Method for controlling a vehicle steering device and vehicle steering device of steering-by-wire
By detecting the initial position of the steering handle in the online control steering system and using the driving torque to compensate for the steering torque, the problem that the steering handle is easily rotated during parking is solved, resulting in the wheel being out of synchronization, and synchronization between the wheel and the steering handle is achieved, improving safety and comfort, and reducing energy consumption.
Patent Information
- Application Number
- CN202380074931.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-11-10
- Filing Date
- 2023-11-07
- Publication Date
- 2025-06-06
AI Technical Summary
In the online steering system, the steering handle is easily rotated by people when the vehicle is parked, resulting in the risk of out-of-synchronization between the wheel and the steering handle.
By detecting the initial position of the steering handle when the vehicle is parked, monitoring sensors and driving devices are used to monitor whether the steering torque acts on the steering handle in the parking state of the vehicle, and a driving torque directed in reverse to the steering torque is generated to ensure synchronization between the wheel and the steering handle.
It effectively avoids the out-of-synchronization between the wheels and the steering handle, improves the safety and comfort of the vehicle in the parked state, and reduces energy consumption.
Smart Images
Figure CN120112449A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a method for controlling a vehicle steering device designed as a steer-by-wire system. The invention also relates to a vehicle steering device of steer-by-wire design having a control unit which is configured and programmed to carry out the method. Background Art
[0002] Vehicle steering arrangements of steer-by-wire design are known.
[0003] In contrast to conventional steering systems, in which the wheels are mechanically fixedly connected to the steering handle and each wheel position has an associated steering wheel position, there is no direct mechanical connection between the wheels and the steering handle in steer-by-wire vehicle steering. The matching positions of the wheels and the steering handle are achieved via servomotors and with the aid of appropriately designed sensor systems.
[0004] A disadvantage of these steer-by-wire vehicle steering systems is that there is a risk that the steering handle can be easily turned by a person when the vehicle is parked and that a lack of synchronism between the position of the wheels and the position of the steering handle can therefore occur. Summary of the invention
[0005] It is therefore an object of the present invention to provide a method for controlling a vehicle steering device designed as a steer-by-wire system and a vehicle steering device of steer-by-wire design which ensures synchronization between the wheels and the steering handle.
[0006] This object is achieved by a method for controlling a vehicle steering device implemented as a steer-by-wire system, the vehicle steering device having a steering handle, a monitoring sensor and a drive device, the drive device being configured to apply a drive torque to the steering handle when the vehicle is parked. The method is characterized by the following steps:
[0007] a) detecting the steering position of the steering handle when the vehicle is parked as the initial position,
[0008] b) when the vehicle is parked, monitoring by means of a monitoring sensor whether a steering torque is acting on the steering handle, and
[0009] c) When the vehicle is parked, a drive torque is generated by means of the drive device, which is oriented counter to the steering torque.
[0010] The steering torque is a torque acting on the steering handle which, for example when a person supports himself on the steering handle, presses the steering handle from a starting position into a deflected steering position.
[0011] Furthermore, within the meaning of the present invention, a vehicle is in a parked state when the vehicle is stationary and the drive engine of the vehicle is switched off, for example when the vehicle is parked.
[0012] By detecting the steering position of the steering handle when the vehicle is parked as a starting position, potential desynchronizations can be compensated by means of the drive device, thereby ensuring synchronization between the wheels and the steering handle at the start of travel.
[0013] Furthermore, the generation of a drive torque directed counter to the steering torque in the parked state of the vehicle increases comfort, since otherwise the essentially freely rotating steering handle would not give off a high-quality impression.
[0014] In one embodiment, a drive torque is generated in step c) which completely compensates the steering torque so that the steering handle remains in the initial position and is reliably prevented from desynchronizing. In other words, the steering handle thus exhibits a rigid feel, for which no complex mechanical locking device having to meet stringent safety standards is required.
