Electromechanical Steering Angle Compensation for Yaw Stability
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Solution Overview
Problem
Modern motor vehicles with electric drive wheels face reduced driving safety and comfort due to yaw movements caused by unequal wheel torques resulting from failed drive motors, requiring active driver countersteering to maintain direction.
Innovation Solution
An electromechanical steering system adjusts an additional steering angle based on the operating state of power machines, using torque differences and vehicle dynamics like lateral acceleration and yaw rate to compensate for yaw moments, allowing the system to automatically counteract undesired movements without driver intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an electromechanical steering system is used to enable electric drive wheels, then the vehicle can operate with electric power machines on different wheels, but driving safety and comfort are reduced when drive motors fail causing yaw movements
Solution Approach 1:
The control unit continuously monitors the operating state of the power machines and dynamically adjusts the additional steering angle based on real-time torque differences detected between wheels. This feedback mechanism enables the steering system to automatically compensate for yaw movements caused by drive motor failures, maintaining driving safety without requiring manual driver intervention.
Solution Approach 2:
The electromechanical steering system acts as an intermediary between the drive motors and the vehicle direction control. By introducing a superimposable additional steering angle through the electromechanical actuator, the system mediates the imbalance caused by unequal wheel torques, translating power machine failures into compensatory steering actions that maintain vehicle stability.
2Adaptability or versatility
If different wheels are driven by different electric power machines, then the vehicle gains electric drive capability, but active driver countersteering is required to maintain direction when torque imbalance occurs
Solution Approach 1:
The steering system performs self-correction by automatically detecting torque imbalances and generating compensatory steering angles without driver input. The control unit monitors power machine operating states and the electromechanical actuator autonomously adjusts the steering angle to counteract yaw movements, freeing the driver from the burden of manual countersteering operations.
Solution Approach 2:
The system proactively compensates for yaw movements by continuously monitoring the operating state of power machines and pre-adjusting the steering angle before significant directional deviation occurs. This preliminary action prevents the need for reactive driver countersteering, maintaining vehicle direction stability through automated preemptive corrections.
3Reliability
If an additional steering angle is applied to compensate for yaw moment, then vehicle direction stability is improved, but the steering system complexity increases
Solution Approach 1:
The electromechanical steering system serves multiple functions: it provides normal steering control, compensates for yaw moments from drive motor failures, and adapts to different driving conditions. By integrating the yaw compensation function into the existing electromechanical steering architecture rather than adding a separate system, the patent achieves multi-functionality while minimizing overall system complexity.
Data Source
AI summary
In order to make available a method for electromechanically setting a steering angle, which method increases the driving comfort and the driving safety when driving a motor vehicle (10), an additional steering angle is defined as a function of an operating state of at least one machine (20, 22) for driving a wheel (16, 18) and/or at least one variable which represents this operating state. The additional steering angle which is defined in such a way is then superimposed on, or added to a steering angle which has been predefined by a driver by means of a steering handle (14). The steering wheel angle can in this way be at least partially decoupled from the steering angle of the wheel. As a result, the setting of the steering angle with the electromechanical steering system is better adapted to a current driving situation.