Steering Device

Abstract

A steering device for a vehicle includes a steering rod and at least one drive unit, wherein the steering rod can be displaced along its longitudinal extent by the drive unit. The steering device also includes at least one first sensor device for determining a displacement position of the steering rod. The steering rod, as seen along its longitudinal extent, exhibits at least one change in its cross section, in particular diameter, wherein the first sensor device is designed to sense the change.

Claims

1-14. (canceled)

15. A steering device for a vehicle, comprising: a steering rod having at least one change in cross section as viewed in a longitudinal extent of the steering rod, the at least one change in cross section including at least one circumferential groove; at least one drive unit configured to displace the steering rod along a longitudinal extent of the steering rod; and at least one first sensor device configured to determine a slide position of the steering rod, the first sensor device being configured to detect the change in cross section.

16. The steering device as claimed in claim 15, wherein the steering rod has at least one first section with a first diameter and at least one second section with a second diameter, the circumferential groove being defined in at least one of a first circumferential face of the first section and a second circumferential face of the second section.

17. The steering device as claimed in claim 16, wherein at least one of the first section and the second section is formed by at least one sleeve arranged on the steering rod.

18. The steering device as claimed in claim 1, wherein the at least one circumferential groove includes a plurality of circumferential grooves.

19. The steering device as claimed in claim 18, wherein one predefinable circumferential groove of the plurality of circumferential grooves is assigned to a center position, which corresponds to a straight ahead driving position of steered wheels of the vehicle.

20. The steering device as claimed in claim 19, wherein a detected number of circumferential grooves are detected upon displacement of the steering rod from the center position such that at least one of a displacement travel and at least one of: a distance from the center position is determined based on the detected number of circumferential grooves, and at least one of a slide position and a slide direction relative to the center position is determined based on at least one of (a) a width of the detected circumferential grooves, (b) a depth of the detected circumferential grooves, and (c) a spacing between the detected circumferential grooves.

21. The steering device as claimed in claim 19, wherein the plurality of circumferential grooves have different widths.

22. The steering device as claimed in claim 21, wherein the widths of respective circumferential grooves of the plurality of circumferential grooves increases or decreases along the longitudinal extent of the steering rod.

23. The steering device as claimed in claim 21, wherein whether the slide position is moving away from the center position or is approaching the center position is determined based on an increase or decrease in the widths of at least two adjacent circumferential grooves of the plurality of circumferential grooves.

24. The steering device as claimed in claim 19, wherein the plurality of circumferential grooves have different depths.

25. The steering device as claimed in claim 24, wherein whether the slide position is moving away from the center position or is approaching the center position is determined based on an increase or decrease in the depths of at least two adjacent circumferential grooves of the plurality of circumferential grooves.

26. The steering device as claimed in claim 19, wherein the plurality of circumferential grooves are spaced apart from adjacent circumferential grooves by different distances.

27. The steering device as claimed in claim 26, wherein the spacing between adjacent circumferential grooves increases or decreases along the longitudinal extent of the steering rod.

28. The steering device as claimed in claim 26, wherein whether the slide position is moving away from the center position or is approaching the center position is determined based on an increase or decrease in the spacing of at least three adjacent circumferential grooves of the plurality of circumferential grooves.

29. The steering device as claimed in claim 19, wherein, starting from the one predefinable circumferential groove assigned to the center position, the circumferential grooves extend in both directions along the longitudinal extent of the steering rod.

30. The steering device as claimed in claim 29, wherein the at least one first sensor device further comprises: at least one second sensor device configured to determine the slide position of the steering rod, the at least one first sensor device assigned to a first direction along the longitudinal extent and the at least one second sensor device assigned to a second opposite direction along the longitudinal extent.

31. The steering device as claimed in claim 14, wherein: the drive unit includes an electric motor, and the steering device further comprises at least one third sensor device configured to detect a rotor position of the electric motor.

32. A method for operating a steering device for a vehicle, comprising: displacing a steering rod of the steering device along a longitudinal extent of the steering rod with at least one drive unit; detecting, with a first sensor device, at least one change in cross section of the steering rod as viewed in the longitudinal extent, the at least one change in cross section including at least one circumferential groove in or on the steering rod as viewed in the longitudinal extent; and determining a slide position of the steering rod with the first sensor device.

