Steering system, vehicle comprising steering system, and method for operating steering system

Abstract

To provide a steering system, a vehicle comprising a steering system, and a method for operating a steering system of a vehicle.SOLUTION: A steering system (102) includes an operating element (104) for detecting a rotation angle and torque, and the steering system (102) includes a steering actuator (106) for moving the steered wheels (108) of a vehicle (100) depending on a target steering angle. In the present method, it is confirmed whether the rotation angle is within a first angle range or a second angle range different from the first angle range. Within the first angle range of the rotation angle, the target steering angle is determined depending on the rotation angle, and within the second angle range of the rotation angle, the target steering angle is determined depending on the torque. The first angle range includes rotation angles corresponding to a target steering angle for travelling of the vehicle (100) in straight line, and the second angle range includes rotation angles corresponding to a target steering angle for the maximum turning angle of the steered wheels (108).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] Prior art The present invention relates to a steering system, a vehicle including a steering system, and a method for operating a steering system. [Background technology]

[0002] Such a steering system can be operated by the driver by means of an operating element, which can be used to provide driver feedback to the driver. Summary of the Invention [Problem to be solved by the invention]

[0003] Disclosure of the Invention The steering system and the method for operating a vehicle steering system according to the independent claims provide effective driver feedback via an operating element of the steering system even when only a small angle range of the operating element is available. [Means for solving the problem]

[0004] According to the method, it is assumed that the steering system includes an operating element for detecting a rotation angle, and a set torque is detected or provided by the operating element, the steering system includes a steering actuator for moving steered wheels of the vehicle depending on a target steering angle, it is confirmed whether the rotation angle is within a first angle range or a second angle range different from the first angle range, within the first angle range of rotation angles the target steering angle is determined depending on the rotation angle, and within the second angle range of rotation angles the target steering angle is determined depending on the torque, the first angle range includes rotation angles corresponding to target steering angles for straight or substantially straight driving of the vehicle, and the second angle range includes rotation angles corresponding to target steering angles for a maximum turning angle of the steered wheels.

[0005] Preferably, the rotation angle is confirmed to be within the first angle range if the rotation angle or the absolute value of the rotation angle is less than a threshold value, in particular 50°, or the rotation angle is confirmed to be within the first angle range if the rotation angle or the absolute value of the rotation angle is equal to or less than a threshold value, in particular 50°.

[0006] Preferably, the rotation angle is confirmed to be within the second angle range if the rotation angle or the absolute value of the rotation angle is equal to or greater than a threshold value, in particular 50°, or the rotation angle is confirmed to be within the second angle range if the rotation angle or the absolute value of the rotation angle is greater than a threshold value, in particular 50°.

[0007] Preferably, rotation angles between -60° and 60° are detected using the operating element, the first angle range comprising rotation angles between -50° and 50° and the second angle range comprising rotation angles between -60° and -50°, in particular inclusive of -50°, or rotation angles between 50° and 60°, in particular inclusive of 50°.

[0008] Preferably, at the boundary between the first angle range and the second angle range, the first target steering angle is determined depending on the rotation angle, 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, and in particular it is assumed that the first target steering angle and the second target steering angle are mapped to the target steering angle by a linear function.

[0009] Preferably, the target steering angle is determined within a first angle range depending on a first gear ratio and within a second angle range depending on a second gear ratio, the second gear ratio being assumed to be more direct than the first gear ratio.

[0010] According to a steering system for a vehicle, the steering system includes an operating element for detecting a rotation angle, and a set torque is detected or provided by the operating element, the steering system includes a steering actuator for moving steered wheels of the vehicle depending on a target steering angle, the steering system is configured to check whether the rotation angle is within a first angle range or within a second angle range different from the first angle range, the steering system is configured to determine the target steering angle depending on the rotation angle within the first angle range of rotation angles, and the steering system is configured to determine the target steering angle depending on the torque within the second angle range of rotation angles, the first angle range including rotation angles associated with target steering angles for straight or substantially straight driving of the vehicle, and the second angle range including rotation angles associated with target steering angles for a maximum turning angle of the steered wheels.

[0011] For example, the steering system is configured to determine if the rotation angle is within a first angle range if the rotation angle or the absolute value of the rotation angle is less than a threshold, in particular 50°, or to determine if the rotation angle is within a first angle range if the rotation angle or the absolute value of the rotation angle is equal to or less than a threshold, in particular 50°.

