Patent ID: 11878753
Assignee: VOLKSWAGEN AKTIENGESELLSCHAFT
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. The steering assistance method of claim 1, wherein:
the monitoring function carries out monitoring of oversteerability, and/or
the permissibility criterion or a partial criterion is detected or are detected as not satisfied in response to the setpoint value of the output force, used as a control variable of an underlying actuator unit as the position encoder of the steering system; exceeding an upper force limit and/or undershoots a lower force limit, wherein
the upper force limit and/or the lower force limit are/is adapted in accordance with the steering force assistance by the steering system and/or in accordance with the steering torque which is manually applied by the driver, and/or
the upper force limit and/or the lower force limit are determined according to the following relationships, F
        
         pos
         ,
         Limit
        
       
       (
       
        
         M
         Sensor
        
        ,
        
         F
         Assistance
        
       
       )
      
      =
      
       
        F
        
         ma
         ⁢
         x
        
       
       +
       
        
         
          (
          
           
            F
            
             ma
             ⁢
             x
            
           
           -
           
            F
            min
           
          
          )
         
         ·
         
          M
          Sensor
         
        
        
         M
         
          ma
          ⁢
          x
         
        
       
       -
       
        min
        ⁡
        (
        
         
          F
          Assistance
         
         ,
         0
        
        )
       
      
     
     ,
    
   
   
    
     (
     1
     ), in response to only a lower opposing torque being applied to the steering system of the transportation vehicle by the driver, and Msensor>−Mmax, according to:, F
        
         pos
         ,
         Limit
        
       
       (
       
        
         M
         Sensor
        
        ,
        
         F
         Assistance
        
       
       )
      
      =
      
       
        F
        min
       
       +
       
        
         min
         ⁡
         (
         
          
           F
           Assistance
          
          ,
          0
         
         )
        
        ·
        
         
          M
          
           ma
           ⁢
           x
          
         
         
          
           2
           ·
           
            M
            Sensor
           
          
          +
          
           M
           
            ma
            ⁢
            x
           
          
         
        
       
      
     
     ,
    
   
   
    
     (
     2
     ), in response to a high opposing torque being applied to the steering system of the transportation vehicle by the driver, and Msensor>−Mmax, according to:, F
       
        neg
        ,
        Limit
       
      
      (
      
       
        M
        Sensor
       
       ,
       
        F
        Assistance
       
      
      )
     
     =
     
      
       -
       
        F
        
         ma
         ⁢
         x
        
       
      
      +
      
       
        
         (
         
          
           F
           
            ma
            ⁢
            x
           
          
          -
          
           F
           min
          
         
         )
        
        ·
        
         M
         Sensor
        
       
       
        M
        
         ma
         ⁢
         x
        
       
      
      -
      
       max
       ⁡
       (
       
        
         F
         Assistance
        
        ,
        0
       
       )
      
     
    
   
   
    
     (
     3
     ), in response to only a low opposing torque being applied to the steering system of the transportation vehicle by the driver and Msensor≤−Mmax and/or according to:, F
       
        neg
        ,
        Limit
       
      
      (
      
       
        M
        Sensor
       
       ,
       
        F
        Assistance
       
      
      )
     
     =
     
      
       -
       
        F
        
         ma
         ⁢
         x
        
       
      
      +
      
       
        
         (
         
          
           F
           
            ma
            ⁢
            x
           
          
          -
          
           F
           min
          
         
         )
        
        ·
        
         M
         Sensor
        
       
       
        M
        
         ma
         ⁢
         x
        
       
      
      -
      
       max
       ⁡
       (
       
        
         F
         Assistance
        
        ,
        0
       
       )
      
     
    
   
   
    
     (
     3
     ), in response to a high opposing torque being applied to the steering system of the transportation vehicle by the driver and MSensor>−Mmax,
Fpos,Limit denotes the upper force limit, Fneg,Limit denotes the lower force limit, MSensor denotes the manual torque which is measured by a sensor and applied by the driver of the transportation vehicle, MMax denotes the maximum steering torque, Fassistance denotes the currently applied steering assistance force, Fmin denotes a minimum force, Fmax denotes a maximum force, min denotes the minimum function and max denotes the maximum function.