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    • 专利摘要:
    The invention relates to a method for managing a power steering, comprising a step (a) of turning reversal detection during which a signal is acquired, called "motor torque signal" (CMot), representative of the assistance effort (Cassist) delivered by the assistance motor, then the time derivative of said engine torque signal is evaluated, then said time derivative of the engine torque signal is compared to a variation threshold (Spic ) predetermined to detect a derivative peak, greater than said threshold of variation (Spic), which signals an inversion (4) direction steering direction. Said method then comprises a step (b) of evaluation of friction during which the friction is evaluated from the fall, during the inversion of steering, of a signal (Caction), said "signal of effort "actuating force", which is representative of the total actuation force exerted jointly on the power assisted by the driver and the assistance engine.
    公开号:FR3018059A1
    申请号:FR1451682
    申请日:2014-03-03
    公开日:2015-09-04
    发明作者:Sebastien Bourdrez；Pascal Moulaire；Christophe Ravier
    申请人:JTEKT Europe SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the general field of power steering management methods used on vehicles, the method of detecting torque reversal by torque control provided by a steering assistance motor, and the application of the method to the evaluation of friction. and in particular motor vehicles. It relates more particularly to the consideration of the friction forces in a power steering mechanism.
    [0002] In certain power steering management methods, and more generally in certain methods for controlling the trajectory of a vehicle, it may be useful, indeed indispensable, to detect a steering reversal, that is to say a change in the speed of a vehicle. direction of rotation of the steering wheel under the action of the driver of the vehicle.
    [0003] For this purpose, it is possible in particular to monitor the angular rotation speed of the steering wheel, in order to detect a change of sign of said rotational speed. However, to allow sufficiently reliable detection of a steering reversal by such a method, and more particularly to avoid the generation of "false positives" caused for example by slight oscillations of the steering wheel, it is necessary to ensure that the amplitude of the angular displacements effected by said steering wheel, in each of the two opposite directions of rotation bordering the turning reversal point, is greater than predetermined, relatively high detection thresholds.
    [0004] However, the time required for driving to reach and cross such detection thresholds can be relatively long, which tends to limit the accuracy and responsiveness of the method of detecting reversing steering. In addition, the need to know the angular speed of the steering wheel, for example from a measurement of the angular position of said driving wheel, may, in certain situations, require the addition of a dedicated sensor, this which increases the size, weight and manufacturing cost of the steering system. The objects assigned to the invention therefore aim at overcoming the aforementioned drawbacks and at proposing a new power steering management method, which is both simple and inexpensive to implement, which allows a fast and reliable detection of a reverse steering.
    [0005] The objects assigned to the invention are achieved by means of a power steering management method, said power steering comprising at least one assistance motor for delivering an assistance effort, said method being characterized in that it comprises a step (a) of turning reversal detection during which a signal is acquired, called "torque signal", which is representative of the assistance effort delivered by the assistance engine, then evaluating the time derivative of said engine torque signal, and then comparing said time derivative of the engine torque signal with a predetermined variation threshold to detect a derivative peak, greater than said predetermined variation threshold, which signals a reversal of the steering direction of the steering. Advantageously, the monitoring of a signal representative of the assistance effort provided by the assistance engine, for example of a signal which corresponds to the torque setpoint applied to said assistance motor or to the actual measurement of the torque the shaft of said assistance motor exerts on the steering mechanism, and more particularly the monitoring of the instantaneous value taken by the time derivative of such a signal, makes it possible to detect quickly and reliably any steering reversal, irrespective of the use of binding detection thresholds, relating to the amplitude of the driving angular displacement. The inventors have indeed found that, during a turn reversal, that is to say when the driver successively gives a steering wheel to the left then a steering wheel right (or vice versa), there is a very fast, almost instantaneous fall (in absolute value) of the assistance force (torque) delivered by the assistance motor, which is reflected by a peak of the time derivative of the signal representative of said effort (torque ) assistance. This sudden and large amplitude variation of the assistance effort results from the fact that, when the steering system, and more particularly the assistance motor, operates at an extremum (local) of displacement of the organs steering (that is to say during the passage by reversing steering), a transition of a first state of assistance in which the engine assists the steering maneuver in a first direction (for example to the left ) to a second state of assistance in which the engine assists the steering maneuver in a second opposite direction (to the right, in the above-mentioned example), one observes, necessarily, a tilting (a reversal) of the direction of movement of the governing bodies. However, in practice, the resistant forces due to internal friction in the steering mechanism, which tend to oppose the steering maneuver, are of opposite sign to the sign of displacement (and more particularly to the sign of the speed of displacement). governing bodies. The assistance effort ultimately has a driving function, that is to say, it tends to cause the steering members to move in the steering direction considered, desired by the driver, at the same time. against the resistant forces, among which the forces due to internal friction. In any case, the tilting of the steering direction of steering direction, and thus the tilting of the direction of movement of the steering members, causes almost simultaneously simultaneously the disappearance of a first effort component. resistant, attributable to the friction which opposed, before the inversion of steering, the displacement of the steering members in the first direction (by convention to the left), and secondly the appearance of a new (second) component of resistant force, also attributable to friction, but of opposite sign to the first component of resistant force, and which opposes this 15 times, after the reversal of steering, the displacement of the steering members in the second direction (to the right) opposite to the first sense. The presence of friction, and more particularly the inversion of the direction of action of the friction during the inversion of the steering direction, is at the origin of a phenomenon of hysteresis which is translated, during the inversion of the steering direction, by a fall (in absolute value) of the resisting force, and consequently by a fall in the assistance force which is delivered by the assistance motor to counter (and overcome) said resistant force . In practice, said fall corresponds more precisely to the accumulation (algebraic, taking into account their opposite signs) of the first component 25 of resistant force (first component of friction force) and the second component of resistant force (second friction force component) mentioned above. Calculation of the time derivative of the engine torque signal thus advantageously makes it possible to demonstrate any rapid drop in said engine torque signal attributable to a steering reversal, and, consequently, to detect said steering reversal. Advantageously, it will also be noted that the monitoring of the time derivative of the engine torque signal, besides providing a rapid detection of the steering inversions, facilitates, as will be detailed below, the filtering operations enabling eliminate the risk of false positives due to noise affecting the quality of the engine torque signal.
