Steer-by-wire steering system, method for operating a steer-by-wire steering system and vehicle
View Patent ↗A steer-by-wire steering system for a vehicle includes a steering input device, a feedback actuator, and a steering assembly that can be connected to at least one steerable vehicle wheel. The steering assembly has a steering actuator device, a control device, and a feedback actuator monitoring device. The steer-by-wire steering system further has a synchronization monitoring device that is designed and configured, in at least one operating state of the steer-by-wire steering system, to determine a synchronization offset between a current position of the steering input device and a current position of the steering actuator device and/or of the at least one steerable vehicle wheel. The control device is further designed and configured, in at least one operating state of the steer-by-wire steering system, to further control the steering actuator device in accordance with the synchronization offset determined by the synchronization monitoring device.
1. A steer-by-wire steering system for steering at least one steerable vehicle wheel of a vehicle, comprising:
a steering input device for a steering input by a driver;
a feedback actuator installation for generating a steering input dependent and/or driving state dependent defined feedback steering torque at the steering input device;
a steering assembly connectable to the at least one steerable vehicle wheel and having a steering actuator installation;
a control installation;
a feedback actuator monitoring installation; and
a synchronization monitoring installation;
wherein the feedback actuator monitoring installation, in at least one operating state of the steer-by-wire steering system, is configured for identifying at least one state of the feedback actuator installation, in particular at least one error state;
wherein the control installation, in at least one operating state of the steer-by-wire steering system, is configured for actuating the steering actuator installation as a function of a steering input and as a function of a state of the feedback actuator installation;
wherein the synchronization monitoring installation, in at least one operating state of the steer-by-wire steering system, is configured for determining a synchronization offset between a current position of the steering input device and a current position of the steering assembly, the steering actuator installation and/or the at least one steerable vehicle wheel; and
wherein the control installation, in at least one operating state of the steer-by-wire steering system, is further configured for actuating the steering actuator installation further as a function of the synchronization offset determined by the synchronization monitoring installation, such that a corrected wheel steering movement is effected when reaching a straight-ahead reference position of the steering input device, and a further steering input is performed by the driver.
2. The steer-by-wire steering system according to claim 1 , wherein the control installation, in at least one operating state, is further configured for additionally actuating the steering actuator installation as a function of a driving state.
3. The steer-by-wire steering system according to claim 1 , wherein the control installation, in at least one operating state of the steer-by-wire steering system, is configured for actuating the steering actuator installation as a function of an applied steering input and at least one determined correction variable comprising at least one of: a steering input correction variable, a driving state correction variable, or a synchronization offset correction variable, for correcting the defined wheel steering movement to be actually implemented.
4. The steer-by-wire steering system according to claim 3 , wherein the control installation is configured for determining at least one steering input correction variable, at least partially as a function of a steering input travel, a steering input velocity and/or a steering input acceleration.
5. The steer-by-wire steering system according to claim 4 , wherein the control installation is configured for determining at least one steering input correction variable at least partially as a function of a steering input performed and detected prior to an occurrence of an error state of the feedback actuator installation and/or at least partially as a function of a steering input performed and detected during an error state of the feedback actuator installation.
6. The steer-by-wire steering system according to claim 3 , wherein the control installation is configured for determining at least one driving state correction variable at least partially as a function of at least one detected driving state variable comprising at least one of: a vehicle speed, a transverse acceleration, a longitudinal acceleration, a yaw rate or a slip angle.
7. The steer-by-wire steering system according to claim 6 , wherein the control installation is configured for determining at least one driving state correction variable at least partially as a function of a driving state detected prior to the occurrence of an error state of the feedback actuator installation and/or at least partially as a function of a driving state detected during an error state of the feedback actuator installation.
8. The steer-by-wire steering system according to claim 3 , wherein the control installation is configured for determining at least one offset correction variable at least partially as a function of a variable of the synchronization offset, an absolute position of the steering input device, and/or an absolute position of at least one of the steering assembly, the steering actuator installation or the at least one steerable vehicle wheel.