[0015] The method may also include the following steps:
[0016] d) After the steering torque has been applied for a certain duration, the drive torque is reduced to a value less than the steering torque.
[0017] The drive torque can also be reduced to zero here, ie no drive torque is applied any more.
[0018] By reducing the drive torque after a certain time, energy consumption is reduced and the vehicle battery which supplies energy to the drive is thus conserved.
[0019] The reduction of the drive torque can take place continuously in this case in order to increase comfort and create a high-quality impression.
[0020] In another embodiment, a drive torque is generated in step c) which completely compensates the steering torque when the steering torque is less than or equal to a maximum value, thereby ensuring that the steering handle is held in the initial position at a correspondingly low steering torque.
[0021] Additionally or alternatively, provision can be made for a drive torque to be generated in step c) which partially compensates the steering torque when the steering torque is greater than a maximum value. This means that the steering handle is moved from an initial position into a deflected position when the steering torque exceeds a maximum value. This limits energy consumption and effectively protects the drive device from damage caused by excessive drive torques.
[0022] Furthermore, the method may have the following steps:
[0023] e) returning the steering handle to the initial position when no steering torque is acting anymore or the steering torque is less than or equal to a maximum value, in particular after the steering handle has previously been deflected from the initial position due to a steering torque exceeding the maximum value.
[0024] It can thus be ensured in an energy-efficient manner that the steering handle is in the starting position at the start of travel and is therefore oriented synchronously with the wheels of the vehicle.
[0025] According to the present invention, in order to solve the above-mentioned tasks, a vehicle steering device with a steer-by-wire design is also provided, which has a control unit, a steering handle, a monitoring sensor and a drive device. The control unit is configured and programmed to implement the method according to the present invention, and the drive device is configured to load a driving torque to the steering handle. The vehicle steering device has the above-mentioned advantages.
[0026] According to one embodiment, the vehicle steering device has a standby mode and a monitoring mode in the parked state of the vehicle, in which the drive device and the monitoring sensor are deactivated, and in which the drive device is ready for operation and the monitoring sensor is activated. In this way, the vehicle steering device can be operated in the standby mode in order to reduce energy consumption relative to the monitoring mode.
[0027] In this context, it can be provided that the vehicle steering system is placed in the monitoring mode when at least one of the following monitoring events occurs:
[0028] The motion sensors detect movement in the vehicle interior.
[0029] Unlock the vehicle.
[0030] The driver's door of the vehicle is open,
[0031] The vehicle's driver's seat seat sensor is triggered,
[0032] The proximity sensor or contact sensor of the steering handle is triggered.
[0033] Therefore, it is possible to ensure that the vehicle steering device is in the monitoring mode when there is a high possibility or probability that a steering torque is applied to the steering handle.
[0034] According to another specific embodiment, the vehicle steering device is placed in the standby mode when at least one of the following standby events occurs:
[0035] Vehicle locked,
[0036] The driver's door of the vehicle is closed,
[0037] No movement in the vehicle interior is detected by means of the motion sensor for a specified duration,
[0038] No change in the state of the seat sensor of the driver's seat of the vehicle is detected within a specified duration,
[0039] No change in state of the proximity sensor or contact sensor of the steering handle was detected within a specified time period.
[0040] In this way, the vehicle steering device is placed in an energy-efficient standby mode when the risk of a steering torque being applied to the steering handle is low. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Further advantages and features are apparent from the following description and the accompanying drawings.
[0042] Figure 1 A schematic diagram shows a vehicle having a vehicle steering device according to the present invention; and
[0043] Figure 2 Shown in schematic diagram Figure 1 Vehicle steering device. DETAILED DESCRIPTION
[0044] exist Figure 1 1 shows a vehicle 10 having front wheels 12 , a vehicle interior 14 , a driver's door 16 and a driver's seat 18 , which is arranged in the vehicle interior 14 and on which a vehicle occupant can be seated via the driver's door 16 .
