publication number DE102009028279 (A1)
Release date: 2011-02-10
Inventor: HAULER FLORIAN [DE] + (HAULER, FLORIAN)
Applicant: BOSCH GMBH ROBERT [DE] + (ROBERT BOSCH GMBH)
Classification:
International: B60W30/02; B60W30/08; G05D1/02; G08G1/16
European:
Application number: 20,090,806 DE200910028279
Priority number (s): DE200910028279 takes 20,090,806
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translate this text description of DE 102009028279 (A1)
[0001] The present invention relates to a method for setting a driving dynamics of a vehicle influencing actuator according to the preamble of claim 1
art
[0002] DE 10 2005 033 087 A1 is a method of avoiding rear-end collisions known, determined by the means of the vehicle run-oriented environment sensor, the distance and / or the speed to a preceding vehicle and falls below threshold values automatically into the drive train or the vehicle brake intervention to reduce the risk of collision.
[0003] With the U.S. can be 10 2005 033 087 A1 process described but only a risk of collision can be avoided with a vehicle ahead. The method is not applicable to lane change maneuvers, where there is a risk that a parallel-moving vehicle is due to the so-called blind spot in the side mirror is not recognized by the driver.
disclosure of the invention
[0004] The invention has the task to reduce the risk of collision with at least approximately parallel to a moving vehicle in the event of a lateral approach.
[0005] This object is inventively achieved with the features of the independent claims. The dependent claims disclose expedient further developments.
[0006] The invention can be used in situations in which two vehicles are roughly parallel to each other and at least approximately in the same direction and drive the vehicles laterally, ie transversely to the direction of view, approach. The lateral distance between vehicles is determined by using an environmental sensor, such as using radar, video, ultrasound and lidar sensors. If it is determined on the environmental sensors, that the distance between the vehicle and an external or third vehicle in the transverse direction and a reduced allowable Limit value is exceeded, measures taken to raise awareness of the driver's current driving situation. These measures relate to an interference with the driving dynamics of the vehicle, the intervention aimed primarily at the driver with information about the current driving situation to convey. If necessary, the intervention in the dynamics can also be used to increase the driving safety in an objective way, by example, the vehicle by braking or steering opposite is moved to a larger distance from the other vehicle.
[0007] The driving situations in which the inventive method is applicable to citizens, such as lane changes, either where the vehicle in which the inventive method is used, the lane changes, or changes the other vehicle and the lane passes through the lane change in approach to the vehicle. In addition, situations can be considered, in which neither intended by the driver of the own vehicle nor the driver of the third vehicle, a lane change is below, however, due to driving errors or other influences such as crosswinds, the transverse distance between the vehicles an acceptable minimum.
[0008] According to a first aspect of the invention, if it falls below the minimum lateral distance operates an actuator in the vehicle with which a yaw moment, so a moment about the vehicle's vertical axis is generated. This is done for example by an independently conducted asymmetric braking or if the vehicle has an active steering system, through the automatic application of an additional steering angle of the steering angle specified by the driver is superimposed. In the case of an automatic braking process to be carried out preferably the wheel brakes are actuated, for example such that are generated in the wheels on the left and right-side region, different levels of braking torque. Considered but is also the generation of differential moments using active coupling members (torque vectoring) to the left and right wheels of the vehicle such as a division of motor Braking torques of the active coupling members on the left and right wheels. Of such active coupling members but can also drive motor torque by an asymmetric distribution between the left and right wheels of the vehicle to generate yaw moments are used.