9. The steer-by-wire steering system according to claim 1 , wherein the control installation, in at least one error state of the feedback actuator installation, is configured for actuating the steering actuator installation as a function of at least one steering input correction variable and/or at least one driving state correction variable, such that a corrected wheel steering movement is effected as a response to a steering input performed in the error state of the feedback actuator installation.
10. The steer-by-wire steering system according to claim 1 , wherein the control installation, in an error-free state of the feedback actuator installation, is configured for actuating the steering actuator installation as a function of a steering input and as a function of a synchronization offset and/or an offset correction variable.
11. The steer-by-wire steering system according to claim 10 , wherein the control installation is configured for actuating the steering actuator installation as a function of a synchronization offset and/or an offset correction variable such that, as a response to a steering input performed in an event of an existing synchronization offset in the error-free state of the feedback actuator installation, a wheel steering movement, which is corrected in comparison to a defined wheel steering movement which in an error-free state of the feedback actuator installation without a synchronization offset is to be actually implemented as a response to the performed steering input, is effected.
12. The steer-by-wire steering system according to claim 11 , wherein the control installation is configured for actuating the steering actuator installation as a function of the synchronization offset and/or an offset correction variable such that the corrected wheel steering movement is effected when reaching the straight-ahead reference position of the steering input device, and the further steering input is performed by the driver.
13. The steer-by-wire steering system according to claim 1 , wherein the steer-by-wire steering system is configured such that a wheel steering movement for reducing the synchronization offset is able to be effected only during or as a direct consequence of the steering input applied by a driver.
14. The steer-by-wire steering system according to claim 1 , wherein the steer-by-wire steering system is configured such that a wheel steering movement for reducing the synchronization offset is able to be effected only in the same direction as the steering input applied by the driver.
15. A vehicle comprising a steer-by-wire steering system according to claim 1 .
16. A method for operating a steer-by-wire steering system functionally installed in a vehicle and comprising:
a steering input device for a steering input by a driver;
a feedback actuator installation for generating a steering input dependent and/or driving state dependent defined feedback steering torque at the steering input device;
a steering assembly which is connectable to the at least one steerable vehicle wheel and has a steering actuator installation;
a control installation;
a feedback actuator monitoring installation; and
a synchronization monitoring installation;
wherein the synchronization monitoring installation, in at least one operating state of the steer-by-wire steering system, is configured for determining a synchronization offset between a current position of the steering input device and a current position of the steering assembly, the steering actuator installation and/or the at least one steerable vehicle wheel; and
wherein the control installation, in at least one operating state of the steer-by-wire steering system, is further configured for actuating the steering actuator installation further as a function of the synchronization offset determined by the synchronization monitoring installation, such that a corrected wheel steering movement is effected when reaching a straight-ahead reference position of the steering input device, and a further steering input is performed by the driver;
wherein the method comprises:
checking a state of the feedback actuator installation, by way of the feedback actuator monitoring installation; and
actuating the steering actuator installation, by way of the control installation, as a function of a steering input and as a function of the state of the feedback actuator installation.
17. The method according to claim 16 , further comprising:
actuating the steering actuator installation, when an error state of the feedback actuator installation has been identified by way of the control installation, such that a reduced wheel steering movement or no wheel steering movement is effected, wherein the steering actuator installation is actuated as a function of at least one steering input correction variable and/or a driving state correction variable.
18. The method according to claim 16 , further comprising:
determining, when an error-free state of the feedback actuator installation has been detected, a synchronization offset between a current position of the steering input device and a current position of the steering actuator installation and/or the at least one steerable vehicle wheel by way of the synchronization monitoring installation; and
should a synchronization offset be present, the steering actuator installation is further actuated as a function of a synchronization offset and an offset correction variable.