Description

[0018] In the following text, the invention is to be described in greater detail on the basis of the drawings, in which, in the following text:

[0019] FIG. 1 shows a steering device for a vehicle in a simplified illustration,

[0020] FIG. 2 shows a detail of a steering rod of the steering device, which steering rod has a change in its cross section, in a first embodiment,

[0021] FIG. 3 shows a detail of a steering rod which has a change in its cross section, in a second embodiment,

[0022] FIG. 4 shows a detail of a steering rod which has a change in its cross section, in a third embodiment, and

[0023] FIG. 5 shows a detail of a steering rod which has a change in its cross section, in a fourth embodiment.

[0024] FIG. 1 shows a steering device 1 for a rear axle of a vehicle 2 (not shown in greater detail here), in particular of a motor vehicle, having a steering rod 3 and having at least one drive unit 4 which is configured, in particular, as an electric motor with a stator 46 and a rotor 47 or a rotor shaft. It is preferably provided that the rotor 47 is operatively connected to an actuating mechanism, for example a threaded spindle drive or a belt drive 48. The actuating mechanism is preferably configured to convert a rotational movement of the rotor 47 into a linear movement of the steering rod 3, with the result that the steering rod 3 can be displaced by way of the drive unit 4 in its longitudinal extent (shown by way of arrows 5).

[0025] In addition, the steering device 1 has at least one sensor device 6 for determining a slide position of the steering rod 3. Here, the slide position is dependent on the displacement of the steering rod 3 in the direction of its longitudinal extent. As viewed in the longitudinal extent, the steering rod 3 has at least one change in its cross section, in particular diameter. The sensor device which is arranged, in particular, fixedly on the vehicle is configured to detect the change in the cross section. In the present case, the sensor device 6 and the steering rod 3 are oriented in a reference or starting position with respect to one another. The reference position is distinguished, in particular, by virtue of the fact that the steering rod 3 is oriented in a center position 9, the center position 9 corresponding to a straight ahead driving position of the steerable wheels which can be arranged on wheel supports 10, 11 of the steering rod 3. This ensures that, starting from the center position 9, a displacement of the steering rod 3 takes place relative to the center position 9, for example as a consequence of a steering intervention by way of a user of the vehicle 2.

[0026] In addition, a second sensor device 49 is preferably provided for detecting a rotor position of the electric motor or of the rotor 47. To this end, the second sensor device 49 is preferably arranged fixedly on the vehicle or in a stationary manner at a predefinable and therefore known position in or on the vehicle 2 in order to detect the rotor 47, in particular an end side of the rotor 47 or the rotor shaft. The rotor 47, in particular its end side, preferably has at least one magnet, for example a permanent magnet, the second sensor device 49 being configured to detect the magnetic field, in particular a change in the magnetic field in the case of a rotation of the rotor 47. Whereas the second sensor device 49 is illustrated as being arranged outside the drive unit 4 in the present exemplary embodiment, it is preferably provided that the sensor device 49 is protected within and/or in the housing in a manner which is assigned in a stationary manner on the housing of the drive unit 4, the rotor shaft or the rotor. It goes without saying, however, that an external arrangement is also fundamentally possible, as shown in FIG. 1. The second sensor device 49 is, in particular, an internal rotor position sensor which is necessary in any case for actuating the electric motor. As a result, the attachment of an additional sensor for detecting the rotor position is not necessary, and the data which are available in any case with respect to the rotor position can be used by the control unit.

[0027] The steering rod 3 preferably has at least one first section 7 with a first diameter and at least one second section 8 with a second diameter. In the present case, the first diameter is smaller than the second diameter. The change in the diameter is preferably realized by way of the transition between the first and the second diameter. Furthermore, the steering rod 3 can be assigned/is assigned to a front axle and/or a rear axle of the vehicle 2. In the present exemplary embodiment, the steering rod 3 is assigned to the rear axle of the vehicle 2.

