Steering system, vehicle comprising steering system, method for operating steering system
By detecting the rotation angle and torque, combined with the mapping of the target steering angle and transmission ratio, the problem of poor driver feedback in the steering system within a small angle range is solved, and effective driver feedback and operational flexibility is achieved.
Patent Information
- Application Number
- CN202510164869.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-02-15
- Filing Date
- 2025-02-14
- Publication Date
- 2025-08-15
AI Technical Summary
The existing steering system has a small range of angles available to the operating elements, and the driver feedback is not effective.
By detecting the rotation angle and torque, the target steering angle and transmission ratio are used to determine the wheel movement, especially the rotation angle in a small angle range and the torque in a large angle range, combined with linear function mapping, effective driver feedback is achieved.
Even when the angle range of the operating element is limited, effective driver feedback can be provided, improving the operating flexibility and accuracy of the steering system.
Smart Images
Figure CN120482152A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a steering system, a vehicle comprising a steering system, and a method for operating a steering system. Background Art
[0002] Such steering systems can be operated by the driver using an operating element. The operating element can be used to provide driver feedback to the driver. Summary of the Invention
[0003] By means of the steering system and the method for operating a steering system of a vehicle according to the independent claims, driver feedback is output via an operating element of the steering system which is highly effective even with a small available angular range of the operating element.
[0004] The method provides that the steering system includes an operating element for detecting a rotational angle, wherein a torque set by the operating element is detected or provided, wherein the steering system includes a steering actuator for moving a steered wheel of the vehicle as a function of a target steering angle, wherein it is determined whether the rotational angle is within a first angle range or within a second angle range different from the first angle range, wherein in the first angle range of the rotational angle, the target steering angle is determined as a function of the rotational angle, wherein in the second angle range of the rotational angle, the target steering angle is determined as a function of the torque, wherein the first angle range includes a rotational angle associated with a target steering angle for straight-line or substantially straight-line driving of the vehicle, wherein the second angle range includes a rotational angle associated with a target steering angle for a maximum deflection of the steered wheel.
[0005] Preferably, the rotation angle is determined to be in the first angular range if the rotation angle or its magnitude is smaller than a threshold value, in particular 50°, or if the rotation angle or its magnitude is smaller than or equal to a threshold value, in particular 50°.
[0006] Preferably, the rotation angle is determined to be in the second angular range if the rotation angle or its magnitude is greater than or equal to a threshold value, in particular 50°, or if the rotation angle or its magnitude is greater than a threshold value, in particular 50°.
[0007] Preferably, the operating element is used to detect a rotation angle between -60° and 60°, wherein the first angle range includes a rotation angle between -50° and 50°, wherein the second angle range includes a rotation angle between -60° and -50°, in particular including -50°, or between 50° and 60°, in particular including 50°.
[0008] It is preferably provided that the first target steering angle is determined depending on the rotation angle at the boundary between the first angle range and the second angle range, the second target steering angle is determined depending on the torque, and the target steering angle is determined depending on the first target steering angle and the second target steering angle, in particular the first target steering angle and the second target steering angle are mapped to the target steering angle using a linear function.
[0009] Preferably, provision is made for the target steering angle to be determined in a first angular range as a function of a first transmission ratio, and in a second angular range as a function of a second transmission ratio, wherein the second transmission ratio is more direct than the first transmission ratio.
[0010] A steering system for a vehicle provides that the steering system includes an operating element for detecting a rotational angle, wherein a torque set by the operating element is detected or provided, wherein the steering system includes a steering actuator for moving a steered wheel of the vehicle as a function of a target steering angle, wherein the steering system is configured to determine whether the rotational angle is within a first angle range or within a second angle range different from the first angle range, wherein the steering system is configured to determine the target steering angle as a function of the rotational angle within the first angle range of the rotational angle, wherein the steering system is configured to determine the target steering angle as a function of the torque within the second angle range of the rotational angle, wherein the first angle range includes a rotational angle associated with a target steering angle for straight-line or substantially straight-line driving of the vehicle, wherein the second angle range includes a rotational angle associated with a target steering angle for a maximum deflection of the steered wheel.
[0011] The steering system is designed, for example, to determine that the rotation angle is in a first angular range if the rotation angle or the magnitude of the rotation angle is less than a threshold value, in particular 50°, or to determine that the rotation angle is in a first angular range if the rotation angle or the magnitude of the rotation angle is less than or equal to a threshold value, in particular 50°.
