DEVICE AND METHOD FOR CALCULATING THE ABSOLUTE ANGLE POSITION FOR CONTROLLING A VEHICLE STEERING SYSTEM

Abstract

Vehicle steering system (100), comprising: a motor assembly (160) comprising a motor (165) with a first rotor (164) and a motor position sensor (210) configured to detect a first rotor angle of the motor (165) in a single-revolution range; a mechanism (170) for converting a rotary motion into a linear motion, which is functionally coupled between the motor assembly (160) and a steering rack (155) to convert a rotary force of the motor (165) into a linear force for moving the steering rack (155), wherein the mechanism (170) for converting a rotary motion into a linear motion comprises a second rotor which is functionally coupled to the first rotor (164) of the motor (165), and an angle position sensor (225) which is configured to detect a second rotor angle of the second rotor of the mechanism (170) for converting a rotary motion into a linear motion in a single-revolution range, wherein the steering rack (155) is functionally coupled to a pinion (120); and a processor (180) configured to calculate an absolute angular position associated with a position of the steering rack (155) in a full rotation range associated with a movement of the steering rack (155) based on the detected first rotor angle of the motor (165) and the detected second rotor angle of the second rotor of the mechanism (170) for converting a rotary into a linear motion using a ratio between the rotational speeds of the first rotor (164) of the motor (165) and the second rotor (172, 221, 222) of the mechanism (170) for converting a rotary into a linear motion.

Description

field of technology

[0001] Various embodiments of the present disclosure generally relate to the detection or calculation of absolute angular positions associated with the steering process and the control of a vehicle. State of the art

[0002] In many applications, including motor vehicles, knowing the absolute angular position of a rotating body can be crucial. For example, when starting a motor vehicle, it may sometimes be necessary to know the steering wheel's position at the moment of acceleration. This not only allows the driver to know the direction the front wheels are pointing before engaging a gear, but some computerized vehicle control systems may also require knowledge of the steering wheel position. For instance, in an automated steering system, such as a steer-by-wire system, the control system must know the steering wheel's position at all times to steer the vehicle. These systems need to know not only the steering wheel's position, but also its specific rotation at the moment of measurement.

[0003] Such a device comprises a relatively large input gear mounted on the steering shaft. The input gear is meshed with two relatively small output gears. A first and a second magnetic field sensor are positioned near the first and second output gears, respectively. The output gears are designed so that their angular position is detected by the sensors as they rotate. The ratio of the first output gear to the second output gear is chosen such that the gears are out of phase after completing several revolutions. The sensor signals are used to determine the absolute position of the steering shaft. The second sensor provides a relatively accurate, high-resolution signal representing the angular position of the second output gear.This signal, in conjunction with the phase-shifted angular position signal from the first sensor, is used to determine the rotation of the steering shaft when the signal from the second sensor is received. Thus, the absolute position of the steering shaft is known.

[0004] German patent DE 600 11 684 T2 describes a power steering system comprising a steering shaft, an electric motor with a rotor, a first sensing device, a second sensing device, and a processing device. The motor drives a rack directly via a ball screw nut. Document JP 2017-19 443 A discloses a reduction gear comprising: a drive pulley with a specific number of teeth, an output pulley with a different number of teeth fixed to the outer circumference of a ball screw nut, a drive pulley, and a toothed belt wound around the drive pulley and the output pulley. A tensioning pulley engages the teeth of the belt and exerts tension on it.A rotary motor is connected to the drive pulley and equipped with a first relative angle sensor for detecting a first relative angle of rotation, and the tension pulley is equipped with a second relative angle sensor for detecting a second relative angle of rotation. JP 2004-351988A describes how the operating angle of a steering wheel is detected by a steering angle sensor and transmitted to the steering control unit for steering control via a steering motor. A ball nut with a threaded groove having a semicircular cross-section is formed on an inner circumferential surface of a rotor of the motor. A rotary angle sensor comprises a sensor shaft and, at its projecting end, a driven pulley. A drive pulley is provided on the outer circumference of the ball nut, and a transmission belt is wound around the drive pulley and the driven pulley.

[0005] The following exemplary embodiments are described with reference to these and other general considerations. Although relatively specific problems are discussed, it is understood that the exemplary embodiments should not be limited to solving the specific problems identified in the prior art. RevelationTechnical Task

[0006] Various embodiments of the present disclosure provide for a vehicle steering system that is capable of detecting or calculating absolute angular positions related to the steering process and control of a vehicle. Technical solution

[0007] The technical solutions proposed according to the invention for the underlying technical problem are defined in the independent claims. Individual embodiments are specified in the dependent claims. The features and advantages of the present disclosure will be easier to understand and deduce from the following detailed description, which should be read in conjunction with the accompanying drawings.