[0009] For generating a yaw moment, the vehicle longitudinal axis relative to the direction of travel being redefined in what is perceived by the driver of sensors. The yaw moment is preferably produced in such a way that the vehicle is anxious to move away from the third vehicle. This corresponds to the normal reaction of the driver to distance themselves from the third vehicle by a corresponding steering movement. With the engagement in the yawing moment can the driver gives the impression of a magnetic repulsion between his vehicle and the third car who is the. To alert the driver with another approach to the urgency of a backlash, it may be desirable to make the height of the moment by the lateral distance between the vehicles subject to being produced with increasing approach a higher torque, so that a reciprocal relationship between distance and produced moment is given. Alternatively or in addition to the torque increase, it is also possible to make the torque curve so that the driver is aware of the urgency of the situation in a particular way, for example by a pulsed application of the moment.
[0010] Since, in particular in the case of a braking operation to generate a yaw moment occurs a deceleration of the vehicle, but not desirable in any case, it may be appropriate to the vehicle deceleration by an increased Cardan that is effective in a propeller shaft of the vehicle, to compensate. Basically, to compensate for the travel delay, all options are to increase the drive torque in the vehicle in question.
[0011] In the event that the vehicle is equipped with an active-steering system that allows the generation of an additional steering angle in the steering system, the yaw moment by applying an additional steering angle such be generated. Here, by automatic control of the active steering system, the steerable wheels of the vehicle - loaded with the additional steering angle, which is added to the steering angle specified by the driver - steerable front wheels and / or steerable rear wheels. The additional steering angle of steerable wheels also leads to a rotation about the vertical axis of the vehicle, and thus to a yaw moment which is perceived by the driver. Such active steering systems generally include a two-part steering shaft with intermediate auxiliary steering gear, of which the additional steering angle can be introduced into the steering system.
[0012] The influence of the vehicle in case of improper lateral Rapprochement between the two at least approximately parallel moving vehicles is in accordance with another aspect of the invention, by generating an additional, noticeable in the steering wheel from the driver's steering torque possible. Since the minimum distance below, is in the steering system of the vehicle produces a corresponding additional steering torque, especially in such a way that is steering in a direction opposite to the third vehicle, an increased resistance in the steering wheel. The driver is obtained in this way in the case of a steering movement that is directed at the third vehicle, an information, warning them about the dangerous situation. Steering in the opposite direction, away from the third vehicle, however, the steering torque not enhanced, if necessary, the steering torque reduced in this steering direction, the difference between to unavoidable and preferred steering direction even more clearly.
[0013] The steering torque in the case of an illegal lateral approach between the vehicle and a third or other vehicle is preferably generated in a steering system which is equipped with an electric servo motor for steering assistance. About the electric servo motor, the additional steering torque can be fed into the steering system.
[0014] According to a further expedient embodiment there is a combination of yaw torque and torque production. This is in particular graded Performed in such a way that in a first phase, a steering torque in a second, subsequent phase is additionally or alternatively, a yaw moment generated. Since the creation of the steering torque is no immediate change in the driving situation has the result but is taken up by the driver via the holding of the steering wheel and from that felt only by a steering angle in the direction of the other vehicle, is carried out with the engagement in the first phase, no comfort impairment . Only in the second, the next phase is generated in addition or alternatively, a yaw moment which is the driver without the actuation of the steering wheel felt. The second phase, in particular with the achievement further convergence between the cars started. Thus the beginning of the first phase and the second phase, different levels of limiting distance values for the lateral distance between the vehicle and the other vehicle are assigned, the first phase starts at a larger lateral distance, the second phase at a lower lateral distance.
[0015] The torque generation - that is both generating a yaw moment by a braking or steering operation and the creation of a steering torque - is preferably carried out even when the two vehicles do not drive right next to each other, but also between the vehicle and the other vehicle an axial distance is provided, the axial Distance falls below a threshold. This takes into account situations where a foreign vehicle with higher speed and approaching the driver wants to move his own car despite the risk of collision risk on the lane of the oncoming vehicle. As another criterion, the speed difference between the vehicle and the other vehicle may be accepted with crossing a border created with a moment of difference in speed or a torque increase is carried out.
