Regulating device and method for regulating the steering angle of a vehicle
The disclosure relates to a regulating device for regulating the steering angle for a vehicle, comprising a first controller unit with a controller superposed thereon, the controller having a feedback path and a prefilter. The feedback path provides a first adjustment variable based on actual steering angle information which is provided by the first controller unit as an output variable and the prefilter provides a second adjustment variable based on nominal steering angle information. The controller is configured to form input information for the first controller unit based on the first and the second adjustment variables, wherein the feedback path has a first correction element, the transfer behavior of which can be adjusted. The prefilter has a second correction element, the transfer behavior of which can be adjusted. The controller is configured such that at least the controller gain of the first controller unit can be adjusted.
1. A regulating device for regulating the steering angle for a vehicle, comprising:
a first controller unit,
wherein a controller superposed on the first controller unit is provided, which has a feedback path and a prefilter, wherein the feedback path provides a first adjustment variable based on actual steering angle information which is provided by the first controller unit as an output variable, and the prefilter provides a second adjustment variable based on nominal steering angle information,
wherein the superposed controller is configured to form input information for the first controller unit based on the first and the second adjustment variable, wherein the feedback path has a first correction element, the transfer behavior of which can be adjusted based on at least one control variable, wherein the prefilter has a second correction element, the transfer behavior of which can be adjusted based on the at least one control variable, and
the superposed controller is configured in such a way that at least the controller gain of the first controller unit can be adjusted based on the at least one variable.
2. The regulating device according to claim 1 , wherein the controller gain is a rational number or is formed by a complex filter function.
3. The regulating device according to claim 1 , wherein the first correction element is configured to multiply the actual steering angle information by a factor dependent on the at least one control variable or a complex filter function.
4. The regulating device according to claim 3 , the factor is 1−P(s), wherein P(s) is a correction factor dependent on the at least one control signal, the value of which correction factor indicates the adjustment of the controller gain of the first controller unit, or wherein P(s) is a complex filter function dependent on the control signal.
5. The regulating device according to claim 1 , wherein the second correction element is configured to multiply the nominal steering angle information by a factor dependent on the at least one control variable or a complex filter function.
6. The regulating device according to claim 5 , wherein the factor is 1−P(s), wherein P(s) is a correction factor dependent on the at least one control signal, the value of which correction factor indicates the adjustment of the controller gain of the first controller unit, or wherein P(s) is a complex filter function dependent on the control signal.
7. The regulating device according to claim 5 , wherein the factor is P(s), wherein P(s) is a correction factor dependent on the at least one control signal, the value of which correction factor indicates the adjustment of the controller gain of the first controller unit, or wherein P(s) is a complex filter function dependent on the control signal.
8. The regulating device according to claim 1 , wherein a summation point is provided, at which the first adjustment variable is added to the nominal steering angle information and at which the second adjustment variable is subtracted from the nominal steering angle information, wherein the output information of the summation point forms the input variable of the first controller unit.
9. The regulating device according to claim 1 , wherein a summation point is provided, at which the first adjustment variable and the second adjustment variable are added, wherein the output information of the summation point forms the input variable of the first controller unit.
10. The regulating device according to claim 1 , wherein the first and second correction element can be adjusted based on the identical control variable.
11. The regulating device according to claim 1 , wherein the first controller unit is a self-contained controller unit which does not have an external interface via which the controller gain of the first controller unit can be adjusted.
12. The regulating device according to claim 1 , wherein the control variable is dependent on at least one of the following items of information:
the driving situation in which the vehicle finds itself;
the torque which a driver applies to the steering wheel;
a coefficient of friction of the electromechanical steering;
an estimated vibration parameter of the electromechanical steering;
the signal-to-noise ratio of the input information which is supplied to the first controller unit.
13. The regulating device according to claim 1 , wherein the controller gain can be adjusted by the control variable in the range of values between 0.2 and 3.
14. A method for regulating the steering angle for a vehicle, comprising a first controller unit, wherein a controller superposed on the first controller unit is provided, which has a feedback path and a prefilter, wherein the feedback path provides a first adjustment variable based on actual steering angle information which is provided by the first controller unit as an output variable, and the prefilter provides a second adjustment variable based on nominal steering angle information, wherein the superposed controller provides input information for the first controller unit based on the first and the second adjustment variable, wherein the feedback path has a first correction element, the transfer behavior of which is adjusted based on at least one control variable, wherein the prefilter has a second correction element, the transfer behavior of which is adjusted based on at least one control variable, and at least the controller gain of the first controller unit is adjusted by the superposed controller based on the control variable.
15. The method according to claim 14 , wherein the first controller unit is a self-contained controller unit which does not have an external interface via which the controller gain and/or the transfer function of the first controller unit can be adjusted, and the controller gain and/or the transfer function of the first controller unit is/are set by an adjustment of the nominal steering angle information and an adjustment of fed-back actual steering angle information is adjusted depending on the control variable.