[0008] According to certain embodiments, a vehicle steering system may comprise: a motor assembly comprising a motor with a first rotor and a motor position sensor configured to detect a first rotor angle of the motor in a single-revolution range; a mechanism for converting a rotary motion into a linear motion, functionally coupled between the motor assembly and a steering rack to convert a rotary force of the motor into a linear force for moving the steering rack, wherein the mechanism for converting a rotary motion into a linear motion comprises a second rotor functionally coupled to the first rotor of the motor and an angle position sensor configured to detect a second rotor angle of the second rotor of the mechanism for converting a rotary motion into a linear motion in a single-revolution range, wherein the steering rack is functionally coupled to a pinion;and a processor configured to calculate an absolute angular position associated with a position of a steering rack within a full rotation range of the steering rack, based on the detected first rotor angle of the motor and the detected second rotor angle of the second rotor of the mechanism for converting a rotary motion into a linear motion. The absolute angular position associated with the position of the steering rack within the full rotation range associated with the movement of the steering rack may be or correspond to an absolute angular position of the pinion within the full rotation range of the pinion. The single rotation range may be a range of three hundred and sixty (360) degrees, and the full rotation range may correspond to a range of movement of the steering rack, such as a rotating range of a pinion or a steering wheel. The mechanism for converting a rotary motion into a linear motion may include a ball nut assembly.

[0009] The processor is designed to calculate the absolute angular position associated with the position of the steering rack, based on the detected first rotor angle of the motor and the detected second rotor angle of the second rotor of the mechanism for converting rotary motion into linear motion, using the ratio between the speeds at which the first rotor of the motor and the second rotor of the mechanism for converting rotary motion into linear motion rotate.

[0010] The processor can be trained to calculate the absolute angular position associated with the position of the steering rack, based on the detected first rotor angle of the motor and the detected second angle of the second rotor of the mechanism for converting a rotary into a linear motion using a Vernier algorithm.

[0011] The mechanism for converting rotary motion into linear motion comprises a first gear configured to be rotated by the first rotor of the motor, and the second rotor of the mechanism for converting rotary motion into linear motion can be a second gear rotatably connected to the first gear, wherein the angular position sensor is configured to detect the angle of the second gear of the mechanism for converting rotary motion into linear motion in a single-revolution range, and the processor can be configured to calculate the absolute angular position associated with the position of the steering rack in the full-revolution range of the movement of the steering rack, based on the detected rotor angle of the motor and the detected angle of the second gear of the mechanism for converting rotary motion into linear motion.

[0012] According to some embodiments of the present disclosure, a vehicle steering system may comprise: a pinion angle sensor configured to detect a pinion angle in a single-revolution range, wherein the pinion angle is associated with a pinion that is functionally coupled to a steering rack; a motor assembly that is functionally coupled to the steering rack, wherein the motor assembly comprises a motor with a rotor and a motor position sensor configured to detect a rotor angle of the motor in a single-revolution range; and a processor configured to calculate an absolute angular position associated with the position of the steering rack in a full-revolution range of the steering rack's movement, based on the detected pinion angle and the detected rotor angle of the motor.The absolute angular position associated with the position of the steering rack within the full-rotation range corresponding to the movement of the steering rack can be, or correspond to, the absolute angular position of the pinion within the pinion's full-rotation range. The single-rotation range can be a range of three hundred and sixty (360) degrees, and the full-rotation range can correspond to a range of movement of the steering rack, such as a rotating range of a pinion or a steering wheel.

[0013] The processor is designed to calculate the absolute angular position associated with the position of the steering rack, based on the detected pinion angle and the detected rotor angle of the motor, using the ratio between the speeds at which the pinion and rotor of the motor rotate.

[0014] The processor can be trained to calculate the absolute angular position associated with the position of the steering rack, based on the detected pinion angle and the detected rotor angle of the motor, using the Vernier algorithm.

[0015] The vehicle steering system may also include a mechanism for converting rotary motion into linear motion, which is functionally coupled between the motor assembly and the steering rack. The mechanism for converting rotary motion into linear motion may include a ball nut assembly.

[0016] This outline is intended to present a selection of concepts in simplified form, which are described in more detail below. It is neither intended to identify main features or essential characteristics of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Beneficial effects

[0017] The vehicle steering system according to the various embodiments of the present disclosure can effectively detect or calculate absolute angular positions related to the steering process and the control of a vehicle. Description of drawings

[0018] Various embodiments according to the present disclosure are described with reference to the drawings, in which: Fig. 1 a schematic view of a vehicle steering system according to an exemplary embodiment of the present disclosure; Fig. 2 shows a partial cross-sectional view of a motor assembly and a mechanism for converting a rotary motion into a linear motion according to an exemplary embodiment of the present disclosure; Fig. 3 shows a partial cross-sectional view of a pinion housing according to an exemplary embodiment of the present disclosure; Fig. 4 a flowchart of a method for calculating an absolute angular position associated with a position of a steering rack according to an exemplary embodiment of the present disclosure; Fig. 5 a flowchart of a method for calculating an absolute angular position associated with a position of a steering rack according to an exemplary embodiment of the present disclosure; and Fig. Figure 6 shows a block diagram of a control device of a vehicle steering system according to an embodiment of the present disclosure.

[0019] Corresponding reference numerals and symbols in the various figures generally denote corresponding parts, unless otherwise specified. The figures are drawn to clearly illustrate the relevant aspects of the embodiments and are not necessarily drawn to scale. Best form of execution

[0020] The following description refers to the accompanying drawings, which form part of this disclosure and show specific embodiments with which the invention can be implemented in practice. These embodiments are described in sufficient detail to enable a person skilled in the art to implement the invention in practice. It should be clarified that other embodiments may also be used and that structural, logical, and electrical modifications may be made without departing from the concept and scope of the invention. The following detailed description is therefore not to be interpreted in a limiting sense, and the scope of the invention is defined only by the appended claims and their equivalents. Identical reference numerals in the figures refer to identical components, which should be clear from the context of their use.

