# US 10,864,938 B2 · Method for monitoring the status of an electronic power steering device of at least one component of the electronic power steering device of a motor vehicle

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- Number: US 10,864,938 B2
- Document ID: US10864938B2
- Status: Granted
- Kind: B2
- Application number: 16/062,080
- Filed: 2016-12-02
- Published: 2018-12-27
- Granted: 2020-12-15
- Earliest claimed: 2015-12-18
- Assignees: Robert Bosch GmbH; Robert Bosch Automotive Steering GmbH
- Applicants: Robert Bosch Automotive Steering GmbH
- Inventors: Rainer Schaenzel; Gerd Speidel; Thomas Alber; Michael Sturm
- Web page: https://patentgrep.com/patent/US10864938B2

## CPC

- B62D 5/0484: {for reaction to failures, e.g. limp home}
- B62D 5/0481: {monitoring the steering system, e.g. failures}
- F16H 57/01: Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
- B62D 3/12: of rack-and-pinion type
- F16H 2057/012: {of gearings}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- F16H: GEARING

## Abstract

A method for monitoring the condition of an electronic power steering apparatus or of at least one part of the electronic power steering apparatus of a motor vehicle includes continually capturing acceleration measured values in a region of the electronic power steering apparatus during a driving mode of the motor vehicle and continually providing the captured acceleration measured values to a damage computation section in the form of a damage meter that continuously sums the acceleration measured values and continually forms therefrom at least one variable characterizing a degree of damage to the electronic power steering apparatus or to the at least one part of the electronic power steering apparatus. The method further includes continually comparing the variable with at least one prescribed limit value.

## Claims

### Claim 1

A method for monitoring a condition of an electronic power steering apparatus or of at least one part of the electronic power steering apparatus of a motor vehicle, the method comprising:
continually capturing acceleration measured values in a region of the electronic power steering apparatus during a driving mode of the motor vehicle;
continually providing the captured acceleration measured values to a damage computation section configured as a damage meter that continuously sums the acceleration measured values and continually forms therefrom at least one damage variable characterizing a degree of damage to the electronic power steering apparatus or to the at least one part of the electronic power steering apparatus; and
continually comparing the damage variable with at least one prescribed limit value.

### Claim 2 (depends on 1)

The method as claimed in claim 1, further comprising:
continually forming at least one condition variable characterizing a current steering condition of the electronic power steering apparatus or of the at least one part of the electronic power steering apparatus from the captured acceleration measured values.

### Claim 3 (depends on 2)

The method as claimed in claim 2, further comprising:
forming the at least one condition variable by an analysis of the captured acceleration measured values using frequencies or orders that occur.

### Claim 4 (depends on 3)

The method as claimed in claim 3, further comprising:
assigning the frequencies or orders that occur to the at least one part causing them.

### Claim 5 (depends on 4)

The method as claimed in claim 4, further comprising:
assigning the frequencies or orders that occur to an electric motor, a toothed belt or a bearing of the electronic power steering apparatus.

### Claim 6 (depends on 2)

The method as claimed in claim 2, further comprising:
continually comparing the at least one condition variable with at least one prescribed limit value.

### Claim 7 (depends on 6)

The method as claimed in claim 6, further comprising:
in the event of the at least one prescribed limit value being exceeded by the at least one damage variable and/or by the at least one condition variable, initiating one or more of the following measures:
a) output of a warning to a driver of the motor vehicle;
b) changeover to an emergency operating condition of the electronic power steering apparatus or of the motor vehicle;
c) deactivation of a mode of operation of the electronic power steering apparatus or of the motor vehicle; and
d) storage of a fault report in a memory element of an electronic closed-loop and/or open-loop controller of the electronic power steering apparatus or of the motor vehicle,
wherein the fault report includes at least one of a current date, a current time and a current speed of travel of the motor vehicle.

### Claim 8 (depends on 7)

The method as claimed in claim 7, wherein the deactivation is of a mode of operation of the electronic power steering apparatus or of the motor vehicle of autonomous driving.

### Claim 9 (depends on 1)

The method as claimed in claim 1, further comprising:
capturing the acceleration measured values using at least one acceleration sensor or structure-borne sound sensor arranged in the region of the electronic power steering apparatus.