    [0006] Finally, the engine torque signal advantageously constitutes a signal that is systematically available and easily exploitable within all power steering systems, for example in the form of the instruction which is elaborated by the laws of assistance and applied to the engine. assistance, which simplifies the implementation of the invention. Other objects, features and advantages of the invention will appear in more detail on reading the description which follows, as well as with the aid of the accompanying drawings, provided for purely illustrative and non-limiting purposes, among which: FIG. 1 illustrates, on a time diagram, the evolution of the angular position of the steering wheel (or, in an equivalent manner, taking into account the reduction ratio of the drive mechanism, the evolution of the angular position of the shaft of the assistance motor) as well as the evolution of the engine torque signal during successive steering inversions. FIG. 2 illustrates, on a timing diagram, the values taken by the time derivative of the engine torque signal of FIG. 1. FIG. 3 illustrates, in a timing diagram, an enlargement of the curve representing the torque signal of the Figure 1, at the moment of the fall of torque (in absolute value) caused by a reversal of steering. FIG. 4 illustrates, in a block diagram, the operation of a method according to the invention. The invention relates to a management method of a power steering 1. Said power steering 1 comprises at least one assistance engine 2 for delivering a support effort Cassist- It can indifferently consider any type of assistance engine 2 , and more particularly any type of assistance engine with two directions of operation. In particular, the invention can equally well be applied to a rotary assistance motor 2, intended to exert a Cassist torque assistance effort, to a linear assistance motor 2, intended to exert a assistance effort Cassist 30 traction or compression type. Moreover, said assistance motor 2 can be for example hydraulic, or preferably, electrical (the use of an electric motor facilitating in particular the implementation and implementation of said motor, as well as the generation and the management of useful signals). In a particularly preferred manner, the assistance motor 2 will be a rotary type electric motor, for example of the "brushless" type.
    [0007] Furthermore, the power steering 1 preferably comprises, in a manner known per se (but not shown), a steering wheel by which the driver of the vehicle can rotate a steering column which meshes, by means of a pinion, on a steering rack slidably mounted in a steering casing secured to the chassis of the vehicle. The ends of the steering rack are preferably each connected to a steerable rocket carrier, on which is mounted a steering wheel (and preferably driving wheel) of the vehicle, such that the displacement of the rack in translation in the crankcase causes a change in the steering angle (ie yaw orientation) of said steered wheels. The assistance motor 2 can be engaged on the steering column, for example by means of a gearbox with a tangential wheel and worm, or else can be engaged directly on the steering rack, by a mechanism drive type ball screw or via a drive pinion separate from the pinion of the steering column (to then form a steering mechanism called "double pinion"). As illustrated in FIG. 4, the effort setpoint (or, more preferably, the torque setpoint) Cmot which is applied to the assistance motor 2 so that said motor assists the driver in the steering maneuver 1 depends on predetermined assistance laws, stored in a non-volatile memory of a computer (here an assistance law application module 3), and which can adjust said Cmot effort setpoint according to various parameters such as the flying torque exerted by the driver on the steering wheel, the speed (longitudinal) of the vehicle, the angular position of the steering wheel, etc. According to the invention the method comprises a step (a) of turning reversal detection. This step (a) of turning reversal detection makes it possible to detect a turning reversal 4, that is to say a change in the direction in which the driver of the vehicle actuates (intentionally) the steering wheel, this change having for the purpose and effect of moving from a steering situation to the left, in which the driver exerts a force that pulls the steering wheel to the left, to a steering situation to the right, in which the driver exerts a pulling force the steering wheel to the right, or vice versa.
    [0008] Such successive reversing turns 4 are clearly visible in FIG. 1, in which the dashed line curve illustrates the change over time in the angular position of the steering wheel, thereby showing the alternations of the direction of rotation of said steering wheel. flying, when the driver successively turns the steering wheel right, then left, then right again, etc. (This explains why the curve representative of the angular position of the steering wheel here has a shape close to a sinusoid). It should be noted that, in the preferred example of FIG. 1, the angular position of the steering wheel, representative of the steering steering configuration, is in fact expressed, in an equivalent manner, from the angular position of the steering wheel. the shaft 5 of the assistance motor 2.
    [0009] Indeed, any position measurement representative of the steering steering space configuration, and therefore the angular position of the steering wheel, may be suitable for the purposes of illustration and implementation of the invention. In this case, the mechanical reduction ratio of the kinematic chain which links the shaft 5 of the assistance engine to the driving wheel establishes a relationship between the angular positions of the motor shaft and the flywheel. In the example of FIG. 1, the reduction ratio being of the order of 26, and the ordinate scale of the scale corresponding to mechanical kilo-degrees (103 degrees) of the drive shaft, the values shown in FIG. motor shaft alternates between -3600 degrees (motor shaft angle) and +3600 degrees (motor shaft angle) approximately, which corresponds to angular movements of the steering wheel of + / - Approximately 139 degrees. It will also be noted that, in a manner known per se, the angular position information of the shaft 5 of the assistance motor 2 can be provided by a relative position sensor, of the "resolver" type, here advantageously integrated as standard. This choice of measurement of the angular position, a choice which is in no way restrictive with regard to the principle of the invention, explains why it is also possible, where appropriate, to express initially said angular position. in an "electrical degree" type unit, which takes into account the number of stator poles of the resolver, rather than in "mechanical degrees". According to the invention, during step (a) of turning reversal detection, one acquires a signal, called "motor torque signal", which is representative of the assistance effort Cassist delivered by the engine 2 (and more particularly the torque, in this case the electromagnetic torque, provided by said assistance motor).