[0012] The steering system is designed, for example, to determine that the rotation angle is in the second angular range if the rotation angle or the magnitude of the rotation angle is greater than or equal to a threshold value, in particular 50°, or to determine that the rotation angle is in the second angular range if the rotation angle or the magnitude of the rotation angle is greater than a threshold value, in particular 50°.
[0013] For example, the steering system is configured to detect a rotation angle between -60° and 60° using an operating element, wherein the first angle range includes a rotation angle between -50° and 50°, wherein the second angle range includes a rotation angle between -60° and -50°, in particular including -50°, or between 50° and 60°, in particular including 50°.
[0014] The steering system is constructed, for example, to determine a first target steering angle at a boundary between a first angular range and a second angular range depending on the rotation angle, to determine a second target steering angle depending on the torque, and to determine a target steering angle depending on the first target steering angle and on the second target steering angle, in particular to map the first target steering angle and the second target steering angle onto the target steering angle using a linear function.
[0015] The steering system is designed, for example, to determine a target steering angle in a first angular range as a function of a first transmission ratio and in a second angular range as a function of a second transmission ratio, wherein the second transmission ratio is more direct than the first transmission ratio.
[0016] The vehicle includes a steering system and has corresponding advantages. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Further advantageous embodiments can be found in the following description and the accompanying drawings. In the drawings:
[0018] Figure 1 shows a schematic diagram of a vehicle,
[0019] Figure 2 A flow chart showing the steps of a method for operating a steering system of a vehicle is shown. DETAILED DESCRIPTION
[0020] exist Figure 1 Schematically depicted in FIG is a vehicle 100 having a steering system 102. The steering system 102 is, for example, a steer-by-wire system.
[0021] The steering system 102 includes an operating element 104 , such as a gear lever, for detecting a rotation angle. In addition, the operating element 104 detects or provides a torque set by the operating element 104 .
[0022] The operating element 104 is designed, for example, to detect a rotation angle between −60° and 60°.
[0023] Steering system 102 includes a steering actuator 106 for moving steered wheels 108 of vehicle 100 as a function of a target steering angle.
[0024] Steering system 102 is designed to determine whether the rotation angle is within a first angular range or within a second angular range that is different from the first angular range.
[0025] The first angular range includes the rotation angle that is associated with a target steering angle of, for example, 0° for straight-ahead travel of vehicle 100 .
[0026] The second angular range includes rotation angles that are associated with a target steering angle of, for example, −540° or +540° for a maximum deflection of steered wheel 108 .
[0027] The first angle range includes, for example, a rotation angle between -50° and 50°. The second angle range includes, for example, a rotation angle between -60° and -50°.
[0028] The first angle range includes, for example, rotation angles excluding -50°, and the second angle range includes, for example, rotation angles including -50°.
[0029] Other divisions of the angle range can also be provided, for example with a limit between 45° and 55°, in particular 49° or 51°.
[0030] Steering system 102 is designed to determine a target steering angle in a first angular range of rotational angles as a function of the rotational angle.
[0031] Steering system 102 is designed to determine a target steering angle in a second angular range of rotational angles as a function of the torque.
[0032] The steering system 102 is designed, for example, to: be If the threshold value Schwelle_1 is smaller than, in particular, 50°, it is determined that the rotation angle is in the first angular range.
[0033] |δ be |<Schwelle_1
[0034] Steering system 102 is designed, for example, to determine that the rotational angle is in the second angular range if the magnitude of the rotational angle is greater than or equal to a threshold value Schwelle_1 , in particular a threshold value of 50°.
[0035] |δbe|≥Schwelle_1
[0036] Instead, it can be provided that the rotation angle is determined to be in the first angle range if the magnitude of the rotation angle is less than or equal to a threshold value.
[0037] Instead, it can be provided that if the magnitude of the rotational angle is greater than a threshold value, it is determined that the rotational angle is in the second angle range.
[0038] Two corresponding threshold values can be set, one for negative rotation angles and the other for positive rotation angles.
[0039] Steering system 102 is designed, for example, to determine a target steering angle in a first angular range as a function of a first transmission ratio and in a second angular range as a function of a second transmission ratio. In this example, the second transmission ratio is more direct than the first transmission ratio.
[0040] The steering system 102 is designed, for example, to rotate in a first angular range as a function of the rotation angle δ be and the vehicle longitudinal velocity v x To determine the target steering angle δ Rad :
[0041] δ Rad =f(v x δ be )·δ be
[0042] Among them, f(v x δ be ) represents the first gear ratio.
