METHOD FOR OPERATING AN ELECTROMECHANICALLY ASSISTED STEERING SYSTEM

Abstract

A method for operating an electromechanically assisted steering system of a motor vehicle is described. The steering system has a steering arrangement and at least one electromechanical actuator. The at least one electromechanical actuator is coupled to the steering arrangement in a torque-transmitting manner. The method comprises the following steps: acquiring a steering rack force signal that comprises information about a steering rack force acting on a steering rack of the steering system; acquiring a driver torque signal that comprises information about a driver torque exerted on the steering arrangement by the driver; ascertaining a filtered scaled steering rack force signal; and ascertaining a steering feedback torque for the at least one electromechanical actuator, based on the scaled steering rack force signal.

A control device for an electromechanically assisted steering system of a motor vehicle, an electromechanically assisted steering system, and a computer program are also described.

Claims

1. A method for operating an electromechanically assisted steering system (10) of a motor vehicle, wherein the steering system (10) has a steering means (14) and at least one electromechanical actuator (24; 24′), wherein the at least one electromechanical actuator (24; 24′) is coupled to the steering means (14) in a torque-transmitting manner, comprising the following steps: acquiring a steering rack force signal that comprises information about a steering rack force acting on a steering rack of the steering system; acquiring a driver torque signal that comprises information about a driver torque exerted on the steering means by the driver; ascertaining a filtered scaled steering rack force signal, wherein the acquired steering rack force signal is filtered by way of a filter (28) designed as a high-pass filter or bandpass filter and the resultant filtered steering rack force signal is scaled, inter alia, on the basis of the acquired driver torque signal in order to ascertain the filtered scaled steering rack force signal, or wherein the acquired steering rack force signal is scaled, inter alia, on the basis of the acquired driver torque signal and the resultant scaled steering rack force signal is filtered by way of a filter (28) designed as a high-pass filter or bandpass filter in order to ascertain the filtered scaled steering rack force signal; and ascertaining a steering feedback torque for the at least one electromechanical actuator (24; 24′), inter alia, based on the filtered scaled steering rack force signal.

2. The method as claimed in claim 1, wherein a speed signal is acquired, this comprising information about a speed of the motor vehicle, and wherein the steering feedback torque is additionally ascertained on the basis of the speed signal.

3. The method as claimed in claim 2, wherein the speed signal is overlaid with the driver torque signal in order to ascertain a speed-dependent driver torque signal, in particular wherein the filtered steering rack force signal and/or the acquired steering rack force signal is scaled with the speed-dependent driver torque signal in order to obtain the filtered scaled steering rack force signal.

4. The method as claimed in one of the preceding claims, wherein the acquired steering rack force signal is filtered by way of a low-pass filter (30), thereby giving a low-pass-filtered steering rack force signal, and wherein the steering feedback torque is ascertained on the basis of the low-pass-filtered steering rack force signal.

5. The method as claimed in claims 2 and 4, wherein the low-pass-filtered steering rack force signal is overlaid with the speed signal, and wherein the steering feedback torque is ascertained based on the overlaid signal consisting of the low-pass-filtered steering rack force signal and the speed signal.

6. The method as claimed in one of the preceding claims, wherein a model-based steering rack force signal is ascertained based on a motor vehicle model, and wherein the steering feedback torque is ascertained on the basis of the model-based steering rack force signal.

7. The method as claimed in claims 2 and 6, wherein the model-based steering rack force signal is overlaid with the speed signal, and wherein the steering feedback torque is ascertained, inter alia, based on the overlaid signal consisting of the model-based steering rack force signal and the speed signal.

8. A control device for an electromechanically assisted steering system (10) of a motor vehicle, wherein the steering system (10) has a steering means (14) and an electromechanical steering aid having at least one electromechanical actuator (24; 24′), wherein the at least one electromechanical actuator (24; 24′) is coupled to the steering means (14) in a torque-transmitting manner, and wherein the control device (26) is designed to prompt the steering system (10) to perform a method as claimed in one of the preceding claims.

