Method for determining a setpoint torque on the basis of a reversibility function calculating a target speed of a steering wheel depending on a steering wheel angle and a yaw rate

Abstract

A method for determining a setpoint torque for a steering wheel of a power-assisted steering system of a vehicle, the setpoint torque making it possible to determine a motor torque applied directly or indirectly by a control motor to the steering wheel, and the setpoint torque being at least determined by a reversibility function designed to bring a steering wheel angle of the steering wheel toward the steering wheel angle at which the vehicle will follow a trajectory in a straight line, the reversibility function comprising a first step in which a target speed of the steering wheel is determined depending on the steering wheel angle, wherein the target speed is also a function of a yaw rate of the vehicle.

Claims

1. A method for determining a setpoint torque for a steering wheel of a power steering system of a vehicle, the setpoint torque allowing determining a motor torque which is applied directly or indirectly by a control motor on the steering wheel, the setpoint torque being at least determined by a reversibility function intended to bring a steering wheel angle of the steering wheel towards the steering wheel angle for which the vehicle performs a straight-line trajectory, the reversibility function comprising a first step in which a target speed of the steering wheel is determined as a function of the steering wheel angle, wherein the target speed is also a function of a yaw rate of the vehicle.

2. The determination method according to claim 1, wherein the first step comprises a determination phase in which an equivalent steering wheel angle is calculated as a function of the yaw rate of the vehicle, an equivalent gain and a longitudinal speed of the vehicle.

3. The determination method according to claim 2, wherein the equivalent gain depends on the longitudinal speed of the vehicle.

4. The determination method according to claim 2, wherein the first step comprises a fusion phase in which a final steering wheel angle is determined from the equivalent steering wheel angle and the steering wheel angle.

5. The determination method according to claim 4, wherein the final steering wheel angle depends on a fusion gain.

6. The determination method according to claim 5, wherein the fusion gain varies as a function of the longitudinal speed of the vehicle.

7. The determination method according to claim 5, wherein the fusion gain varies between 0 and 1.

8. The determination method according to claim 1, comprising a second step in which a setpoint torque of the reversibility function is determined from the target speed.

Description

(1) The invention will be better understood, thanks to the description below, which relates to an embodiment according to the present invention, given by way of non-limiting example and explained with reference to the appended schematic drawings, in which:

(2) FIG. 1 is a logic diagram of an algorithm allowing a determination of a motor torque;

(3) FIG. 2 is a portion of the logic diagram according to FIG. 1 allowing determining a setpoint torque according to the invention;

(4) FIG. 3 is a logic diagram of a first step of a reversibility function according to the invention.

(5) The invention concerns a method for determining a setpoint torque C.sub.c for a steering wheel of a power steering system of a vehicle, and more particularly for a motor vehicle intended for transporting people.

(6) In a manner known per se, said power steering system comprises a steering wheel which allows a driver to maneuver said power steering system by exerting a force, called «steering wheel torque» C.sub.V, on said steering wheel.

(7) Subsequently, the considered power steering system is a mechanical-type electric power steering system. It is, however, of course, that the invention can also relate to a «by-wire» type electric power steering system.

(8) Thus, the steering wheel is preferably mounted on a steering column, guided in rotation on the vehicle, and which meshes, by means of a steering pinion, on a steering rack, which is itself guided in translation in a steering casing which is fastened to said vehicle.

(9) Preferably, the ends of said steering rack are each connected to a steering tie rod coupled to the steering knuckle of a steering wheel (respectively a left wheel and a right wheel), such that the longitudinal translational displacement of the rack allows changing a steering angle (yaw angle) of the steered wheels. The steering angle is at least partially determined by an angle of the steering wheel, hereinafter referred to as steering wheel angle A.sub.v.

(10) The steered wheels can moreover preferably also be drive wheels.

(11) The power steering system also comprises a control motor which is intended to provide a motor torque C.sub.M to assist the maneuver of said power steering system.

(12) The control motor will preferably be an electric motor, with two operating directions, and preferably a rotary electric motor, of the brushless type.

(13) The control motor can engage, where appropriate via a reducer of the gear reducer type, either on the steering column itself, to form a mechanism called «single pinion» mechanism, or directly on the steering rack, for example by means of a second pinion which is distinct from the steering pinion which allows the steering column to engage on the rack, so as to form a mechanism called «double pinion» mechanism, or else by means of a ball screw which cooperates with a corresponding thread of said rack, at a distance from said steering pinion.

(14) FIG. 1 represents a simplified logic diagram of an algorithm allowing determining the motor torque C.sub.M. Said motor torque C.sub.M is applied by the control motor directly or indirectly on the steering wheel.

(15) More specifically, the algorithm comprises a step of TTG development of a setpoint torque C.sub.c. The TTG development step receives as input a plurality of parameters dependent on a dynamic situation of the vehicle. These parameters are measured or calculated by a vehicle computer.