[0021] Referring to Fig. Figure 1 shows a steering system 100 for use in a vehicle. The steering system 100 enables a driver or operator of the vehicle to control the direction of the vehicle by operating the steering system 100. The steering system 100 can comprise a steering column 110, a pinion 120 with a pinion shaft 121 and a pinion gear 125, a rack and pinion assembly 130, a motor assembly 160, and a control device 180.

[0022] The steering column 110 enables the mechanical actuation of the vehicle's wheels to control the vehicle's direction. The steering column 110 contains a steering wheel 105. The steering wheel 105 is positioned so that the driver can exert a rotational force on the steering column 110. An upper steering column shaft 113 is connected at one end to the steering wheel 105 and at the other end to a column universal joint 115. The column universal joint 115 couples the upper steering column shaft 113 to the pinion shaft (or a lower steering column shaft) 121. The pinion shaft 121 can be attached at one end to the column universal joint 115 and at the other end to the gearbox housing 122. The gearbox housing 122 accommodates the pinion gear 125. The pinion wheel 125 of the gearbox housing 122 is positioned so that it comes into contact with a rack gear (such as a matching toothed part) 132 of the rack assembly 130.The pinion gear 125, for example, but not exclusively, has helical teeth that mesh with spur teeth 132 of the rack. The pinion gear 125, in combination with the rack teeth 132, forms a rack and pinion drive 135. A rack 155 is coupled to the steerable wheels 150 of the vehicle via a steering linkage. Tie rods 140 are attached at one end to the rack and pinion assembly 130 and at the other end to the steering knuckles 145.

[0023] When a rotational force is exerted on the steering column 110 by turning the steering wheel 105 or by any other force, the pinion 125 of the gearbox housing 122 rotates accordingly. The movement of the pinion 125 causes the rack and pinion assembly 130 to move in the direction of arrows 137, which in turn affects the tie rods 140 and the steering knuckles 45 to reposition the wheels 150. Thus, when the steering wheel 105 is turned, the rack and pinion assembly 135 converts the rotational movement of the steering wheel 105 into the linear movement of the rack 155.

[0024] To assist the force exerted on the steering system 100 by the driver or operator, an electric motor 165 is driven to assist the movement of the rack 155, thus facilitating steering of the vehicle by the operator. The electric motor 165 can comprise a rotor 164 with a motor shaft 168 and a motor pulley 166. The electric motor 165 supplies a torque force to the motor pulley 166 via the motor shaft 168. The torque of the motor pulley 166 is transmitted to a belt 167. Alternatively, the motor pulley 166 can be directly coupled to the rack 155, or the belt 167 can be replaced by a chain or gear system, or any rotary device that provides torque for a mechanism 170 to convert rotary motion into linear motion (e.g., a ball screw drive).When a torque force is applied to the belt 167, the torque is converted into a linear force via the rotary-to-linear-motion conversion mechanism 170, and the rack 155 is moved in one of the directions indicated by arrows 137. Naturally, the direction of movement of the rack assembly 130 corresponds to the direction of rotation of the motor pulley 166. The configuration of the belt 167 and the position of the electric motor 165 allow an inner engagement surface of the belt 167 to wrap around and engage both the motor pulley 166 and a ball screw 172, which is attached to a rotating part (or rotor) of the ball screw assembly 170.

[0025] The electric motor 165 is controlled by a control device 180, which receives input from a torque and / or rotary position sensor(s) 117. The rotary position sensor 117 supplies a steering angle signal to the control device 180.

[0026] Fig. Figure 1 shows a power steering system that includes a mechanical connection between the steering wheel 105 and the rack and pinion assembly 130. Alternatively, and in applications where a steer-by-wire system is used, there is no direct mechanical connection between the steering wheel 105 and the rack and pinion assembly 130. In this application, the driver's rotational movement of the steering wheel 105 (and / or a signal from an equivalent driver control device, such as a joystick, pedal(s), and other driver-operated mechanisms) is input into the control device 180, while the electric motor 165 provides the necessary force to actuate the rack and pinion assembly 130.

[0027] Fig. Figure 2 shows a partial cross-sectional view of a motor assembly and a mechanism for converting a rotary motion into a linear motion according to an exemplary embodiment of the present disclosure.

[0028] A motor position sensor 210 is mounted on a printed circuit board 230 and is electrically connected to the printed circuit board 230. The motor position sensor 210 is, for example, mounted directly on a side of the printed circuit board 230 that faces the distal end of the rotor 164 of the motor 165.

[0029] The motor position sensor 210 can be arranged in a scanning relationship with the rotor 164 of the motor 165. For example, the motor position sensor 210 can be positioned near the distal end of the motor pulley 166 or the motor drive shaft 168.

[0030] The motor position sensor 210 responds to the rotation of the motor pulley 166 or the motor drive shaft 168. For example, the motor position sensor 210 and the motor drive shaft 168 (or the motor pulley 166) are configured such that the motor position sensor 210 can detect or sample an angular position of the motor rotor 164 (such as the motor pulley 166 or the motor drive shaft 168) within a single-revolution range that is a range from zero to three hundred and sixty degrees (0-360°). The motor position sensor 210 can generate an output signal indicating the detected angular position of the motor rotor 164.