[0045] Furthermore, the vehicle 10 has a vehicle steering system 20 having a control unit 22 (see Figure 2 ) and a steering handle 24 arranged opposite the driver's seat 18 and which is rotatably supported about an axis of rotation R.
[0046] The vehicle steering device 20 is a steer-by-wire system which is configured to orient the steerable front wheels 12 according to the steering position, i.e., the angular position about the rotation axis R, of a steering handle 24 during operation of the vehicle 10 , so that the vehicle 10 can be controlled or steered in a known manner via the steering handle 24 during driving.
[0047] In an alternative embodiment, the vehicle steering device 20 may be configured to orient any steerable wheels of the vehicle 10 according to the steering position of the steering handle 24 during operation of the vehicle 10 .
[0048] In order to ensure that the steering handle 24 is always oriented synchronously with the front wheels 12 at the start of travel, the vehicle steering system 20 has monitoring sensors 26 and a drive 28 which are connected to the control unit 22 in a signal-transmitting manner.
[0049] The drive device 28 is an electric motor, in particular a servomotor.
[0050] In one embodiment, the drive device 28 is part of a force feedback device of the steering handle 24 .
[0051] The monitoring sensor 26 is provided here to detect the magnitude of a steering torque L acting in the circumferential direction of the axis of rotation R on the steering handle 24 .
[0052] In one specific embodiment, the monitoring sensor 26 is coupled to this end to a shaft or a hub of the steering handle 24 , by means of which the steering handle 24 is rotatably fastened about an axis of rotation R on a vehicle component.
[0053] Furthermore, the drive device 28 is provided for driving the steering handle 24 via a drive torque A in the circumferential direction of the axis of rotation R.
[0054] For this purpose, in one embodiment, the drive device 28 can be coupled to a shaft or a hub of the steering handle 24 , by means of which the steering handle 24 is rotatably fastened about the axis of rotation R on the vehicle component.
[0055] Steering torque L and driving torque A Figure 2 Of course, the detected steering torque L or the provided driving torque A is not limited to the arrow direction shown, but can be detected or provided both along the arrow direction shown and against the arrow direction shown.
[0056] In this case, the vehicle steering device 20 is configured to operate the monitoring sensor 26 and the drive device 28 in the parked state of the vehicle 10. Therefore, in the parked state of the vehicle 10, the steering torque L acting on the steering handle 24 can be detected by means of the monitoring sensor 26 and the drive torque A acting on the steering handle 24 can be generated by means of the drive device 28.
[0057] Furthermore, the control unit 22 is configured and programmed to control the vehicle steering device 20 according to the following method.
[0058] First, when the vehicle 10 is parked, that is, at the moment when the vehicle 10 or its drive machine is turned off or is about to be turned off, the current steering position of the steering handle 24 is detected and stored as the initial position.
[0059] The initial position can be detected here by means of a monitoring sensor 26 or another sensor which is provided to detect the angular position of the steering handle 24 .
[0060] When the vehicle 10 is parked, the steering handle 24 is now monitored by means of the monitoring sensor 26 in order to determine whether a steering torque L is acting on the steering handle 24 .
[0061] If the monitoring sensor 26 detects such a steering torque L, a drive torque A is generated by means of the drive device 28 , which drives the steering torque L and thus at least partially compensates for it.
[0062] In this case, the drive torque A is at most as great as the steering torque L in terms of magnitude.
[0063] In one specific embodiment, steering torque L is completely compensated, in particular over the total duration of steering torque L.
[0064] In an alternative embodiment, the steering torque L is first fully compensated. After the steering torque L has persisted for a certain period of time, the drive torque A is reduced, so that from this point on, the steering torque L is only partially compensated.
[0065] The drive torque A can be reduced continuously in this case.
[0066] In another alternative embodiment, a drive torque A that is smaller than the steering torque L is generated immediately after the steering torque L is detected, ie, the steering torque L is only partially compensated.
