Steering device and methods for operating a steering device

Abstract

Steering device for a motor vehicle, characterized in that the steering device is configured to calculate the loads on the steering device in such a way that the influence of the braking / driving torque is compensated, in particular eliminated, by the force / torque from the lateral tire force, wherein the steering device comprises a vehicle communication device (1), in particular with other ECUs in the vehicle, a vehicle signal preprocessing device (2), a calculation / estimation device (3), a power pack device (4) for the steering device, wherein a steering device designed as an EPAS system comprises a steering wheel (L), an assistance drive (U), a steering shaft (W), a pinion (R), a rack (Z) and at least one wheel (T) as well as a pinion shaft (TSU) (5), or a steering device designed as an SbW system comprises a steering wheel (L), a rotation angle sensor (S), an actuator (K),a wired electrical connection (E) between sensor (S) and actuator (K), a pinion (R), a rack (Z) and at least one wheel (T), wherein the steering device configured as an EPAS system comprises: - the vehicle communication device (1), in particular with other ECUs in the vehicle, an output (A1); - the vehicle signal preprocessing device (2) an input (E2) and an output (A2); - the calculation / estimation device (3) a first input (E31), a second input (E32) and a third input (E33), and an output (A3); - the power pack device (4) for the steering device an output (A4); - the pinion shaft (TSU) (5) an output (A5), wherein - the output (A1) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the input (E2) of the vehicle signal preprocessing device (2).wherein- the output (A2) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the first input (E31) of the calculation / estimation device (3), wherein- the output (A4) of the power pack device (4) is connected to the second input (E32) of the calculation / estimation device (3), wherein- the output (A5) of the pinion shaft (TSU) (5) is connected to the third input (E33) of the calculation / estimation device (3), wherein alternatively the steering device designed as an SbW system- the vehicle communication device (1), in particular with other ECUs in the vehicle (1) comprises an output (A1);- the vehicle signal preprocessing device (2) comprises an input (E2) and an output (A2);- the calculation / estimation device (3) a first input (E31) and a second input (E32),and includes an output (A3); - the power pack device (4) for the steering device includes an output (A4); - the output (A1) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the input (E2) of the vehicle signal preprocessing device (2), wherein - the output (A2) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the first input (E31) of the calculation / estimation device (3), wherein - the output (A4) of the power pack device (4) is connected to the second input (E32) of the calculation / estimation device (3),where, for the steering system designed as an EPAS system, the following formulaic relationship applies with regard to the loads on the steering system: Pull rod force from the EPAS system motor + pull rod force from the pinion + pull rod force from the lateral tire force + pull rod force from the braking torque + pull rod force from the drive torque = 0. where, for the steering system designed as an SbW system, the following formulaic relationship applies with regard to the loads on the steering system: Pull rod force from the road wheel actuator K + pull rod force (from the lateral tire force) + pull rod force (from the braking torque) + pull rod force (from the drive torque) = 0.

