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DE-102024210889-A1 - Device and method for controlling a steering wheel actuator of a steering system to generate a steering feel, the device comprising a vehicle

DE102024210889A1DE 102024210889 A1DE102024210889 A1DE 102024210889A1DE-102024210889-A1

Abstract

Device (110) and method for controlling a steering wheel actuator (106) of a steering system (102) to generate a steering feel, wherein an actual steering speed and a target steering speed are provided for steering speed control of the steering system (102), depending on a deviation between the actual steering speed and the target steering speed, an actuating torque for the steering wheel actuator (106) is determined, and the steering wheel actuator (106) is controlled to set the actuating torque. The device (110) comprises a vehicle (100).

Inventors

  • Thomas Werner

Assignees

  • Robert Bosch Gesellschaft mit beschränkter Haftung

Dates

Publication Date
20260513
Application Date
20241113

Claims (11)

  1. Method for controlling a steering wheel actuator (106) of a steering system (102) to generate a steering feel, characterized in that an actual steering speed (210) and a target steering speed (212) are provided for steering speed control of the steering system (102) (702), depending on a deviation (218) between the actual steering speed (210) and the target steering speed (212) an actuating torque (208) for the steering wheel actuator (106) is determined (704), and the steering wheel actuator (106) is controlled to set the actuating torque (706).
  2. The procedure according Claim 1 , characterized in that the actuating torque (208) is determined with a controller (200, 600) depending on the deviation (218) and depending on controller parameters (704), in particular wherein the controller has a PI or PID controller structure.
  3. The procedure according Claim 2 , characterized in that the I-component is limited in particular to be constant or dependent on the actual steering speed (210) (704), or that the P-component is determined depending on the actual steering speed (210) (704), or that the actuating torque (208) is limited depending on the actual steering speed (210) (704).
  4. The method according to one of the preceding claims, characterized in that an operating parameter of a vehicle (100) comprising the steering system (102), in particular a vehicle speed (214), is detected and the control is influenced depending on the detected operating parameter (704).
  5. The procedure according Claim 4 , characterized in that the I-component is limited depending on the operating size (704), or that the P-component is determined depending on the operating size (704), or that the actuating torque is limited depending on the operating size (704).
  6. The method according to one of the preceding claims, characterized in that a rack force (302) of a rack (108) of the steering system (102) is provided (702), in particular measured or calculated from steering-internal parameters of the steering system (102) or determined model-based from vehicle parameters, in particular the vehicle speed and a steering angle of the steering system (102), wherein a vehicle speed (214) is provided (702), wherein the target steering speed (212) is determined by means of a first function (300) (702), wherein the first function (300) determines the target steering speed for resetting the rack force (302) to the force zero point of the steering system (102) as a function of the rack force (302) and the vehicle speed (214).
  7. The method according to one of the preceding claims, characterized in that a steering angle (402) of the steering system (102) and a vehicle speed (214) are provided (702), wherein the target steering speed (212) is determined by means of a second function (400) (702), wherein the second function (400) determines the target steering speed (212) for returning the steering angle (402) to an angle zero point of the steering system (102) for straight-ahead driving of the vehicle (100) as a function of the steering angle (402) and the vehicle speed (214).
  8. The method according to one of the preceding claims, characterized in that the target steering speed (212) is damped by means of a third function (500) (702), wherein the third function (500) dampens the target steering speed (212) depending on the actual steering speed (210) and the vehicle speed (214).
  9. The procedure according to the Claims 6 until 8 , characterized in that a target steering speed (212) is determined using each of the functions (300, 400, 500) (702), wherein the target steering speed (212') for the control is determined by summing the target steering speeds (212) provided by the individual functions (300, 400, 500) (702).
  10. Device (110) for controlling a steering wheel actuator (106) of a steering system (102) for generating a steering feel, characterized in that the device (110) is configured to perform the method according to one of the Claims 1 until 9 to execute.
  11. Vehicle (100), characterized in that the vehicle (100) connects the device (110) according to Claim 10 and includes a steering system (102).

Description

State of the art The invention relates to a device and a method for controlling a steering wheel actuator of a steering system to generate a steering feel and a vehicle comprising the device. In steering systems with controlled steering feel, i.e., torque feedback, the controlled variable is the steering torque. With this torque control, an applicable target steering torque is generated, compared with the actual steering torque measured by a torque sensor, and any deviation between the target and actual steering torque is corrected. Alternative control concepts for a controlled steering feel are based on the steering angle or regulate the steering feel in a cascade based on steering angle and hand torque. A controlled steering feel can be provided in both an electric steering system (EPS steering system) and a steer-by-wire (SbW) steering system with feedback actuators. A torque sensor is required for torque control. Controller design can be very demanding and time-consuming until a good compromise between dynamics and stability is found. The application of the often highly complex steering feel functions for generating the target hand torque must be carried out by an expert with extensive experience. Disclosure of the invention The method for controlling a steering wheel actuator of a steering system to generate a steering feel according to claim 1 provides that an actual steering speed and a target steering speed are provided for steering speed control of the steering system. Depending on a deviation between the actual steering speed and the target steering speed, an actuating torque for the steering wheel actuator is determined, and the steering wheel actuator is controlled to adjust the actuating torque. In steering speed control, the target steering speed is not precisely controlled. The deviation and the resulting actuating torque for the steering wheel actuator generate the desired steering feel. Since the target steering speed does not need to be precisely controlled, fewer dynamic and stability problems occur. The method, for example, involves determining the actuating torque using a controller, depending on the deviation and on controller parameters, in particular where the controller has a PI or PID controller architecture. Other controller architectures are also conceivable. The controller parameters are steering feel parameters. For example, the integral (I) component is intended to be constant or limited depending on the actual steering speed. For example, the proportional (P) component is intended to be determined depending on the actual steering speed. For example, the actuating torque is intended to be limited depending on the actual steering speed. The procedure provides, for example, that an operating parameter of a vehicle comprising the steering system, in particular a vehicle speed, is detected, and the control is influenced depending on the detected operating parameter. For example, the integral (I) component is intended to be limited depending on the operating size. For example, the proportional (P) component is intended to be determined depending on the operating size. For example, the actuating torque is intended to be limited depending on the operating size. It can be provided that a rack force is supplied to a rack of the steering system, in particular measured or calculated from steering system parameters or determined model-based from vehicle parameters, especially the vehicle speed and a steering angle of the steering system, wherein a vehicle speed is supplied, wherein the target steering speed is determined by means of a first function, wherein the first function determines the target steering speed for returning the rack force to the force zero point of the steering system as a function of the rack force and the vehicle speed. Depending on the rack force used, a driver of the vehicle receives haptic feedback about vehicle movement, driving condition, and road surface disturbances via the steering feel. The first function returns to the force zero point. Especially at low vehicle speeds, this force zero point is reached much earlier than the angular zero point of the steering system and thus earlier than the straight-ahead position of the steering. It may be provided that a steering angle of the steering system and a vehicle speed are supplied, whereby the target steering speed is determined by means of a second function, wherein the second function sets the target steering speed to reset the steering. The first function determines the angle relative to the steering system's zero point for straight-ahead driving, depending on the steering angle and vehicle speed. The second function returns to the zero point, i.e., straight-ahead driving. It may be possible to implement a third function that dampens the target steering speed, whereby this third function dampens the target steering speed depending on the actual steering speed and the vehicle speed. This allows the damping sen