In comparison with current EPS steering systems extended, specific safety requirements are necessary for the future technology Steer-by-Wire. For this purpose, an industry-wide standard is to be developed as part of a DIN standard. The focus here is on questions of general interest such as item definition, safety goals, error categories, controllability in the case of a first fault, operational behavior after a first fault and the associated degradation concept. The following explanation provides an overview of how these questions will be answered in the DIN standard 70065. In conjunction with the ISO26262 standard for functional safety the system boundaries and the corresponding item definition for a steer-by-wire systems are developed. The focus is to establish a basis for a fully mechatronic/software-defined Steer-by-Wire system for the front axle steering system with no mechanical backup. The key SbW-specific safety goals, the corresponding acceptance criteria safe states on item and vehicle level and the availability requirements are defined. Next, an identification and evaluation for SbW-specific fault-types and variables are performed. Thereby is shown that the fault variables, such as time interval/frequency and amplitude, are not transferable across all vehicles because they are greatly dependent on the vehicle and the built-in steering system. Based on these investigations, objective criteria at the vehicle/environment level, such as lateral acceleration and yaw rate are defined. Subsequently an evaluation methodology is developed based on which experts can determine the C0 limits for controllability after a fault in the steering system. Through these expert tests, driving maneuvers are defined to evaluate the SbW-specific fault-types. For these failure-maneuver-combinations empirical values for lateral acceleration and yaw rate are defined. To validate the evaluation methodology's procedure a driving study with multiple probands is set up. In the driving study multiple failuremaneuver combinations are examined where each is investigated by at least two different vehicle types. In 9 of 12 cases, the explained procedure regarding the controllability was confirmed. The mechanical connection between steering wheel and road wheels in today’s vehicles, always guarantees steering control whilst driving. Those systems may fail into a safe state after a first fault; hence the vehicle can still be driven at speed. In Steer-by-Wire, the mechanical connection is no longer present, therefore redundancy within the steering system is needed to guarantee steering control after first fault. A degradation concept for the Steer-by-Wire applications is required to elegantly transition the vehicle into a safe state. The safe state for a Steer-by-Wire vehicle is “Creep Home” at low speed and “Vehicle Standstill”. To facilitate uninterrupted driving after a first fault, the DIN standard degradation concept provides requirements for different degradation levels. Requirements for the steering capabilities and the remaining safety integrity are specified for those degradation levels as well as for the transition between those states. A maneuver catalogue with respective acceptance criteria has been established to ensure sufficient steering capabilities on vehicle level in case of faults. Additional guidelines for the transition times for continued driving at speed after a fault are provided. Aligning the industry to a common vehicle degradation concept ensures that fault handling and potential vehicle performance limitations are uniformly managed and implemented so that vehicle behavior is consistent to the consumer.

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Basic safety guidelines for Steer-by-Wire for a new DIN standard

  • Matthias Schölzel,
  • Christian Kleiner,
  • Alexander Ein Waldt

摘要

In comparison with current EPS steering systems extended, specific safety requirements are necessary for the future technology Steer-by-Wire. For this purpose, an industry-wide standard is to be developed as part of a DIN standard. The focus here is on questions of general interest such as item definition, safety goals, error categories, controllability in the case of a first fault, operational behavior after a first fault and the associated degradation concept. The following explanation provides an overview of how these questions will be answered in the DIN standard 70065. In conjunction with the ISO26262 standard for functional safety the system boundaries and the corresponding item definition for a steer-by-wire systems are developed. The focus is to establish a basis for a fully mechatronic/software-defined Steer-by-Wire system for the front axle steering system with no mechanical backup. The key SbW-specific safety goals, the corresponding acceptance criteria safe states on item and vehicle level and the availability requirements are defined. Next, an identification and evaluation for SbW-specific fault-types and variables are performed. Thereby is shown that the fault variables, such as time interval/frequency and amplitude, are not transferable across all vehicles because they are greatly dependent on the vehicle and the built-in steering system. Based on these investigations, objective criteria at the vehicle/environment level, such as lateral acceleration and yaw rate are defined. Subsequently an evaluation methodology is developed based on which experts can determine the C0 limits for controllability after a fault in the steering system. Through these expert tests, driving maneuvers are defined to evaluate the SbW-specific fault-types. For these failure-maneuver-combinations empirical values for lateral acceleration and yaw rate are defined. To validate the evaluation methodology's procedure a driving study with multiple probands is set up. In the driving study multiple failuremaneuver combinations are examined where each is investigated by at least two different vehicle types. In 9 of 12 cases, the explained procedure regarding the controllability was confirmed. The mechanical connection between steering wheel and road wheels in today’s vehicles, always guarantees steering control whilst driving. Those systems may fail into a safe state after a first fault; hence the vehicle can still be driven at speed. In Steer-by-Wire, the mechanical connection is no longer present, therefore redundancy within the steering system is needed to guarantee steering control after first fault. A degradation concept for the Steer-by-Wire applications is required to elegantly transition the vehicle into a safe state. The safe state for a Steer-by-Wire vehicle is “Creep Home” at low speed and “Vehicle Standstill”. To facilitate uninterrupted driving after a first fault, the DIN standard degradation concept provides requirements for different degradation levels. Requirements for the steering capabilities and the remaining safety integrity are specified for those degradation levels as well as for the transition between those states. A maneuver catalogue with respective acceptance criteria has been established to ensure sufficient steering capabilities on vehicle level in case of faults. Additional guidelines for the transition times for continued driving at speed after a fault are provided. Aligning the industry to a common vehicle degradation concept ensures that fault handling and potential vehicle performance limitations are uniformly managed and implemented so that vehicle behavior is consistent to the consumer.