[0028] The steering rod 3 is preferably manufactured from a metal, the first section 7 and the second section 8 preferably being configured in one piece. The steering rod 3 is arranged in a housing 13, for example a steering gear housing. The sensor device 6 is arranged/can be arranged preferably in or on the housing 13 in a stationary manner. In the present case, the sensor device is arranged on a circumferential outer wall of the housing 13 in a manner which is spaced apart from the steering rod 3.

[0029] The first sensor device 6 preferably detects the change in the cross section, in particular diameter, without contact. The first sensor device 6 is preferably an optical sensor, for example a laser sensor, a magnetic field sensor, in particular a Hall sensor, or a TMR switch or a TMR sensor. The second sensor device 49 is configured, in particular, as a rotor position sensor or magnetic field sensor.

[0030] The first sensor device 6 and the second sensor device 49 are preferably connected electrically to a control unit of the drive unit 4, with the result that detected sensor signals of the first sensor device 6 and/or of the second sensor device 49 can be transmitted to the control unit 15. The control unit 15 is preferably configured to evaluate the sensor signals, in particular, by means of a software program or a software algorithm, and/or to store them, for example, in a data storage unit which is assigned to the control unit 15. The evaluation, in particular, of the sensor signals of the first sensor device 6 by means of the algorithm makes it possible to determine, for example, the slide position of the steering rod 3 or else a slide direction, in which the steering rod 3 is being displaced, in particular, relative to the center position 9 or the change in the diameter. In order that the position of the steering rod in the center position 9 is known particularly precisely and can therefore be actuated particularly precisely if required, the rotor position of the rotor 47 in the reference or starting position is preferably detected and is stored as a setpoint rotor position in the control unit 15 and/or the data storage unit.

[0031] In addition, the control unit 15 is preferably configured to actuate the drive unit 4 electrically, in order to assist a manual steering operation by way of a reduction of a manual steering force on a steering wheel (not shown here) or else to carry out an automated steering operation by means of the drive unit 4. This ensures that the steering rod 3 can be displaced automatically into the center position 9 if required by means of the drive unit 4.

[0032] FIG. 2 shows a detail of the steering rod 3, in particular the first section 7 with a first diameter and the second section 8 with a second diameter. In the present case, the steering rod 3 can be displaced along the arrow 16 to the right and along the arrow 17 to the left.

[0033] In accordance with the exemplary embodiment, the first sensor device 6 is configured as a Hall sensor and is arranged on a circumferential inner wall 14 of the housing 13. The Hall sensor is preferably configured to generate a sensor signal based on the Hall effect in a manner which is dependent on a spacing from the steering rod 3, in particular a magnetic field which changes in the case of a change in the spacing. In the present case, the magnetic field is generated by way of a permanent magnet (not shown here) which is assigned, in particular, to the Hall sensor.

[0034] In a manner which is dependent on the magnetic field which changes in the case of a change in the spacing, the Hall sensor or the first sensor device 6 detects a sensor signal, represented by way of a sensor signal profile 18, which can be transmitted to the control unit 15. In the present case, the first sensor device 6 detects the first diameter of the first section 7 or the second diameter of the second section 8, depending on the slide position of the steering rod 3, the first sensor device 6 monitoring a spacing from the steering rod 3 to this end, which spacing results from the slide position of the steering rod 3 and the section which then lies opposite the first sensor device 6. The transition between the first and the second diameter is preferably assigned to the center position 9, with the result that the center position 9 is determined or recognized in the case of a detection of the transition by way of the first sensor device 6. In addition, in the case of a displacement of the steering rod 3, a change in the rotor position or the actual rotor position is detected by way of the second sensor device 49, which change or actual rotor position can be transmitted or is transmitted as a sensor signal profile (not shown here) of the second sensor device 49 to the control unit 15.

[0035] FIG. 3 shows the already known detail of the steering rod 3, the second section 8 then having a circumferential groove 19. Here, the circumferential groove 19 is configured in a circumferential face 20 of the second section 8. As an alternative or in addition, the circumferential groove 19 is configured in a circumferential face 21 of the first section 7. The circumferential groove 19 or the change in the cross section of the steering rod 3 can be configured in/on the steering rod 3, for example, by way of machining with the removal of material, such as milling. The steering rod 3, in particular the first section 7 and/or the second section 8, preferably has the at least one or plurality of circumferential grooves 19.