9. An electromechanically assisted steering system, having a control device (26) as claimed in claim 8, a steering means (14) and an electromechanical steering aid, wherein the electromechanical steering aid has at least one electromechanical actuator (24; 24′) that is coupled to the steering means (14) in a torque-transmitting manner.

10. The electromechanically assisted steering system as claimed in claim 9, wherein the electromechanically assisted steering system (10) is designed as an EPS steering system or as a steer-by-wire steering system.

11. A computer program containing program code means that are designed to prompt the steering system (10) as claimed in claim 9 or 10 to perform a method as claimed in one of claims 1 to 7 when the computer program is executed on a computing unit of the control device (26) of the steering system (10).

Description

BRIEF DESCRIPTION OF DRAWINGS

[0064] Further advantages and properties of the disclosure will become apparent from the following description and the accompanying drawings, to which reference is made. In the figures:

[0065] FIG. 1(a) shows a schematic oblique view of an electromechanically assisted steering system with an electric motor connected to a gear according to the disclosure;

[0066] FIG. 1(b) shows a schematic oblique view of an electromechanically assisted steering system with an electric motor connected to a first pinion according to the disclosure;

[0067] FIG. 1(c) shows a schematic oblique view of an electromechanically assisted steering system with an electric motor connected to a second pinion according to the disclosure;

[0068] FIG. 1(d) shows a schematic oblique view of an electromechanically assisted steering system with an electric motor connected to a steering rack according to the disclosure;

[0069] FIG. 1(e) shows a schematic oblique view of an electromechanically assisted steering system with an electric motor providing torque to a steering rack via a gear and a recirculating ball nut;

[0070] FIG. 1(f) shows a schematic oblique view of an electromechanically assisted steering system with an electric motor providing torque to a recirculating ball nut via a belt of a belt drive and to a steering rack;

[0071] FIG. 2 shows a schematic oblique view of a steer-by-wire variant of the electromechanically assisted steering system according to the disclosure; and

[0072] FIG. 3 schematically shows a block diagram for explaining the sequence of a method according to the disclosure.

DETAILED DESCRIPTION

[0073] FIG. 1(a) schematically shows a steering system 10 for a motor vehicle, wherein the steering system 10 has a gear 12 and is configured as an electromechanically assisted steering system with steering column assistance (or “column drive EPS”).

[0074] The steering system 10 has a steering wheel 14 that is connected to a first pinion 18 via an upper part of a steering column 15 and via a steering intermediate shaft 16. The first pinion 18 meshes with a steering rack 20, such that a torque is applied to the latter.

[0075] A torque and/or steering angle sensor 22 is arranged on the steering column 15 and is designed to measure steering torques and/or a steering angle. This is thus in particular a steering torque and steering angle sensor, also called a “torque and angle sensor (TAS)”, and is able to provide a steering angle in addition to the steering torque.

[0076] Provision is also made for an electric motor 24 that is connected to the gear 12 in a torque-transmitting manner.

[0077] As indicated in FIG. 1(a), the gear 12 may be designed in various ways, for example as a worm gear, as a spur gear or as a bevel gear.

[0078] In any case, at least a torque that is provided by the electric motor 24 is transmitted by the gear 12 to the steering intermediate shaft 16 in order to perform a steering movement.

[0079] The electric motor 24 is connected to a control device 26 of the steering system 10 in a signal-transmitting manner, this being indicated only schematically in each of FIGS. 1(a) to (f).

[0080] The control device 26 is designed to ascertain at least one torque to be applied based on measured data from the steering system 10 and to transmit corresponding control commands to the electric motor 24, such that the electric motor 24 provides at least the torque to be applied.

[0081] The controller 26 is furthermore designed to control, for example to steer, the motor vehicle at least partly automatically, and in one exemplary arrangement, fully automatically. In this case, the electric motor 24 thus provides not just an assistive torque, but rather the full torque required to control or steer the motor vehicle.

[0082] The steering system 10 shown in FIG. 1(b) differs from that shown in FIG. 1(a) in that the electric motor 24 is connected not to the steering intermediate shaft 16, but rather to the first pinion 18 in a torque-transmitting manner via the gear 12. The steering system 10 thus has a simple pinion drive, which is also called a “single pinion EPS”.