[0067] Whether the steering torque L is fully compensated or only partially compensated may depend on the magnitude of the steering torque L.
[0068] For example, in one embodiment a maximum value is predetermined which the drive torque A must not exceed. Therefore, the steering torque L is fully compensated as long as it is less than or equal to the maximum value, and is only partially compensated when the steering torque L is greater than the maximum value.
[0069] Of course, in all cases where the steering torque L is only partially compensated, in a subsequent phase the steering torque L can be fully compensated, in particular in cases where the steering torque L was above a maximum value and then drops to or below the maximum value.
[0070] If the steering handle 24 has been deflected from the initial position (for example because the steering torque L was at least temporarily above a maximum value), the steering handle 24 is moved into the initial position when the steering torque L is no longer acting or is smaller than the maximum value.
[0071] When the vehicle 10 is started and the steering handle 24 is in a position deflected from the initial position, the steering handle 24 can be placed in the initial position by means of the drive device 28 in the operational readiness state of the vehicle 10 to synchronize the steering position of the steering handle 24 with the orientation of the front wheels 12 .
[0072] Additionally or alternatively, the steering position of the steering handle 24 can be synchronized with the orientation of the front wheels 12 by manually actuating the steering handle 24 , for example by the driver performing a steering movement immediately after the start of travel.
[0073] By means of the stored initial position, synchronization between the front wheels 12 and the steering handle 24 can be ensured in this way at least immediately after the start of travel.
[0074] In an alternative embodiment, the vehicle 10 may request the vehicle occupants to release the steering handle 24 or to cancel the steering torque L before the vehicle 10 is started, so that the steering handle 24 can be placed in the initial position by means of the drive device 28 .
[0075] In order to reduce the energy consumption of the vehicle steering device 20 , the vehicle steering device 20 has a standby mode in which the drive device 28 and the monitoring sensor 26 are switched off or deactivated, and a monitoring mode in which the drive device 28 and the monitoring sensor 26 are ready for operation or activated.
[0076] The vehicle steering device 20 may be configured to be placed in the monitoring mode when one or more of the following monitoring events occur or occur:
[0077] The motion sensor 30 of the vehicle 10 detects motion in the vehicle interior space 14,
[0078] ‧Vehicle 10 unlocked,
[0079] ‧ the driver's door 16 of the vehicle 10 is open,
[0080] ‧The seat sensor 32 of the driver's seat 18 is triggered,
[0081] ‧The proximity sensor or contact sensor 34 of the steering handle 24 is triggered.
[0082] In addition, the vehicle steering device 20 may be configured to be placed in the standby mode upon the occurrence of one or more of the following standby events:
[0083] ‧The vehicle 10 is locked,
[0084] ‧The driver's door 16 is closed,
[0085] • no movement in the vehicle interior 14 is detected by means of the motion sensor 30 within a specified time period,
[0086] ‧ No change in the state of the seat sensor 32 is detected within a specified duration,
[0087] ‧No change in the state of the proximity sensor or contact sensor 34 is detected within a specified time period.
[0088] In one embodiment, it is provided that after the occurrence of the at least one standby event, a prescribed timer starts running, and only when the timer ends running, the vehicle steering device 20 is placed in the standby mode. Thus, a time buffer is provided after the standby event, wherein the vehicle steering device 20 remains in the monitoring mode before switching to the standby mode, so that an unexpected deflection of the steering handle 24 can also be detected in this time window.
[0089] In this way, a vehicle steering device 20 and a control method thereof are provided, which ensure that the steerable front wheels 12 are synchronously coupled to the steering handle 24 .
[0090] In particular, a drive torque A can be generated when the steering handle 24 is rotated by means of a monitoring sensor 26 and a drive device 28 that are energized in the parked state of the vehicle 10, which drive torque holds the steering handle 24 in the current position or, when an excessive manual torque is applied, causes the steering handle 24 to subsequently be rotated back to the initial position in a defined manner.
