Steering control system and a method for controlling steering

A vehicle, comprising:

• a braking system, which is configured, based on a steering demand, to brake dissymmetrically side wheels of the vehicle to steer the vehicle based on a resulting yaw moment, wherein the vehicle is a commercial vehicle;
• and
• a steering control system, including:
• a sensor unit for detecting a braking request or a deceleration of the vehicle and for detecting a lateral offset and, based thereon, to generate a brake indication signal and a steering demand;
• and
• a control module to receive the brake indication signal and the steering demand;
• wherein when the steering demand is below a predetermined threshold value, the control module generates a steering signal only when the brake indication signal indicates a braking request,
• wherein when the steering demand exceeds the predetermined threshold value, the control module generates the steering signal even when the brake indication signal is not present or indicates no braking request,
• wherein the control module is configured to provide the steering signal to the braking system to brake the vehicle-dissymmetrically to steer the vehicle,
• wherein the sensor unit includes at least one sensor to detect a misalignment representing the lateral offset, of the vehicle with a traffic lane, and wherein the control module is configured to receive, as the steering demand, a sensor signal from the at least one sensor indicating the misalignment and to generate the steering signal to correct the misalignment and to further follow the traffic lane,
• wherein the commercial vehicle includes a traffic jam assist unit to operate the vehicle in a traffic jam assistant mode, and wherein the control module is configured to steer the vehicle in the traffic jam assistant mode based on the steering signal,
• wherein the commercial vehicle includes a steering system to steer wheels in response to a primary steering signal by controlling a steering angle of steered wheels, wherein the control module includes a selection module configured to select a first steering mode or a second steering mode, wherein in the second steering mode the vehicle is steered by controlling a braking signal for at least one vehicle wheel, and wherein the control module is configured to generate the steering signal when the second steering mode is selected,
• wherein the traffic jam assist unit is configured to generate a steer-by-brake signal and provide the steer-by-brake signal to braking system actuators assigned to the steer-by-brake function to dissymmetrically brake wheels of the vehicle to correct an orientation of the vehicle,
• wherein when the traffic jam assistant mode is activated, the steering control system is switched in the second steering mode to enable the steer-by-brake function, by using the steer-by-brake signal as the steering signal,
• wherein the lateral offset is any state, position or orientation of the vehicle that is corrected or compensated for by steering the vehicle, wherein the sensor unit includes a braking sensor, including a camera, radar, lidar, or ultrasonic sensor, for detecting the lateral offset,
• wherein deviations smaller than a threshold deviation associated to the predetermined threshold value from an ideal position, orientation or state of the vehicle are corrected immediately if the vehicle is to brake, otherwise the correction is postponed until a future braking request which is used to compensate the lateral offset, and
• wherein when the deviation does require an immediate action, the steering control system does not wait until the next brake action, but corrects the state, position or orientation immediately by using the steer-by-brake function, wherein the action is made based on a threshold which indicates the threshold deviation from the ideal state, position or orientation.

A method of controlling a steering for a commercial vehicle, the method comprising:

