Granted Patent B2

US 12,735,097 · App. 18/261,372 · Granted Sep 15, 2026

Inventors: Ingo Dasch (Gräfelfing, DE); Dominik Vogt (Meckenbeuren, DE); Luc Diebold (Magstadt, DE); Magnus Rau (Kirchheim unter Teck, DE); Björn Spangemacher (Aidlingen, DE)

Assignee: ZF Friedrichshafen AG

B62D6/02B62D6/002B62D5/001B62D7/159

Abstract

Claims (32)

1 . A method for operating an actuator of a steer-by-wire steering system of a motor vehicle at speeds from standstill to parking and/or maneuvering speeds, wherein the method comprises

detecting an instantaneous steering angle of at least one wheel on an axle of the motor vehicle;

detecting a steering angle demand;

determining a limit value of an acceleration of a drive mechanism of an actuator, at least as a function of the instantaneous steering angle; and

activating the actuator for setting a steering angle of at least one wheel, at least as a function of the steering angle demand and using the limit value of the acceleration.

2 . The method according to claim 1 , wherein determining the limit value includes at least temporarily changing the limit value.

3 . The method according to claim 2 , wherein determining the limit value includes setting the limit value to a predefined minimum value.

4 . The method according to claim 1 , comprising:

determining whether the instantaneous steering angle found in the determination step is smaller than a range of 50 to 80%, of a maximum possible steering angle; and

determining a smaller limit value outside the range.

5 . The method according to claim 4 , wherein the range is from 65 to 70% of the maximum possible steering angle.

6 . The method according to claim 1 , comprising:

assigning a respective limit value to the instantaneous steering angle of each at least one wheel, wherein determining the limit value is based on the respective limit value; and

determining the limit value on the basis of at least one characteristic-stored in a control unit.

7 . The method according to claim 1 , wherein determining the limit value includes temporarily changing a steering gradient as a function of the steering angle demand and/or as a function of the instantaneous steering angle.

8 . The method according to claim 7 , comprising:

detecting an instantaneous speed of the motor vehicle, wherein when determining the limit value includes taking into account the instantaneous speed for speeds up to a predefined speed limit.

9 . The method according to claim 8 , comprising:

gradually restoring the limit value as a function of the instantaneous steering angle and/or as a function of the steering angle demand; and/or

gradually restoring the steering gradient after temporarily changing the steering gradient, as a function of the instantaneous steering angle and/or as a function of the steering angle demand.

10 . A steer-by-wire steering system operable according to the method of claim 1 , wherein the steer-by-wire steering system is in the form of a rear axle steering system.

11 . A computer readable medium encoded with executable code that, when executed, performs the method of claim 1 .

12 . A control unit comprising a computer readable medium encoded with executable code that, when executed by the control unit, performs the method of claim 1 .

13 . A control unit for controlling an actuator of a steer-by-wire steering system of a motor vehicle, the control unit comprising:

an interface configured to detect a steering angle that represents an instantaneous steering angle of at least one wheel of a motor vehicle;

a further interface configured to detect a steering angle demand, which represents an instantaneous steering angle change due to a driver's wish or a change determined by the control unit or another control unit;

a unit configured to determine a limit value of an acceleration of the drive mechanism of the actuator of a steer-by-wire steering system, which represents an instantaneously limited acceleration and to determine a limit value of a drive mechanism of the actuator as a function of the instantaneous steering angle;

a unit configured to activate the actuator in order to set a steering angle of at least one wheel as a function of at least the steering angle demand, and using the limit value of the acceleration of the drive mechanism; and

an interface configured to detect a speed that represents an instantaneous speed of the motor vehicle.

14 . The control unit of claim 13 , wherein:

determining the limit value includes temporarily changing a steering gradient as a function of the steering angle demand and/or as a function of the instantaneous steering angle; and

gradually restore the steering gradient after temporarily changing the steering gradient, as a function of the instantaneous steering angle and/or as a function of the steering angle demand.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (29)