[0016] The torque generated either continuously or intermittently, for example in the form of individual pulses. In principle possible for a distance-dependent Generation of the moment, such as such that is continuously applied at a greater distance since the moment for reasons of comfort and proceeds with increasing proximity to a discontinuous torque generation is to alert the driver of the increasing risk of collision.
[0017] falls below a minimum lateral distance between vehicles is optionally first indicated by a warning before a torque is generated which is the driver erspürbar.
[0018] Finally, it is advisable to stop the automatic torque generation, provided it is carried out by the driver an appropriate activity, especially an engagement carried over to the mood of the moment of production. In the case of a steering torque, this means that the driver against the steering wheel and the increased resistance strikes going beyond what was generated in the steering wheel by the generation of additional steering torque. Even in the case of a yaw torque which is generated either by generating a brake or drive torque, or by a superimposed steering angle, an overruling is possible, especially by operating the steering. In addition, it is also possible other driver intervention as a mood and demolition of the additional torque generated will be considered, such as an additional or when a turn on the Press an additional key.
[0019] The inventive method run in regulation or control equipment from the vehicle, such as a regulating or control device with an electronic stability program (ESP).
[0020] Further advantages and expedient embodiments are the other claims, the description and the drawings. Shows
[0021] 1 is a schematic representation of a proposed road transfer of a vehicle in the collision with a parallel driving other vehicle threatens
[0022] 2 is a structural diagram with process units for the procedure,
[0023] 3 a graph with the course of an automatically generated torque in the vehicle in the event of a lateral approach of the vehicle to a foreign vehicle.
[0024] 1, a driving situation is illustrated with an overtaking a first vehicle 1, which moves in the left lane 3, and catches up on the right lane 4 are foreign vehicle 2. Both vehicles 1, 2 are moving in the same direction, the vehicle 1, the vehicle speed v1 and the vehicle 2, the vehicle speed v2. The vehicle 1 includes the road to a small angle [alpha]. The vehicle 1 is in the process of changing from the left lane 3 back on the right lane 4th The vehicle 1 is equipped with an environmental sensor 5 fitted, which for example includes radar, video, ultrasound and lidar sensors for the detection and assessment of the driver's environment in order to determine the course of the road and obstacles in the trajectory of the vehicle. The environment sensor 5 is preferably designed so that objects can be detected within a certain radius on all sides of the vehicle.
[0025] In order for a lane change collision of the vehicle 1 with the other vehicle 2 avoided if the driver of the vehicle 1, the foreign vehicle 2 does not notice, especially in the event that the other vehicle 2 in the blind spot of the rearview mirror of the vehicle 1 is located, is in the vehicle 1 falls below a minimum lateral distance the other vehicle 2, a torque generated, which acts on the vehicle, a vehicle part or vehicle assembly and can be perceived by the driver. At this moment it is created on the one hand, a steering torque, which use an EPS guidance (Electric Power Steering) in an electric servo motor, and the other about a yaw moment that uses a braking action on the vehicle wheels or the drive train of an active coupling element for the distribution of moments is generated on the vehicle wheels. The yaw moment is also in the case of active steering systems are generated by generating an additional steering angle.
[0026] The implementation of the method is in the image structure according to 2 shown. First, by using environmental sensors 10, 11, 12, 13, are part of the environmental sensors of the vehicle are determined environmental data, in particular that, if within the detection radius of the environmental sensor is a foreign vehicle. In the next block 14 is a fusion of sensor data is then recorded in block 15, a situation recognition performed. Here it is determined whether at least approximately parallel to the vehicle is a foreign vehicle is moving, which is located within a mini-mum lateral distance, which fall below the start of the procedure must. Also, an axial distance between the vehicles can be taken into account, provided that the axial distance is also within a minimum distance value is, the process is carried out.
[0027] In the next block 16, a target trajectory is calculated, on which you want the vehicle to avoid a collision, move with the other vehicle. Then in block 17, the determination of a vehicle moment in which it is either a steering torque which is produced in an electric servo motor, or a yaw moment that either a different brake force generation at the wheels on the left and right-side pane, or by generating an additional steering angle is generated in an active steering system.