[0043] The steering system 102 is designed, for example, to rotate in a second angular range as a function of the rotation angle δ be , torque M be and the vehicle longitudinal velocity v x To determine the target steering angle δ Rad :
[0044] δ Rad =f(v x δ be, M be )·M be
[0045] Among them, f(v x δ be, M be ) represents the second gear ratio.
[0046] In one example, the steering system 102 is configured to determine a first target steering angle at a boundary between a first angular range and a second angular range depending on the rotation angle, determine a second target steering angle depending on the torque, and determine a target steering angle depending on the first target steering angle and on the second target steering angle.
[0047] Steering system 102 is designed, for example, to map the first target steering angle and the second target steering angle onto the target steering angle using a linear function.
[0048] exist Figure 2 Schematically depicts a method for operating a steering system 102 of a vehicle 100. Steering system 102 includes, for example, a computing device that is designed to carry out the method.
[0049] The method includes step 202 .
[0050] In step 202 , the rotational angle and the torque are detected using the operating element 104 .
[0051] For example, the rotation angle is detected between -60° and 60°.
[0052] Step 204 is then performed.
[0053] In step 204 , it is determined whether the rotation angle is within the first angle range or the second angle range.
[0054] In the example, the first angle range includes rotation angles between -50° and 50°. In the example, the second angle range includes rotation angles between -60° and -50°, inclusive, and rotation angles between 50° and 60°, inclusive.
[0055] For example, if the magnitude of the rotation angle is smaller than a threshold value, it is determined that the rotation angle is in the first angle range.
[0056] For example, if the magnitude of the rotation angle is greater than a threshold value or equal to the threshold value, it is determined that the rotation angle is in the second angle range.
[0057] The threshold value is, for example, 50°. Alternatively, another division into value ranges or another threshold value or another type of comparison with a threshold value described for steering system 102 may be provided.
[0058] If the rotation angle is within the first value range, step 206 is performed. If the rotation angle is within the second value range, step 208 is performed.
[0059] It can be provided that step 206 and step 208 are carried out in a range around a boundary between value ranges.
[0060] In step 206 , a target steering angle is determined in a first angle range of the rotation angle as a function of the rotation angle.
[0061] In step 208 , a target steering angle is determined in a second angular range of rotational angles as a function of the torque.
[0062] In a first angular range, the target steering angle is determined as a function of the first transmission ratio, and in a second angular range, the target steering angle is determined as a function of the second transmission ratio.
[0063] Thus, an indirect steering ratio is applied over a first angular range, for example, up to + / -50°. The indirect steering ratio is modeled, for example, on the gear ratio of a steering wheel. The first angular range corresponds to a first target steering angle range.
[0064] In the remaining second angular range, for example up to + / −60°, ie in a rotational angle range of 10°, an increasing steering torque is generated, for example up to the end stop torque, and the remaining second target steering angle range is achieved as a function of the torque.
[0065] In optional step 210 , a first target steering angle is determined in the region of a boundary between the first angular range and the second angular range as a function of the rotational angle, and a second target steering angle is determined as a function of the torque.
[0066] In step 210, the target steering angle is determined as a function of the first target steering angle and the second target steering angle. For example, the first target steering angle and the second target steering angle are mapped onto the target steering angle using a linear function. This allows for a coordinated transition between the two ranges.
[0067] Step 212 is then performed.
[0068] In step 212 , steered wheels 108 are steered using steering actuator 106 as a function of the target steering angle.
[0069] Step 202 is then performed.
Claims
1. A method for operating a steering system (102) of a vehicle (100), characterized in that The steering system (102) comprises an operating element (104) for detecting a rotation angle, wherein a torque set by the operating element (104) is detected or provided, wherein the steering system (102) comprises a steering actuator (106) for moving a steered wheel (108) of the vehicle (100) depending on a target steering angle, wherein it is determined (204) whether the rotation angle is in a first angle range or in a second angle range different from the first angle range, wherein in the first angle range of the rotation angle, the target steering angle is determined (206) depending on the rotation angle, wherein in the second angle range of the rotation angle, the target steering angle is determined (208) depending on the torque, wherein the first angle range includes a rotation angle associated with a target steering angle for straight-line or substantially straight-line driving of the vehicle (100), wherein the second angle range includes a rotation angle associated with a target steering angle for a maximum deflection of the steered wheel (108).
