publication number DE102009035634 (A1)
Release date: 2011-02-17
Inventor: BUHLMANN MARKUS [DE] + (Buhlmann, MARKUS)
Applicant: AUDI NSU AUTO UNION AG [DE ] + (AUDI AG)
Classification:
International: B60W30/02; B60W50/08
European: B60W30/02
Application number: 20,090,731 DE200910035634
Priority number (s): DE200910035634 20,090,731
The EPA is not responsible for the accuracy of data collected by other authorities than the EPO arise, and thus in particular not liable for its completeness, timeliness or fitness for a particular purpose. Information, please refer to the respective patent authorities.
translate this text description of DE 102009035634 (A1)
[0001] The present invention relates to a method for assisting a driver of a motor vehicle during a spinning process and to a motor vehicle.
[0002] are skidding of motor vehicles is still a danger on the road dar. To reduce these dangers are well known chassis control systems. The best known example is the so-called ESP system (Electronic Stability Program, often ESC - Electronic Stability Control). Such systems try to prevent by selective braking of individual wheels of the skidding vehicle or to stop a spin state as quickly as possible to get the driver to maintain control over the vehicle.
[0003] To detect an ejection state, compares the ESP system, respectively its associated Control unit continuously, for example, up to 100 times per second, the actual condition of the motor vehicle and the driver's wishes, by describing the vehicle dynamics parameters are considered. For example, a steering angle sensor supplies the driver's request regarding the direction of travel, acceleration sensors, gyro sensors and speed sensors, often in addition, a lateral acceleration sensor, provide data on actual driving dynamics of the motor vehicle. For example, the ESP system to calculate the target rotation rate and compare it with the Istdrehrate to detect a skid condition and initiate appropriate measures, which then pass such as a brake control unit may be, if the latter is not already integrated into the ESP system.
[0004] By such chassis control systems are thus determined parameters describing the vehicle dynamics, evaluated with respect to a spin state and countermeasures initiated mainly regarding the braking action. It is often common for other parameters are determined by chassis control systems, for example, a slip angle, ie the angle at which has the motor vehicle is rotated from the desired direction, the slip angle speed or the yaw angle deviation. These parameters can then be used for example to calculate the restoring moments.
[0005] Nevertheless, can it be to this chassis control systems are added, that is moved outside the so-called border zone, which means that the vehicle reacts despite, for example, an ESP system about the vertical axis, for example, if a necessary for the effect of the ESP system steering intervention does not occur. In such spin states, it is known that the driver in this critical situation tends not to draw the eye there, where to go to the stability of the motor vehicle to restore, but to where the motor vehicle is turning. Studies have shown that drivers usually drive the car to where you look. This can at worst result in the driver the view of a possible collision object such as a tree, fixed, and it also comes with the end in a collision.
[0006] The invention therefore has for its object to provide a method for assisting a driver of a motor vehicle during a spinning process that reduces the risk of such collisions and assists the driver in recovering by proper counter-steering control of the vehicle.
[0007] This object is according to the invention a method for assisting a driver of a motor vehicle during a spinning process, which is characterized in that
- from a suspension control system a spin state is detected,
- from at least one vehicle dynamics described, determined by the chassis control system, certain parameters, the motor vehicle stabilizing direction is
- generated by at least one other vehicle system to the attention of the driver, in particular his views on the direction of manipulative Note is.
[0008] It is therefore proposed to support both chassis control measures to the driver on the nature of a driver assistance system to automatically there to exercise self-stabilizing influence by counter-steering on his car. Since, as explained above, the driver always has a tendency to steer his car there, where he has enjoyed, is first proposed, known to the chassis control system to use the current and desired parameters describing vehicle dynamics to determine a direction of stabilizing the vehicle. Another vehicle system will then be driven to draw the attention of the driver and thus his view of the determined direction of travel, so this introduces a steering intuitive operation that helps stabilize the vehicle. The inventive method combines thus two beneficial effects: first, the attention of the driver of a possible collision object deflected away, so that an impending collision, if necessary, prevents the other is the driver to intuitively suggested correctly gegenzulenken to stop the spin state and regain control of the vehicle. Thus, a spin state, thus a safer driving in the border area in which the vehicle reacts to the vertical axis, and the probability of an accident be stopped decreasing.