    [0010] Preferably, the engine torque signal used for the step of turning reversal detection step (a) is constituted by the Cmot force or torque setpoint which is applied to the assistance engine 2, or else by a measured value of the effort or the torque Cassist which is actually returned by the assistance engine 2. In practice, in the life situations envisaged for the vehicle, the value of the setpoint Cmot applied to the assistance engine 2, and the value of the assistance effort Cassist which is actually provided by said assistance motor 2, are extremely close, even equal, so that these two signals can be used in an equivalent manner within the scope of the invention. Therefore, preferably, and for convenience of description, it will be possible to assimilate in the following the engine torque signal to the effort setpoint (torque setpoint) Cmot applied to the assistance engine 2. Moreover, it will be noted that the Cmot effort setpoint signals and / or the measurement of the Cassist assistance effort effectively delivered by the engine have the advantage of being available and easily exploitable within the power steering. In particular, the Cmot force command signal intended to be applied to the assistance engine is necessarily permanently known, since it systematically constitutes an output datum of the management assistance law enforcement module 3. assisted. The exploitation of this Cmot setpoint signal is thus a very simple implementation. The information relating to the measurement of the effort (or the torque) of assistance Cassist actually delivered by the assistance engine 2 can in turn be indicated, if necessary, by said assistance engine 2 itself. (or more particularly by the controller integrated with said engine), if said assistance motor is equipped in series with a force sensor, and more particularly with a suitable electromagnetic torque sensor. Said measurement of the assistance effort Cassist can of course, alternatively, be obtained by any other appropriate external force (or torque) sensor, such as a torque sensor attached to the shaft 5 of the 2. According to one possible variant of implementation of the method, it may be considered as "motor torque signal", representative of the assistance effort Cassist delivered by the assistance motor 2, the effort traction or compression which is exerted on the steering rack (longitudinally along the axis of translation of said rack). Such a signal may for example be provided by strain gauges measuring the deformations of the rack, or by any other appropriate force sensor. Overall, for the (simple) detection of the steering inversions according to the invention, it is indeed possible to exploit, as a "motor torque signal", any signal whose value is sensitive to an inversion of the friction, that is, that is to say any signal whose value is affected by all or part of the (internal) friction which is exerted on the direction in such a way that said signal undergoes a variation (here a fall) perceptible during the reversal of steering ( and therefore during the inversion of said friction). Furthermore, it will be noted that, taking into account the drive ratio between the assistance motor 2 and the steering rack, it is possible to express the engine torque signal Cmot either in the form of a driving torque or in the form of a motor torque. of a rack-equivalent linear force, without modifying the general principle of the invention. Thus, by way of example, the motor torque signal Cmot of FIG. 1, which is homogeneous to a torque (expressed in Nm) in said FIG. 1, can thus also be converted, for convenience and by simple representation convention. , in the form of an equivalent linear force, expressed in Newtons, and more precisely in kilo-Newtons, as it appears in Figure 2 or in Figure 3. Moreover, although it is not excluded to work with signals, and especially a motor torque signal Cmot analog, it will preferably use one or more signals, and in particular a motor torque signal Cmot, digital. According to the invention, after having acquired the motor torque signal Cmot, the time derivative st word of said motor torque signal (here by means of the bypass module 6, in FIG. 4) is then evaluated. In practice, any method of derivation 30 for determining the variation of the engine torque signal Cmot per unit time (that is, the slope of the curve representative of said signal) can be applied for this purpose. species between two instants separated by a predetermined time interval (sampling period) sufficiently restricted. As an indication, said sampling period (also called "no" sampling) may be between 0.5 ms and 10 ms.
    [0011] After having evaluated the time derivative of the engine torque signal, here, by means of a comparison module 8, the said time derivative of the motor torque signal a at word is compared with a predetermined variation threshold Sp, c in order to detecting a derivative peak 7, which is greater than said predetermined variation threshold, and which signals a reversal of the steering direction of the steering. As has been said above, and as is clearly visible in FIG. 1, a reversal of steering 4 results, because of the concomitant inversion of friction, by a variation, in this case a fall ( a zero approximation), in absolute value, of the engine torque signal Cmot.
    [0012] Said fall has a relatively high height H (of the order of 2.5 Nm of driving torque in the example of FIG. 1) and a relatively short duration (typically less than half a second, and for example between 100 ms and 300 ms). Said fall is therefore indicated by a steep slope of the engine torque signal Cmot, clearly visible in Figure 1, and thus results in a significant and sudden increase in the value of the time derivative of the motor torque signal acmot at, in the form of a derivative peak 7, as shown in FIG. 2. The inventors have thus found that the steering inversions 4 are signaled by derivative peaks 7, identifiable because of a value greater than a value c slope threshold, called the "threshold of variation" Sp, c, that is to say verifying: a word> Spic Typically, - peak Typically, especially in the example considered in FIG. 2, the peaks 7 of the derivative time of the engine torque signal (or more particularly, the peaks of the time derivative of the equivalent force exerted on the rack) 25 characteristics of a steering reversal 4 were within a range called "upper peak range" at 30 kN / s, and in this case ranging from 30 kN / s to 65 kN / s, and more particularly from 35 kN / s to 50 kN / s. The predetermined variation threshold Sp, c may then be chosen as less than or equal to the predictable peak range, and in particular be equal to or near the lower threshold of said range. For example, the variation threshold Sp, c can be set here at 30 kN / s. According to a preferential possibility of implementation which can constitute an entire invention, it is realized, during the step (a) of turning reversal detection, in this case using a filtering module 9 on the FIG. 4, a selective peak filtering by timing the duration dp, c, the so-called "peak hold duration", during which the time derivative of the motor torque signal 19 at Cmot remains above the variation threshold Sp, after crossing said threshold of variation Sp, and signaling a turning reversal 4 if the peak holding time d p, is greater than or equal to a predetermined minimum duration threshold.