Claims

Steering device for a motor vehicle, characterized in that the steering device is configured to calculate the loads on the steering device in such a way that the influence of the braking / driving torque is compensated, in particular eliminated, by the force / torque from the lateral tire force, wherein the steering device comprises a vehicle communication device (1), in particular with other ECUs in the vehicle, a vehicle signal preprocessing device (2), a calculation / estimation device (3), a power pack device (4) for the steering device, wherein a steering device configured as an EPAS system comprises a steering wheel (L), an assistance drive (U), a steering shaft (W), a pinion (R), a rack (Z) and at least one wheel (T) as well as a pinion shaft (TSU) (5), or a steering device configured as an SbW system comprises a steering wheel (L), a rotation angle sensor (S), an actuator (K),a wired electrical connection (E) between sensor (S) and actuator (K), a pinion (R), a rack (Z) and at least one wheel (T), wherein the steering device configured as an EPAS system comprises: - the vehicle communication device (1), in particular with other ECUs in the vehicle, an output (A1); - the vehicle signal preprocessing device (2) an input (E2) and an output (A2); - the calculation / estimation device (3) a first input (E31), a second input (E32) and a third input (E33), and an output (A3); - the power pack device (4) for the steering device an output (A4); - the pinion shaft (TSU) (5) an output (A5), wherein - the output (A1) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the input (E2) of the vehicle signal preprocessing device (2).wherein- the output (A2) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the first input (E31) of the calculation / estimation device (3), wherein- the output (A4) of the power pack device (4) is connected to the second input (E32) of the calculation / estimation device (3), wherein- the output (A5) of the pinion shaft (TSU) (5) is connected to the third input (E33) of the calculation / estimation device (3), wherein alternatively the steering device designed as an SbW system- the vehicle communication device (1), in particular with other ECUs in the vehicle (1) comprises an output (A1);- the vehicle signal preprocessing device (2) comprises an input (E2) and an output (A2);- the calculation / estimation device (3) a first input (E31) and a second input (E32),and includes an output (A3); - the power pack device (4) for the steering device includes an output (A4); - the output (A1) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the input (E2) of the vehicle signal preprocessing device (2), wherein - the output (A2) of the vehicle communication device (1), in particular with other ECUs in the vehicle, is connected to the first input (E31) of the calculation / estimation device (3), wherein - the output (A4) of the power pack device (4) is connected to the second input (E32) of the calculation / estimation device (3), wherein the following formulaic relationship applies to the steering device designed as an EPAS system with regard to the loads on the steering device: tie rod force from the EPAS system motor + tie rod force from the pinion + tie rod force from the lateral tire force + tie rod force from the braking torque + tie rod force from the drive torque = 0. where the following formulaic relationship applies to the steering device designed as an SbW system with regard to the loads on the steering device: Pull rod force from the roadwheel actuator K + pull rod force (from the lateral tire force) + pull rod force (from the braking torque) + pull rod force (from the drive torque) = 0. Steering device according to at least one of the preceding claims, characterized in that the calculation / estimation device (3) of a steering device designed as an EPAS system is equipped with a column torque controller. Steering device according to at least one of the preceding claims, characterized in that the steering device is configured to allow signals (S1) relating to: - yaw rate; - lateral acceleration; - vehicle speed (or wheel speed for each wheel); - wheel braking torque for the steered wheel or for each wheel; - wheel drive torque for steered wheels or for each wheel and / or - wheel position to be transmitted between the output (A1) of the vehicle communication device (1), in particular with other ECUs in the vehicle, and the input (E2) of the vehicle signal preprocessing device (2). Steering device according to at least one of the preceding claims, characterized in that the steering device is configured to allow signals (S2) relating to the estimated / measured torque signal to be transmitted between the output (A4) of the power pack device (4) and the second input (E32) of the calculation / estimation device (3). Steering device according to at least one of the preceding claims, characterized in that the steering device is configured to allow the output (A3) of the calculation / estimation device (3) to provide a signal (S4) relating to a compensated load on the steering device. Steering device according to at least one of the preceding claims, characterized in that the steering device, in the case of an embodiment as an EPAS system, is configured to allow signals (S3) relating to the estimated / measured torque signal to be transmitted between the output (A5) of the pinion shaft (TSU) (5) and the input (E33) of the calculation / estimation device (3). Steering device according to at least one of the preceding claims, characterized in that the calculation / estimation device (3) is designed as an LQE estimator, a Kalman filter or an extended linear or nonlinear Kalman filter, a calculation based on a force-torque equation, a calculation based on lookup tables, and / or an AI-based solution, or comprises one or more of the aforementioned components. Steering device according to at least one of the preceding claims, characterized in that the preprocessing device (2) comprises one or more of the following components or algorithms: - filter; - unit change; - calculation / estimation of the vehicle speed; - calculation of the influence of the braking and drive torque on the pendulum torque of the steered wheel, i.e.on the tie rod force or the rack force; - Maintaining a constant that can be used for calculating the torque; - Using a lookup table in which the relationship of the wheel position and / or the tire force, in particular laterally and longitudinally, is recorded; - Using a measured or estimated wheel position, in particular in relation to the vehicle body; - Splitting the information about the braking torque from two sources, in particular one from the powertrain when the electric motor is used to brake the vehicle, and the other based on information about the braking force from the brake disc and the brake pad-based braking system, the two pieces of information preferably being processed simultaneously when both signals are available; - Taking into account all masses and the inertia of each part of the steering device, including the inertia of the wheels, when the steering device is in motion and accelerating. Steering device according to at least one of the preceding claims, characterized in that the steering device is configured so that the drawbar force from braking has two sources, in particular braking by the electric motor and brake disc and brake pad. Steering device according to at least one of the preceding claims, characterized in that the steering device is configured to provide a measured or estimated signal from all parts of the above-mentioned equations, in particular except for the tie rod force, in particular from the lateral force. Method for operating a steering device according to at least one of the preceding claims.

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