[0028] The blocks 14, 15, 16 and 17 are preferably implemented in a control or control device in the vehicle.
[0029] In a preferred embodiment, in a first phase, generates an additional steering torque of the electric servo motor and a subsequent second phase, with further lateral approach between the vehicles, in addition or alternatively, a yaw moment. This coupling between the different torque is generated via a block 18, which represents illustrated in principle a similar strategy as in method 2, but based on the generation of a vehicle yaw moment.
[0030] The followings first discusses the procedure for generating an additional steering torque. This additional steering moment is calculated in block 17, which in a subsequent block 19 leads to a steering torque operation by actuating the electric servo motor of the steering system. As a result, the EPS steering system according to block 20 is subjected to the additional steering torque which is generated in the electric servo motor of the steering system.
[0031] In a further block 21 there is a plausibility check. The block 21 are supplied to the information on the calculated steering torque from the block 17, information about a driver's operation of a block 22, for example by actuating the indicator, but in addition also state variables of the vehicle such as steering angle, steering torque, steering angle speed, etc. If the Block 21 it is determined that the calculation is not bring the additional steering torque from the block 17 with the driver operation and the state variables from the block 22 in accordance, for example due to an overruling by the driver, the application of the additional steering torque canceled.
[0032] In a second, subsequent phase, with further lateral approach between the vehicles generated additionally or alternatively to the additional steering torque, a yaw moment. This is done by coupling in block 18, the generation of yaw torque runs basically in a similar manner as the generation of additional steering torque. are also in the generation of yaw torque 10 on the environment sensors found to 13 of the lateral and the axial distance between the vehicles, after which in block 14, a fusion of sensory data obtained and in block 15, a detection and assessment of the current driving situation occurs. In block 16 is calculated based on a desired trajectory for the vehicle. Subsequently, in block 17, the calculation of the vehicle yaw moment, according to the block 19 is generated by operating the wheel brakes, which impacts according to the block 20 in a braking operation. The plausibility is again on the block 21, the data from the block 17 compares with the calculation of the vehicle yaw moment with data from the block 22 from which information about a driver's operation and transmitted over current vehicle state variables.
[0033] is an alternative to the vehicle yaw moment producing a brake intervention according to block 19 is also possible to generate a yaw moment by providing an additional steering angle in an active steering system.
[0034] 3, a characteristic of the moment M as a function of lateral distance d is shown. At the moment M is the additional steering torque or the yaw moment, which is produced when an approach generates the vehicle to a foreign car automatically by applying an appropriate control device.
[0035] If the distance between the vehicle and the other vehicle in accordance with Arrow 30, the two cars still so far away from each side that initially only a collision warning in the vehicle, such as aural, visual or tactile manner such as by vibration of the steering wheel. On further reduction of the lateral distance according to arrow 31 is started, the moment generation in order to give the driver a further indication of a collision hazard. The first moment M increases continuously from approximately linear and is accompanied by further rapprochement between the vehicles into a progressive increase. The torque is limited to a maximum value to ben the driver the opportunity to GE, to overrule its own operation by the torque generation. Then is the moment generating canceled.
[0036] In principle, various torque increases can be considered. As an alternative to the above-described combination of at least approximately linear and progressive increase, for example, an exclusively linear or nonlinear exclusively, in particular a progressive increase can be selected.
QUOTES INCLUDED IN THE DESCRIPTION
[0037] This list of references cited by the applicant was automatically generated and is intended solely to improve the reader's included. The list is not part of the German patent or utility model. The DPMA is not responsible for any errors or Omissions.
cited patent literature
[0038]
- DE 102 005 033 087 A1 [0002, 0003]
Method for setting an actuator that influences the driving dynamics of a vehicle
Technical and scientific translations
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