A method for controlling a steer-by-wire steering system of a road vehicle using active inertial feedback.

Abstract

A method for controlling a steer-by-wire steering system (1) for a road vehicle. The steer-by-wire steering system (1) has a steering wheel (3), a wheel actuator (5) for actuating the wheels (4), and a feedback actuator (10) for applying a feedback torque to the steering wheel, and a controller (11) receives a signed steering wheel angular acceleration (11), a signed steering wheel angular velocity (13), and a vehicle speed (12), b) determines whether the steering wheel is accelerating or decelerating in the turning direction based on the steering wheel angular acceleration (11), and calculates a corresponding steering wheel torque using corresponding tuning maps (17, 18), c) calculates a vehicle speed gain using a vehicle speed tuning map (19) applied to the vehicle speed (12), d) determines whether the steering wheel (3) is rotating clockwise or counterclockwise based on the steering wheel angular velocity (13), e) calculates an output torque (16) that opposes the acceleration of the steering wheel (3) based on the results of steps b) to d), and f) sends the output torque (16) to the feedback actuator (10).

Description

Technical Field

[0001] The present invention relates to a method for controlling a steer-by-wire steering system of a road vehicle as described in the preamble of claim 1, and to a steer-by-wire steering system of a road vehicle.

Background Art

[0002] In a steer-by-wire steering system, the steering wheel (steering handle) of a vehicle is disconnected from the steering mechanism. In such a steering system, there is no mechanical connection between the steering wheel and the steering gear. The steering operation is achieved by a steering actuator equipped with an electric motor. The steering actuator operates according to the detected values of various steering parameters such as the steering wheel angle and vehicle speed. The detected values are electronically transmitted from the sensor to the steering actuator, whereby the electric motor drives the rack and turns the steerable wheel in the desired direction.

[0003] Even if there is no mechanical connection between the steering wheel and the road wheels, the steer-by-wire steering system is expected to produce the same functions and steering feel as a conventional mechanically connected steering system. The force generated when moving the wheels must be fed back to the steering wheel in order to provide the driver with information for direction control. This feedback also contributes to the steering feel called the steering feel. In a steer-by-wire steering system, the feedback and the steering feel are respectively generated by a feedback actuator connected to the steering wheel. [[ID=第十八]]

[0004] In any acceleration mass system, the acceleration force moment is subject to the resistance of the inertial force that tries to prevent the change of motion.

[0005] The same applies to steering systems. When a steering system with moving parts such as the rack, steering rod, wheels, power pack rotor, steering gear components, steering wheel, and suspension is accelerated or decelerated in one direction, inertia opposes the change in motion. This characteristic has the effect of limiting / restricting high acceleration at the steering wheel angle. In conventional steering systems, there is a mechanical connection between the steering gear and the steering wheel, so the driver receives the corresponding inertial force / moment at the steering wheel. In steer-by-wire vehicles, this inertial component of steering feel is only partially present. Only the inertia of the moving mass of the upper steering column is transmitted to the driver as feedback, decelerating the acceleration of the steering wheel. There is no inertia in the lower steering system components.

[0006] From German Patent Application Publication No. 10 2017 222952 A1, it is known that steering feel can be adapted via scaling factors that include inertia. Each scaling factor is calculated from the ratio of the reference ratio to the current ratio. The input values ​​for inertia are steering wheel acceleration, drive torque, and vehicle speed. [Overview of the project]

[0007] The object of the present invention is to provide a method for a steer-by-wire steering system for a road vehicle that can actively control inertial feedback and limit steering acceleration.

[0008] This objective is achieved by a method having the features of claim 1 and a steer-by-wire steering system for road vehicles.

[0009] Therefore, a method for controlling a steer-by-wire steering system for road vehicles is provided. This steer-by-wire steering system comprises a steering wheel, a wheel actuator for acting on the wheel, and a feedback actuator for applying feedback torque to the steering wheel. This method, a) Providing the control unit with signed steering wheel angular acceleration, signed steering wheel angular velocity, and vehicle speed; b) Based on the steering wheel angular acceleration, determine whether the steering wheel is accelerating or decelerating in the turning direction, and the control unit calculates the corresponding steering wheel torque using the corresponding tuning map. c) A step in which the control unit calculates the vehicle speed gain using a vehicle speed tuning map applied to the vehicle speed, d) The control unit determines whether the steering wheel rotates clockwise or counterclockwise based on the steering wheel angular velocity; e) Based on the results of steps b) to d), the step of calculating the output torque that acts in reaction to the acceleration of the steering wheel, f) the step of sending the output torque to a feedback actuator, and the following:

