Steering arrangement for controlling a means of transport

Abstract

The invention relates to a steering arrangement (199) for controlling a means of transport (115), comprising a movable steering element (101), a steering actuator (103) which is designed to convert a movement of the movable steering element (101) into a movement of the means of transport (115), and a first circuit (105) having: a main voltage supply (107); a steering angle sensor (109) which senses the current steering angle; and a steering control device (111) which depending on the current steering angle, determines a control signal and transmits same to the steering actuator (103), wherein the steering control device (111) has an energy store (1113) for temporarily operating the steering control device (111) during a fault with the main voltage supply (107).

Description

[0001] Steering arrangement for controlling a means of transport

[0002] The invention relates to a steering arrangement for controlling a means of transport.

[0003] Steering systems are used to change direction and / or steer means of transport, particularly road vehicles, rail vehicles, or watercraft. For steering, a steering axis of at least one guide means of the means of transport, e.g., a wheel or runner, is moved into a position desired by the driver of the means of transport, so that the means of transport achieves the desired change of direction, particularly in conjunction with a movement of the means of transport. The driver of the means of transport initiates the desired change of direction, particularly by means of a steering device, e.g., a handlebar or steering wheel.

[0004] The steering movement is transmitted in particular mechanically and / or electrically to the guide means or means and / or a control device of the guide means or means of the means of transport. During the mechanical conversion of the steering movement into a movement of the guide means or means, the steering movement is transmitted in particular via mechanically coupled devices, e.g. steering column, steering gear, steering linkage. During electrical transmission, the steering movement is determined in particular by sensors on the steering device or an element mechanically connected to the steering device, and a control signal representing the determined steering movement is transmitted to the control device of the guide means or means of the means of transport.

[0005] In addition, devices for influencing the properties of the steering system, such as rotational resistance, or for implementing haptically perceptible impulses are known. The steering system's influences are intended, in particular, to provide the driver of the vehicle with a driving experience that corresponds to the current driving situation. Sensors such as speed sensors, vibration sensors, environmental sensors, or stored environmental information, such as topology data or subsurface information, can be used to determine the current driving situation. The properties of the steering system can be influenced, in particular, using actuators.

[0006] US Pat. No. 6,555,766 discloses a simulated steering feel system with a magnetorheological fluid torque device for simulating steering feel. The magnetorheological fluid torque device is used to transmit feedback torque to a steering wheel. The simulated steering feel system may include a DC motor element used in conjunction with the magnetorheological fluid torque devices to enhance the functionality of the simulated steering feel system.

[0007] DE 102021 006 135 A1 discloses a steering device for controlling a vehicle with a steering unit, wherein a movement of the steering unit can be reduced by means of a magnetorheological braking device. The braking device comprises a stationary bracket and two braking components, one of which is rotatable by the steering unit and one of which is rotationally fixed to the bracket.

[0008] DE 198 348 68 A1 discloses a steering wheel actuator for steer-by-wire application in motor vehicles, comprising an electric servomotor acting on a steering wheel shaft and applying an actuating torque thereto, and at least one first angle sensor detecting the steering wheel angle, wherein the servomotor and the angle sensor are functionally connected to a control unit generating actuating commands for the servomotor.

[0009] In the prior art, the steering system-related sensors, evaluation units, and actuators are supplied with electrical energy, in particular by connecting the systems to the main battery of the means of transport and / or by means of a power generator of the means of transport, e.g., an alternator. A failure of the battery supply thus leads to a failure of the steering system. In other words, if the supply of electrical energy is interrupted, no steering angle is determined, no steering angle is communicated, no steering control signal is determined or transmitted, and consequently no guidance means of the means of transport is controlled. As a consequence, the means of transport is not steerable. Consequently, there is a need for an improved steering arrangement for temporarily controlling a means of transport if the supply of electrical energy from the battery of the means of transport is interrupted.

[0010] The object of the invention is to improve the state of the art.

