Method for controlling a wheel steering angle of at least one vehicle wheel of a vehicle
A method is for controlling a wheel steering angle of at least one vehicle wheel of a vehicle, in particular of a motor vehicle. The vehicle has a steer-by-wire steering system including at least one wheel steering angle control element, which is provided at least for modifying the wheel steering angle of the vehicle wheel according to a steering demand. In at least one operating mode, in which the vehicle is at a standstill and a steering demand is received, the wheel steering angle of the vehicle wheel is at least substantially maintained at a constant value and a desired wheel steering angle for the vehicle wheel is determined in accordance with the steering demand. In at least one subsequent additional operating mode, in which the vehicle is moving, the wheel steering angle is adjusted to the desired wheel steering angle by the wheel steering angle control element.
1. A method of controlling a wheel steering angle of at least one vehicle wheel of a vehicle, the vehicle including a steer-by-wire steering system with at least one wheel steering angle controller for changing the wheel steering angle of the at least one vehicle wheel depending on a steering demand, the method comprising:
in at least one operating state, in which the vehicle is at a standstill and the steering demand is received, (i) keeping the wheel steering angle constant, and (ii) determining a target wheel steering angle for the at least one vehicle wheel depending on the steering demand; and
in at least one further operating state following the at least one operating state, in which the vehicle is moving and the steering demand is the same as the steering demand in the at least one operating state, adjusting the wheel steering angle to the target wheel steering angle using the at least one wheel steering angle controller.
2. The method according to claim 1 , further comprising:
adjusting the wheel steering angle to the target wheel steering angle as soon as the vehicle starts to move.
3. The method according to claim 1 , further comprising:
determining, in the at least one operating state, a target trajectory for a driving process of the vehicle correlated with the steering demand; and
determining the target wheel steering angle depending on the target trajectory.
4. The method according to claim 1 , wherein the steer-by-wire steering system has at least one steering input unit with at least one steering input element for manual input of the steering demand.
5. The method according to claim 4 , wherein:
the at least one steering input unit comprises a steering input actuator configured to generate a steering resistance and/or a restoring torque on the at least one steering input element, and
in the at least one operating state, a realistic steering feel is simulated by the steering input actuator without movement of the at least one vehicle wheel.
6. The method according to claim 1 , further comprising:
providing the steering demand in at least one application state by an autonomously operating assistance function.
7. The method according to claim 6 , wherein:
the assistance function is a parking assistant, and
in the at least one operating state, a target trajectory correlated with the steering demand is determined for an entire parking process of the vehicle and the target wheel steering angle is determined such that a change of the wheel steering angle of the vehicle wheel in the at least one operating state is avoided during the entire parking process.
8. The method according to claim 1 , further comprising:
taking into account at least one sensor system parameter of a vehicle sensor system in the determination of the target wheel steering angle.
9. The method according to claim 1 , further comprising:
taking into account at least one driver's input including an actuation of an accelerator pedal and/or a brake pedal, which is different from the steering demand in the determination of the target wheel steering angle.
10. A vehicle comprising:
at least one vehicle wheel;
a steer-by-wire steering system including at least one wheel steering angle controller configured to change a wheel steering angle of the at least one vehicle wheel depending on a steering demand; and
an offsetting unit configured to control the wheel steering angle of the at least one vehicle wheel, the offsetting unit configured,
in at least one operating state, in which the vehicle is at a standstill and the steering demand is received, (i) to keep the wheel steering angle constant, and (ii) to determine a target wheel steering angle for the at least one vehicle wheel depending on the steering demand; and
in at least one further operating state following the at least one operating state, in which the vehicle is moving and the steering demand is the same as the steering demand in the at least one operating state, to adjust the wheel steering angle to the target wheel steering angle using the wheel steering angle controller.
11. The method according to claim 1 , wherein a control unit is configured to carry out the method.