    [0013] In other words, it is concluded that we are in the presence of a turning inversion 4 if the time derivative of the engine torque signal satisfies the dual condition of a crossing part of a variation threshold Sp ,, (that is to say, has a value greater than a minimum slope value, as described above) and also maintain above said threshold of variation Sp ,, for a duration at least equal to the threshold duration of dosusmentionné. Advantageously, the filtering is an additional precaution in the identification of the steering inversions 4, insofar as said filtering makes it possible to make a distinction between the derivative peaks 7 which truly correspond to steering inversions 4 and the derivative peaks. 10 (FIG. 2) which are caused by the background noise which disturbs the motor torque signal CMot. Indeed, the noise creating random and fast fluctuations within the engine torque signal Cmot, it is not excluded that, punctually, said noise causes in said signal the appearance of a variation (slope) which would be greater than 20 threshold of variation Sp, 'and which could be interpreted, wrongly, on the sole basis of the first detection criterion by the calculation of the time derivative, such as a reversal of steering. However, the inventors have found that noise, a phenomenon of a substantially periodic nature, exhibits a characteristic half-period which is strictly less than the fall time of the engine torque signal. The duration of the noise derived noise peaks being substantially equal to the half-period of said noise (half-period during which the noise increases, or on the contrary decreases, monotonically, between the minimum and the maximum of the relevant oscillation or vice versa), it is therefore possible to isolate the relevant peaks of derivative 7, representative of an effective inversion of steering, by excluding, according to a second criterion complementary to the first criterion, the peaks of the derivative (of noise 10) which have a duration strictly less than the characteristic duration of such a steering reversal 4. In the present case, it is possible for example to set the minimum duration threshold τ at a value of between 30 ms and 40 ms, which corresponds to the maximum half-period typical of the noise observed (whereas the fall time caused by a reversal of steering is equal to or greater than 100 ms). Concretely, the filtering module 9 may comprise a peak detection flip-flop, placed under the dual dependence on the one hand of the comparison module 8, and on the other hand a clock timing the time elapsed since said comparison module 8 has detected the crossing of the threshold of variation Spic, such that said latch returns a detection signal (peak identification signal) as soon as the two cumulative conditions are met to confirm that one is in the presence of a peak 7 reversing steering.
    [0014] Furthermore, according to a preferential possibility of implementation which can constitute an entire invention, independently of the nature of the step (a) of turning reversal detection, the method according to the invention can comprise a step ( b) of friction evaluation during which a Caction signal is obtained, called "actuation force signal", which is representative of the force (and more particularly of the torque) of total actuation exerted jointly on the steering assisted by the driver and the assistance engine, and it is evaluated here by means of a friction evaluation module 11, the friction force F which opposes the steering steering movements assisted, from the ACaction difference between two values taken by said Caction actuation force signal respectively before and after the steering inversion 4. In other words, the method comprises a step (b) of evaluation rub during which the friction is evaluated from the drop ACaction of the actuation force signal Caction which occurs during the turning reversal detected by step (a).
    [0015] Indeed, and for the same reasons as those detailed above for explaining the fall H of the engine torque signal Cmot in the event of a reversal of steering, a turning inversion 4 also results, more generally, in a fall in ACaction of the signal. Caction actuation force, due to the inversion of the sign of the friction forces.
    [0016] In absolute terms, one could moreover, in a substantially equivalent manner, and without denaturing the principle of the invention, evaluate the friction F from the engine torque signal Cmot alone (as indicated by the instruction applied to to the motor, or by the electromagnetic torque delivered by the motor, as mentioned above), and more particularly from the difference between two values taken by said motor torque signal Cmot alone (rather than by the signal d 'Total actuation force Caction), respectively before and after the steering reversal, that is to say from the height of fall H already mentioned above. However, in order to obtain a more precise and complete evaluation of the friction phenomenon which affects the direction, it is preferable to use, for the calculation of the height of fall, a signal which includes effects of friction on a kinematic chain which is the longest and most complete possible, within the direction, and this in order to take into consideration the greatest possible number of sections of the direction in which friction can take place, and thus to neglect the least sources internal friction possible.
