Method and device for adapting a steering wheel angle of a steering wheel and a wheel steering angle of a wheel steering system in a motor vehicle

Patent metadata

Field	Value
Publication number	US-10449999-B2
Application number	US-201615381151-A
Country	US
Kind code	B2
Filing date	Dec 16, 2016
Priority date	Dec 18, 2015
Publication date	Oct 22, 2019
Grant date	Oct 22, 2019

Abstract

A method for adapting an actual steering wheel angle of a steering wheel and an actual wheel steering angle of a wheel steering system in a motor vehicle after an automated driving maneuver has been executed. The method includes detecting the actual steering wheel angle by a steering wheel angle-detection device and the actual wheel steering angle by a wheel steering angle-detection device, adapting the actual steering wheel angle by a steering wheel-actuation device and/or the actual wheel steering angle by a wheel steering-actuation device based on a transfer strategy within a predefined transfer time. Also disclosed is an associated device.

First claim

The invention claimed is:

1. A method for adapting an actual steering wheel angle of a steering wheel and an actual wheel steering angle of a wheel steering system in a motor vehicle after an automated driving maneuver has been executed that causes the steering wheel to be decoupled from the wheel steering system, the method comprising:
detecting the actual steering wheel angle by a steering wheel angle-detection device and the actual wheel steering angle by a wheel steering angle-detection device after decoupling of the steering wheel from the wheel steering system resulting from the execution of the automated driving maneuver;
adapting the actual steering wheel angle by a steering wheel-actuation device based on a transfer strategy and/or the actual wheel steering angle by a wheel steering-actuation device based on the transfer strategy within a predefined transfer time, wherein the actual steering wheel angle and/or the actual wheel steering angle are adapted to a setpoint steering wheel angle and a setpoint wheel steering angle corresponding to a steering wheel angle and a wheel steering angle present if the decoupling of the steering wheel and the wheel steering system had not occurred, or wherein the actual steering wheel angle and the actual wheel steering angle are adapted to a setpoint steering wheel angle and a setpoint wheel steering angle corresponding to a steering wheel angle and a wheel steering angle present if the decoupling of the steering wheel and the wheel steering system had not occurred, or wherein the actual steering wheel angle and the actual wheel steering angle are adapted to a setpoint steering wheel angle or a setpoint wheel steering angle corresponding to a steering wheel angle and a wheel steering angle present if the decoupling of the steering wheel and the wheel steering system had not occurred; and
re-coupling the steering wheel and the wheel steering system and transferring guidance of the motor vehicle to an automated system or a driver by the end of the predefined transfer time.

2. The method of claim 1 , wherein the steering wheel angle is adapted by the steering wheel actuation device and the transfer strategy comprises:
calculating the setpoint steering wheel angle as a function of the actual wheel steering angle by a controller, and
applying a torque to the steering wheel as a function of the setpoint steering wheel angle, of the actual steering wheel angle, and of the predefined transfer time by the steering wheel-actuation device until the actual steering wheel angle corresponds to the setpoint steering wheel angle.

3. The method of claim 1 , wherein the actual wheel steering angle is adapted by the wheel steering actuation device and the transfer strategy comprises:
calculating the setpoint wheel steering angle as a function of the actual steering wheel angle by a controller, and
applying a torque to the wheel steering system as a function of the setpoint wheel steering angle, of the actual wheel steering angle, and of the predefined transfer time by the wheel steering-actuation device until the actual wheel steering angle corresponds to the setpoint wheel steering angle.

4. The method of claim 1 , wherein the steering wheel angle is adapted by the steering wheel actuation device, the actual wheel steering angle is adapted by the wheel steering actuation device and the transfer strategy comprises:
calculating the setpoint steering wheel angle as a function of the actual wheel steering angle by a controller,
calculating the setpoint wheel steering angle as a function of the actual steering wheel angle by the controller,
applying a torque to the steering wheel as a function of the setpoint steering wheel angle, of the actual steering wheel angle, and of the predefined transfer time by the steering wheel-actuation device, and
applying a torque to the wheel steering system as a function of the setpoint wheel steering angle, of the actual wheel steering angle and of the predefined transfer time by the wheel steering-actuation device.

5. The method of claim 1 , wherein the controller selects the transfer strategy by a selection criterion.

6. The method of claim 5 , wherein a traffic state is detected by a traffic state-detection device, and the selection criterion is defined by the controller alternatively based on the detected traffic state or additionally based on the detected traffic state.

7. The method of claim 5 , wherein a driver state is detected by a driver state-detection device, and the selection criterion is defined by the controller alternatively based on the detected driver state or additionally based on the detected driver state.

8. The method of claim 5 , wherein the selection criterion is defined by the controller alternatively based on the automated driving maneuver which is executed or additionally based on the automated driving maneuver which is executed.

9. The method of claim 5 , wherein map data are made available by a navigation device, and the selection criterion is defined by the controller alternatively based on the map data which is made available or additionally based on the map data which is made available.

10. A device in a motor vehicle for adapting an actual steering wheel angle of a steering wheel and an actual wheel steering angle of a wheel steering system after an automated driving maneuver has been executed that causes the steering wheel to be decoupled from the wheel steering system, the device comprising:
a steering wheel angle-detection device for detecting the actual steering wheel angle;
a wheel steering angle-detection device for detecting the actual wheel steering angle;
a steering wheel-actuation device for setting the actual steering wheel angle;
a wheel steering-actuation device for setting an actual wheel steering angle; and
a controller;
wherein the controller brings about, after decoupling of the steering wheel from the wheel steering system resulting from the execution of the automated driving maneuver, based on a transfer strategy, adaptation of the actual steering wheel angle by the steering wheel-actuation device and/or of the actual wheel steering angle by the wheel steering-actuation device within a predefined transfer time,
wherein the controller adapts the actual steering wheel angle and/or the actual wheel steering angle to a setpoint steering wheel angle and/or a setpoint wheel steering angle corresponding to a steering wheel angle and a wheel steering angle present if the decoupling of the steering wheel and the wheel steering system had not occurred, or wherein the controller adapts the actual steering wheel angle and/or the actual wheel steering angle to a setpoint steering wheel angle and a setpoint wheel steering angle corresponding to a steering wheel angle and a wheel steering angle present if the decoupling of the steering wheel and the wheel steering system had not occurred, or wherein the controller adapts the actual steering wheel angle and the actual wheel steering angle to a setpoint steering wheel angle and a setpoint wheel steering angle corresponding to a steering wheel angle and a wheel steering angle present if the decoupling of the steering wheel and the wheel steering system had not occurred; and
wherein the controller re-couples the steering wheel and the wheel steering system and transfers guidance of the motor vehicle to an automated system or a driver by the end of the predefined transfer time.

11. The device of claim 10 , wherein the transfer strategy comprises:
calculating the setpoint steering wheel angle as a function of the actual wheel steering angle by the controller, and
applying a torque to the steering wheel as a function of the setpoint steering wheel a

Assignees

• Volkswagen Ag

Inventors

• Düring Michael
• Franke Kai
• Töpfer Daniel
• Mikati Omar El

Classifications

• B62D1/166

  Means changing the transfer ratio between steering wheel and steering gear · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• B62D15/021

  Determination of steering angle · CPC title

• G01C21/3667

  Display of a road map (G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635) · CPC title

• B62D6/00 Primary

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title