[0012] For example, the steering system is configured to determine if the rotation angle is within the second angle range if the rotation angle or the absolute value of the rotation angle is greater than or equal to a threshold value, in particular 50°, or to determine if the rotation angle is within the second angle range if the rotation angle or the absolute value of the rotation angle is greater than a threshold value, in particular 50°.

[0013] For example, the steering system is configured to detect rotation angles between -60° and 60° using the operating element, the first angle range including rotation angles between -50° and 50° and the second angle range including rotation angles between -60° and -50°, in particular including -50°, or rotation angles between 50° and 60°, in particular including 50°.

[0014] For example, the steering system is configured to determine a first target steering angle depending on the rotation angle, determine a second target steering angle depending on the torque, determine a target steering angle depending on the first target steering angle and the second target steering angle, and in particular map the first target steering angle and the second target steering angle to the target steering angle by a linear function, at the boundary between the first angle range and the second angle range.

[0015] For example, the steering system is configured to determine the target steering angle within a first angle range in dependence on a first gear ratio and within a second angle range in dependence on a second gear ratio, the second gear ratio being more direct than the first gear ratio.

[0016] Vehicles that include steering systems have corresponding advantages.

[0017] Further advantageous embodiments can be seen from the following description and drawings. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a schematic diagram of a vehicle. [Figure 2] 1 is a flow chart with steps of a method for operating a steering system of a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0019] 1 shows a schematic diagram of a vehicle 100 equipped with a steering system 102. The steering system 102 is, for example, a steer-by-wire steering system.

[0020] The steering system 102 includes an operating element 104, for example a joystick, for detecting a rotation angle. Furthermore, a torque set by the operating element 104 is detected or provided by the operating element 104.

[0021] The operating element 104 is configured to detect a rotation angle between, for example, -60° and 60°.

[0022] The steering system 102 includes a steering actuator 106 for moving steered wheels 108 of the vehicle 100 depending on a target steering angle.

[0023] The steering system 102 is configured to verify whether the rotation angle is within a first angle range or within a second angle range that is different from the first angle range.

[0024] The first angle range includes a target steering angle for driving the vehicle 100 straight ahead, for example, a rotation angle associated with 0°.

[0025] The second angle range includes the rotation angles associated with the target steering angle relative to the maximum turning angle of the steered wheels 108, for example, −540° or +540°.

[0026] The first angle range includes, for example, rotation angles between −50° and 50°, and the second angle range includes, for example, rotation angles between −60° and −50°.

[0027] The first angle range includes, for example, rotation angles excluding -50°, and the second angle range includes, for example, rotation angles including -50°.

[0028] Other divisions of the angular range may be envisaged, for example using the boundaries between 45° and 55°, and in particular the boundaries at 49° or 51°.

[0029] The steering system 102 is configured to determine the target steering angle depending on the rotation angle within a first angle range of the rotation angle.

[0030] The steering system 102 is configured to determine the target steering angle in a torque-dependent manner within a second angular range of rotation angles.

[0031] The steering system 102 may, for example, adjust the rotation angle δ be is configured to check that the rotation angle is within a first angle range if the absolute value of is less than a threshold Schwelle_1, in particular 50°. |δ be | <Schwelle_1

[0032] The steering system 102 is configured to verify that the rotation angle is within a second angle range, for example, if the absolute value of the rotation angle is greater than or equal to a threshold value Schwelle_1, in particular 50°. |δ be |≧Schwelle_1

[0033] Alternatively, it may be assumed that the rotation angle is confirmed to be within the first angle range if the absolute value of the rotation angle is less than or equal to a threshold value.

[0034] Alternatively, it may be assumed that if the absolute value of the rotation angle is greater than a threshold, it is determined that the rotation angle is within the second angle range.

[0035] Two corresponding thresholds may be envisaged: one for negative rotation angles and one for positive rotation angles.

[0036] For example, the steering system 102 is configured to determine the target steering angle within a first angle range depending on a first gear ratio and within a second angle range depending on a second gear ratio, the second gear ratio being, for example, more direct than the first gear ratio.