[0031] The motor position sensor 210 can be any suitable device for generating a signal that responds to the rotation of the motor rotor 164. For example, the motor position sensor 210 can be a non-contact limit switch. The motor position sensor 210 can be a Hall-effect sensor, a magnetoresistive (MR) sensor, or any other sensor known in the art with similar capabilities. Accordingly, the motor rotor 164, like the motor pulley 166 or the motor drive shaft 168, can have a magnetic gradient formed on a surface of the motor rotor 164 defined by a plurality of alternately magnetically charged north and south elements spaced circumferentially around the circumference of the motor pulley 166 or the motor drive shaft 168. The magnetically charged elements of the motor rotor 164 can be any suitable component or material capable of holding a magnetic charge.The magnetically charged elements of the motor rotor 164 can be formed and / or mounted on the surface of the motor pulley 166 or the motor drive shaft 168, or arranged inside the motor pulley 166 or the motor drive shaft 168. For example, the magnet for detecting the motor position can be pressed onto the end of the motor pulley 166 or the motor drive shaft 168.

[0032] The mechanism 170 for converting rotary motion into linear motion can comprise a rotor, such as a main gear 221, a secondary gear 222, and the pulley 172. The main gear 221 of the mechanism 170 for converting rotary motion into linear motion is functionally coupled to the ball screw 172, so that the main gear 221 can rotate together with the ball screw 172. The main gear 221 of the mechanism 170 for converting rotary motion into linear motion is coupled to the ball screw 172 either directly or indirectly. For example, the main gear 221 of the mechanism 170 for converting rotary motion into linear motion is indirectly connected via a ball nut 174. The main gear 221 is in rotatable engagement with the secondary gear 222. According to some embodiments of the present disclosure, the mechanism 170 for converting a rotary motion into a linear motion can have only a single secondary gear.

[0033] When the secondary gear 222 of the mechanism 170 for converting a rotary into a linear motion rotates, an angular position sensor 225 of the mechanism 170 for converting a rotary into a linear motion can detect or sample an angular position of the secondary gear 222 in a single revolution, which lies in a range of zero to three hundred sixty degrees (0-360°).

[0034] The angular position sensor 225 of the mechanism 170 for converting a rotary motion into a linear motion is mounted on the circuit board 230 and electrically connected to it. For example, the angular position sensor 225 is mounted directly on the side of the circuit board 230 facing the secondary gear 222 of the mechanism 170 for converting a rotary motion into a linear motion. Alternatively, the angular position sensor 225 can also be located on a separate circuit board, which is a circuit separate from the circuit board 230.

[0035] The angular position sensor 225 of the mechanism 170 for converting a rotary motion into a linear motion can be arranged in a scanning relationship with the secondary gear 222 of the mechanism 170 for converting a rotary motion into a linear motion. The angular position sensor 225 can, for example, be arranged near the secondary gear 222.

[0036] The angular position sensor 225 of the mechanism 170 for converting rotary motion into linear motion reacts to the rotation of the auxiliary gear 222 of the mechanism 170 for converting rotary motion into linear motion. For example, the angular position sensor 225 and the auxiliary gear 222 are configured such that the angular position sensor 225 can detect or record an angular position of the auxiliary gear 222 in a range of zero to three hundred sixty degrees (0-360°). The angular position sensor 225 can generate an output signal that indicates the detected angular position of the auxiliary gear 222 of the mechanism 170 for converting rotary motion into linear motion.

[0037] The angular position sensor 225 of the mechanism 170 for converting rotary motion into linear motion can be any suitable device that generates a signal responding to the rotation of the auxiliary gear 222 of the mechanism 170 for converting rotary motion into linear motion. The angular position sensor 225 can, for example, be a non-contact limit switch. The angular position sensor 225 can be a Hall-effect sensor, an MR sensor, or another sensor known in the art with similar capabilities. Accordingly, the auxiliary gear 222 of the mechanism 170 for converting rotary motion into linear motion can have a magnetic gradient formed on a surface of the auxiliary gear 222 defined by a plurality of alternating magnetically charged north and south elements spaced circumferentially around the circumference of the auxiliary gear 222.The magnetically charged elements of the secondary gear 222 can be any suitable component or material capable of holding a magnetic charge. The magnetically charged elements of the secondary gear 222 can be formed and / or mounted on the surface of the secondary gear 222 or arranged inside the secondary gear 222. For example, the magnet for detecting the position of the secondary gear 222 can be pressed onto a surface of the secondary gear 222.

[0038] Alternatively, the angular position sensor 225 of the mechanism 170 for converting a rotary into a linear motion is designed to detect or sensing an angular position of another rotor of the mechanism for converting a rotary into a linear motion, for example, but not limited to, the ball screw 172 or the main gear 221, instead of the secondary gear 222.

[0039] Fig. Figure 3 shows a partial cross-sectional view of a pinion housing according to an exemplary embodiment of the present disclosure.

[0040] A pinion angle sensor 310 is attached to the gearbox housing 122, which is electrically connected to the control device 180. Fig. 1 is connected. The pinion angle sensor 210, for example, is attached directly to an inner surface of the gearbox housing 122, which faces the distal end of the pinion 120, such as the pinion wheel 125.

[0041] The pinion angle sensor 310 can be arranged in a scanning relationship with the pinion 120. For example, the pinion angle sensor 310 can be positioned near the distal end of the pinion wheel 125.

