Method for steering a vehicle with superimposed steering
AssigneeContinental Teves AG & Co. oHG
InventorJürgen Böhm
Life of this patent
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Abstract
A method of steering a vehicle with a superimposed steering system, wherein a steering angle input by the driver and an additional angle (additional steering angle) is determined and wherein the additional steering angle can override the input steering angle according to further quantities, in particular diving-dynamics quantities, by means of an electric motor, is characterized in that the method includes a steering angle control with a subordinated current or torque control of the electric motor.
Claims11
A method of steering a vehicle with a superimposed steering system comprising;
- inputting a steering angle by the driver;
- determining an additional steering angle wherein the additional steering angle can override the input steering angle according to further quantities, through an electric motor;
- providing a steering angle control with a subordinated current or torque control of the electric motor;
- executing an anticipatory control of a nominal speed of the motor ωM,nominal, determined from a motor speed specification ωM,spec and a motor speed present value ωM,reg, by:
- determining the motor speed preset value ωM,reg by
- comparing a nominal steering angle value δL,nominal and a
- determined actual steering angle value δL,Actual, and
- determining the motor speed specification ωM,spec from the time derivative of the nominal steering angle value δL,nominal and the driver's steering angle δH and a gear ratio factor IL2 by means of the following formula:
- ωM,spec=({dot over (δ)}L,nominal−IL1{dot over (δ)}H)/IL2.
A system comprising an electric motor operating under a computer executing computer program instructions encoded on a controller:
- the system operable to implement the instructions that steer a vehicle with a superimposed steering system, wherein a steering angle input by a driver and an additional steering angle is determined and wherein the additional steering angle can override the input steering angle according to further quantities, through an electric motor,
- wherein the system includes a steering angle control with a subordinated current or torque control of the electric motor, and where an anticipatory control of the nominal speed of the motor ωM,nominal, is executed in the computer program instructions, the nominal speed of the motor is determined from a motor speed specification ωM,spec and a motor speed present value ωM,reg and the motor speed preset value ωM,reg is determined on the basis of a comparison between the nominal steering angle value δL,nominal and a determined actual steering angle δL, Acctual, and the motor speed specification ωM,spec is determined from the time derivative of the nominal steering angle δL,nominal and the drivers steering angle δH and a gear ratio factor IL2 using the following formula:
- ωM,=({dot over (δ)}L,nominal−IL1{dot over (δ)}H)/IL2.
Dependencies are inferred from the claim text.