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CN-122009312-A - Electromechanical steering system, method for operating an electromechanical steering system, and vehicle

CN122009312ACN 122009312 ACN122009312 ACN 122009312ACN-122009312-A

Abstract

An electromechanical steering system comprises an auxiliary device, a steering control device, a steering angle sensor, a steering shaft, an actuator and a steering controller, by means of which the actuator is caused to adjust a wheel steering angle preset by the steering controller, and is also used for activating the auxiliary device in case of an emergency or danger, which causes the wheel steering angle to be decoupled from the steering angle of the steering control device by means of the actuator changing or adjusting the wheel steering angle independently of the steering angle sensor. The steering controller is used to monitor the operation of the steering device during the activation of the auxiliary device, in that the decoupling of the wheel steering angle from the steering angle of the steering device is released in a multistage or stepless manner, in that a) a predefined torque or a change in torque over time is detected by a torque sensor assigned to the steering device, or b) a preset change in steering angle over time is detected by a steering angle sensor. The invention also relates to a steering system operation method and a vehicle.

Inventors

  • M. Pazelt
  • K. Andreas

Assignees

  • 奥迪股份公司

Dates

Publication Date
20260512
Application Date
20251103
Priority Date
20241112

Claims (10)

  1. 1. An electromechanical steering system (100) comprising an auxiliary device (102) for providing steering assistance; A steering device (104); A steering angle sensor (106) which is assigned to the steering device (104), wherein the steering angle sensor (106) is provided for detecting a steering angle of the steering device (104); At least one steering shaft (110); An actuator (112) assigned to the steering shaft (110); and a steering controller (114) which is provided for converting the detected steering angle into a wheel steering angle, wherein the steering controller (114) is used for causing the actuator (112) to adjust the wheel steering angle preset by the steering controller (114); Wherein the steering controller (114) is further provided for activating the auxiliary device (102) in case of an emergency or danger, wherein the activation of the auxiliary device (102) causes the wheel steering angle to be decoupled from the steering angle of the steering control device (104), at least in part, by means of the actuator (112) changing or adjusting the wheel steering angle independently of the steering angle sensor (106), It is characterized in that the method comprises the steps of, A steering controller (114) is provided for monitoring the operation of the steering device (104) during activation of the auxiliary device (102), Wherein the decoupling of the wheel steering angle and the steering angle of the steering device (104) is released in a multistage or stepless manner when: a) The torque sensor (108) associated with the steering device (104) detects a predefined torque or a predefined torque change over time, Or (b) B) The steering angle sensor (106) detects a change in a preset steering angle with time.
  2. 2. The electromechanical steering system (100) according to claim 1, characterized in that the electromechanical steering system is designed as a steering-by-wire system without steering column.
  3. 3. An electromechanical steering system (100) according to claim 1 or 2, characterized in that the steering controller (114) is arranged to monitor the operation of the steering gear (104) only after a preset time interval has elapsed after the auxiliary device (102) has been activated.
  4. 4. An electromechanical steering system (100) according to any of claims 1-3, characterized in that the steering controller (114) is arranged to eliminate the decoupling of the wheel steering angle from the steering angle during a predefined period of time, whereby during this period of time also user intervention can take place in parallel with the intervention of the auxiliary device (102).
  5. 5. A method for operating an electromechanical steering system (100) according to any of the claims 1 to 4, the method comprising the steps of: -activating an auxiliary device (102) for providing steering assistance, for example when an emergency or dangerous situation is detected, wherein the wheel steering angle is decoupled from the steering angle of the steering device (104) and the wheel steering angle is changed or adjusted at least partly independently of the steering angle sensor (106) of the steering device (104); -monitoring whether the steering device (104) is operated during activation of the auxiliary device (102), and -Decoupling the wheel steering angle from the steering angle of the steering device (104) in a multistage or stepless manner if: a) The torque sensor (108) assigned to the steering device (104) detects a predefined torque or a predefined torque change over time, or b) the steering angle sensor (106) detects a preset steering angle change over time.
  6. 6. The method according to claim 5, characterized in that the operation of the steering device (104) is monitored only after a preset time interval has elapsed after the auxiliary device (102) has been activated.
  7. 7. A method according to claim 5 or 6, characterized in that the decoupling of the wheel steering angle from the steering angle is released during a predefined period of time, so that during this period of time the user intervention can also take place in parallel with the intervention of the auxiliary device (102).
  8. 8. The method according to any of claims 5 to 7, characterized in that the decoupling relationship is eliminated in a linear manner during a predefined period of time.
  9. 9. The method according to any of claims 5 to 7, wherein the decoupling relationship is exponentially eliminated during a predefined period of time.
  10. 10. A vehicle (200) having an electromechanical steering system (100) according to any one of claims 1 to 4.