(16) The setpoint torque C.sub.c is the steering torque desired to be felt by a driver when he turns the steering wheel. Thus it is desired that the steering wheel torque C.sub.V is equal to the setpoint torque C.sub.c. The setpoint torque C.sub.c is determined to allow, for example, facilitating or conversely preventing a rotation of the steering wheel by the driver.

(17) In order for the driver to feel the setpoint torque C.sub.c, the steering wheel torque C.sub.V is servo-controlled to the setpoint torque C.sub.c during a TFC servo-control step.

(18) During the TFC servo-control step, the motor torque C.sub.M applied by the control motor directly or indirectly on the steering wheel is determined in order to obtain an equality between the setpoint torque C.sub.c and the steering wheel torque C.sub.V.

(19) Thus, the purpose of the control motor is to servo-control a steering wheel torque C.sub.V, exerted by a driver on the steering wheel, to a setpoint torque C.sub.c.

(20) The determination of the setpoint torque C.sub.c is more specifically described in FIG. 2 which represents the TTG development step.

(21) The TTG development step comprises a Damping function F.sub.1 allowing determining a first fraction C.sub.C1 of the setpoint torque C.sub.c. The Damping function F.sub.1 receives as input a longitudinal speed V.sub.h of the vehicle, the steering wheel torque C.sub.v, the steering wheel angle A.sub.v, and a speed of rotation V.sub.v of the steering wheel, hereinafter called «steering wheel speed».

(22) The TTG development step comprises a control function F.sub.2 allowing determining a second fraction C.sub.C2 of the setpoint torque C.sub.c. The control function F.sub.2 receives as input an equivalent lateral acceleration A.sub.tot and the longitudinal speed V.sub.h of the vehicle. The equivalent lateral acceleration A.sub.tot is a virtual magnitude having a dimension of an acceleration (L.Math.T.sup.−2). The equivalent lateral acceleration is calculated from at least one force being exerted on the rack, that is to say a force representative of the force being exerted on the wheels.

(23) The TTG development step includes a reversibility function F.sub.3 allowing determining a third fraction C.sub.C3 of the setpoint torque C.sub.c allowing bringing the steering wheel angle A.sub.v«to the center», that is to say towards the steering wheel angle A.sub.v, for which the vehicle performs a straight-line trajectory, hereinafter called «central angle». The reversibility function F.sub.3 receives as input the longitudinal speed V.sub.h of the vehicle, the steering wheel torque C.sub.v, the steering wheel angle A.sub.v, the steering wheel speed V.sub.v, and a yaw rate V.sub.l of the vehicle.

(24) The reversibility function F.sub.3 comprises a first step E1, represented in FIG. 3, in which a target speed V.sub.c of the steering wheel is determined.

(25) More specifically, the first step E1 comprises a determination phase P1 in which an equivalent steering wheel angle A.sub.veq is calculated by the formula below:

(26) $\begin{array}{cc}{A}_{\nu eq}=\frac{K_{eq}.Math.V_l}{\max \left(V_h,P\right)}& \end{array}$

(27) With: A.sub.veq: the equivalent steering wheel angle expressed in degrees (°), K.sub.eq: the equivalent gain expressed in degrees (m), V.sub.l: the yaw rate of the vehicle (°/s) and V.sub.h: the longitudinal speed of the vehicle (m/s), P: a protection value.

(28) The equivalent gain K.sub.eq depends on the longitudinal speed V.sub.h of the vehicle.

(29) Furthermore, in order not to carry out a division by 0 when the longitudinal speed V.sub.h is zero, the above formula is divided by the maximum value selected between the protection P and the longitudinal speed V.sub.h. The protection P is a constant close to 0.

(30) The first step E1 then comprises a fusion phase P2 in which a final steering wheel angle A.sub.f is determined according to the formula below:
A.sub.f=G.Math.A.sub.v+(1−G).Math.A.sub.veq

(31) With A.sub.f: the final steering wheel angle, G: a fusion gain, A.sub.v: the steering wheel angle, A.sub.veq: the equivalent steering wheel angle.

(32) The fusion gain G depends on the longitudinal speed V.sub.h of the vehicle.

(33) Finally, during a calculation phase P3, the target speed V.sub.c is determined from the final steering wheel angle A.sub.f and the longitudinal speed V.sub.h.

(34) The reversibility function F.sub.3 comprises a second step in which, from the target speed V.sub.c, the third fraction C.sub.C3 of the setpoint torque C.sub.c is determined in a manner known to those skilled in the art.

(35) The TTG development step adds the first fraction C.sub.C1, the second fraction C.sub.C2, and the third fraction C.sub.C3 so as to obtain the setpoint torque C.sub.c.

(36) Of course, the invention is not limited to the embodiments described and represented in the appended figures. Changes remain possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without thereby departing from the scope of protection of the invention.