Method for identifying a control situation of a vehicle with an automatic control system
An automatic control system, vehicle technology, applied in the direction of automatic steering control components, vehicle components, steering control, etc., can solve the problem that the steering torque cannot be related to the automatic control system or the driver, etc.
Active Publication Date: 2020-08-14
AUDI AG
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Problems solved by technology
[0003] Since usually only one sensor measuring the current steering torque is used to determine the current steering angle or steering state of the vehicle, it is not possible to unambiguously link the steering torque currently occurring at the steering of the vehicle to the automatic control system or the driver
Method used
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Embodiment Construction
[0043] exist figure 1 shows a steering system 1 with a steering wheel 3 , a steering rod 5 with a superimposed steering device 7 and a rack 9 connected to the steering rod via a torsion rod 11 .
[0044] To change the steering angle of the steering system 1 , as indicated by arrow 13 , the driver can move the steering wheel 3 , whereby the steering rod 5 is turned. The rotation of the steering rod 5 is transmitted via the torsion bar 11 to the toothed rack 9 and finally to the corresponding wheels of the vehicle comprising the steering system 1 .
[0045] It is conceivable that the torsion bar 11 is used as a sensor for detecting the steering torque acting on the rack. Correspondingly, not only the steering torque applied by the driver to the steering rod 5 by means of the steering wheel 3 can be detected via the torsion bar 11, but also the steering torque provided by the automatic control system via the actuator acting on the rack 9 (such as indicated by arrow 15).
[004...
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The invention relates to a method for recognizing the control situation of a vehicle with an automatic control system, wherein the steering torque curve, with which the steering of the vehicle is acted upon, is divided into segments in which the steering torque curve is continuous Ascending or descending, the first angular acceleration of the first part (19) of the steering rod (5) caused by the driver of the vehicle and acquired by the first steering angle sensor of the vehicle at the beginning of the corresponding segment is compared with the first angular acceleration caused by the automatic control system of the rack (9) connected to the steering rod (5) or the second The angular acceleration is compared, and the steering torque curve corresponding to the corresponding segment is associated with the driver or the automatic control system according to the comparison result of the first angular acceleration and the second angular acceleration.
Description
technical field [0001] The invention relates to a method for detecting a control situation of a vehicle with an automatic control system and to a steering system for a vehicle. Background technique [0002] In particular when the vehicle is driven automatically by means of an automatic control system, the steering maneuver carried out by the automatic control system is fed back to the driver via the steering torque occurring at the steering wheel of the vehicle. In this case, the driver can "control" the steering torque predetermined by the automatic control system by causing the driver to provide a greater steering torque than the steering torque provided by the automatic control system. [0003] Since usually only one sensor measuring the current steering torque is used to determine the current steering angle or steering state of the vehicle, the steering torque currently occurring at the steering of the vehicle cannot be unambiguously linked to the automatic control syste...
Claims
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IPC IPC(8): B62D6/08B62D6/10
CPCB62D6/08B62D6/10B62D1/286B62D3/12
Inventor K·施米德霍费尔
Owner AUDI AG