[0083] The steering system 10 shown in FIG. 1(c) has a second pinion 18′ that is in meshing engagement with the steering rack 20. The electric motor 24 is connected to the second pinion 18′ in a torque-transmitting manner via the gear 12. The steering system 10 is thus in this case a dual-pinion steering system, also called a “dual pinion EPS”.

[0084] Further possible exemplary arrangements of the electromechanically assisted steering system 10 are shown in FIGS. 1(d) to 1(f).

[0085] More precisely, FIG. 1(d) shows a steering system 10 having a concentric steering rack drive using a recirculating ball nut 27. The electric motor 24 is in this case arranged directly on the steering rack 20 and applies the assistive torque to the steering rack 20 via the recirculating ball nut 27.

[0086] FIG. 1(e) shows a drive in which the gear 12 is designed as a bevel gear, and in which a recirculating ball nut 27 is installed on the steering rack 20. The electric motor 24 applies the assistive torque to the steering rack 20 via the gear 12 and the recirculating ball nut 27.

[0087] FIG. 1(f) shows a belt drive 12′ having a recirculating ball nut 27 installed on the steering rack 20. An assistive torque applied by the electric motor 24 is transmitted to the recirculating ball nut 27 via a belt of the belt drive 12′, and to the steering rack 20 via said recirculating ball nut.

[0088] FIG. 2 shows a further exemplary arrangement of the steering system 10. The steering system 10 is designed here as a steer-by-wire steering system, that is to say there is no mechanical operative connection between the steering wheel 14 and the steering rack 20. The steering angle sensor 22 instead ascertains a steering angle and transmits it to the control device 26. The control device 26 drives the electric motor 24, which is connected to the steering rack 20 via a belt drive in the exemplary arrangement shown in FIG. 2, so as to generate a torque required to control or steer the motor vehicle. The steering system 10 in this case furthermore has a steering wheel actuator 24′ that is able to apply a torque to the steering wheel 14, for example in order to generate roadway feedback.

[0089] However, the electric motor 24 does not have to be connected to the steering rack 20 via a belt drive. The electric motor 24 may instead be connected to the steering rack via any suitable gear, for example via a worm gear.

[0090] The electromechanically assisted steering system 10 is designed to perform a method for operating a steering system 10, the method being described below with reference to FIG. 3.

[0091] More precisely, the control device 26 comprises a computer program containing a program code that is designed to prompt the steering system 10 to perform the method as described below when the computer program is executed on a computing unit or a processor of the control device 26 of the steering system 10.

[0092] “Program code” is understood here and in the following text to be computer-executable instructions in the form of program code and/or program code modules in compiled and/or uncompiled form, and may be present in any programming language and/or in machine language.

[0093] It is pointed out that the method for operating a steering system may be performed, with appropriate adjustments, in steering systems 10 according to FIGS. 1(a) to (f) and according to FIG. 2.

[0094] FIG. 3 shows a block diagram for illustrating the method.

[0095] A steering rack force signal F.sub.RF,s, a driver torque signal T.sub.DR and a speed signal ν are acquired. A model-based steering rack force signal F.sub.RF,m is also ascertained.

[0096] The steering rack force signal F.sub.RF,s and the model-based steering rack force signal F.sub.RF,m here each comprise information about a steering rack force acting on the steering rack 20.

[0097] The driver torque signal comprises information about a driver torque exerted on the steering wheel 14 by the driver, that is to say for example about a torque that the driver applies to the steering wheel 14.

[0098] The speed signal ν comprises information about the speed of the motor vehicle. It may for example be read from a CAN signal of a corresponding bus system of the motor vehicle.

[0099] Here and in the following text, “acquiring” should be understood to mean that the corresponding signal is measured directly and/or determined from other measured variables, that is to say is calculated.

[0100] The steering rack force signal F.sub.RF,s may thus be measured directly or determined from other measured variables.

[0101] By way of example, a motor position of the electric motor 24 or 24′, an assistive torque of the electric motor 24, a steering column torque, a steering angle and/or a steering rack position may be ascertained by way of suitable sensors of the steering system 10, and the steering rack force signal F.sub.RF,s is ascertained from one or more of these variables.