[0042] The pinion angle sensor 310 reacts to the rotation of the pinion 120. For example, the pinion angle sensor 310 and the pinion wheel 125 are designed such that the pinion angle sensor 310 can detect or record an angular position of the pinion 120 (e.g., of the pinion wheel 125) in a range of zero to three hundred and sixty degrees (0-360°). The pinion angle sensor 310 can generate an output signal that indicates the detected angular position of the pinion 120.

[0043] The pinion angle sensor 310 can be any suitable device for generating a signal that responds to the rotation of the pinion 120. For example, the pinion angle sensor 310 can be a non-contact limit switch. The pinion angle sensor 310 can be a Hall-effect sensor, an MR sensor, or any other sensor known in the art with similar capabilities. Accordingly, the pinion 120 can have a magnetic gradient formed on a distal end 320 of the pinion 120 and defined by a plurality of alternating magnetically charged north and south elements spaced circumferentially around the circumference of the pinion wheel 125. The magnetically charged elements of the pinion 120 can be any suitable component or material capable of holding a magnetic charge.The magnetically charged elements of the pinion 120 can be formed and / or mounted on the surface of the pinion 120 or arranged inside the pinion 120. For example, the magnet for sensing the pinion position can be pressed onto the end 320 of the pinion wheel 125.

[0044] Fig. Figure 4 is a flowchart of a method for calculating an absolute angular position associated with a position of a steering rack, according to an exemplary embodiment of the present disclosure.

[0045] In step 410, the pinion angle sensor 310 detects or records an angular position of the pinion 120 (e.g., of the pinion wheel 125) within a single-revolution range spanning from zero to three hundred and sixty degrees (0-360°). The motor pinion angle sensor 310 generates and transmits an output signal indicating the detected angular position of the pinion 120 to the control device 180.

[0046] In step 420, the motor position sensor 210 detects or records an angular position of the motor rotor 164 (such as the motor pulley 166 or the motor drive shaft 168) within a single-revolution range, which is a range from zero to three hundred and sixty degrees (0-360°). The motor position sensor 210 generates and transmits an output signal indicating the detected angular position of the motor rotor 164 to the control device 180.

[0047] In step 430, the control device 180 calculates an absolute angular position that corresponds to a position of the steering rack 155 within a full rotation of the steering rack 155's movement, based on the angular position of the pinion 120, detected by the pinion angle sensor 310, and the angular position of the motor 165, detected by the motor position sensor 210. The full rotation of the steering rack 155's movement can be, for example, the full rotation of the pinion 120's rotation, the full rotation of the steering wheel 105's rotation, or the full rotation of any steering movement associated with a position of the steering rack 155, or is not limited to these.In an exemplary embodiment, the control device 180 calculates an absolute angular position of the pinion 120 within a full rotation range of the pinion 120 based on the angular position of the pinion 120 detected by the pinion angle sensor 310 and the angular position of the motor 165 detected by the motor position sensor 210. The full rotation range of the pinion 120 is, for example, three (3) complete rotations, a range from zero to one thousand eighty degrees (0° - 1080°), or a range from minus five hundred forty to plus five hundred forty degrees (-540° - +540°). To express the full rotation range of the pinion 120, the control device 180 uses an algorithm or a lookup table. The algorithm or look-up table can be embodied in a programmed digital computer or a user-defined digital processor contained in the control device 180 (see . Fig. 6).

[0048] For example, the absolute angular position associated with the position of the steering rack 155, like the absolute angular position of the pinion 120, can be calculated using the ratio between the rotational rates at which the pinion 120 and the rotor 164 of the motor 165 rotate. The gear ratio between the pinion 125 and the pulley 166 of the motor 165 can be used. By providing a different rotational rate or speed for the pinion 125 and the pulley 166 of the motor 165, a difference is generated between the angular position of the pinion 125 detected by the pinion angle sensor 310 and the angular position of the motor shaft 168 or the motor pulley 166 detected by the motor position sensor 210. This difference assumes a unique value over the entire rotational range of the pinion 120.This difference provides a value that can be used in a suitable manner to determine the absolute angular position associated with the position of the steering rack 155, such as the absolute angular position of the pinion 120, although neither the pinion angle sensor 310 nor the motor position sensor 210 is suitable to indicate the absolute angular position associated with the position of the steering rack 155, such as the absolute angular position of the pinion 120, independently over the entire range of motion.

[0049] The Vernier algorithm can be used to calculate the absolute angular position associated with the position of the steering rack 155, just as the absolute angular position of the pinion 120 can be calculated based on the angular position of the pinion 120 and the angular position of the motor 165. The Vernier algorithm can determine the absolute angular position associated with the position of the steering rack 155, just as it can determine the absolute angle of the pinion 120, by using the phase difference between the angular position of the pinion 120 and the angular position of the motor 165 with different cycles.

[0050] Fig. Figure 5 is a flowchart of a method for calculating an absolute angular position associated with a position of a steering rack, according to an exemplary embodiment of the present disclosure.

[0051] In step 510, the angular position sensor 225 of the rotary-to-linear conversion mechanism 170 can detect or record the angular position of a rotor of the rotary-to-linear conversion mechanism 170, for example, but not limited to, the pulley 172, the main gear 221, and the auxiliary gear 222, within a single-revolution range that is a range from zero to three hundred and sixty degrees (0-360°). The angular position sensor 225 of the rotary-to-linear conversion mechanism 170 generates and transmits an output signal to the control device 180 indicating the detected angular position of the rotor 172, 221, or 222 of the rotary-to-linear conversion mechanism 170.

