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

• US 6,226,579 B1
• Filed: 03/20/1998
• Issued: 05/01/2001
• 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): Zanelli, Michael J.
• Assistant Examiner(s): Gibson, Eric M
• Application Number:
  US09/045,613
• Time in Patent Office: 1,138 Days
• Field of Search: 701/41, 180/408, 180/412, 180/422
• US Class Current: 701/41
• 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 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• 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 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A steering system for a motor vehicle with at least one steerable wheel, an actuator, and an auxiliary drive. The steering motion initiated by the driver of the vehicle and the motion initiated by the actuator are superimposed by the auxiliary drive to generate the steering motion of the steerable wheel. At least two steering components are computed and a control signal is generated to control the actuator by superimposing the computed steering components. The steering components are computed in parallel and independently of one another so that several functions are beneficially combined to control running behavior. This provides an improvement of running dynamics by means of steering interventions.

Claims

1. Method for operating a steering system for a motor vehicle which has one steerable wheel (15), an actuator (13;

23), and an auxiliary drive (12;

22), the method comprising;

superimposing a steering angle initiated by a driver of the vehicle and an angle initiated by said actuator (13;

23) to generate a steering motion of the steerable wheel by;

computing at least two steering components in parallel and independently of one another;

coordinating the computed steering components as a function of an instantaneous prevailing running state;

generating a control signal by superimposing the coordinated steering components, and controlling the actuator by means of the generated control signal to initiate the motion.

2. Method according to claim 1, wherein the steering components are computed by computing each of the steering components to achieve one of a predetermined control and a regulation objective.

3. Method according to claim 2, wherein the control and regulation objectives are set differently for each individual steering component.

4. Method according to claim 1, wherein the steering components are computed at the same time.

5. Method according to claim 1, wherein the steering components are computed in such a way that at least two of the following conditions are met:

the angular yaw rate of the motor vehicle is regulated to a definite desired yaw rate control value, and

a yawing motion caused by a braking process of the motor vehicle is counteracted by a yaw moment compensation, and

crosswind effects are counteracted by crosswind compensation, and

a corrective steering component that depends on the speed of rotation of the steering wheel (11).

6. Method according to claim 5, wherein:

in the case of yaw rate control, the instantaneous angular yaw rate is detected, the desired value is determined as a function of the detected rotation of the steering wheel and the detected vehicle speed, and a steering component is computed as a function of the difference between the instantaneous angular yaw rate and the desired value, and

in the case of yaw moment compensation, computing a steering component as a function of detected brake pressures that are being applied to the vehicle'"'"'s brakes on different sides of the vehicle, and

in the case of crosswind compensation, computing a steering component as a function of air pressures detected at various points on the body of the vehicle.

7. Method according to claim 1, wherein the computed steering components are differently weighted as a function of the instantaneous prevailing running state.

8. Method according to claim 1, wherein the steering components are computed in a digital processor.

9. Apparatus for operating a steering system for a motor vehicle comprising:

a steerable wheel (15), an actuator (13;

23), and an auxiliary drive (12;

22), wherein a steering angle initiated by a driver of the vehicle and an angle initiated by the actuator are superimposed by the auxiliary drive to generate the steering motion of the steerable wheel;

means for computing two steering components arranged in parallel and independently of one another;

means for coordinating the computed steering components as a function of an instantaneous prevailing running state;

means for generating a control signal by superimposing the coordinated steering components; and

controlling the actuator (13;

23) by means of the generated control signal to initiate the motion.

10. Apparatus according to claim 9, wherein the steering components are computed in said means for computing (34;

3401-3404) by computing each of the steering components to achieve one of a predetermined control and a regulation objective.

11. Apparatus according to claim 10, wherein one of the control and regulation objectives are set differently for the individual steering components.