[0011] The object is achieved by a steering arrangement for controlling a means of transport, comprising a movable handlebar, a steering actuator which is configured to convert a movement of the movable handlebar into a movement of the means of transport and a first circuit with a main voltage supply, a steering angle sensor which detects the current steering angle and a steering control unit which determines a control signal as a function of the current steering angle and transmits it to the steering actuator, wherein the steering control unit has an energy storage device for temporarily operating the steering control unit during a fault in the main voltage supply.

[0012] Advantageous embodiments arise from the subclaims.

[0013] During a main power failure, the steering control unit is temporarily supplied with electrical energy via the energy storage unit. This temporarily ensures steerability during the main power failure.

[0014] An essential idea of ​​the invention is that a loss of the battery supply voltage of the means of transport does not lead to a dangerous situation in which the means of transport cannot be steered, but rather a temporary bridging of the lack of electrical energy takes place and the means of transport can thus be maneuvered in particular into a safe position.

[0015] In a further aspect, the object is achieved by a means of transport which has a steering arrangement for controlling a means of transport.

[0016] The following terminology should be explained: A “means of transport” is understood to mean, in particular, a means of road transport, such as a car, motorcycle, scooter or similar, a rail vehicle, an aircraft or a watercraft. The means of transport has, in particular, a guide element, e.g. a wheel or runner, which is designed to bring about a change of direction, in particular in interaction with a movement of the means of transport. The means of transport can additionally or alternatively have a plurality of guide elements. The guide element or elements can be arranged all or partially on one axis. The guide element or elements can be moved, in particular vertically, for example by means of an actuator.

[0017] A "movable handlebar" is, in particular, a device of a means of transport by means of which a driver of the means of transport inputs a steering movement. The movable handlebar can, for example, be a steering wheel with a round or substantially round shape, or a handlebar that has, for example, two handles, or a joystick or similar. The movable handlebar can have control elements, e.g., buttons. Additionally or alternatively, the movable handlebar can have a sensor or detection unit configured to detect a steering movement.

[0018] A “circuit” is understood to mean, in particular, an arrangement of at least one electrical component and an electrical and / or signal-transmitting connection.

[0019] A "main power supply" is understood, in particular, to mean a supply of electrical energy by means of an energy storage device and / or energy generator that provides electrical energy for one or more consumers. The main power supply can, in particular, be provided by a battery, in particular an accumulator. The main power supply can be designed redundantly. The battery can be charged during operation of the means of transport. The electrical energy can, in particular, be transmitted via an electrical line.

[0020] A "steering angle sensor" is understood, in particular, to be a sensor for determining the current steering angle of the movable handlebar. In other words, the steering angle sensor measures the steering angle and / or the turning radius of the movable handlebar. The steering angle sensor can, in particular, be arranged on the movable handlebar and / or on a steering column connected to the movable handlebar. The steering angle sensor can, in particular, be a potentiometer and / or an optical sensor and / or a Hall sensor and / or an inductive sensor.

[0021] A "steering control unit" is understood in particular to be an evaluation unit which determines a control signal as a function of a determined steering angle, wherein the control signal represents a movement of a guide means corresponding to the determined steering angle, and transmits it to the steering actuator. For this purpose, the steering angle sensor is preferably connected to a steering angle sensor in a manner that exchanges sensor data, in particular via a data input of the steering control unit. The steering control unit is connected, particularly preferably via a data output of the steering control unit, to the steering actuator, which is configured to influence a movement, in particular a vertical movement, of the guide means. The steering control unit has an electrical connection, which is connected to a main energy storage device of the means of transport for providing electrical energy.