[0091] If the driver is sitting in the parked vehicle 10 and generates a steering torque L on the steering handle 24 by supporting himself on the steering handle, a drive torque A can first be generated by means of the drive device 28 to counteract the steering torque L, which is gradually reduced after a certain time to protect the vehicle battery, resulting in a rotation of the steering handle 24. If the driver does not support, the steering handle 24 is rotated back to the initial position by means of the drive device 28.
[0092] The invention is not limited to the embodiments shown. In particular, individual features of one embodiment can be combined with features of other embodiments as desired, in particular independently of other features of the respective embodiment.
Claims
1. A method for controlling a vehicle steering device (20) implemented as a steer-by-wire system, the vehicle steering device having a steering handle (24), a monitoring sensor (26) and a drive device (28), the drive device being configured to apply a drive torque (A) to the steering handle (24) when the vehicle (10) is parked, in, The method is characterized by the following steps: a) detecting the steering position of the steering handle (24) when the vehicle (10) is parked as an initial position, b) when the vehicle (10) is parked, monitoring by means of a monitoring sensor (26) whether a steering torque (L) acts on the steering handle (24), and c) When the vehicle (10) is parked, a drive torque (A) directed counter to the steering torque (L) is generated by means of the drive device (28).
2. The method according to claim 1, It is characterized in that In step c), a drive torque (A) is generated which completely compensates for the steering torque (L).
3. The method according to claim 2, characterized by the following steps: d) After the steering torque (L) has been applied for a certain duration, the drive torque (A) is reduced to a value less than the steering torque (L).
4. The method according to claim 3, It is characterized in that The reduction of the driving torque (A) takes place continuously.
5. The method according to any one of the preceding claims, It is characterized in that In step c), a drive torque (A) is generated which completely compensates the steering torque (L) when the steering torque (L) is less than or equal to a maximum value and / or which partially compensates the steering torque (L) when the steering torque (L) is greater than a maximum value.
6. The method according to any one of the preceding claims, characterized by the following steps: e) returning the steering handle (24) to the initial position when the steering torque (L) is no longer acting or the steering torque (L) is less than or equal to a maximum value, in particular after the steering handle (24) has previously been deflected from the initial position due to a steering torque (L) exceeding the maximum value.
7. A vehicle steering device (20) of steer-by-wire design, comprising a control unit (22), a steering handle (24), a monitoring sensor (26) and a drive device (28), wherein the control unit is configured and programmed to implement a method according to any one of the preceding claims, and the drive device is configured to apply a driving torque (A) to the steering handle (24).
8. The vehicle steering device (20) according to claim 7, It is characterized in that The vehicle steering device (20) has a standby mode and a monitoring mode when the vehicle (10) is parked, in which the drive device (28) and the monitoring sensor (26) are deactivated, and in which the drive device (28) is ready for operation and the monitoring sensor (26) is activated.
9. The vehicle steering device (20) according to claim 8, It is characterized in that The vehicle steering device (20) is placed in a monitoring mode when at least one of the following monitoring events occurs: detecting a movement in the vehicle interior (14) by means of a motion sensor (30), Vehicles (10) unlocked, The driver's door (16) of the vehicle (10) is opened, A seat sensor (32) of a driver's seat (18) of a vehicle (10) is triggered, A proximity sensor or a contact sensor (34) of the steering handle (24) is triggered.
10. The vehicle steering device (20) according to claim 8 or 9, It is characterized in that The vehicle steering device is placed in standby mode when at least one of the following standby events occurs: The vehicle (10) is locked, The driver's door (16) of the vehicle (10) is closed, No movement in the vehicle interior (14) is detected within a predetermined time period by means of the motion sensor (30), No change in the state of a seat sensor (32) of a driver's seat (18) of the vehicle (10) is detected within a predetermined time period, No change in state of a proximity sensor or a contact sensor (34) of the steering handle (24) is detected within a predetermined time period.