Method for determining a control standard of an active vehicle steering device controllable by a control device

• US 20060173597A1
• Filed: 12/16/2005
• Published: 08/03/2006
• Est. Priority Date: 01/31/2005
• Status: Active Grant

• Current Assignee: ZF Friedrichshafen AG (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: ZF Friedrichshafen AG (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Rosemeier, Thomas, Pelchen, Christoph, Thies, Andreas
• Granted Patent: US 7,418,327 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60W 2050/0028 Mathematical models, e.g. for simulation
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

A method for determining a control standard of an active steering device (10) of a vehicle (1) controllable by a control device (11). A driving dynamic of the vehicle (1) is influenced according to the control standard. The control standard is determined according to a nominal yawing rate calculated at least with reference to different actual operating parameters of the vehicle and one dynamic vehicle state determined according to the nominal yawing rate and actual operating state parameters. The control standard is superimposed on a steering transit angle preset by a driver so that an existing actual yawing rate is changed in direction of the nominal yawing rate.

Claims

1-10. -10. (canceled)

11. A method for determining a control standard of an active steering device (10) of a vehicle (1) controllable by a control device (11), the method comprising the steps of;

influencing driving dynamics of the vehicle (1) according to the control standard;

determining the control standard according to a nominal yawing rate (φ

_0) calculated with reference to at least different actual operating state parameters (v_fzg, F_AS_2A to F_AS_3B, δ

_0) of the vehicle and according to a dynamic driving state determined according to the nominal yawing rate (φ

_0), the same as actual operating state parameters (v_fzg, F_AD_2A to F_AD_3B, δ

_0); and

superimposing the control standard on a steering transit angle (δ

_0) preset by a driver so that an actual yawing rate is changed in direction to the nominal yawing rate (φ

_0).

12. The method according to claim 11, further comprising the step of determining the nominal yawing rate (φ

_0) according to a longitudinal transit angle (δ

_0) preset by a driver, static wheel tread forces (F_AS_2A to F_AS_3B) and an actual vehicle speed (v_fzg).

13. The method according to claim 12, further comprising the step of calculating the nominal yawing rate (φ

_0) with a computer algorithm embodied as one-track vehicle pattern in which two tracks of a vehicle are by computation reproduced as one track.

14. The method according to claim 13, further comprising the step of designing the computer algorithm as one of a linearized or a non-linearized one-track vehicle.

15. The method according to claim 11, further comprising the step of calculating the nominal yawing rate (φ

_0) with a computer algorithm designed as full vehicle pattern by way of which a vehicle having two tracks is theoretically reproduced.

16. The method according to claim 11, further comprising the step of the determining the nominal yawing rate (φ

_0) according to a predefined operating strategy.

17. The method according to claim 16, further comprising the step of storing the operating strategy as predefined characteristic values stored in a characteristic field which corresponding to the existing actual operating state parameters (v_fzg, F_AS_2A to F_AS_3B, δ

_0) are each stored as input operands for the computer algorithms in the control device (11).

18. The method according to claim 11, further comprising the step of determing the dynamic driving state of the vehicle (1) according to the vehicle speed (v_fzg), dynamic wheel tread forces (F_AD_2A to F_AD_3B) and one steering transit angle (δ

_0) requested by the driver.

19. The method according to claim 11, further comprising the step of determining the dynamic vehicle state by way of a linearized one-track vehicle pattern at the operating point actually basis of the calculation in which the two tracks of the vehicle are reproduced by computer as one track.

20. The method according to claim 11, further comprising the step of superimposing another portion on the control standard determined via the precontrol process (VS_3) which is determined via a regulation process (RV_4) according to an actual steering transit angle.