    [0017] In other words, it is preferable to collect force signals in areas as far upstream as possible from each kinematic chain between an actuating element upstream of the direction on the one hand (namely the driver and the driver respectively). assistance engine), and the downstream effectors (links and steering wheels) on the other hand, so that these signals include the maximum of friction that oppose the maneuver of the direction, and in this case include the set of friction that originates in the entire kinematic chain located downstream of the actuator or actuators concerned. In addition, it is also preferable to consider a total actuation force signal, which takes into account not only the contribution of the assistance motor 2, but also the manual contribution of the driver. Indeed, the fall (in absolute value) of such an actuating force signal is thus representative of the friction which affects the steering mechanism both in its "motorized" portion (assistance motor, gearbox, rack and pinion). ...) that in (all or part of) its "manual" portion, also called "driver" portion (steering wheel, steering column, connection pinion / rack ...) For these reasons, the signal of effort Caction actuation is preferably formed, as illustrated in Figure 4, by the sum of a share of a flywheel signal representative of the steering wheel torque exerted by the driver 30 on the steering wheel, and on the other hand the engine torque signal Cmot. Advantageously, it will be noted that the steering torque and Cmot torque signals are already available at all times in most of the assisted directions, and are therefore easily exploitable, which simplifies the implementation of the invention. . For example, the steering torque signal may correspond to a measurement of the steering wheel torque obtained by a suitable steering wheel torque sensor, such as a magnetic torque sensor measuring the elastic deformations of a torsion bar placed between the steering wheel and the steering wheel. driving and the steering column. Such a flywheel torque signal Cvoiant advantageously allow to take into consideration all the friction occurring downstream of said torsion bar, and in particular the friction which arise in the connection between the pinion fixed to the lower section of the steering column and the rack . The motor torque signal Cmot adapted to this application can be obtained by any appropriate means described above. In this respect, it will be noted that, when the engine torque signal Cmot is intended to quantify the drop height (during the friction evaluation step (b)), and not only to detect the steering inversions. (during the step (a) of detection), and that said motor torque signal Cmot is used alone or in combination with the steering torque signal to form the total Caction actuation force signal, said Cmot motor torque signal will preferably be collected as far upstream as possible with respect to the assistance motor 2, and will therefore preferably consist of the setpoint applied to said assistance motor, or by measurement of the electromagnetic torque which is delivered by said assistance engine, as has been said above. Moreover, whatever the signal used to quantify the friction (motor torque signal Cmot, or, preferably, the actuation signal Caction), the evaluation of the friction requires extracting from said signal the values taken by said signal immediately. before and immediately after the steering reversal, that is to say, more particularly, immediately before and immediately after the derivative peak 7, so that the difference (height of fall) between these two can then be calculated values. This is why the method according to the invention will preferably use a database for storing in a memory the history of the different values successively taken by the signal which is used to quantify the friction (motor torque signal Cmot, or preferably, Caction actuation signal), over a recording period which will be chosen greater than the expected duration of the falls related to the steering inversions 4. Thus, it will be possible, after a derivative peak 7 has been identified , go back in the past of the signal to know its value at a time before the occurrence of said derivative peak. Advantageously, in order not to consume memory space unnecessarily, the database will be constantly refreshed, over a rolling recording period, so as to keep, at a given moment, only the information that can be really useful. to calculate the friction at said instant. As an indication, the recording period may be between 0.5 s (500 ms) and 1 s, and preferably equal to 500 ms. Preferably, during the step (b) of friction evaluation, and as illustrated in FIGS. 3 and 4, a start time of a peak is identified, which corresponds to the instant at which the derivative time of the motor torque signal cmot passes above the threshold of variation Spic, we identify a peak end instant at 10 tf, o, which corresponds to the instant at which the time derivative of the motor torque signal cmot drops back to below said threshold of variation Spic, then it is determined which a was the value Caction (t1), called "actuation force value prior to the reversal of steering", taken by the actuation force signal to a first reference time t1 which is equal to or earlier than the start time of peak tdeb, it is determined what was the value Caction (t2), called "actuation force value after the reversal of steering", taken by the actuation force signal at a second reference moment erence t2 which is equal to or posterior to the peak end time tf, o, then the friction is evaluated from the calculation of the difference between the actuation force value after the reversal of the Caction deflection (t2 ) and the force value 20 of actuation prior to the steering reversal Caction (t1), ACaction = I Caction (t2) - Caction (t1) I - More particularly, it can be considered that the value of the friction forces F which affect the maneuver of the steering at the moment considered (that is to say at the moment of turning reversal 4 considered) is equal, in view of the phenomenon of hysteresis mentioned above, to the half -difference between the actuation force value after the reversal of steering and the actuation force value prior to the reversal of steering, that is to say: F = ACaction / 2. Advantageously , the use of a time derivative of the motor torque signal Cmot as well as a reference mporelle at the start times tdéb and 30 end tfin of peak derivative 7 which are identified from said derivative can accurately detect the moment when the turning reversal 4 occurs, and thus improve the reliability and accuracy the evaluation of the characteristics of the fall of the actuating force signal. By measuring the actuating force at reference times t1, t2 which are calculated from the instants of beginning and end of peak and which frame at most that is to say: near the actual inversion of steering 4 (and therefore the fall of the actuation force signal), the invention makes it possible to precisely determine what was the exact value of the Caction actuation force just before and just after said reversal of steering.
    [0018] This avoids any delay or approximation in the measurement, which could otherwise lead to consider a value of the actuating signal not representative of the true height of fall, as measured at a measurement point temporally too far from said fall. The invention thus makes it possible to evaluate the friction F in a reactive and reliable manner, since it considerably reduces the sources of errors, and the slowness which hitherto affected the friction estimation methods based on a monitoring of the friction. angular position of the steering wheel. According to an implementation possibility, it will be possible, arbitrarily, to make the first reference time t1 coincide with the start time of the peak tdeb (that is, to set t1 = tb), and / or, in addition or alternatively, choose to make the second reference time t2 coincide with the peak end time tbn (that is to say, put t2 = tfin) - However, according to a second possibility, the first reference moment t1 is preferably selected strictly prior to the peak start time tb (t1 <tb), said first reference time preceding said peak start time of a feed value 61 (i.e. t1 = tdeb - 61), and / or the second reference time t2 is chosen strictly after the peak end instant (t2> tbn), said second reference time following said peak end instant of a delay value 62 (i.e., t2 = tbn + 62).