[0036] Here, the steering rod 3 has a plurality of changes in the diameter, in the present case in the region of the center position 9 or the transition between the first and the second diameter, and in the region of the circumferential groove 19, in particular on the flanks 43, 44 of the circumferential groove 19. The plurality of changes in the diameter can be detected by way of the first sensor device 6, represented by way of the sensor signal profile 26, and can be transmitted to the control unit 15 for determining the slide position and/or slide direction.

[0037] It is optionally provided that the steering rod 3 itself has a constant diameter in the longitudinal extent, the second section 8 being realized or formed by way of a sleeve 23. The sleeve 23 is configured, for example, as a cylindrical sleeve 23 which can be pushed at least in regions onto the steering rod 3. The sleeve 23 is preferably connected to the steering rod 3 in an integrally joined manner by means of a joining process. The at least one circumferential groove 19 is preferably configured in the sleeve 23.

[0038] FIG. 4 shows the steering rod 3, the steering rod 3 then having a plurality of circumferential grooves 24-33.

[0039] In the present case, the width of the respective first circumferential grooves 24-28 increases in a first direction, in particular the direction to the left of the center position 9, for a predefinable first number of first circumferential grooves 24-28. The width of the respective second circumferential grooves 29-33 likewise increases in an analogous manner with respect to those of the first direction in a second direction, in the present case the direction to the right of the center position 9, for a number of second circumferential grooves 29-33 which is equivalent to the first number of first circumferential grooves 24-28. The first circumferential grooves 24-28 and the second circumferential grooves 29-33 are therefore arranged symmetrically in relation to the center position 9. In the present case, the circumferential grooves 24-33 in each case have an identical depth which is radial in relation to the steering rod 3. In the present case, the center position 9 can be determined, for example, by virtue of the fact that the spacing between the circumferential grooves 28, 29 is detected, a center point of said spacing defining the center position 9.

[0040] Here, an information item that the detected spacing and the center point of said spacing are assigned to the center position 9 is preferably stored in the control unit 15.

[0041] For more precise detection of the slide position and/or slide direction, the steering device 1 in the present case preferably additionally has at least one further first sensor device 22. The latter is preferably configured in accordance with the first sensor device 6. As a result, it is possible, in particular, to determine the slide position at a further point of the steering rod 3. Here, the first sensor device 6 is assigned to the region to the left of the center position 9, and the further first sensor device 22 is assigned to the region to the right of the center position 9. In the present case, the first sensor device 6 and the further first sensor device 22 in each case detect sensor signals, represented in the sensor signal profile 34.

[0042] If the first sensor device 6 detects, for example, that in the case of a displacement of the steering rod 3 to the left (along arrow 17) from a first circumferential groove 26 to a further first circumferential groove 27 the width of the circumferential groove 27 decreases in comparison with the circumferential groove 26, the further first sensor device 22 will at the same time detect that the width of a second circumferential groove increases in comparison with a further second circumferential groove 30.

[0043] It is therefore possible by means of the sensor signals which are detected by way of the first sensor devices 6, 22 or the sensor signal profile 34 and by means of that rotor position of the rotor 6 which is detected or can be detected by way of the second sensor device 49 to determine the slide position and the direction with respect to the center position 9 particularly accurately, and to correspondingly actuate the drive unit 4 by way of the control unit 15, in order to displace the steering rod 3 with respect to the center position 9 as required. In particular, this minimizes the risk that the steering rod 3 is moved in an uncontrolled manner into a mechanical end position (what is known as “vise effect”), in particular, in the case of starting up of the vehicle 2. Here, the mechanical end position is the position which can be achieved by the steering rod 3 in the case of an outermost displacement, that is to say in the direction of the arrows 16 and/or 17.

[0044] The steering rod 3 optionally has a constant diameter in the longitudinal direction, a sleeve which has the plurality of circumferential grooves 24-33 being arranged on the steering rod.

[0045] FIG. 5 shows the steering rod 3, the steering rod 3 then having a plurality of circumferential grooves 36-41. Here, the present arrangement of the circumferential grooves 36-41 differs from that arrangement of the circumferential grooves 24-33 which is known from FIG. 4.

