Apparatus for a steering system of a motor vehicle, motor vehicle, method for operating a steering system of a motor vehicle
An apparatus for operating a motor vehicle, wherein the steering system comprises an actuatable steering handle and a steerable wheel, wherein the steering handle is mechanically decoupled from the wheel such that an actuation of the steering handle is independent from a steering of the wheel, wherein the steering handle is associated with a controllable steering handle actuator for generating a torque acting on the steering handle, and wherein the wheel is associated with a controllable wheel actuator for influencing a wheel steering angle of the wheel, with a computing device configured to control the steering handle actuator and the wheel actuator. The computing device is configured to specify a target manual torque (HM Target ) for the steering handle as a function of a target variable specified by a driving assistance system and to control the steering handle actuator as a function of the specified target manual torque (HM Target ).
1 . An apparatus for a steering system of a motor vehicle, wherein the steering system comprises an actuatable steering handle and at least one steerable wheel, wherein the actuatable steering handle is mechanically decoupled from the at least one steerable wheel such that an actuation of the actuatable steering handle is independent from a steering of the at least one steerable wheel, wherein the actuatable steering handle is associated with a steering handle actuator that is controllable to generate a torque acting on the actuatable steering handle, and wherein the at least one steerable wheel is associated with a wheel actuator that is controllable to influence a wheel steering angle of the at least one steerable wheel, comprising:
a computing device configured to control the steering handle actuator and the wheel actuator, and configured to specify a target manual torque for the actuatable steering handle as a function of a target variable directly provided by a driving assistance system, and configured to control the steering handle actuator as a function of the target manual torque,
wherein the target variable is at least one of (i) a target actuating position of the actuatable steering handle, or (ii) a target wheel steering angle of the at least one steerable wheel or a target rack position of a rack of the steering system, and
wherein the computing device is further configured to specify the target manual torque as a function of (i) a deviation of an actual actuating position of the actuatable steering handle from the target actuating position, or (ii) a deviation of an actual wheel steering angle of the at least one steerable wheel from the target wheel steering angle, or a deviation of an actual rack position from the target rack position.
2 . The apparatus according to claim 1 , wherein the target variable is the target wheel steering angle of the at least one steerable wheel, and the computing device is further configured to:
control the wheel actuator so that the wheel steering angle of the at least one steerable wheel is the target wheel steering angle.
3 . The apparatus according to claim 2 , wherein the computing device is further configured to control the wheel steering angle of the at least one steerable wheel as a function of the actual actuating position of the actuatable steering handle.
4 . The apparatus according to claim 2 , wherein the computing device is further configured to modify the target variable using at least one transfer function.
5 . The apparatus according to claim 1 , wherein the apparatus comprises a steering feeling calculation function and is configured to specify the target manual torque in case of an inactive driving assistance system as well as an active driving assistance system according to the steering feeling calculation function.
6 . The apparatus according to claim 1 , wherein the computing device is further configured (i) to determine a first force as a function of the deviation of the actual actuating position of the actuatable steering handle from the target actuating position, and (ii) to specify the target manual torque as a function of the first force when the driving assistance system is active.
7 . The apparatus according to claim 6 , wherein the computing device is further configured to determine a second force as a function of an actual resetting force acting on the at least one steerable wheel and to specify the target manual torque as a function of the second force when the driving assistance system is inactive.
8 . The apparatus according to claim 1 , wherein the computing device further comprises a gradient limiting module configured to limit a rate of change of the target manual torque.
9 . The apparatus according to claim 1 , wherein the computing device further comprises an additional torque module which is configured to specify a target additional torque and to impinge the target manual torque with the target additional torque.
10 . The apparatus according to claim 9 , wherein the additional torque module is configured to provide the target additional torque as a function of the deviation of the actual actuating position of the actuatable steering handle from the target actuating position and/or as a function of a deviation of an actual trajectory of the motor vehicle from a specified target trajectory of the motor vehicle.
11 . The apparatus according to claim 1 , wherein:
the computing device further comprises a computing unit configured to specify the target wheel steering angle to the wheel actuator and the target manual torque to the steering handle actuator; or
the computing device comprises a first computing unit and a second computing unit, wherein the first computing unit is configured to specify the target manual torque to the steering handle actuator, and the second computing unit is configured to specify the target wheel steering angle to the wheel actuator.
12 . The apparatus according to claim 2 , wherein the computing device further comprises a communication device configured to receive the target variable directly from the driving assistance system.
13 . A motor vehicle having a steering system comprising:
an actuatable steering handle;
at least one steerable wheel, wherein
the actuatable steering handle is mechanically decoupled from the at least one steerable wheel such that an actuation of the actuatable steering handle is independent from a steering of the at least one steerable wheel,
the actuatable steering handle is associated with a steering handle actuator that is controllable to generate a torque acting on the actuatable steering handle,
the at least one steerable wheel is associated with a wheel actuator that is controllable to influence a wheel steering angle of the at least one steerable wheel; and
an apparatus including a computing device configured to control the steering handle actuator and the wheel actuator, and configured to specify a target manual torque for the actuatable steering handle as a function of a target variable directly provided by a driving assistance system, and configured to control the steering handle actuator as a function of the target manual torque,
wherein the target variable is at least one of (i) a target actuating position of the actuatable steering handle, or (ii) a target wheel steering angle of the at least one steerable wheel or a target rack position of a rack of the steering system, and
wherein the computing device is further configured to specify the target manual torque as a function of (i) a deviation of an actual actuating position of the actuatable steering handle from the target actuating position, or (ii) a deviation of an actual wheel steering angle of the at least one steerable wheel from the target wheel steering angle, or a deviation of an actual rack position from the target rack position.
14 . A method for operating a steering system of a motor vehicle, wherein the steering system comprises an actuatable steering handle and at least one steerable wheel, wherein the actuatable steering handle is mechanically decoupled from the at least one steerable wheel such that an actuation of the actuatable steering handle is independent from a steering of the at least one steerable wheel, wherein the actuatable steering handle is associated with a steering handle actuator that is controllable by a computing device to generate a torque acting on the actuatable steering handle, and wherein the at least one steerable wheel is associated with a wheel actuator that is controllable by the computing device to influence a wheel steering angle of the at least one steerable wheel, the method comprising:
directly providing a target variable as an output of a driving assistance system to the computing device, the target variable is at least one of (i) a target actuating position of the actuatable steering handle, or (ii) a target wheel steering angle of the at least one steerable wheel or a target rack position of a rack of the steering system;
specifying, using the computing device, a target manual torque for the actuatable steering handle as a function of (i) a deviation of an actual actuating position of the actuatable steering handle from the target actuating position, or (ii) a deviation of an actual wheel steering angle of the at least one steerable wheel from the target wheel steering angle, or a deviation of an actual rack position from the target rack position; and
controlling the steering handle actuator as a function of the target manual torque using the computing device.
15 . The apparatus according to claim 1 , wherein:
the computing device is configured to increase the target manual torque in response to an increase of the deviation of the actual actuating position of the actuatable steering handle from the target actuating position, and
the computing device is configured to decrease the target manual torque in response to a decrease of the deviation of the actual actuating position of the actuatable steering handle from the target actuating position.
16 . The apparatus according to claim 1 , wherein the target variable includes both (i) the target actuating position of the actuatable steering handle, and (ii) the target wheel steering angle of the at least one steerable wheel or the target rack position of the rack of the steering system.