Description

Electromechanical steering system, method for operating an electromechanical steering system, and vehicle Technical Field The present invention relates to an electromechanical steering system, in particular for a two-track vehicle. The invention further relates to a vehicle having such a steering system and to a method for operating such an electromechanical steering system. Background Electromechanical steering systems, such as steer-by-wire systems, are mainly used for controlling two-track vehicles. In a steer-by-wire system, there is no mechanical connection between the steering handle and the steering gear. In this case, a complete set of electronic force and travel control mechanisms is achieved, which act simultaneously on the steering device and the steered vehicle wheels. Modern assistance devices in vehicles may provide assistance to the driver in various driving operations or driving situations. For example, modern auxiliary devices may automatically keep lanes, adjust and maintain distance from a preceding vehicle, or provide assistance during emergency braking. I.e. in such emergency-and dangerous situations, auxiliary interventions are carried out by means of auxiliary devices. The auxiliary device has full control during the steering intervention and in case of a situation misjudgment, may steer the vehicle already before the driver can fully evaluate the situation himself. Such autonomous intervention of the auxiliary device may be uncomfortable for the driver. In particular, when using a steer-by-wire system, the lack of a mechanical connection to the wheel or wheels results in torque no longer being transmitted to the steering device, so that the user cannot obtain immediate feedback about the driving situation during the auxiliary intervention. Furthermore, the driver is also unable to obtain any feedback about the trajectory recommended by the auxiliary device. An auxiliary system for automatically moving a vehicle into an optimized dynamic driving state and a vehicle equipped with a system for controlling the vehicle by means of the auxiliary system for automatically moving the vehicle into an optimized dynamic driving state are described in DE102023200693 A1. A system for controlling a vehicle is proposed, which can interact with a driver as required and adjust the vehicle control as desired and/or according to the driver's wishes and/or capabilities. Essentially, this document aims at implementing a database that records a plurality of drivers and performs interventions based thereon. Thus driver behavior is analyzed by artificial intelligence and stored in a database. The system provides driver feedback based on any deviation from the target specification and stores the driver feedback. In this case, a database is provided for learning the wrong behavior of the driver, wherein, however, a plurality of drivers and driving patterns are stored in the database, which are then provided as a data basis for the auxiliary intervention. DE102021205110A1 describes a device and a method for controlling a vehicle in a water ski state, and a vehicle. The device is designed to provide a front axle signal in response to an identification signal representing a water slip condition at the front axle of the vehicle in a manner decoupled from a direction signal representing a desired direction of travel change of the vehicle in order to generate a front steering angle adapted to the water slip condition. DE102016217772A1 describes a device, a method of operation and an electronic control unit for controlling a vehicle that can be driven at least partially automatically. The auxiliary device described therein can decouple or (completely) couple the steering angle position of the steering wheel with respect to the wheel angle position. Disclosure of Invention The object of the present invention is therefore to provide an electromechanical steering system, a method for operating such an electromechanical steering system and a vehicle having such an electromechanical steering system, which contribute to an improved switching from auxiliary device intervention to user intervention. This object is achieved by an electromechanical steering system having the features of claim 1, a method having the features of claim 5 and a vehicle having the features of claim 10. Advantageous embodiments of the invention with suitable modifications are given in the dependent claims. The electromechanical steering system according to the invention comprises an auxiliary device for providing steering assistance, in particular in an emergency or dangerous situation. However, the assistance device of the steering system according to the invention can also be used as an assistance in comfort functions or automatic/semiautomatic driving. In particular in semiautomatic driving, it is possible to switch between steering by the driver and steering by the auxiliary device more quickly, wherein the steering wheel can also be kept center