STEER-BY-WIRE STEERING SYSTEM WITH ACCELERATION DEPENDENT STEERING TORQUE FEEDBACK

Abstract

A method to control a steer-by-wire steering system of a road vehicle including a road wheel actuator to turn steerable road wheels and a steering wheel actuator to apply a feedback torque to a steering wheel, includes calculating the feedback torque by modifying a base steering torque as a function of a longitudinal and/or lateral acceleration measured by sensors of the vehicle, and sending the calculated feedback torque to the steering wheel actuator to provide feedback to the driver at the steering wheel.

Claims

1. A method to control a steer-by-wire steering system of a road vehicle including a road wheel actuator to turn steerable road wheels and a steering wheel actuator to apply a feedback torque to a steering wheel, the method comprising: calculating the feedback torque by modifying a base steering torque as a function of a longitudinal and/or lateral acceleration measured by sensors of the vehicle; and sending the calculated feedback torque to the steering wheel actuator to provide feedback to the driver at the steering wheel.

2. The method according to claim 1, wherein the modifying includes multiplying the base steering torque by a lateral weight transfer torque factor, which is dependent on an absolute lateral acceleration.

3. The method according to claim 1, wherein the modifying includes multiplying the base steering torque by a longitudinal weight transfer torque factor, which is dependent on the longitudinal acceleration.

4. The method according to claim 1, wherein the longitudinal and/or lateral weight transfer torque factor is vehicle speed dependent.

5. The method according to claim 1, wherein the base steering torque is calculated with a basic feedback function including multiple inputs and dependencies.

6. The method according to claim 5, wherein one of the inputs includes a representation of a load input.

7. The method according to claim 6, wherein the representation of the load input is offset by a longitudinal acceleration dependent value, resulting in a modified base steering torque which includes an effect of a longitudinal load transfer.

8. The method according to claim 6, wherein the representation of the load input is offset by an absolute lateral acceleration dependent value, resulting in a modified base steering torque which includes an effect of a lateral load transfer.

9. The method according to claim 7, wherein offset values are vehicle speed dependent.

10. The method according to claim 2, wherein an increment rate or a decrement rate of the longitudinal and/or lateral weight transfer torque factors is adjustable and dependent on the lateral acceleration.

11. The method according to claim 7, wherein an increment rate or a decrement rate of offset values is adjustable and dependent on the lateral acceleration.

12. A steer-by-wire steering system for a road vehicle configured to carry out the method according to claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG. 1 is a schematic illustration of a steer-by-wire steering system of a motor vehicle.

[0021] FIG. 2 shows a diagram of the longitudinal vehicle acceleration plotted against time.

[0022] FIG. 3 shows a diagram of a longitudinal weight transfer factor plotted against time.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] FIG. 1 is a schematic drawing of a steer-by-wire system 1 with a steering shaft 2 connected to a steering wheel 3. There is no mechanical connection between the steering wheel 3 and the road wheels 4. A road wheel actuator 5 operates a gear rack 6 via a rack-and-pinion gear 7, which is part of a front wheel axle 8. The front wheel axle 8 includes two tie rods 9 for road wheels 4, of which only one road wheel 4 is shown.

[0024] When a driver operates the steering wheel 3, steering shaft 2 is rotated, which is detected by a shaft sensor, which is not shown in the drawings. A controller generates an operation signal for the road wheel actuator 5 from the signal detected by the shaft sensor. By operating gear rack 6 with the operation signal, the front wheel axle 8 is moved sideways and the road wheels 4 are turned. At the same time, forces introduced in the wheel axle 8 from the road wheels 4 are recognized by another sensor not shown in the drawings, and a feedback signal is generated, which is applied to the steering shaft 2 by a steering wheel actuator 10, also called feedback actuator, so that the operator can recognize the feedback in the steering wheel 3.

[0025] The feedback torque of the steering wheel actuator 10 is modified to mimic a driving feel of electric power steering systems. The modification is dependent on the vehicle's longitudinal acceleration and/or the lateral acceleration measured by the vehicle's sensors.

[0026] In case the road wheel actuator 5 is situated at the front axle 8, the load on the road wheel actuator 5 will be reduced during longitudinal acceleration compared to constant speed, because of weight transfer. Conversely, during longitudinal deceleration, the load on the road wheel actuator 5 will be higher compared to the load at constant speed. To account for weight transfer, the modification will decrease feedback torque compared to zero longitudinal deceleration/acceleration (constant longitudinal speed) in case of acceleration and increase feedback torque in case of deceleration.

[0027] In case of lateral acceleration of the vehicle, the feedback torque will be direction independently higher compared to zero absolute lateral acceleration.

[0028] The increment or decrement rate of the feedback torque modification is preferably adjustable for different situations.

[0029] In order to achieve the modification, a base steering torque is modified as a function of a longitudinal and/or lateral acceleration measured by the vehicle's sensors. The resulting feedback torque is sent to the steering wheel actuator to provide feedback to the driver.

[0030] The base steering torque is determined based on multiple input signals of the vehicle states and/or feedback actuator states. The function is called a basic feedback function. The base steering torque thus generates a base steering feel.

[0031] In a first preferred embodiment, a longitudinal weight transfer factor depends on the longitudinal acceleration signal value. The longitudinal weight transfer factor is multiplied with the base steering torque to account for weight transfer. The longitudinal weight transfer factor is further dependent on vehicle speed.

[0032] FIGS. 2 and 3 show an example of the longitudinal weight transfer factor modification. In FIG. 2, the longitudinal acceleration is plotted against time. At first the longitudinal acceleration rises up to about 3 m/s.sup.2, remains steady for a while and then decreases to zero, for example. After that the vehicle decelerates with up to about 5 m/s.sup.2, for example. Accordingly, the longitudinal weight transfer factor shown in FIG. 3 changes with time. At first the longitudinal weight transfer factor decreases from about 1 to about 0.7, for example. In the shown example, a longitudinal weight transfer factor of about 0.7 accounts for an acceleration of about 3 m/s.sup.2. The longitudinal weight transfer factor then increases to about 1 and further, with deceleration of the vehicle, to about 1.4, for example.

[0033] A lateral weight transfer factor depends on the lateral acceleration signal value. The lateral weight transfer factor is multiplied with the base steering torque to account for weight transfer. The lateral weight transfer factor is dependent on vehicle speed. The lateral acceleration signal value represents the absolute value of the vehicle's lateral acceleration sensor. In other words, the lateral weight transfer factor is independent of the direction of the lateral acceleration/deacceleration.

[0034] The resulting feedback torque is sent to the steering wheel actuator.

[0035] In a second preferred embodiment, the modification is an offset.

[0036] One of the inputs of the basic feedback function can represent the load on the front wheel axle which can be a calculated or measured value based on vehicle states and/or feedback actuator states. The input is the so-called representation of the load input. It is offset by a longitudinal acceleration dependent value, modifying the resulting feedback torque. The longitudinal acceleration dependent value has vehicle speed dependency.

[0037] The representation of the load input of the basic feedback function can be further offset by an (absolute) lateral acceleration dependent value. The lateral acceleration dependent value has vehicle speed dependency.

[0038] The increment and decrement rate of the longitudinal weight transfer factor and the longitudinal acceleration dependent offset value is adjustable and dependent on the lateral acceleration to avoid unpleasant sudden change of the feedback torque in case of, e.g., hard braking and cornering situation.

[0039] While preferred embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.