A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
steering system
electric motor
hydraulic circuit
electric
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.)
Ceased
Application number
PCT/EP2016/059652
Other languages
German (de)
English (en)
Inventor
Bastian Witte
Malte ROTHHÄMEL
Felix Kallmeyer
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.)
Volkswagen AG
Original Assignee
Volkswagen 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 Volkswagen AG filed Critical Volkswagen AG
Publication of WO2017001084A1 publication Critical patent/WO2017001084A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle

Definitions

  • the invention relates to a steering system for an automatically moving vehicle.
  • driver assistance systems brake and steering are executed only one channel.
  • the driver is always present as a fallback level and must take over the vehicle management again at short notice in case of an error.
  • a power steering assembly for a hydraulic power steering of motor vehicles comprising at least one hydraulic servo valve with an actuator for controlling the steering assistance in dependence of the relative rotation of an input shaft relative to an output shaft, at least two planetary gear
  • the at least one actuator is arranged and configured so that it causes the same direction rotation with simultaneous relative rotation of the two respective third functional elements of the planetary gear to each other.
  • EP 0 856 453 A2 discloses an electrohydraulic steering system for vehicles, which can be activated by manual steering and automatic steering, which can be activated via a switch is included.
  • the steering system has at least one hydraulic steering cylinder
  • Adjustment of the steerable wheels wherein preferably two parallel-connected, electrically actuated hydraulic control valves are provided to control the admission of the steering cylinder with hydraulic fluid, each with a control and
  • Evaluation device for receiving the drive signals are connected.
  • the control and evaluation device has at least two mutually independent control and evaluation units and an error detection unit, wherein each of the control and evaluation units and the error detection unit, the Lenksignal- set values, the Radeinschlagwinkel actual values and the position of the switch for the automatic steering are supplied.
  • the control and evaluation unit and the error detection unit each have a microcontroller. It is further proposed to provide the microcontroller with independent power supplies and provide a further accumulator for Notpuff réelle the microcontroller next to the vehicle battery. Finally, an emergency steering pump is provided, which should pump the hydraulic fluid in case of failure of the regular pump.
  • Steering system against single error is insufficiently fault tolerant.
  • the two pumps are hydraulically connected via a common line, so that when a line is interrupted, none of the pumps can pump more hydraulic fluid.
  • the invention is based on the technical problem of providing a steering system for an automatically moving vehicle, in particular a commercial vehicle, which has a low susceptibility to single defects.
  • the steering system for an automatically moving vehicle comprises at least two independent electrical supply units, at least one hydraulic circuit and two electric motors.
  • the electric motors are designed such that they have a steering torque on at least one component of the steering system apply and / or control a servo valve of the at least one hydraulic circuit. In the case of a single fault in the electronics, it is thus ensured that an electric motor always works and can generate a steering torque (directly via the component or indirectly via the hydraulics).
  • the electrical supply units are preferably designed as batteries.
  • the at least one hydraulic circuit has a pump that can be driven by an electric pump motor or an internal combustion engine.
  • the electrical supply of the electric pump motor or the control electronics of the internal combustion engine for example, the engine control unit from one of the two electrical
  • Supply units which is preferably the first supply unit, which will be explained below.
  • the rotational movements of the two electric motors are mechanically connected to one another and, for this purpose, preferably dimensioned such that the maximum torque of the second electric motor is a multiple of the first electric motor.
  • the factor is for example 3 to 10, in particular between 6 and 8.
  • the first electric motor drives the servo-valve of the hydraulic circuit and the second electric motor applies a steering torque to a steering column or a
  • Steering column and rack are preferably mechanically coupled.
  • the first electric motor applies a steering torque to the steering column and the second electric motor applies a steering torque to the steering column or the rack.
  • the first electric motor a steering torque on the
  • the two electric motors are arranged on a common shaft, which allows a very compact and inexpensive design.
  • the two electric motors can also be arranged in a common housing, as long as only the electrical separation is ensured.
  • the steering system has two hydraulic circuits, wherein a servo valve of the first hydraulic circuit by the first electric motor and a servo valve of the second hydraulic circuit by the second electric motor can be controlled.
  • a servo valve of the first hydraulic circuit by the first electric motor and a servo valve of the second hydraulic circuit by the second electric motor can be controlled.
  • the two servo valves are formed as an integrated servo valve, but the two hydraulic circuits are further strictly separated.
  • the at least one electric pump motor can be regulated in such a way that, as the load increases, rotational speed or torque are up-regulated. As a result, in phases where hardly any hydraulic fluid must be pumped, the electric
  • the steering system is designed such that a control signal is generated by means of which different brake pressures are set on the front wheels in order to generate a steering movement.
  • this embodiment is preferably used in commercial vehicles. This is based on the following consideration. In vehicles with an electric stability program, a spinning vehicle is stabilized again with different brake pressures at the individual wheels. In a car steering is over