[0052] In step 520, the motor position sensor 210 detects or records an angular position of the motor rotor 164 (such as the motor pulley 166 or the motor drive shaft 168) within a single-revolution range, which is a range from zero to three hundred and sixty degrees (0-360°). The motor position sensor 210 generates and transmits an output signal indicating the detected angular position of the motor rotor 164 to the control device 180.

[0053] In step 530, the control device 180 calculates an absolute angular position that corresponds to a position of the steering rack 155 within a range of motion of the steering rack 155 over a full rotation, based on the angular position of the rotor 172, 221, or 222 of the mechanism 170 for converting a rotary motion into a linear motion, detected by the angular position sensor 225, and the angular position of the motor 165, detected by the motor position sensor 210. The full rotation range of the movement of the steering rack 155 can be, for example, the full rotation range of the pinion 120, the full rotation range of the steering wheel 105, or the full rotation range of any steering movement associated with a position of the steering rack 155, or is not limited to these.In an exemplary embodiment, the control device 180 calculates an absolute angular position of the pinion 120 within a full rotation range of the pinion 120 based on the angular position of the rotor 172, 221, or 222 of the mechanism 170 for converting a rotary motion into a linear motion, as detected by the angular position sensor 225, and the angular position of the motor 165, as detected by the motor position sensor 210. The full rotation range of the pinion 120 is, for example, three (3) complete rotations, a range from zero to one thousand eighty degrees (0° - 1080°), or a range from minus five hundred forty to plus five hundred forty degrees (-540° - +540°). To express the full rotation range of the pinion 120, the control device 180 uses an algorithm or a lookup table.The algorithm or look-up table can be embodied in a programmed digital computer or a user-defined digital processor contained in the control device 180 (see . Fig. 6).

[0054] For example, the absolute angular position associated with the position of the steering rack 155, like the absolute angular position of the pinion 120, can be calculated using the ratio between the rotational rates of the secondary gear 222 of the rotary-to-linear-motion mechanism 170 and the rotor 164 of the motor 165. The gear ratio between the secondary gear 222 of the rotary-to-linear-motion mechanism 170 and the rotor 164 of the motor 165 can be used.By providing a different rotation rate or speed of the auxiliary gear 222 of the mechanism 170 for converting a rotary into a linear motion and the pulley 166 of the motor 165, a difference is generated between the angular position of the auxiliary gear 222 of the mechanism 170 for converting a rotary into a linear motion, which is detected by the angular position sensor 225, and the angular position of the motor shaft 168 or the motor pulley 166, which is detected by the motor position sensor 210, which assumes a unique value over the entire rotation range of the pinion 120.This difference provides a value that can be used in a suitable manner to determine the absolute angular position associated with the position of the steering rack 155, such as the absolute angular position of the pinion 120, although neither the angle position sensor 225 nor the motor position sensor 210 are suitable to indicate the absolute angular position associated with the position of the steering rack 155, such as the absolute angular position of the pinion 120, independently over the entire range of motion.

[0055] The Vernier algorithm can be used to calculate the absolute angular position associated with the position of the steering rack 155, as well as the absolute angular position of the pinion 120, based on the angular position of the rotor 172, 221, or 222 of the mechanism 170 for converting rotary motion into linear motion and the angular position of the rotor 164 of the motor 165. The Vernier algorithm can also determine the absolute angular position associated with the position of the steering rack 155, as well as the absolute angle of the pinion 120, by using the phase difference of the angular position of the rotor 172, 221, or 222 of the mechanism 170 for converting rotary motion into linear motion and the angular position of the rotor 164 of the motor 165 at different cycles.

[0056] Without mounting an absolute angle sensor assembly with at least more than two auxiliary gears and corresponding sensors on the steering system, some embodiments of the present disclosure can calculate an absolute angular position associated with the position of a steering rack, such as the absolute angular position of a steering wheel or pinion, using the angle position sensor 225 of the mechanism 170 for converting a rotary into a linear motion and the motor position sensor 210, or using the pinion angle sensor 310 and the motor position sensor 210.

[0057] Fig. Figure 6 shows a block diagram illustrating the components of an exemplary computing device, such as the one in Fig. 1 shown control device 180, represents. Fig. Figure 6 shows only one specific example of the control device 180, and many other examples of the control device 180 can be used in other cases.

[0058] As in the specific example of Fig. As shown in 6, a computing device can process 1000, such as the one in Fig. The computing device 1000 comprises a control device 180, one or more processors 1002, a memory 1004, a network interface 1006, one or more storage devices 1008, a user interface 1010, a short-range wireless communication module 1012, a wireless communication module 1014, and a power source 1016. The computing device 1000 may also include an operating system 1018, which may contain modules and / or applications that can be executed by one or more processors 1002 and the computing device 1000. Each of the components 1002, 1004, 1006, 1008, 1010, 1012, 1014, 1016, and 1018 may be interconnected for communication between the components (physical, communicative, and / or operational).

[0059] In an example, one or more processors 1002 can be configured to implement functionality and / or process instructions for execution within the computing device 1000. For example, one or more processors 1002 can be capable of processing instructions stored in memory 304 or in one or more storage devices 1008. These instructions can define or otherwise control the operation of the operating system 1018.