[0022] The steering control unit according to the invention preferably has an energy storage device. An "energy storage device" is understood to be an electronic component that is configured to receive, store, and release electrical energy. Thus, the electrical energy stored in the energy storage device of the steering control unit can be used to operate the steering control unit if the power supply via the main energy storage device fails. The energy storage device preferably has a capacity for storing electrical power. The capacity correlates in particular with the design of the steering control unit and / or the design of the consumers, in particular sensors, that are connected to the steering control unit for signal exchange. The capacity can preferably be in a range from 1,000 mWh to 5,400 mWh, particularly preferably 1,300 mWh to 2,600 mWh.In a particularly preferred embodiment, the energy storage device can be a capacitor and / or a lithium-ion battery and / or a nickel-cadmium battery. The energy storage device can, in particular, be temporarily arranged on the steering control unit.

[0023] In a further preferred embodiment, the steering arrangement comprises a damping unit arranged on the movable handlebar or an element connected to the movable handlebar and connected to the steering control unit for signal exchange. A "damping unit" is understood to mean, in particular, a friction element and / or braking element and / or damping element. The damping unit can be designed, for example, as a magnetorheological fluid damper. Additionally or alternatively, the damping unit can be designed with a magnetorheological powder. Finally, a motor short circuit can also be present. The task of the damping unit is to specifically dampen the mobility of the movable handlebar, in particular taking into account the current driving situation of the means of transport. The damping of the damping unit can, in particular, be variable and is preferably represented by a damping signal.

[0024] The damping signal can be determined in particular as a function of a movement pattern of a plurality of current steering angles at different times and / or as a function of an operating state of the means of transport and / or as a function of the surroundings of the means of transport. The steering control unit can be configured to determine the damping signal. Additionally or alternatively, a second steering control unit can be configured to determine the damping signal. The second steering control unit can in particular have a second energy storage device. The steering arrangement can have the second steering control unit. The same considerations apply to the second steering control unit as to the first steering control unit. To avoid duplication, reference is made to the above explanations regarding the steering control unit.

[0025] In a further preferred embodiment, the energy storage device can be charged while driving the vehicle. For this purpose, electrical steering energy generated by moving the movable handlebar can be used to charge the energy storage device and / or another energy storage device. The invention will be explained in more detail below using exemplary embodiments. They show:

[0026] Figure 1 is a schematic representation of a steering arrangement, and

[0027] Figure 2 is a schematic representation of a means of transport with a steering arrangement according to the invention.

[0028] A car 115 has a first circuit 105 with a steering control unit 111 and a steering wheel 101, which is operated by a driver 117. The steering control unit 111 has a data input 131, an evaluation unit 133, and a data output 135. A steering angle sensor 109 of the first circuit 105 is arranged on the steering wheel 101 of the car 115 and is connected to the steering control unit 111 via a signal cable 119, exchanging signals, via the data input 131. The steering control unit 111 is supplied with electrical energy from a vehicle battery 107 as the main power supply. In addition, the steering control unit 111 has an energy storage device 113. The evaluation unit 133 is configured to determine a control signal based on a steering angle.The steering control unit is connected to a steering actuator 103 of the first circuit 105 via the data output 135 by a signal cable 119, and sends the control signal to the steering actuator 103. The steering actuator 103 is connected to a wheel of the car 115 by a signal cable 119. A damping unit 121 is also arranged on the steering wheel 101. The damping unit 121 is connected to the data output 135 of the steering control unit 111 by a signal cable 119, and is configured to dampen the torque required to rotate the steering wheel 101. The steering control unit sends the control signal to the damping unit 121.

[0029] During a failure of the main voltage supply via the vehicle battery 107, the energy storage device 113 supplies the steering control unit 111 with energy. The vehicle driver 117 specifies a first steering angle by means of a steering movement of the steering wheel 101, which is determined by the steering angle sensor 109 and sent to the steering control unit 111. The steering control unit 111 receives the first steering angle determined by the steering sensor 109 via the data input 131 and, using the evaluation unit 133, determines a first control signal corresponding to the first steering angle and transmits the first control signal via the data output 135 to the steering actuator 103 and to the damping unit 121. Thus, the steering arrangement 199 is configured to convert a steering command of the vehicle driver 117 into a change in direction of the vehicle 115, even during a lack of the main voltage supply via the vehicle battery 107.