  • FIG. 1 is a schematic block diagram of a steering system with a hydraulic circuit in a first embodiment
  • FIG. 2 shows a schematic block diagram of a steering system with a hydraulic circuit in a second embodiment
  • FIG. 3 is a schematic block diagram of a steering system with a hydraulic circuit in a third embodiment
  • Fig. 4 is a schematic block diagram of a steering system with two hydraulic circuits in a first embodiment
  • Fig. 5 is a schematic block diagram of a steering system with two hydraulic circuits in a second embodiment.
  • a steering system 1 for an automatically moving vehicle is shown schematically.
  • the steering system 1 has a first electrical supply unit 2, which is also referred to as battery A in FIG. 1, wherein it is to be illustrated via the index A which components are electrically supplied by the first supply unit 2.
  • the steering system 1 to a second electrical supply unit 3, which is also referred to as battery B.
  • the supply units 2, 3 are preferably designed as batteries, but not limited thereto.
  • the steering system 1 further includes a first electric motor 4 (also referred to as M A ) and a second electric motor 5 (also referred to as M B ) on.
  • the index A thus makes it clear that the first electric motor 4 (M A ) is supplied by the first supply unit 2 (battery A).
  • the steering system 1 has a hydraulic circuit formed by a sump 6, a pump 7, a servo valve 8 and a hydraulic cylinder 9.
  • the servo valve 8 has four connections, namely one to the reservoir 6, one to the pump 7 and two to the hydraulic cylinder 9.
  • the servo valve 8 can take three switching positions, namely "forward",
  • Steering handle 14 (e.g., a steering wheel).
  • the steering column 13 is mechanically coupled to the rack 1 1, for example via a not shown gear.
  • the two electric motors 4, 5 sit on a common shaft 15, which is mechanically connected to the steering column 13 and can transmit a torque to the steering column 13.
  • the servo valve 8 is coupled to the steering column 13, so that the switching position of the
  • Servo valve 8 changed according to the rotation of the steering column 13.
  • the first electric motor 4 has a maximum torque of 15 Nm
  • the second electric motor 5 has a maximum torque of 1 10-140 Nm (both values) are related to a steering torque, which the driver has to apply to the steering wheel to achieve the same steering result).
  • the second electric motor 5 is preferably dimensioned such that this is the power steering function in manual
  • the steering system 1 is fail-operational in terms of single error and can fully meet the requirements due to the automatic driving and the power steering function with manual intervention, the individual cases of error should be briefly explained.
  • the first and second electric motor 4, 5 take over the power steering function with manual driver intervention, the sum of the moments is also sufficient to take over all the requirements of automatic driving.
  • the first electric motor 4 together with the intact hydraulics converts the requirements of automatic driving.
  • the hydraulics provide the power steering function if the driver engages manually.
  • the larger second electric motor 5 converts the requirements of automatic driving.
  • the hydraulic or the second electric motor 5 forms the power steering function, if the driver engages manually.
  • first and second electric motors 4, 5 are not located on a common shaft 15, the second electric motor 5 can also act directly on the rack 1 1 via an intermediate gear.
  • At least one hydraulic circuit is energetically cheaper than with two sufficiently large-sized electric motors, which individually could apply the steering torque.
  • FIG. 2 shows a slightly modified embodiment of FIG. 1, wherein identical elements have the same reference numerals. The only difference is that the pump 7 is driven by an internal combustion engine 16. It is only necessary to ensure that the complete necessary electrical control of the internal combustion engine 16 (such as control units) is provided by the first electrical supply unit 2 (battery A).
  • FIG. 3 shows a third embodiment, wherein the first electric motor 4 and the second electric motor 5 are not arranged on a common shaft 15. Rather, the first electric motor 4 directly controls the servo valve 8 via its shaft 17. In this case, an additional angle of rotation is added to the twist angle of the torsion bar of the power steering (see WO 2010 / 125044A1).
  • the second electric motor 5 can act as shown with its shaft 18 to the steering column 13 or directly on the rack 1 1 attack.
  • the first electric motor 4 can be applied extremely small, since this does not have to apply a moment to the steering column 13, but only has to overcome the friction in the adjusting mechanism.
  • the difference between the maximum torques of the two electric motors 4, 5 can be at a factor of 100.
  • FIGS. 1 to 3 an alternative embodiment is shown, wherein, in contrast to the embodiments according to FIGS. 1 to 3, two hydraulic circuits are present.
  • the second hydraulic circuit is formed by a separate reservoir 19, a pump 20, a second servo valve 21 and a second hydraulic cylinder 22.
  • the first one controls Electric motor 4, the first servo valve 8 via its shaft 17 and the second electric motor 5, the second servo valve 21 via its shaft 18 at.
  • the pump 20 of the second hydraulic circuit is controlled by a second electric pump motor 23. Since the first hydraulic circuit completely and exclusively by the first supply unit 2 (battery A) and the second hydraulic circuit completely and exclusively by the second
  • Supply unit 3 (battery B) is supplied, the steering system is fail-operational against single error.
  • FIG. 5 shows a modification of the embodiment according to FIG. 4, wherein the two electric motors 4, 5 are again arranged on a common shaft 15.
  • the two servo valves 8, 21 may also be integrated in a common servo valve that has eight leads and three switch positions, as long as only the complete
  • one of the electric pump motors 10, 23 in the embodiments according to FIG. 4 or 5 can also be replaced by the internal combustion engine 16 (see FIG. 2).