• receiving and/or detecting sensor signals, using a sensor unit, indicating a braking request or a deceleration and a lateral offset of the vehicle, wherein the commercial vehicle includes a braking system, which is configured, based on a steering demand, to brake dissymmetrically side wheels of the vehicle to steer the vehicle based on a resulting yaw moment;
• generating, based on the sensor signals, a brake indication signal and the steering demand, wherein when the steering demand is below a predetermined threshold value, generating a steering signal when the brake indication signal indicates a braking request, and wherein when the steering demand exceeds the predetermined threshold value, generating the steering signal even when the brake indication signal is not present or indicates no braking request;
• and
• providing the steering signal to the braking system to brake at least one side wheel of the vehicle;
• wherein the sensor unit includes at least one sensor to detect a misalignment representing the lateral offset, of the vehicle with a traffic lane, and wherein a control module is configured to receive, as the steering demand, a sensor signal from the at least one sensor indicating the misalignment and to generate the steering signal to correct the misalignment and to further follow the traffic lane,
• wherein the commercial vehicle includes a traffic jam assist unit to operate the vehicle in a traffic jam assistant mode, and wherein the control module is configured to steer the vehicle in the traffic jam assistant mode based on the steering signal,
• wherein the commercial vehicle includes a steering system to steer wheels in response to a primary steering signal by controlling a steering angle of steered wheels, wherein the control module includes a selection module configured to select a first steering mode or a second steering mode, wherein in the second steering mode the vehicle is steered by controlling a braking signal for at least one vehicle wheel, and wherein the control module is configured to generate the steering signal when the second steering mode is selected,
• wherein the traffic jam assist unit is configured to generate a steer-by-brake signal and provide the steer-by-brake signal to braking system actuators assigned to the steer-by-brake function to dissymmetrically brake wheels of the vehicle to correct an orientation of the vehicle,
• wherein when the traffic jam assistant mode is activated, the steering control system is switched in the second steering mode to enable the steer-by-brake function, by using the steer-by-brake signal as the steering signal,
• wherein the lateral offset is any state, position or orientation of the vehicle that is corrected or compensated for by steering the vehicle, wherein the sensor unit includes a braking sensor, including a camera, radar, lidar, or ultrasonic sensor, for detecting the lateral offset,
• wherein deviations smaller than a threshold deviation associated to the predetermined threshold value from an ideal position, orientation or state of the vehicle are corrected immediately if the vehicle is to brake, otherwise the correction is postponed until a future braking request which is used to compensate the lateral offset,
• wherein when the deviation does require an immediate action, the steering control system does not wait until the next brake action, but corrects the state, position or orientation immediately by using the steer-by-brake function, wherein the action is made based on a threshold which indicates the threshold deviation from the ideal state, position or orientation.

A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

• a program code arrangement having a program code for controlling a steering for a commercial vehicle, by performing the following:
• receiving and/or detecting sensor signals, using a sensor unit, indicating a braking request or a deceleration and a lateral offset of the vehicle, wherein the commercial vehicle includes a braking system, which is configured, based on a steering demand, to brake dissymmetrically side wheels of the vehicle to steer the vehicle based on a resulting yaw moment;
• generating, based on the sensor signals, a brake indication signal and the steering demand, wherein when the steering demand is below a predetermined threshold value, generating a steering signal only when the brake indication signal indicates a braking request, and wherein when the steering demand exceeds the predetermined threshold value, generating the steering signal even when the brake indication signal is not present or indicates no braking request;
• and
• providing the steering signal to the braking system to brake at least one side wheel of the vehicle;
• wherein the sensor unit includes at least one sensor to detect a misalignment representing the lateral offset, of the vehicle with a traffic lane, and wherein a control module is configured to receive, as the steering demand, a sensor signal from the at least one sensor indicating the misalignment and to generate the steering signal to correct the misalignment and to further follow the traffic lane,
• wherein the commercial vehicle includes a traffic jam assist unit to operate the vehicle in a traffic jam assistant mode, and wherein the control module is configured to steer the vehicle in the traffic jam assistant mode based on the steering signal,
• wherein the commercial vehicle includes a steering system to steer wheels in response to a primary steering signal by controlling a steering angle of steered wheels, wherein the control module includes a selection module configured to select a first steering mode or a second steering mode, wherein in the second steering mode the vehicle is steered by controlling a braking signal for at least one vehicle wheel, and wherein the control module is configured to generate the steering signal when the second steering mode is selected,
• wherein the traffic jam assist unit is configured to generate a steer-by-brake signal and provide the steer-by-brake signal to braking system actuators assigned to the steer-by-brake function to dissymmetrically brake wheels of the vehicle to correct an orientation of the vehicle,
• wherein when the traffic jam assistant mode is activated, the steering control system is switched in the second steering mode to enable the steer-by-brake function, by using the steer-by-brake signal as the steering signal,
• wherein the lateral offset is any state, position or orientation of the vehicle that is corrected or compensated for by steering the vehicle, wherein the sensor unit includes a braking sensor, including a camera, radar, lidar, or ultrasonic sensor, for detecting the lateral offset,
• wherein deviations smaller than a threshold deviation associated to the predetermined threshold value from an ideal position, orientation or state of the vehicle are corrected immediately if the vehicle is to brake, otherwise the correction is postponed until a future braking request which is used to compensate the lateral offset,
• wherein when the deviation does require an immediate action, the steering control system does not wait until the next brake action, but corrects the state, position or orientation immediately by using the steer-by-brake function, wherein the action is made based on a threshold which indicates the threshold deviation from the ideal state, position or orientation.