[0030] List of reference symbols

[0031] steering wheel

[0032] Steering actuator first circuit

[0033] vehicle battery

[0034] Steering angle sensor

[0035] Steering control unit

[0036] Energy storage

[0037] car

[0038] Driver

[0039] Signal cable

[0040] Steaming unit

[0041] Data input

[0042] Evaluation unit

[0043] Data output

[0044] Steering arrangement

Claims

Patent claims 1. Steering arrangement (199) for controlling a means of transport (115), comprising a movable handlebar (101), a steering actuator (103) which is designed to convert a movement of the movable handlebar (101) into a movement of the means of transport (115), and a first circuit (105) with a main voltage supply (107), a steering angle sensor (109) which detects the current steering angle, and a steering control unit (111) which determines a control signal as a function of the current steering angle and transmits it to the steering actuator (103), characterized in that the steering control unit (111) has an energy store (113) for temporarily operating the steering control unit (111) during a fault in the main voltage supply (107).

2. Steering arrangement (199) according to claim 1, wherein the steering angle sensor (109) and the steering control unit (111) and / or the steering control unit (111) and the steering actuator (103) are each connected to one another in a signal-exchanging manner.

3. Steering arrangement (199) according to one of the preceding claims, wherein the energy storage device (113) is a capacitor and / or a lithium-ion accumulator and / or a nickel-cadmium accumulator and / or a nickel-metal hydride accumulator and / or a lithium polymer accumulator.

4. Steering arrangement (199) according to one of the preceding claims, further comprising a damping unit (121) arranged on the movable handlebar (101) and connected to the steering control unit (111) in a signal-exchanging manner, wherein the steering control unit (111) additionally transmits the control signal to the damping unit (121) and the damping unit (121) damps a movement of the movable handlebar (101) in dependence on the control signal.

5. Steering arrangement (199) according to one of the preceding claims, wherein the steering control unit (111) is further configured to determine a damping signal as a function of a movement pattern of a plurality of current steering angles of the movable handlebar (101) and / or an operating state of the means of transport (115) and / or an environment of the means of transport (115), and wherein the steering control unit (111) transmits the damping signal to the damping unit, which damps the movement of the movable handlebar (101) as a function of the damping signal, so that a driver (117) of the means of transport (115) perceives on the movable handlebar (101) a damping of the movable handlebar (101) corresponding to the movement of the means of transport (115).

6. Steering arrangement (199) according to one of the preceding claims, further comprising a second circuit with a second main voltage supply, a second steering control unit, which is connected in a signal-exchanging manner to the steering angle sensor (109), to the steering actuator (103) and to the damping unit (121), wherein the second steering control unit is configured to determine the damping signal and to transmit the damping signal to the steering actuator (103).

7. Steering arrangement (199) according to one of the preceding claims, wherein the second steering control unit has a second energy storage device for temporarily operating the second steering control unit during a fault of the second main voltage supply.

8. Steering arrangement (199) according to one of the preceding claims, further comprising a second steering actuator, which is designed to convert a movement of the movable handlebar (101) into a movement of the means of transport (115) and a third circuit with a third main voltage supply and a third steering control unit, which is connected to the steering angle sensor (109) and the second steering actuator in a signal-exchanging manner and determines a second control signal depending on the current steering angle and transmits it to the second steering actuator, wherein the third steering control unit has a third energy storage device for temporary operation of the third steering control unit during a fault of the third main power supply.

9. Steering arrangement (199) according to one of the preceding claims, wherein electrical steering motion energy generated by moving the movable handlebar (101) serves to charge the energy storage device (113) and / or the second energy storage device and / or the third energy storage device. Means of locomotion (115) comprising a steering arrangement (199) according to one of claims 1 to 9.

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