### Claim 10 (depends on 7)

The method as claimed in claim 7, wherein the at least one acceleration sensor or structure-borne sound sensor is arranged on a circuit board of the electronic closed-loop and/or open-loop controller of the electronic power steering apparatus.

### Claim 11 (depends on 1)

The method as claimed in claim 1, wherein a computer program includes program code to perform the method when the program is executed on a microprocessor of a computer, in particular on an electronic closed-loop and/or open-loop controller of a motor vehicle.

### Claim 12 (depends on 1)

The method as claimed in claim 1, wherein the damage computation section continuously sums the acceleration measured values in a modified form.

### Claim 13

An electronic power steering apparatus of a motor vehicle, comprising:
a steering handle configured to prescribe a steering wheel angle as a measure of a desired wheel steering angle for at least one steerable wheel of the motor vehicle;
a steering gear configured to convert the steering wheel angle into the wheel steering angle of the at least one steerable wheel of the motor vehicle;
an electric servo drive;
an electronic closed-loop and/or open-loop controller configured to at least one of regulate and activate the electric servo drive; and
at least one acceleration sensor or structure-borne sound sensor arranged in at least one of a region of the electronic power steering apparatus and on a circuit board of the electronic closed-loop and/or open-loop controller,
wherein the electronic closed-loop and/or open-loop controller is provided with acceleration measured values from the at least one acceleration sensor or the at least one structure-borne sound sensor as input signals, and is configured to monitor a condition of the electronic power steering apparatus or of at least one part of the electronic power steering apparatus of the motor vehicle, the controller configured to:
continually capture acceleration measured values in the region of the electronic power steering apparatus during a driving mode of the motor vehicle;
continually provide the captured acceleration measured values to a damage computation section configured as a damage meter that continuously sums the acceleration measured values and continually forms therefrom at least one damage variable characterizing a degree of damage to the electronic power steering apparatus or to the at least one part of the electronic power steering apparatus; and
continually compare the damage variable with at least one prescribed limit value.

### Claim 14 (depends on 13)

The electronic power steering apparatus as claimed in claim 13, wherein the at least one acceleration sensor or structure-borne sound sensor is of piezoelectric, microelectromechanical or capacitive construction.

### Claim 15 (depends on 13)

The electronic power steering apparatus as claimed in claim 13, wherein the at least one acceleration sensor or structure-borne sound sensor includes at least one of a weight of <1 g, a pickup range from 20 Hz to 6000 Hz, and a measurement range from +/−0.0187 m/s2 to +/−5000 m/s2.

### Claim 16 (depends on 13)

The electronic power steering apparatus as claimed in claim 13, wherein the at least one acceleration sensor or structure-borne sound sensor is arranged in a region of the steering gear.

### Claim 17 (depends on 16)

The electronic power steering apparatus as claimed in claim 16, wherein the at least one acceleration sensor or structure-borne sound sensor is arranged on a housing of the steering gear, on a ball screw drive of the steering gear, on the electric servo drive, on the electric motor, or on the electronic closed-loop and/or open-loop controller.

### Claim 18 (depends on 13)

The electronic power steering apparatus as claimed in claim 13, wherein the electric servo drive includes an electric motor.

### Claim 19 (depends on 13)

The electronic power steering apparatus as claimed in claim 13, wherein the damage computation section continuously sums the acceleration measured values in a modified form.

### Claim 20

A motor vehicle comprising:
an electronic power steering apparatus;
an electronic closed-loop and/or open-loop controller; and
at least one acceleration sensor or structure-borne sound sensor present in a region of the electronic power steering apparatus,
wherein the electronic closed-loop and/or open-loop controller is provided with acceleration measured values from the at least one acceleration sensor or the at least one structured borne sound sensor as input signals, and is configured to monitor a condition of the electronic power steering apparatus or of at least one part of the electronic power steering apparatus of the motor vehicle, the controller configured to:
continually capture acceleration measured values in the region of the electronic power steering apparatus during a driving mode of the motor vehicle;
continually provide the captured acceleration measured values to a damage computation section configured as a damage meter that continuously sums the acceleration measured values and continually forms therefrom at least one damage variable characterizing a degree of damage to the electronic power steering apparatus or to the at least one part of the electronic power steering apparatus; and
continually compare the damage variable with at least one prescribed limit value.