    [0019] As an indication, the feed value 61 is preferably between 20 ms and 100 ms, and for example substantially equal to 50 ms (fifty milliseconds). As an indication, the delay value 62 is preferably between 20 ms and 100 ms, and for example substantially equal to 50 ms (fifty milliseconds). In other words, the time interval [t1; t2] on which the ACaction drop height of the signal considered (here the actuation force signal) is calculated, and preferably on both sides, both late and in advance. This widening of the measurement interval with respect to the gross interval defined by the start and end times of the peak, which expansion is preferably at least 10 ms (in advance as well as late), and by preferred example 50 ms (in advance as well as in delay: 61 = 62 = 50 ms), makes it possible to ensure that the elapsed time (that is to say t2-t1) between the first reference time t1 and the second reference time t2 is effectively greater than or equal to (and possibly just greater than) the effective duration of the (complete) fall of the signal attributable to the inversion of steering, and therefore attributable to the friction. Thus, the method according to the invention makes it possible to ensure that the extreme values of the actuation force signal which correspond to the entirety of the drop height of said signal, characteristic of the steering reversal, are well measured. without truncating a portion of said chute. Furthermore, the forward 61 and the delay 62 values remain however relatively lower than predetermined maximum broadening thresholds, chosen so that the first reference instant t1 and the second reference instant t2 remain in the immediate temporal neighborhood of the transition domain (from the fall domain) due to the inversion of steering, in "border" areas of said transition, border domains in which the value of the signal concerned remains almost constant with respect to the value which is taken by said signal at the transition limit (the evolutions of said value in the border domains being for example contained in a range of amplitude less than or equal to 10%, at 5%, or even less than or equal to 1% of the height of fall) . Here, because, outside the range of the fall due to the inversion of the friction, the engine torque signal Cmot, as well as the actuation force signal Caction, vary much more slowly than during said fall, the proposed weakening (the advance 61 and the delay 62 being typically less than 200 ms, or even 100 ms, and preferably equal to 50 ms each) makes it possible to maintain the first reference time t1 and the second reference instant t2 at immediate temporal neighborhood of the domain of the fall, in areas "border" of said fall, border areas in which the value of the signal concerned remains almost constant with respect to the value that is taken by said signal at the limit of fall. Thus, the measurements of the signal values taken at the first and the second reference instant t1, t2, that is to say neither too early nor too late compared to the fall due to friction, accurately reflect the real value of the actuation force Caction (or, respectively motor torque Cmot) considered at the limits of said fall.
    [0020] Ultimately, the method according to the invention therefore makes it possible to measure substantially a drop height which corresponds to the entire contribution specific to the friction and nothing to the contribution specific to the friction. Said method therefore advantageously makes it possible to obtain, almost in real time, a reliable, accurate and regularly updated measurement of the true friction F which affects the direction at the instant considered, which was not allowed by the known processes which were based on on a rather rough approximation of the friction, carried out from pre-established theoretical friction models. It will be noted that, according to an alternative embodiment of the invention, instead of calculating the first and the second reference instant t1, t2 respectively from the instant of the beginning of peak tdbe and from the peak end time tf, o, characterizing the derivative peak 7 by a single peak instant, corresponding, for example, to the start time of the peak, to the end of peak moment, or to the mean instant located in the middle of said instants of start and end of peak, then arbitrarily set the first and second instants t1, t2 of reference on either side of said single peak instant, so as to include in the interval thus defined the characteristic duration predictable signal drops; for example, one could consider that the first reference instant is located 100 ms before the single peak instant, and the second instant 200 ms after said single peak instant.
    [0021] Of course, this choice of reference times t1, t2 does not affect the general principle of evaluation of the friction described above. Whatever else is the definition used for the first and the second reference time t1, t2, the recording period of the Caction actuation force signal (and / or the Cmot motor torque signal), which makes it possible to temporarily keeping in memory the values of said signal useful for evaluating the friction at the instant in question will of course be greater than the width of the time interval [t1; t2] between said first and second reference instants, and, more particularly, greater than the maximum predictable drop time plus delay 62 and advance 61.
    [0022] Furthermore, the method according to the invention preferably comprises a step (c) of verification, during which it is verified, preferably cumulatively, here within a verification module 12 in FIG. performing one or more of the following conditions: the rotational speed of the flywheel is less than or equal to an elongated flywheel speed threshold; predetermined, the angular acceleration of the steering wheel is lower or equal to a threshold of acceleration of the flywheel predetermined threshold, the evolution of the yaw rate ti) of the vehicle or the lateral acceleration y of the vehicle as a function of the steering wheel steering angle ° is located in a substantially linear domain. The condition relating to the speed of rotation of the steering wheel flying, which must be less than or equal to a speed threshold flywheel flying threshold close to zero, and for example of the order of 5 deg / s, makes it possible to verify that the life situation of the vehicle is compatible with a steering reversal, making sure that the angular speed of the steering wheel is close to zero at the time of the alleged steering reversal.
    [0023] Indeed, during an effective steering reversal, the flying speed necessarily vanishes at the point of inversion (cusp) of the steering wheel. Conversely, the absence of zero crossing of the speed of the steering wheel excludes that one is in a situation of inversion of steering. The condition relating to the angular acceleration of the steering wheel makes it possible to proceed to the evaluation of the friction only when the acceleration of the steering wheel, and therefore the acceleration of the movements of the steering mechanism members, is low, for example lower or equal to 100 deg / s2, that is to say only when the inertial forces are non-existent or negligible. It is thus ensured that, during the evaluation of the friction, the stress state of the steering mechanism, such that this state of stress is perceived and quantified by the measurement of the engine torque Cmot and / or by the measurement of the Caction actuation force, is well representative of the phenomenon of friction, and only the phenomenon of friction, and is not distorted by the appearance of inertial forces.
    [0024] The condition on the linearity of the evolution of the yaw rate 11J of the vehicle, or, in an equivalent manner, of the evolution of the lateral acceleration y of the vehicle, as a function of the steering wheel orientation angle ° steering wheel is to ensure that the vehicle is not in a situation of loss of grip, and more particularly neither oversteer nor understeer.
    [0025] Indeed, a loss of adhesion (tires on the road) will cause a decrease in the resistant force that the wheels and steering rods exert on the rack, against the engine assistance, which will consequently lead to a corresponding decrease in the force delivered by the assistance motor, which will be unrelated to the action of the internal friction F, and could therefore bias the evaluation of said friction F.