[0060] Memory 1004 can be configured in one example to store information in the computing device 1000 during operation. Memory 1004 can be described as a computer-readable storage medium in some examples. In some examples, memory 1004 can be temporary storage, meaning that its primary purpose is not long-term storage. Memory 1004 can be described as volatile storage in some examples, meaning that it does not retain its stored contents when the computing device 1000 is powered off. Examples of volatile storage include random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), and other forms of volatile storage known in engineering.In some examples, memory 1004 can be used to store program instructions for execution by one or more processors 1002. Memory 1004 can, in one example, be used by software or applications running on the computing device 1000 to temporarily store information during program execution.

[0061] In some examples, one or more storage devices 1008 may also contain one or more computer-readable storage media. One or more storage devices 1008 may be configured to store larger amounts of information than the storage 1004. One or more storage devices 1008 may also be configured for long-term storage of information. In some examples, one or more storage devices 1008 may contain non-volatile memory elements. Examples of such non-volatile memory elements may be magnetic hard disks, optical disks, floppy disks, flash memory, or forms of electrically programmable memory (EPROM) or electrically erasable and programmable memory (EEPROM).

[0062] The computing device 1000 may also include a network interface 306 in some examples. In one example, the computing device 1000 may use network interface 306 to communicate with external devices over one or more networks. Network interface 506 can be a network interface card, such as an Ethernet card, an optical transceiver, a radio frequency transceiver, or any other type of device capable of sending and receiving information. Other examples of such network interfaces include Bluetooth, 5G, and Wi-Fi radios in mobile computing devices, as well as the Universal Serial Bus (USB). In some examples, the computing device 1000 may use network interface 1006 to communicate wirelessly with an external device, such as a server, a mobile phone, or another networked computing device.

[0063] The computing device 1000 may also include a user interface 1010 in one example. The user interface 1010 may be configured to receive input from a user (e.g., tactile, audio, or video feedback). The user interface 1010 may include a touch-sensitive and / or presence-sensitive screen or display, a mouse, a keyboard, a voice-controlled system, or any other type of device for detecting a command from a user. In some examples, the user interface 1010 may include a touch-sensitive screen, a mouse, a keyboard, a microphone, or a camera.

[0064] The 1010 user interface can also include output devices, either combined with or separate from input devices. In this way, the 1010 user interface can be configured to provide output to a user via tactile, audio, or video stimuli. For example, the 1010 user interface might include a touchscreen or display, a sound card, a video graphics adapter card, or any other type of device for converting a signal into a suitable form understandable to humans or machines. Furthermore, the 1010 user interface might include a loudspeaker, a cathode ray tube (CRT) monitor, a liquid crystal display (LCD), or any other type of device capable of producing an intelligible output for a user.

[0065] In some examples, the computing device 1000 may include a power source 1016, which may be a rechargeable battery that can power the computing device 1000. In some examples, the power source 1016 may be a battery made of nickel-cadmium, lithium-ion, or another suitable material. In other examples, the power source 1016 may be a power source that supplies stored current or voltage from another power source.

[0066] Furthermore, the computing device 1000 can include a wireless short-range communication module 1012. The wireless short-range communication module 1012 can be active hardware configured to communicate with other wireless short-range communication modules. Examples of a wireless short-range communication module 1012 include an NFC module, an RFID module, and the like. Generally, the wireless short-range communication module 1012 can be configured to communicate wirelessly with other devices that are in physical proximity to the wireless short-range communication module 1012 (e.g., less than about ten centimeters or less than about four centimeters). In other examples, the wireless short-range communication module 1012 can be replaced by an alternative short-range communication device configured to communicate with and receive data from other short-range communication devices.These alternative short-range communication devices can operate using Bluetooth, ultra-wideband radio, or other similar protocols. In some examples, the wireless short-range communication module 1012 can be an external hardware module coupled to the computing device 1000 via a bus (such as a Universal Serial Bus (USB) port). The wireless short-range communication module 1012 can also include software in some examples, which in some examples may be independent of the operating system 1018, and in others may be a subroutine of the operating system 1018.

[0067] The computing device 1000 may, in some examples, also include a wireless communication module 1014. In some examples, the wireless communication module 1014 may be a device capable of exchanging data with other wireless communication modules over short distances (e.g., less than or equal to ten meters). Examples of a wireless communication module 1014 include a Bluetooth module, a WiFi Direct module, and the like.

[0068] The computing device 1000 can also contain the operating system 1018. The operating system 1018 can, in some examples, control the operation of components of the computing device 1000. For example, in one example, the operating system 1018 can facilitate interaction with one or more processors 1002, the memory 1004, the network interface 1006, one or more storage devices 1008, the user interface 1010, the short-range wireless communication module 1012, the wireless communication module 1014, and the power source 1016.

[0069] All applications implemented in or executed by the computing device 1000 may be implemented in or contained within components of the computing device 1000 (e.g., one or more processors 1002, a memory 1004, a network interface 1006, one or more storage devices 1008, a user interface 1010, a short-range wireless communication module 1012, a wireless communication module 1014 and / or a power source 1016), may be operated by them, executed by them and / or operationally / communicatively coupled with them.

[0070] Although the embodiments have been described in detail, it should be clarified that various changes, replacements and modifications can be made herein without deviating from the idea and scope of the application as defined by the attached claims.