[0010] This method results in relaxed driving by suppressing unconscious steering by completely replicating artificial steering inertia in the feedback actuator. The artificial steering inertia is preferably similar in design to that of conventional vehicles with electromechanical steering systems. While steer-by-wire systems lack the inertia of I-shafts, racks, suspensions, and tires, they can mimic the steering feel of inertia through calculated output torque. In conventional electromechanical steering systems, inertia has the effect of decelerating high-speed motion at the start of the unconscious steering process, where steering acceleration tends to increase. Artificial steering inertia, expressed by output torque, can mimic the behavior of conventional steering systems.

[0011] Furthermore, it is possible to adapt the completely artificial steering inertia, and consequently the behavior of the steering system, to the vehicle type. The feedback actuators of known steer-by-wire systems reproduce a constant inertia regardless of the vehicle type. However, in electromechanical steering systems, the inertia is influenced by the inertia of the rack and pinion, suspension, and tires, and therefore depends on the vehicle size. Larger vehicles have a larger moment of inertia. Different inertias of different vehicle types affect the steering feel. For example, luxury cars have a certain degree of inertia, giving an elegant and relaxed steering feel. Sports cars have low inertia, giving a sporty and direct steering feel. By using artificial steering inertia represented by calculated output torque, it is possible to adapt the inertia of a steer-by-wire system to the vehicle type, as is the case with electromechanical steering systems.

[0012] Artificial inertia is designed to provide the desired steering feel and can be dynamically adjusted.

[0013] In step f), the output torque is preferably added to the sum of the other functions, and the resulting torque is used to control the feedback actuator. Preferably, a limiter is used that is applied to either the output torque or the final block of the motor control torque.

[0014] Preferably, the above method is performed whenever the feedback actuator is active and the steering wheel is moving and accelerating.

[0015] If the tuning map is predefined and based on measurements of a comparative electromechanical steering system, and therefore can perfectly reproduce the inertia of such a steering system, or can arbitrarily predefine them, then it is desirable for the engineer to tune the map based on the evaluation.

[0016] To reproduce inertia, the tuning map used in step b) preferably includes at least one function that yields a higher steering wheel torque output value for higher steering wheel accelerations and a lower steering wheel torque output value for lower steering wheel accelerations.

[0017] The vehicle speed tuning map used in step c) preferably includes at least one function that yields a higher vehicle speed gain for higher vehicle speeds and a lower vehicle speed gain for lower vehicle speeds.

[0018] Furthermore, a steer-by-wire steering system for road vehicles designed to perform the methods described above is provided.

[0019] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0020] Figure 1 is a schematic diagram of a steer-by-wire steering system in an automobile. Figure 2 shows a block diagram of a method for artificially reproducing steering inertia in a feedback actuator.

[0021] Figure 1 is a schematic diagram of a steer-by-wire system 1 having a steering shaft 2 connected to a steering wheel 3. There is no mechanical connection between the steering wheel 3 and the wheels 4. A wheel actuator 5 acts on a gear rack 6 via a rack and pinion gear 7, which is part of the front axle 8. The front axle 8 has two tie rods 9 for the wheels 4, of which only one wheel 4 is depicted.

[0022] When the driver operates the steering wheel 3, the steering shaft 2 rotates, and this is detected by a shaft sensor (not shown). When the vehicle is switched on, the control unit calculates an operation signal for the wheel actuator 5 from the signal detected by the shaft sensor. By operating the gear rack 6 with the operation signal, the front axle 8 moves laterally, and the wheel 4 rotates. At the same time, the force transmitted from the wheel 4 to the axle 8 is recognized by other sensors (not shown), and a feedback signal is calculated by the feedback actuator 10 to be applied to the steering shaft 2, allowing the driver to perceive the feedback in the steering wheel 3.

[0023] Figure 2 schematically shows a block diagram of a method for controlling the steering system using artificial inertial feedback.

[0024] This method uses signed steering wheel angular acceleration 11 and vehicle speed 12 as input values. Signed steering wheel angular velocity 13 is also used as an input value to detect whether the steering wheel is rotating clockwise or counterclockwise. The sign of the steering wheel angular acceleration 11 is used to determine whether the steering wheel is accelerating in the direction of movement (forward) 14 or consequently decelerating in the other direction (rearward) 15.