[0102] An observer is in particular developed based on a mathematical model of a lower part of the steering system 10, wherein the lower part of the steering system 10 comprises the steering rack 20.

[0103] The mathematical model may be based here on a physical equivalent model, by way of which the lower part of the steering system 10 is modeled,

[0104] The observer may be used to determine unknown variables of the mathematical model based on available measured variables, which are able to be measured using sensors that are already installed in the steering system 10.

[0105] The observer may thus be used to ascertain the steering rack force signal F.sub.RF,s based on available measured variables even when not all variables of the mathematical model that are required for this are able to be measured.

[0106] In the same way, the driver torque signal F.sub.DR may be measured directly or determined based on other measured variables.

[0107] By way of example, the driver torque signal F.sub.DR may be measured directly by way of the torque and/or steering angle sensor 22.

[0108] As an alternative or in addition, other variables, for example a motor position of the electric motor 24 or 24′, a steering column torque, a steering angle and/or a steering rack position, may be ascertained by way of suitable sensors of the steering system 10, and the driver torque signal T.sub.DR is ascertained from one or more of these variables.

[0109] The model-based steering rack force signal F.sub.RF,m is ascertained based on a motor vehicle model. The motor vehicle model may be a mathematical model of the motor vehicle or of parts of the motor vehicle, wherein the mathematical model may be based on a physical equivalent model of the motor vehicle.

[0110] Based on a measured variable or multiple measured variables that is or are ascertained by way of one or more sensors of the motor vehicle, it is possible to calculate the model-based steering rack force signal F.sub.RF,m based on the mathematical model of the motor vehicle.

[0111] A further observer that is able to ascertain unknown variables of the mathematical model based on available measured variables is optionally developed based on the mathematical model. The further observer may thus be used to determine unknown variables based on measured variables, which are able to be measured using sensors that are already installed in the steering system 10.

[0112] The further observer may thus be used to ascertain the model-based steering rack force signal F.sub.RF,m based on available measured variables even when not all variables of the mathematical model of the motor vehicle that are required for this are able to be measured.

[0113] The acquired steering rack force signal F.sub.RF,s is filtered by way of a filter 28, designed as a high-pass filter in the exemplary embodiment shown, thereby giving a filtered steering rack force signal F.sub.RF,HP. As an alternative to the high-pass filter, the filter 28 may also be a bandpass filter.

[0114] Generally speaking, the filter 28, that is to say the low-pass filter or the bandpass filter, is configured to filter out, that is to say to remove, a particular frequency range of the steering rack force signal F.sub.RF,s.

[0115] In one exemplary arrangement, the particular frequency range is for example a frequency range that comprises a resonant frequency of the steering system 10, in particular of the steering gear 12 or 12′.

[0116] In other words, the filter 28, that is to say the high-pass filter or the bandpass filter, is thus used to filter out components of the steering rack force signal F.sub.RF,s that lie below the resonant frequency.

[0117] The resonant frequency is for example in a range between 10 Hz and 20 Hz.

[0118] The filter 28, that is to say the high-pass filter or the bandpass filter, accordingly has for example a passband above the resonant frequency.

[0119] The acquired steering rack force signal F.sub.RF,s is filtered in parallel therewith by way of a low-pass filter 30, thereby giving a low-pass-filtered steering rack force signal F.sub.RF,TP.

[0120] Generally speaking, the low-pass filter 30 is configured to filter out, that is to say to remove, a particular frequency range of the steering rack force signal F.sub.RF,s.

[0121] The particular frequency range is for example a frequency range that comprises a resonant frequency of the steering system 10, in particular of the steering gear 12 or 12′.

[0122] In other words, the low-pass filter 30 is thus used to filter out components of the steering rack force signal F.sub.RF,s that lie above the resonant frequency.

[0123] The resonant frequency is for example in a range between 10 Hz and 20 Hz.

[0124] The low-pass filter 30 accordingly has a passband below the resonant frequency.

