Hands-on/-off detection in a steer-by-wire system

• US 10,457,323 B2
• Filed: 04/20/2017
• Issued: 10/29/2019
• Est. Priority Date: 04/26/2016
• Status: Active Grant

• Current Assignee: Thyssenkrupp AG, ThyssenKrupp Presta AG (Thyssenkrupp AG)
• Original Assignee: ThyssenKrupp Presta AG (Thyssenkrupp AG)
• Inventors: Rohrmoser, Manuel
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US16/095,744
• Publication Number:
  US 20190217886A1
• Time in Patent Office: 922 Days
• CPC Class Codes: B60W 2050/0029 Mathematical model of the driver
• CPC Class Codes: B60W 2050/0054 Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/001 Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
• CPC Class Codes: B62D 5/006 power actuated
• CPC Class Codes: B62D 5/0481 monitoring the steering system, e.g. failures
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque

Abstract

A steer-by-wire steering system may include a steering adjuster that is electronically controlled depending on driver input, a feedback actuator transmitting feedback from a road, and a control unit that actuates the feedback actuator and the steering adjuster. The control unit comprises an estimator including a monitor and a model of the feedback actuator. The estimator may estimate a driver'"'"'s steering torque based on measurement values of the feedback actuator and with the model and the monitor, then providing the driver'"'"'s steering torque as a result. The control unit further comprises a filter unit that analyzes the measurement values of the feedback actuator by determining the damping of amplitudes of predetermined frequency ranges and to provide the result. The control unit further comprises a decision unit that decides whether a driver'"'"'s hand is in contact with a steering wheel by using the results of the filter unit and the estimator.

Claims

1. A steer-by-wire steering system for a motor vehicle, the steer-by-wire steering system comprising:

a steering adjuster that acts on steered wheels of the motor vehicle and is electronically controlled based on a driver'"'"'s steering demands;

a feedback actuator that transmits feedback effects of a road to a control; and

a control unit that actuates the feedback actuator and the steering adjuster, the control unit comprising

an estimator that has a monitor and a model of the feedback actuator, wherein the estimator estimates a driver'"'"'s steering torque based on measurement values of the feedback actuator and the model and the monitor and provides the driver'"'"'s steering torque as a result,

a filter unit that analyzes the measurement values of the feedback actuator by determining damping of amplitudes of predetermined frequency ranges and that provides a result, and

a decision unit that decides whether a driver'"'"'s hand is in contact with a steering wheel based on the results of the filter unit and the estimator.

2. The steer-by-wire steering system of claim 1 wherein the filter unit comprises a Goertzel algorithm.

3. The steer-by-wire steering system of claim 1 wherein the monitor is an extended Kalman filter.

4. The steer-by-wire steering system of claim 1 wherein depending on an accuracy of the determination of the damping in the filter unit, the decision unit is configured to send a test signal to the feedback actuator, wherein via the test signal, the filter unit, and the estimator the decision unit determines whether the driver'"'"'s hand is in contact with the steering wheel.

5. A method for determining a contact state between a driver of a motor vehicle with a steer-by-wire steering system and a steering wheel of the steer-by-wire steering system, wherein the steer-by-wire steering system comprises a steering adjuster that is electronically controlled based on a driver'"'"'s steering demands, a feedback actuator that transmits feedback effects of a road to the steering wheel, and a control unit that actuates the feedback actuator and the steering adjuster, the method comprising:

determining a frequency spectrum of movement signals detected by sensors of the feedback actuator;

analyzing the frequency spectrum by determining damping of amplitudes of predetermined frequency ranges; and

estimating a driver'"'"'s steering torque with a monitor of the feedback actuator, a model of the feedback actuator, and the movement signals.

6. The method of claim 5 wherein if the analysis of the frequency spectrum exceeds a predetermined level of accuracy, the method comprises determining the contact state by analyzing estimated driver'"'"'s steering torque, the frequency spectrum, and the damping of amplitudes of the predetermined frequency ranges.

7. The method of claim 6 wherein if the analysis of the frequency spectrum fails to exceed the predetermined level of accuracy, the method comprises outputting a test signal to the feedback actuator prior to performing the steps of determining the frequency spectrum, analyzing the frequency spectrum, estimating the driver'"'"'s steering torque, and determining the contact state.

8. The method of claim 5 wherein analyzing the frequency spectrum comprises comparing the determined frequency spectrum with a stored reference frequency spectrum.

9. The method of claim 5 comprising filtering the determined frequency spectrum, wherein analyzing the frequency spectrum is performed depending on a filtered frequency range of the frequency spectrum.

10. The method of claim 9 wherein the filtering utilizes a Goertzel algorithm.

11. The method of claim 5 wherein the monitor is an extended Kalman filter.

12. The method of claim 5 wherein the model of the feedback actuator contains at least one of inertia, damping/friction, stiffness, non-uniformity, or dead time of the steer-by-wire steering system.

13. The method of claim 5 wherein the movement signals comprise an angle of rotation of a steering shaft that is measured by the feedback actuator and a torque that is measured by the feedback actuator.