[0037] For example, the steering system 102 may be configured to rotate at a rotation angle δ within a first angle range. be and the vehicle longitudinal velocity v x The target steering angle δ depends on Rad configured to determine δ Rad =f(v x δ be )·δ be where f(v x δ be ) is the first gear ratio.

[0038] For example, the steering system 102 may be configured to rotate at a rotation angle δ within the second angle range. be and torque M be and the vehicle longitudinal velocity v x The target steering angle δ depends on Rad configured to determine δ Rad =f(v x δ be ,M be )·M be where f(v x δ be ,M be ) is the second gear ratio.

[0039] In one example, the steering system 102 is configured to determine a first target steering angle 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 the second target steering angle at the boundary between the first angle range and the second angle range.

[0040] For example, the steering system 102 is configured to map the first target steering angle and the second target steering angle to the target steering angle by a linear function.

[0041] 2, a method for operating a steering system 102 of a vehicle 100 is shown, which may include, for example, a computing device configured to implement the method.

[0042] The method includes step 202 .

[0043] In step 202, the rotation angle and torque are detected using the operating element 104.

[0044] The rotation angle is detected, for example, between −60° and 60°.

[0045] Then, step 204 is performed.

[0046] In step 204, it is determined whether the rotation angle is within a first angle range or a second angle range.

[0047] The first angle range in this example includes rotation angles between -50° and 50°, and the second angle range in this example includes rotation angles between -60° and -50°, inclusive, and rotation angles between 50° and 60°, inclusive.

[0048] For example, if the absolute value of the rotation angle is less than a threshold, it is confirmed that the rotation angle is within the first angle range.

[0049] For example, if the absolute value of the rotation angle is equal to or greater than a threshold value, it is determined that the rotation angle is within the second angle range.

[0050] The threshold value may be, for example, 50°. Alternatively, different value ranges, other threshold values, or other types of comparisons to the threshold values ​​may be envisioned than those described above for the steering system 102.

[0051] If the rotation angle is within the first range of values, step 206 is performed. If the rotation angle is within the second range of values, step 208 is performed.

[0052] Within the ranges near the boundaries between value ranges, it may be envisaged to carry out steps 206 and 208.

[0053] In step 206, a target steering angle is determined depending on the rotation angle within a first angle range of the rotation angle.

[0054] In step 208, a target steering angle is determined within a second angle range of rotation angles as a function of torque.

[0055] The target steering angle is determined depending on the first gear ratio within a first angle range, and is determined depending on the second gear ratio within a second angle range.

[0056] As a result, an indirect steering gear ratio is applied to a first angle range, for example, an angle range up to ±50°. The indirect steering gear ratio is generated, for example, based on the gear ratio of the steering wheel. The first angle range corresponds to a first target steering angle range.

[0057] For example, within a second remaining angle range up to + / - 60° of the rotation angle, i.e. within a range of 10° of the rotation angle, an increasing steering torque up to, for example, the end stop torque is generated, and the second remaining target steering angle range is realized depending on the torque.

[0058] In optional step 210, a first target steering angle is determined depending on the rotation angle and a second target steering angle is determined depending on the torque within a boundary between the first angle range and the second angle range.

[0059] In step 210, a target steering angle is determined depending on 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 to the target steering angle by a linear function, so that the transition between the two ranges is formed harmoniously.

[0060] Then, step 212 is performed.

[0061] In step 212, the steered wheels 108 are steered using the steering actuator 106 depending on the target steering angle.

[0062] Then, step 202 is performed.

Claims

1. A method for operating a steering system (102) of a vehicle (100), comprising: The steering system (102) includes an operating element (104) for detecting a rotation angle; A torque set by the operating element (104) is detected or provided; The steering system (102) includes a steering actuator (106) for moving steered wheels (108) of the vehicle (100) depending on a target steering angle; determining whether the rotation angle is within a first range of angles or a second range of angles different from the first range of angles (204); Within the first angle range of the rotation angle, the target steering angle is determined depending on the rotation angle (206); Within the second angle range of the rotation angle, the target steering angle is determined depending on the torque (208); the first angle range includes a rotation angle associated with a target steering angle for straight or substantially straight driving of the vehicle; The second angle range includes a rotation angle corresponding to a target steering angle relative to a maximum turning angle of the steered wheels (108). A method characterized by:

2. The rotation angle is determined to be within the first angle range (204) if the rotation angle or the absolute value of the rotation angle is less than a threshold value, in particular 50°, or The rotation angle is confirmed to be within the first angle range if the rotation angle or the absolute value of the rotation angle is less than or equal to a threshold value, in particular 50° (204); The method of claim 1.