[0125] The acquired driver torque T.sub.DR is overlaid, more precisely scaled, with the speed signal, thereby giving a speed-dependent driver torque signal T.sub.DR,ν.

[0126] The acquired driver torque signal T.sub.DR may be multiplied here by a first weighting function 32. By way of example, the value of the first weighting function 32 increases as driver torque increases.

[0127] The speed signal ν may be multiplied by a second weighting function 34. By way of example, the value of the second weighting function 34 decreases as speed increases.

[0128] As illustrated in FIG. 3, the resultant speed-dependent driver torque signal T.sub.DR,ν contains information about the driver torque T.sub.DR exerted on the steering wheel 14 by the driver and information about the speed of the motor vehicle.

[0129] The filtered steering rack force signal F.sub.RF,HP is scaled with the speed-dependent driver torque signal T.sub.DR,ν, thereby giving a filtered scaled steering rack force signal F.sub.RF,sc.

[0130] The scaled steering rack force signal therefore contains information about a high-frequency component of the steering rack force, the driver torque, and the speed of the motor vehicle.

[0131] It is pointed out that the acquired steering rack force signal F.sub.RF,s may also first be scaled with speed-dependent driver torque signal T.sub.DR,ν, wherein the resultant scaled steering rack force signal is then filtered by way of the filter 28 in order to obtain the filtered scaled steering rack force signal F.sub.RF,sc. The order of the scaling and filtering may thus also be reversed.

[0132] The model-based steering rack force signal F.sub.RF,m is scaled with, that is to say multiplied by, the speed signal ν, thereby giving a model-based speed-dependent steering rack force signal F.sub.RF,m,ν.

[0133] The speed signal ν may be multiplied beforehand here by a third weighting function 36, for example wherein the third weighting function 36 increases as speed increases, as indicated by way of example in FIG. 3.

[0134] The low-pass-filtered steering rack force signal F.sub.RF,TP is furthermore overlaid with the speed signal ν, thereby giving a low-pass-filtered speed-dependent steering rack force signal F.sub.RF,TP,ν. More precisely, the low-pass-filtered steering rack force signal F.sub.RF,TP is scaled with, that is to say multiplied by, the speed signal ν.

[0135] The speed signal ν may have been weighted beforehand here, for example with the third weighting function 36 and the fourth weighting function (“1-s” in FIG. 3).

[0136] The filtered scaled steering rack force signal F.sub.RF,sc the model-based speed-dependent steering rack force signal F.sub.RF,m,ν and the low-pass-filtered speed-dependent steering rack force signal F.sub.RF,TP,ν are added, thereby giving a combined steering rack force signal F.sub.RF,c.

[0137] Based on the combined steering rack force signal F.sub.RF,c , a steering feedback torque for the electric motor 24 or 24′ is ascertained by the control device 26 in subsequent steering sensation functions (for example basic steering torque, active reset, damping, etc.).

[0138] In EPS steering systems, as illustrated in FIGS. 1(a) to (f), there is a mechanical operative connection between the drive wheels of the motor vehicle and the steering wheel 14. In this case, however, the steering sensation may be changed via the electric motor 24 by changing the torque, that is to say the steering feedback torque, able to be perceived on the steering arrangement by the driver.

[0139] In steer-by-wire steering systems illustrated in FIG. 2, there is no mechanical operative connection between the wheels of the motor vehicle and the steering wheel 14. The steering wheel 14 is in this case assigned its own electric motor 24′ that generates the steering feedback torque. In this case, essentially all of the torque able to be perceived on the steering means by the driver is thus generated by the electric motor 24′.

[0140] Regardless of the type of steering system, the method as described above makes it possible to give appropriate steering feedback that is pleasant for the driver in any driving situation, for example for any vehicle speed.

[0141] The steering feedback for example gives the driver information about a response of the motor vehicle to a steering movement. As an alternative or in addition, the steering feedback dives the driver information about the surroundings of the motor vehicle, for example about the condition of the road on which the motor vehicle is traveling. The steering feedback may accordingly be used, if desirable, also to transmit useful information and/or problem information about the roadway condition to the driver.