[0071] Furthermore, the scope of the present application is not to be limited to the specific embodiments of the process, machine, manufacturing method, material composition, means, methods, and steps described in the disclosure. As a person skilled in the art can readily deduce from the disclosure, processes, machines, manufacturing methods, material compositions, means, methods, or steps that already exist or are yet to be developed and that perform essentially the same function or achieve essentially the same result as the corresponding embodiments described herein can be used in accordance with the embodiments and alternative embodiments. Accordingly, the appended claims are intended to include, within their scope, such processes, machines, manufacturing methods, material compositions, means, methods, or steps.

Claims

[1] Vehicle steering system (100), comprising: a motor assembly (160) comprising a motor (165) with a first rotor (164) and a motor position sensor (210) configured to detect a first rotor angle of the motor (165) in a single-revolution range; a mechanism (170) for converting a rotary motion into a linear motion, which is functionally coupled between the motor assembly (160) and a steering rack (155) to convert a rotary force of the motor (165) into a linear force for moving the steering rack (155), wherein the mechanism (170) for converting a rotary motion into a linear motion comprises a second rotor which is functionally coupled to the first rotor (164) of the motor (165), and an angle position sensor (225) which is configured to detect a second rotor angle of the second rotor of the mechanism (170) for converting a rotary motion into a linear motion in a single-revolution range, wherein the steering rack (155) is functionally coupled to a pinion (120); and a processor (180) configured to calculate an absolute angular position associated with a position of the steering rack (155) in a full rotation range associated with a movement of the steering rack (155) based on the detected first rotor angle of the motor (165) and the detected second rotor angle of the second rotor of the mechanism (170) for converting a rotary into a linear motion using a ratio between the rotational speeds of the first rotor (164) of the motor (165) and the second rotor (172, 221, 222) of the mechanism (170) for converting a rotary into a linear motion. [2] Vehicle steering system according to claim 1, characterized by , that the absolute angular position associated with the position of the steering rack (155) in the full-rotation range associated with the movement of the steering rack (155) is an absolute angular position of the pinion (120) in the full-rotation range of the pinion (120). [3] Vehicle steering system according to claim 1, characterized by , that the processor (180) is configured to calculate the absolute angular position associated with the position of the steering rack (155) on the basis of the detected first rotor angle of the motor (165) and the detected second angle of the second rotor of the mechanism (170) to convert a rotary into a linear motion using a Vernier algorithm. [4] Vehicle steering system according to claim 1, characterized by , that: the mechanism (170) for converting a rotary motion into a linear motion comprises a first gear designed to be rotated by the first rotor (164) of the motor (165), and the second rotor (172, 221, 222) of the mechanism (170) for converting a rotary motion into a linear motion is a second gear rotatably connected to the first gear, the angle position sensor (255) is designed to detect the angle of the second gear of the mechanism (170) for converting a rotary into a linear motion in a single-revolution range, and the processor (180) is designed to calculate the absolute angular position associated with the position of the steering rack (155) in the full rotation range associated with the movement of the steering rack (155), based on the detected rotor angle (172, 221, 222) of the motor (165) and the detected angle of the second gear of the mechanism (170) for converting a rotary into a linear motion. [5] Vehicle steering system according to claim 1, characterized by , that the single revolution range is a range of three hundred sixty, 360, degrees and the full revolution range corresponds to a range of movement of the steering rack (155). [6] Vehicle steering system according to claim 1, characterized by, that the mechanism (170) for converting a rotary motion into a linear motion comprises a ball nut arrangement. [7] Vehicle steering system, comprising: a pinion angle sensor (310) configured to detect a pinion angle in a single-revolution range, wherein the pinion angle is associated with a pinion (120) which is functionally coupled to a steering rack (155); a motor assembly (160) which is functionally coupled to the steering rack (155), wherein the motor assembly (160) comprises a motor (165) with a rotor (164) and a motor position sensor (210) which is configured to detect a rotor angle of the motor (165) in a single-revolution range; and a processor (180) configured to calculate an absolute angular position associated with a position of the steering rack (155) in a full-revolution range associated with the movement of the steering rack (155), based on the detected pinion angle and the detected rotor angle of the motor (165) using a ratio between the rotational speeds of the pinion (120) and the rotor (164) of the motor (165). [8] Vehicle steering system according to claim 7, characterized by , that the absolute angular position associated with the position of the steering rack (155) in the full-rotation range associated with the movement of the steering rack (155) is an absolute angular position of the pinion (120) in the full-rotation range of the pinion (120). [9] Vehicle steering system according to claim 7, characterized by, that the processor (180) is designed to calculate the absolute angular position associated with the position of the steering rack (155) on the basis of the detected pinion angle and the detected rotor angle of the motor (165) using the Vernier algorithm. [10] Vehicle steering system according to claim 7, characterized by , that the vehicle steering system further comprises a mechanism (170) for converting a rotary motion into a linear motion, which is functionally coupled between the motor assembly (160) and the steering rack (155). [11] Vehicle steering system according to claim 7, characterized by , that the single revolution range is a range of three hundred sixty, 360, degrees and the full revolution range corresponds to a range of movement of a steering rack (155). [12] Vehicle steering system according to claim 10, characterized by , that the mechanism (170) for converting a rotary motion into a linear motion comprises a ball nut arrangement.

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