3. The rotation angle is determined to be within the second angle range (204) if the rotation angle or the absolute value of the rotation angle is greater than or equal to a threshold value, in particular 50°, or If the rotation angle or the absolute value of the rotation angle is greater than a threshold value, in particular 50°, it is determined (204) that the rotation angle is within the second angle range.

3. The method according to claim 1 or 2.

4. A rotation angle between -60° and 60° is detected using the operating element (202), the first angular range includes rotation angles between −50° and 50°; the second angle range comprises rotation angles between -60° and -50°, in particular inclusive of -50°, or rotation angles between 50° and 60°, in particular inclusive of 50°, 4. The method according to any one of claims 1 to 3.

5. At the boundary between the first angle range and the second angle range, a first target steering angle is determined depending on the rotation angle (210), 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 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 by a linear function.

5. The method according to any one of claims 1 to 4.

6. The target steering angle is determined (206) within the first angle range depending on a first gear ratio, and is determined (208) within the second angle range depending on a second gear ratio; the second gear ratio is more direct than the first gear ratio; 6. The method according to any one of claims 1 to 5.

7. The target steering angle is determined (206) within the first angle range depending on a first gear ratio, and is determined (208) within the second angle range depending on a second gear ratio; the second gear ratio is more direct than the first gear ratio; 7. The method according to any one of claims 1 to 6.

8. A steering system (102) for a vehicle (100), comprising: The steering system (102) includes an operating element (104) for detecting a rotation angle; A torque set by the operating element (104) is detected or provided; The steering system (102) includes a steering actuator (106) for moving steered wheels (108) of the vehicle (100) depending on a target steering angle; the steering system (102) is configured to verify whether the rotation angle is within a first angle range or within a second angle range different from the first angle range; the steering system (102) is configured to determine the target steering angle depending on the rotation angle within the first angle range of the rotation angle; the steering system is configured to determine the target steering angle depending on the torque within the second angle range of the rotation angle; the first angle range includes a rotation angle associated with a target steering angle for straight or substantially straight driving of the vehicle; The second angle range includes a rotation angle corresponding to a target steering angle relative to a maximum turning angle of the steered wheels (108). A steering system (102) comprising:

9. The steering system (102) configured to verify that the rotation angle is within the first angle range if the rotation angle or the absolute value of the rotation angle is less than a threshold value, in particular 50°, Or, configured to verify that the rotation angle is within the first angle range if the rotation angle or the absolute value of the rotation angle is less than or equal to a threshold value, in particular 50°. The steering system (102) of claim 8.

10. The steering system (102) configured to verify that the rotation angle is within the second angle range if the rotation angle or the absolute value of the rotation angle is greater than or equal to a threshold value, in particular 50°, Or, configured to verify that the rotation angle is within the second angle range if the rotation angle or the absolute value of the rotation angle is greater than a threshold value, in particular 50°. A steering system (102) according to claim 8 or 9.

11. the steering system (102) is configured to detect a rotation angle between -60° and 60° using the operating element; the first angular range includes rotation angles between −50° and 50°; the second angle range comprises rotation angles between -60° and -50°, in particular inclusive of -50°, or rotation angles between 50° and 60°, in particular inclusive of 50°, A steering system (102) according to any one of claims 8 to 10.

12. the steering system (102) is configured to determine a first target steering angle depending on the rotation angle, to determine a second target steering angle depending on the torque, and to determine the target steering angle depending on the first target steering angle and the second target steering angle, in particular to map the first target steering angle and the second target steering angle to the target steering angle by a linear function, at the boundary between the first angle range and the second angle range. A steering system (102) according to any one of claims 8 to 11.

13. the steering system (102) is configured to determine the target steering angle depending on a first gear ratio within the first angle range and depending on a second gear ratio within the second angle range; the second gear ratio is more direct than the first gear ratio; A steering system (102) according to any one of claims 8 to 12.

14. A vehicle (100) comprising a steering system (102) according to any one of claims 8 to 13.

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