    [0026] To check the linearity condition, it will be possible to use empirical laws established during test campaigns and combining, for different life situations (dry weather, wet pavement, etc.), and at each angular position of the steering wheel among a plurality different predetermined angular positions of the steering wheel, a yaw rate or a corresponding maximum allowable acceleration. We will then consider that we are in the linear range, that is to say in a life situation allowing a reliable evaluation of the friction, if, for the steering wheel angular position (or, equivalently, the position angular of the assistance motor shaft) measured at the instant considered, the yaw rate 11J or the lateral acceleration y of the vehicle (which may be for example provided by the ESP trajectory control system, or by the ABS brake assist system), is below the maximum allowable value. Ultimately, the effective realization of the evaluation of the friction according to the invention can advantageously be subordinated to the simultaneous realization of several conditions, in this case for example up to four conditions (or more), namely a condition relating to the minimum duration of maintaining the derivative peak dp, a condition relating to the angular velocity of the flying flywheel, a condition relating to the angular acceleration of the flywheel, and / or a condition relating to the linearity of the lateral dynamics (speed flying lace, or lateral acceleration y). Conversely, the failure to achieve one of these conditions may inhibit the evaluation of the friction, considered then irrelevant in view of the life situation of the vehicle at the moment considered.
    [0027] Such a redundancy of verifications makes it possible to exclude doubtful cases, and thus to keep only reliable evaluations of the friction, which significantly improves the robustness of the process according to the invention with regard to the various instabilities that could affect it. On the other hand, the variation threshold Sp ,, and / or, if appropriate, the peak hold minimum duration threshold et and / or the advance 61 and delay 62 values, are preferably adjusted. depending on the angular acceleration of the steering wheel. In other words, the invention makes it possible to dynamically update the parameterization used for the detection of steering inversions and / or the evaluation of friction, as a function of various parameters such as flying angular acceleration. steering wheel, in order to optimize the reliability and responsiveness of the process on a case-by-case basis. Indeed, it will be readily understood, for example, that the drop time of the engine torque signal Cmot (respectively of the Caction actuation force signal) is shorter, and its slope (its time derivative) of as much higher, that the operation of the steering wheel is fast. Thus, for example, when the driver rapidly performs a steering maneuver immediately followed by a counter-braking maneuver, so that the angular accelerations of the steering wheel implemented on either side of the zero speed point corresponding to the turning inversion are relatively high, it is possible to increase the value of the threshold of variation Spic, in order to better eliminate the noise, while preserving the possibility of detecting a fall having a steep slope. Alternatively or additionally, it is also conceivable, and even desirable when the angular acceleration of the steering wheel increases, to reduce the threshold of minimum duration of peak maintenance do, in order not to risk excluding a relatively short but nevertheless representative peak a steering reversal. Similarly, alternatively or additionally, it is also conceivable to reduce in such a situation the advance values 61 and / or delay 62 used to define the first and second reference instants t1, t2, at which extreme values are acquired. the Caction actuation force making it possible to estimate the Caction drop height. Indeed, the fall time being shortened when the operation of the steering wheel is faster, it is possible to frame the entire fall in a narrower time domain, without the risk of truncating the drop height. Advantageously, the reduction of the threshold of minimum maintenance duration of peak do and / or the values of advance 61 and / or delay 62 makes it possible to accelerate the execution of the method, and thus to optimize its reactivity, without harming the its reliability.
    [0028] More generally, the adaptation, in real time, of the detection of steering inversions and / or the evaluation of the friction as a function of the vehicle life situation and / or the dynamics of the steering wheel makes it possible to optimize the performance of the process, and to make the latter particularly versatile. Of course, the invention also relates as such to a power steering management module 35 which is structured or programmed to implement a method according to one or other of the features and variants described in the foregoing. Said management module may in particular include, and more particularly group together, where appropriate within the same housing, one and / or the other (and possibly the whole) of the law enforcement modules. assistance 3, bypass 6, filtering 9, friction evaluation 11, and verification 12 described in the foregoing. Each of the aforementioned modules may be formed by an electronic circuit, an electronic card, a computer (computer), a programmable controller, or any other equivalent device. Each of the aforementioned modules may have a physical control structure, related to the wiring of its electronic components, and / or, preferably, a virtual control structure, defined by computer programming.
    [0029] Of course, the invention also relates as such to any computer readable data medium containing computer program code elements for performing the method according to the invention when said medium is read by a computer. Finally, it will be noted that the method according to the invention, which exploits the signals generally available within the assisted steering systems, can be easily generalized to all the assisted steering systems, including retrofitting on many already existing power steering, by a simple reprogramming their calculator. Of course, the invention is also in no way limited to the only embodiments described above, the person skilled in the art being able to isolate or combine freely between them one or the other characteristics mentioned above, or to substitute equivalents for them.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of managing a power steering (1), said power steering comprising at least one assist motor (2) for delivering a support effort (Cassist), said method being characterized by comprising a step (a) steering reversal detection during which a signal is acquired, said "torque signal" (Cmot), which is representative of the assistance effort (Cassist) delivered by the assistance engine (2), then evaluating the time derivative (acmax) at said motor torque signal, and then comparing said time derivative of the motor torque signal with a predetermined variation threshold (Spic) to detect a peak derivative (7), greater than said predetermined variation threshold (Spic), which signals an inversion (4) of the steering direction.
    [0002]
    2. Method according to claim 1 characterized in that the engine torque signal used for the step (a) of turning reversal detection is constituted by the effort or torque reference (Cmot) which is applied to the engine. assistance (2), or else by a measured value of the effort or the torque (Cassist) which is actually returned by the assistance engine (2).