2. The method according to claim 1, characterized in that If the rotation angle or the magnitude of the rotation angle is less than a threshold value, in particular 50°, it is determined (204) that the rotation angle is in the first angular range, or if the rotation angle or the magnitude of the rotation angle is less than or equal to a threshold value, in particular 50°, it is determined (204) that the rotation angle is in the first angular range.
3. The method according to claim 1 or 2, characterized in that If the rotation angle or the magnitude of the rotation angle is greater than or equal to a threshold value, in particular 50°, it is determined (204) that the rotation angle is in the second angular range, or if the rotation angle or the magnitude of the rotation angle is greater than a threshold value, in particular 50°, it is determined (204) that the rotation angle is in the second angular range.
4. The method according to any one of the preceding claims, characterized in that The operating element is used to detect (202) a rotation angle between -60° and 60°, wherein the first angle range includes a rotation angle between -50° and 50°, wherein the second angle range includes a rotation angle between -60° and -50°, in particular including -50°, or between 50° and 60°, in particular including 50°.
5. The method according to any one of the preceding claims, characterized in that A first target steering angle is determined (210) at a boundary between the first angle range and the second angle range depending on the rotation angle, a second target steering angle is determined depending on the torque, and the target steering angle is determined depending on the first target steering angle and depending on the second target steering angle, in particular the first target steering angle and the second target steering angle are mapped to the target steering angle using a linear function.
6. The method according to any one of the preceding claims, characterized in that The target steering angle is determined (206) in the first angular range depending on a first transmission ratio, and the target steering angle is determined (208) in the second angular range depending on a second transmission ratio, wherein the second transmission ratio is more direct than the first transmission ratio.
7. A steering system (102) for a vehicle (100), characterized in that The steering system (102) comprises an operating element (104) for detecting a rotation angle, wherein a torque set by the operating element (104) is detected or provided, wherein the steering system (102) comprises a steering actuator (106) for moving a steered wheel (108) of the vehicle (100) as a function of a target steering angle, wherein the steering system (102) is configured to determine whether the rotation angle is within a first angle range or within a second angle range different from the first angle range, wherein the steering system (102) is configured to determine the target steering angle as a function of the rotation angle in the first angle range of the rotation angle, wherein the steering system is configured to determine the target steering angle as a function of the torque in the second angle range of the rotation angle, wherein the first angle range includes a rotation angle associated with a target steering angle for straight-line or substantially straight-line driving of the vehicle, wherein the second angle range includes a rotation angle associated with a target steering angle for a maximum deflection of the steered wheel (108).
8. The steering system (102) according to claim 7, characterized in that The steering system (102) is configured to determine that the rotation angle is within the first angular range if the rotation angle or the magnitude of the rotation angle is less than a threshold value, in particular 50°, or to determine that the rotation angle is within the first angular range if the rotation angle or the magnitude of the rotation angle is less than or equal to a threshold value, in particular 50°.
9. The steering system (102) according to claim 7 or 8, characterized in that The steering system (102) is configured to determine that the rotation angle is in the second angular range if the rotation angle or the magnitude of the rotation angle is greater than or equal to a threshold value, in particular 50°, or to determine that the rotation angle is in the second angular range if the rotation angle or the magnitude of the rotation angle is greater than a threshold value, in particular 50°.
10. The steering system (102) according to any one of claims 7 to 9, characterized in that The steering system (102) is configured to detect a rotation angle between -60° and 60° using the operating element, wherein the first angle range includes a rotation angle between -50° and 50°, wherein the second angle range includes a rotation angle between -60° and -50°, in particular including -50°, or between 50° and 60°, in particular including 50°.
11. The steering system (102) according to any one of claims 7 to 10, characterized in that The steering system (102) is constructed to determine a first target steering angle at a boundary between the first angular range and the second angular range depending on the rotation angle, determine a second target steering angle depending on the torque, and determine the target steering angle depending on the first target steering angle and depending on the second target steering angle, in particular mapping the first target steering angle and the second target steering angle to the target steering angle using a linear function.
12. The steering system (102) according to any one of claims 7 to 11, characterized in that The steering system (102) is designed to determine the target steering angle in the first angular range as a function of a first transmission ratio and in the second angular range as a function of a second transmission ratio, wherein the second transmission ratio is more direct than the first transmission ratio.
13. A vehicle (100), characterized in that The vehicle comprises a steering system (102) according to any one of claims 7 to 12.