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 (1) pour un véhicule autonome, comprenant au moins deux unités d'alimentation électrique (2, 3) indépendantes l'une de l'autre, au moins un circuit hydraulique et deux moteurs électriques (4, 5), le premier moteur électrique (4) étant alimenté en énergie électrique par la première unité d'alimentation électrique (2) et le deuxième moteur électrique (5) par le deuxième moteur électrique (3), les moteurs électriques (4, 5) étant conçus de manière à appliquer un couple de braquage à au moins un élément du système de direction (1) et/ou commander une servovalve (8, 21 ) dudit au moins un circuit hydraulique.
PCT/EP2016/059652 2015-06-30 2016-04-29 Système de direction pour véhicule autonome Ceased WO2017001084A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212173.9 2015-06-30
DE102015212173.9A DE102015212173A1 (de) 2015-06-30 2015-06-30 Lenksystem für ein automatisch fahrendes Fahrzeug

Publications (1)

Publication Number Publication Date
WO2017001084A1 true WO2017001084A1 (fr) 2017-01-05

Family

ID=55953132

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/059652 Ceased WO2017001084A1 (fr) 2015-06-30 2016-04-29 Système de direction pour véhicule autonome

Country Status (2)

Country Link
DE (1) DE102015212173A1 (fr)
WO (1) WO2017001084A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016202606B4 (de) 2016-02-19 2022-06-02 Volkswagen Aktiengesellschaft Lenkvorrichtung und Verfahren zur Steuerung einer Lenkvorrichtung
CN108657268B (zh) * 2018-03-30 2020-10-09 天津英创汇智汽车技术有限公司 实验平台车及其控制系统
CN110435754B (zh) * 2019-08-06 2021-10-01 南京航空航天大学 一种电液复合转向系统的人机共驾模式切换装置及方法
DE102021205875A1 (de) 2021-06-10 2022-12-15 Zf Friedrichshafen Ag Lenkgetriebevorrichtung für ein Kraftfahrzeug

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0856453A2 (fr) 1997-02-01 1998-08-05 CLAAS KGaA Système de direction électrohydraulique pour véhicules
DE19833460A1 (de) * 1998-07-24 2000-01-27 Bosch Gmbh Robert Fehlertoleranter Lenksteller
EP1219525A2 (fr) * 2000-12-29 2002-07-03 Delphi Technologies, Inc. Système de direction "steer-by-wire" redondant
EP1220773A1 (fr) * 1999-09-25 2002-07-10 Volkswagen Aktiengesellschaft Systeme pour commander des composants de vehicules selon le principe de la conduite par fil
US20070095598A1 (en) * 2005-10-14 2007-05-03 Trw Automotive U.S. Llc Hydraulic steering system with a variable flow device
WO2010125044A1 (fr) 2009-04-27 2010-11-04 Tedrive Holding B.V. Vanne de direction à train épicycloïdal

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10101827A1 (de) * 2001-01-17 2002-07-18 Daimler Chrysler Ag Lenkanordnung für Kraftfahrzeuge
DE10157666A1 (de) * 2001-11-24 2003-06-05 Zf Lenksysteme Gmbh Lenksystem für ein Fahrzeug
DE10331597A1 (de) * 2003-07-11 2005-02-03 Zf Lenksysteme Gmbh Aktuator, insbesondere Radaktuator mit einem Abtrieb
DE102008055900A1 (de) * 2008-11-05 2009-06-10 Daimler Ag Lenkeinrichtung für ein Kraftfahrzeug
KR101575482B1 (ko) * 2013-07-15 2015-12-08 현대자동차주식회사 전동구동장치 통합형 전동식 파워스티어링 시스템 및 그 제어방법

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0856453A2 (fr) 1997-02-01 1998-08-05 CLAAS KGaA Système de direction électrohydraulique pour véhicules
DE19833460A1 (de) * 1998-07-24 2000-01-27 Bosch Gmbh Robert Fehlertoleranter Lenksteller
EP1220773A1 (fr) * 1999-09-25 2002-07-10 Volkswagen Aktiengesellschaft Systeme pour commander des composants de vehicules selon le principe de la conduite par fil
EP1219525A2 (fr) * 2000-12-29 2002-07-03 Delphi Technologies, Inc. Système de direction "steer-by-wire" redondant
US20070095598A1 (en) * 2005-10-14 2007-05-03 Trw Automotive U.S. Llc Hydraulic steering system with a variable flow device
WO2010125044A1 (fr) 2009-04-27 2010-11-04 Tedrive Holding B.V. Vanne de direction à train épicycloïdal

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