    [0003]
    3. Method according to claim 1 or 2 characterized in that, during the step (a) of turning reversal detection, is carried out a selective filtering peak timing time (dp, c), called " peak holding time ", during which the time derivative of the motor torque signal (a cm t) remains above the variation threshold (Spic), after having crossed said threshold of variation (Spic), and signaling a steering reversal (4) if the peak hold duration (dp, c) is greater than or equal to a predetermined minimum duration threshold (do).
    [0004]
    4. Method according to one of the preceding claims characterized in that it comprises a step (b) of evaluation of friction during which one acquires a signal (Caction), said "signal of actuation force" , which is representative of the total actuation force exerted jointly on the power assisted steering by the driver and the power assist motor (2), and the friction force (F) which opposes the steering movements of the power steering from the difference (ACaction) between two values taken by said actuation force signal (Caction) respectively before and after the steering reversal (4).
    [0005]
    5. Method according to claim 4, characterized in that the actuation force signal (Caction) is formed by the sum of a part of a flying torque signal representative of the flying torque (Cyolant) exerted by the driver on the steering wheel, and secondly the engine torque signal (Cmot).
    [0006]
    6. Method according to claim 4 or 5 characterized in that, during the step (b) of evaluation of friction, a peak start time (tb) is identified which corresponds to the instant at which the time derivative the motor torque signal acmo t) passes above the variation threshold (Spic), a peak end instant at (tf, n) is identified which corresponds to the instant at which the time derivative of the motor torque signal ( a cmo t) goes down below said threshold of variation (Spic), then it is determined at what was the value (Caction (t1)). the "steering reversal" taken by the actuating force signal at a first reference instant (t1) equal to or earlier than the peak start time (tb), it is determined what the value was (Caction ( t2)), referred to as the "actuation force value subsequent to the reversal of steering", taken by the actuation force signal at a second reference time (t2) equal to or after the end time of peak (tbn), then the friction (F) is evaluated from the calculation of the difference (ACaction) between the actuation force value after the reversal of steering (Caction (t2)) and the actuation force value prior to reversing (Caction (t1)) -
    [0007]
    7. Method according to claim 6, characterized in that the first reference time (t1) is chosen strictly prior to the peak start time (tb), said first reference time preceding said peak start time of a a value of advance (61) which is preferably between 20 ms and 100 ms, and for example substantially equal to 50 ms, and / or in that the second reference time (t2) is chosen strictly after the instant end of peak (tbn), said second reference time following said peak end time of a delay value (62) which is preferably between 20 ms and 100 ms, and for example substantially equal to 50 ms.
    [0008]
    8. Method according to one of the preceding claims characterized in that it comprises a step (c) verification, during which it is verified, preferably cumulatively, the realization of one or more conditions of implementation. one of the following conditions: the rotational speed of the steering wheel (, "flying") is less than or equal to a predetermined steering wheel speed threshold, the angular acceleration of the steering wheel (, flying) is less than or equal to a threshold predetermined steering wheel acceleration, the evolution of the yaw rate (tp) of the vehicle or the lateral acceleration of the vehicle (-y) as a function of the orientation angle of the steering wheel (0'dant) is in a substantially linear domain. called "actuation force value prior to
    [0009]
    9. Method according to one of the preceding claims, characterized in that the threshold of variation (Sp, c) and / or, if applicable, the threshold of minimum duration (do) peak maintenance and / or the values (61) and delay (62) are adjusted according to the angular acceleration of the steering wheel.
    [0010]
    10. Power steering management module structured or programmed to implement a method according to one of claims 1 to 9.
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    同族专利:
    公开号 | 公开日
    US10227088B2|2019-03-12|
    CN106163902B|2019-10-18|
    JP2017508660A|2017-03-30|
    FR3018059B1|2016-03-11|
    CN106163902A|2016-11-23|
    WO2015132509A1|2015-09-11|
    EP3114007B1|2020-03-18|
    EP3114007A1|2017-01-11|
    US20170015350A1|2017-01-19|
    JP6703951B2|2020-06-03|
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    法律状态:
    2015-01-30| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-29| PLFP| Fee payment|Year of fee payment: 3 |
    2017-01-19| PLFP| Fee payment|Year of fee payment: 4 |
    2018-01-19| PLFP| Fee payment|Year of fee payment: 5 |
    2020-02-13| PLFP| Fee payment|Year of fee payment: 7 |
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    2022-02-15| PLFP| Fee payment|Year of fee payment: 9 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1451682A|FR3018059B1|2014-03-03|2014-03-03|METHOD FOR DETECTING A REVERSING INVERSION BY MONITORING THE TORQUE PROVIDED BY A STEERING ASSISTANCE MOTOR AND APPLYING SAID METHOD FOR EVALUATING THE FRICTION|FR1451682A| FR3018059B1|2014-03-03|2014-03-03|METHOD FOR DETECTING A REVERSING INVERSION BY MONITORING THE TORQUE PROVIDED BY A STEERING ASSISTANCE MOTOR AND APPLYING SAID METHOD FOR EVALUATING THE FRICTION|
    US15/123,914| US10227088B2|2014-03-03|2015-02-27|Detection method of a steering reversal by monitoring of the torque provided by a steering assist motor and application of said method for evaluating the friction|
    CN201580011562.9A| CN106163902B|2014-03-03|2015-02-27|By the detection method and application the method assessment friction that monitor the steering reversal of the torque provided by power steering motor|
    EP15713207.7A| EP3114007B1|2014-03-03|2015-02-27|Method for detecting a reversal in the steering direction by monitoring the torque supplied by a power steering motor, an application of said method to friction evaluation|
    PCT/FR2015/050473| WO2015132509A1|2014-03-03|2015-02-27|Method for detecting a reversal in the steering direction by monitoring the torque supplied by a power steering motor, an application of said method to friction evaluation|
    JP2016555307A| JP6703951B2|2014-03-03|2015-02-27|How to manage power steering|
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