Granted Patent B2

US 12,240,538 · App. 17/594,372 · Granted Mar 4, 2025

Inventors: Tobias Bergweiler (Munich, DE); Martin Hell (Dachau, DE); Peter Korti (Wolfratshausen, DE); Gareth McKevitt (Munich, DE); Andreas Sauer (Munich, DE)

Assignee: Bayerische Motoren Werke Aktiengesellschaft

B62D5/0463B62D5/0481

Abstract

Claims (34)

1. A method for limiting a control variable for a motor of an electric power steering system for a motor vehicle with automated transverse guidance, the method comprising the steps of:

receiving a setpoint steering angle;

determining the control variable in accordance with the setpoint steering angle;

receiving an actual steering angle;

determining a virtual torsion-bar torque in accordance with the setpoint steering angle and the actual steering angle;

determining at least one limiting value for the control variable in accordance with the virtual torsion-bar torque; and

limiting operation of the motor based on the control variable in accordance with the at least one limiting value;

wherein the determining of the at least one limiting value for the control variable in accordance with the virtual torsion-bar torque comprises the steps of:

determining an upper limiting value for the control variable in accordance with the virtual torsion-bar torque; and

determining a lower limiting value for the control variable in accordance with the virtual torsion-bar torque;

wherein a first upper limiting value and a first lower limiting value are determined for a first control variable; and

wherein a second upper limiting value and a second lower limiting value are determined for a second control variable such that the distance between the second upper limiting value and the second lower limiting value corresponds to the distance between the first upper limiting value and the first lower limiting value.

2. The method according to claim 1 , wherein the control variable is a setpoint torque for the motor.

3. The method according to claim 1 , wherein the control variable is a manual torque.

4. The method according to claim 1 , wherein

the determining of a virtual torsion-bar torque in accordance with the setpoint steering angle and the actual steering angle is performed via a lookup table.

5. The method according to claim 1 , wherein

a first limiting value is determined for a first virtual torsion-bar torque, and

a second limiting value, which is greater than the first limiting value, is determined for a second virtual torsion-bar torque, which is greater than the first virtual torsion-bar torque.

6. The method according to claim 1 , wherein

the setpoint steering angle is received from a driving system for automated driving with at least automated transverse guidance.

7. An apparatus for limiting a control variable for a motor of an electric power steering system for a motor vehicle with automated transverse guidance, comprising:

a control unit configured so as to:

receive a setpoint steering angle,

determine the control variable in accordance with the setpoint steering angle,

receive an actual steering angle,

determine a virtual torsion-bar torque in accordance with the setpoint steering angle and the actual steering angle,

determine at least one limiting value for the control variable in accordance with the virtual torsion-bar torque, and

limit operation of the motor based on the control variable in accordance with the at least one limiting value;

wherein the determining of the at least one limiting value for the control variable in accordance with the virtual torsion-bar torque comprises the steps of:

determining an upper limiting value for the control variable in accordance with the virtual torsion-bar torque; and

determining a lower limiting value for the control variable in accordance with the virtual torsion-bar torque;

wherein a first upper limiting value and a first lower limiting value are determined for a first control variable; and

wherein a second upper limiting value and a second lower limiting value are determined for a second control variable such that the distance between the second upper limiting value and the second lower limiting value corresponds to the distance between the first upper limiting value and the first lower limiting value.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (26)