[0046] Starting from the center position 9 which is realized by way of a predefinable circumferential groove, in the present case the circumferential groove 39, the spacing of the circumferential grooves 36-38 decreases in the first direction, in particular the direction to the left of the center position 9 (along arrow 17), and the width of the circumferential grooves 36-38 increases. In the second direction (along arrow 16) which is opposed to the first direction, in particular the direction to the right of the center position 9, the spacing of the circumferential grooves 40, 41 increases and the width of the circumferential grooves 40, 41 decreases. As viewed in the longitudinal extent of the steering rod 3, in the present case from the first to the second direction, the widths of the circumferential grooves 36-41 decrease and the spacing of in each case two adjacent circumferential grooves 36-41 increases. The center position 9, realized by way of the circumferential groove 39, can be determined, for example, by way of the control unit 15 by virtue of the fact that the width of the circumferential groove 39 is known. The center position 9 can therefore be extrapolated in the case of a detection of a sensor signal which corresponds to the width of the circumferential groove 39. For particularly accurate positioning of the steering rod 3, in particular in the center position 9, the rotor position or current rotor position of the rotor 3 is additionally set in such a way that it corresponds, in particular, to the known setpoint rotor position which is stored in the control unit 15 and/or in the data storage unit.

[0047] A corresponding sensor signal profile 42 which is preferably detected by way of two first sensor devices 6, is furthermore shown. It can also optionally be provided here that the steering rod 3 has a constant diameter in the longitudinal direction, a sleeve 35 which has the plurality of circumferential grooves 36-41 being arranged on the steering rod.

[0048] The widths, spacings and/or depths of the circumferential grooves 24-33 can be stored or are stored preferably in the control unit 15, in particular the data storage unit of the control unit 15. As a result, it is possible, for example, if a width of a circumferential groove is detected, to compare said width with a stored width by means of the control unit 15, it being possible for the exact slide position to be determined when the detected width coincides with the stored width.

[0049] The steering device 1 ensures that a plausibility check of the center position 9 can be carried out during running operation of the vehicle 2. A slide direction with respect to the center position 9 can be determined, in particular, by way of the software algorithm of the control unit 15 as a result of the type of a mechanical coding, for example realized by way of the circumferential grooves which are configured on the steering rod 3 and/or sleeve 23, 35. The determination takes place here during the running operation or else directly after starting up or switching on of the steering device 1. As a result, in particular, mechanical jamming and/or the abovementioned vise effect are/is prevented.

[0050] By way of the interaction of the first sensor device 6, and/or an index sensor and the second sensor device 49, the position of the steering rod 3 can be determined precisely and can be actuated particularly accurately as required by way of the control unit 15. In particular the position, in particular the center position 9, can be determined even in the case of a functional inoperability or a data loss, for example, of an optionally provided revolution counter of the steering device 1, which revolution counter is configured to count or to detect, in particular, complete revolutions of the rotor 3. It is thus known or can be determined on the basis of the sensor signals of the first sensor device 6, 22 in which position the steering rod is currently situated and in which direction the steering rod 3 has to be displaced, in order to reach the center position 9. Here, the steering rod 3 is displaced, in particular, in the direction of the center position 9 until the first sensor device 6, 22 detects the center position 9, for example by way of the detection of a width of a circumferential groove or change in the cross section of the steering rod which characterizes the center position 9. It is preferably provided that the electric motor or the rotor is additionally actuated here by way of the control unit 15 in such a way that the rotor position and/or actual rotor position which is detected by way of the second sensor device 49 correspond/corresponds to the setpoint rotor position. As a result of the combination of the first and the second sensor device 6, 22, 49, the use, for example, of an expensive linear position sensor is therefore not necessary.

[0051] It is preferably additionally provided to evaluate a number of complete revolutions of the rotor 3, which number is detected by the revolution counter, in order to determine the slide position and/or a displacement travel of the steering rod 3. In particular, the number of detected revolutions, the detected actual rotor position and the sensor signals of the first sensor device are then evaluated in order to determine the slide position. Here, the revolution counter is preferably connected electrically to the control unit 15.