Method and apparatus for operating a steering system for a motor vehicle

• US 6,085,860 A
• Filed: 03/20/1998
• Issued: 07/11/2000
• Est. Priority Date: 03/22/1997
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Kraemer, Wolfgang, Hackl, Matthias
• Primary Examiner(s): Dickson, Paul N.
• Assistant Examiner(s): YEAGLEY, DANIEL S
• Application Number:
  US09/045,438
• Time in Patent Office: 844 Days
• Field of Search: 180/446, 180/443, 180/422, 303/146, 303/147, 701/41, 701/48
• US Class Current: 180/443
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 2260/024 Yawing moment compensation during mu-split braking
• CPC Class Codes: B60T 8/1764 Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
• CPC Class Codes: B62D 5/008 Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
• 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 steering system for a motor vehicle with at least one steerable wheel, one actuator, and one auxiliary drive. The auxiliary drive superimposes the steering motion initiated by the driver of the vehicle and the motion initiated by the actuator to generate the steering motion of the steerable wheel. A yaw parameter representing the yawing motion of the vehicle is detected, and a control signal is calculated when a predetermined running condition prevails, dependent at least on the detected yaw parameter. The actuator is then controlled by the generated control signal to initiate the motion. A braking parameter representing the braking condition of the vehicle is also detected, and the existence of the running condition is determined dependent on this detected braking parameter whereby yaw behavior is improved. Active steering intervention is switched in only when an external disturbance of vehicle motion is detected.

Claims

1. Method for operating a steering system for a motor vehicle having a braking system, brake lights, at least one steerable wheel, one steering actuator, and one auxiliary drive, the auxiliary drive superimposing the steering motion initiated by a driver of the vehicle and the motion initiated by the steering actuator to generate the steering motion of the steerable wheel, said method comprising:

detecting a yaw parameter representing the yawing motion of the vehicle;

detecting a braking parameter representing the condition of the vehicle, wherein the detected braking parameter is detected as a function of an actuation of the vehicle braking system;

determining the existence of a running condition as a function of the detected braking parameter;

generating a control signal only when said predetermined running condition prevails and said braking parameter is present, wherein said control signal is generated as a function of the detected yaw parameter; and

controlling the steering actuator with the generated control signal to initiate an actuator motion.

2. Method according to claim 1, wherein the detected braking parameter represents a braking condition of the said vehicle in which a braking process takes place on a roadway with significantly different road friction on the different sides of the vehicle.

3. Method according to claim 1, wherein the braking parameter is detected dependent on one of the difference between the wheel brake pressures of at least two wheel brakes on different sides of the vehicle and the ratio of the larger to the smaller of the wheel brake pressure of at least two wheel brakes on different sides of the vehicle.

4. Method according to claim 3, wherein the detected braking parameter also depends on the steering motion initiated by a driver of the said vehicle, the vehicle speed, and a parameter representing transverse acceleration of the vehicle.

5. Method according to claim 1, wherein the detected braking parameter is detected dependent on the actuation of the brake lights.

6. Method according to claim 1, wherein a desired yawing motion value is determined for yawing motion of the vehicle, said yawing motion value dependent on one of the steering motion initiated by the driver of the vehicle and the detected vehicle speed, and wherein the control signal is calculated dependent on the difference between the detected yaw parameter and the desired yawing motion value.

7. Method according to claim 6 wherein one of the detected yaw parameter and said difference is integrated to calculate the control signal.

8. Method according to claim 1, further comprising detecting a crosswind parameter representing a crosswind effect on the said vehicle and determining the existence of said running condition as a function of the detected crosswind parameter.

9. Apparatus for operating a steering system for a motor vehicle with at least one steerable wheel, one steering actuator, and one auxiliary drive, with the auxiliary drive superimposing a steering motion initiated by a driver of the said vehicle and a motion initiated by the steering actuator to generate the steering motion of the steerable wheel, said apparatus comprising:

means for detecting a yaw parameter representing yawing motion of the said vehicle;

means for detecting a braking parameter representing the braking condition of the vehicle, wherein the detected braking parameter is detected as a function of an actuation of the vehicle braking system;

means for determining the existence of a running condition as a function of the detected braking parameter;

means for generating a control signal only when said predetermined running condition prevails and said braking parameter is present, wherein said control signal is generated as a function of said detected yaw parameter; and

means for controlling the steering actuator to initiate a motion with said control signal.

10. Apparatus according to claim 9, wherein the detected braking parameter is a function of one of the difference between the wheel brake pressures of at least two wheel brakes on different sides of the said vehicle and the ratio of the larger to the smaller of the wheel brake pressures of at least two wheel brakes on different sides of the said vehicle.

11. Method for operating a steering system for a motor vehicle having a braking system, brake lights, at least one steerable wheel, one actuator, and one auxiliary drive, the auxiliary drive superimposing the steering motion initiated by a driver of the vehicle and the motion initiated by the actuator to generate the steering motion of the steerable wheel, said method comprising:

detecting a yaw parameter representing the yawing motion of the vehicle;

generating a control signal when a predetermined running condition prevails, wherein said control signal is generated as a function of the detected yaw parameter;

controlling the actuator with the generated control signal to initiate an actuator motion;

detecting a braking parameter representing the braking condition of the said vehicle;

determining the existence of the running condition as a function of the detected braking parameter; and

wherein, after determining the existence of the running condition, the control signal is decreased with time to a predetermined value, the decrease with time being accomplished on one of a linear slope and a first-order time delay curve, and wherein the decrease with time depends on the vehicle speed.