[0025] The distinction between these cases is important for assigning the correct sign to the resulting output torque 16. The resulting output torque 16 simulates the characteristics of inertia. Therefore, the output torque 16 is the reverse torque in the steering wheel, which opposes the movement of the steering wheel.

[0026] The steering wheel angular acceleration 11 is factorized by the tuning maps 17, 18. There are two different tuning maps 17, 18. The tuning map 17 for forward movement is different from the tuning map 18 for backward movement.

[0027] When moving forward, in a conventional electromechanical steering system, inertia decelerates the driver's steering operation. The higher the acceleration, the higher the reverse torque obtained at the steering wheel. This is mimicked by the corresponding tuning map 17.

[0028] When moving backward, inertia counteracts the deceleration in a conventional electromechanical steering system. This can lead to a decrease in the steering feel. Preferably, the influence of inertia on the steering feel during deceleration is reduced compared to a conventional electromechanical steering system and is reduced compared to forward steering for the same absolute value of steering wheel acceleration.

[0029] Since the inertia of the steering system depends on the vehicle speed 12, this is included in the calculation of the output torque. A tunable map 19 that depends on the vehicle speed is provided. The tunable map 19 is multiplied by the steering wheel angular acceleration and determines the coefficient that contributes to the value of the resulting output torque 16.

[0030] The resulting output torque 16 generates a completely artificial and adjustable inertial feedback. The output torque 16 is added to the sum of other functions as a reaction torque. The sum is used to control the feedback actuator. When the steering wheel is not rotating (20) and / or not accelerating (21), the output torque 16 is zero.

[0031] Tuning maps 17, 18, and 19 are predefined and installed at the factory. However, tuning maps 17, 18, and 19 can be modified or replaced, for example, through subsequent software updates. Tuning maps can be arbitrarily defined, in which case engineers tune the maps based on evaluations. Tuning maps are pre-implemented in the software, and engineers set tuning values ​​based on sensory or measured characteristics of a comparison system. It is possible to take into account inertia specific to the vehicle type. It is also possible to implement a learning mechanism for a personalized driver experience. In this case, the target inertial characteristics can be updated through everyday use.

[0032] The method described herein is preferably performed whenever the feedback actuator is active. In this way, the inertia of the steering system is artificially simulated in accordance with the angular acceleration of the steering wheel and the vehicle speed.

Claims

1. A method for controlling a steer-by-wire steering system (1) for a road vehicle, The steer-by-wire steering system (1) comprises a steering wheel (3), a road wheel actuator (5) for operating the wheels (4), and a feedback actuator (10) for applying feedback torque to the steering wheel. a) The step of providing a signed steering wheel angular acceleration (11), a signed steering wheel angular velocity (13), and a vehicle speed (12) to the control unit of the feedback actuator (10), b) Based on the steering wheel angular acceleration (11), determine whether the steering wheel is accelerating or decelerating in the turning direction, and the control unit calculates the corresponding steering wheel torque using the corresponding tuning maps (17, 18). c) A step in which the control unit calculates the vehicle speed gain using a vehicle speed tuning map (19) applied to the vehicle speed (12), d) A step in which the control unit determines whether the steering wheel (3) rotates clockwise or counterclockwise based on the steering wheel angular velocity (13), e) A step of calculating the output torque (16) that counteracts the acceleration of the steering wheel (3) based on the results of steps b) to d), f) A method comprising the step of sending an output torque (16) to a feedback actuator (10).

2. The method according to claim 1, wherein the method is performed whenever the feedback actuator (10) is active and the steering wheel (3) is moving to accelerate or decelerate.

3. The method according to claim 1 or 2, wherein the tuning maps (17, 18, 19) are predefined, and the inertial effect of the rear tuning map (18) is smaller than the inertial effect of the front tuning map (17) for the same absolute value of steering wheel acceleration.

4. The method according to claim 1 or 2, wherein the tuning map (17, 18) used in step b) includes at least one function that results in a higher steering wheel torque output value for higher steering wheel acceleration or deceleration and a lower steering wheel torque output value for lower steering wheel acceleration or deceleration.

5. The method according to claim 1 or 2, wherein the vehicle speed tuning map (19) used in step c) includes at least one function that yields a higher vehicle speed gain for higher vehicle speeds and a lower vehicle speed gain for lower vehicle speeds.

6. The method according to claim 1 or 2, wherein the tuning maps (17, 18) are selected to reflect the specific moment of inertia of the vehicle type.

7. A steer-by-wire steering system (1) for a road vehicle designed to perform the method according to claim 1 or 2.

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