Zf Automotive Germany Gmbh

Robert Gonschorek

The present invention generally relates to closed-loop control methods, a computer program product and an open-loop control device () for a motor vehicle (). The closed-loop control method is configured for the cooperative vehicle lateral guidance of a motor vehicle () with respect to a reference trajectory by means of an overall closed control loop () of a vehicle closed-loop control unit (). The overall closed control loop () comprises at least one first closed-loop control module () and one second closed-loop control module (). The first closed-loop control module () has a dynamic open-loop pilot controller () having a virtual closed control loop () which is configured to take into account a steering wheel state based on a manual steering input for influencing the vehicle lateral guidance. The second closed-loop control module () has a non-linear adaptive model-predictive closed-loop controller which is configured to compensate for at least one unknown estimated disturbance state based on at least one disturbance variable which causes a deviation of the vehicle lateral guidance from the reference trajectory.

Cooperative vehicle lateral guidance closed-loop control, computer program product and open-loop control device for a motor vehicle

The disclosure relates to a method for cooperative steering angle control for an electromechanically assisted steering system of a motor vehicle. The steering system has electromechanical steering assistance with an electric motor and at least one controller. The controller has two degrees of freedom, a first of the two degrees of freedom being associated with a torque exerted on a steering wheel, and a second of the two degrees of freedom being associated with a steering angle. The method comprises the following steps: determining a driver torque; ascertaining a reference steering wheel torque by a dynamic feedforward; receiving a reference steering angle; feeding the reference steering angle into a control loop; feeding the determined reference steering wheel torque into the control loop by the dynamic feedforward; and ascertaining a steering wheel torque and a steering angle by the control circuit (). A control device for an electromechanically assisted steering system of a motor vehicle is also disclosed.

Method for cooperative steering angle control, control device and electromechanically assisted steering system

A control system for an electric motor circuit comprises a current controller which produces a set of idealised voltage demands for the motor circuit, an observer which observes the inputs to the motor circuit and the outputs of the motor circuit and which generates from the observations estimates of the voltage disturbances within the motor circuit, the observer being arranged in use to output a first correction signal indicative of the voltage disturbances in the motor circuit, a feed-forward controller which receives as an input a measurement or estimate of the current flowing in the motor and calculates from the input a second correction signal. The first correction signal output from the observer and the second correction signal output from the feedforward controller are combined with the idealised voltage demands output from the controller to provide a set of modified voltages demands that are fed to the motor.

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Neuss, Germany

Robert Gonschorek