[0009] The inventive method offers the particular advantage that it will ultimately be completely placed on existing systems and the information provided. As already described, many parameters describing the dynamics of the chassis control system already known or are determined by this. The inventive method is now proposing to combine this information re- further, as existing vehicle systems, such as a headlamp system, to control that the beneficial effects of the invention achieved and the note produced. This requires, ideally, only one change to the control unit.
[0010] The parameters in the context of the present invention, the slip angle and / or the swimming velocity and / or the yaw angle deviation are taken into account, of course, but other possible parameters.
[0011] The choice and combination of vehicle dynamics parameters depends largely also depends on which way the direction of stabilizing the vehicle to be determined. For this, two are represented in the process of this invention advantageously usable alternatives in more detail.
[0012] On the one hand can be made that when the vehicle stabilizing the direction defined by the steering angle of the motor vehicle upon the occurrence of the spin state, driver's side desired direction of travel is used. In this case, therefore, the view of the driver is targeted to where he wanted to go originally. This information can for example be read from the slip angle, so that defining the steering angle has inevitably already. The driver for the correct counter-steering is animated.
[0013] In another variant can be provided that the motor vehicle is considered a stabilizing direction the vehicle optimally stabilizing particular direction is calculated by a control device. In this variant of the spin state of the motor vehicle, as defined by the dynamic driving parameters is evaluated, and it is determined mathematically a direction of travel, their control by the driver contributes best to eliminate the spin state. The calculation can taking into account the characteristics of the motor vehicle and / or also in the light of existing data or background knowledge of skidding. Here, of course, a dynamic adjustment of the motor vehicle stabilizing Direction be, that is, the situation is continuously or intermittently re-assessed and measured a current stabilizing the vehicle driving direction to the spin state and the critical situation is over. can
[0014] The chassis control system may be an ESP system or an ESP system full chassis control system. As already mentioned, ESP systems now well known, so that it can be to implement the inventive method advantageously placed on them. The underlying functionality of the ESP system will of course receive, stabilizing measures of the ESP system can be done in parallel to support the driver.
[0015] Preferably, as a further vehicle headlight system is a system used to generate a directional light emission in the direction of travel. The underlying idea that a driver, especially in poor visibility conditions such as darkness, intuitively follows the spotlight, and then not in a critical situation already difficult under interpretation processes are needed to grasp the meaning of the note. Headlight systems whose footprint can be changed and / or radiation may be altered such as by pivoting the headlamps are now known and can be advantageous in the context of the novel Method can be used. For example, can be provided that the angle is changed by swiveling headlights of the headlight system in particular so that the lights radiate in the direction of travel. For example, can be made that the lights are deflected to the side slip angle in the rotation of the motor vehicle about the vertical axis opposite direction. Thus, the headlights light up the place where the driver tried to steer or initially - in the case of a motor vehicle recalculated the stabilizing direction - where it should ideally be controlled. It can preferably be provided that, prior to the vehicle, so in the current alignment of the motor vehicle, no more illumination takes place. At least in the dark and / or poor visibility, it increases the likelihood that the driver of the spotlight following in the right direction and looks to intercept the vehicle and can avoid an accident. If he follows with the guidance of the spotlight, he manages to intuitively right. It should be noted at this point that it is of course also possible, non-activated lights, if necessary, additional lights, in particular, a cornering, zuzuschalten to generate the hint.
[0016] In a further embodiment of the present invention can also be provided that the notice includes a projected light on the road signs. May also be provided example, to generate an arrow or the like to alert the driver to the motor vehicle stabilizing direction. Any refinements are conceivable, especially in systems where the footprint of the headlights is adjusted as desired.
[0017] Particularly advantageous conceivable in combination with a headlamp system, but also alone, or alternatively can be provided that the direction is shown with a particular contact analogue head-up display. In such a case, an information such as symbols or the like, then projected onto the windshield that the driver's attention and therefore his eye in the direction to be controlled.
[0018] Also, a tactile indication of the direction of travel is in the context of the present invention possible. For example, a counter-torque generated on the steering wheel to attract the attention of the driver.
[0019] In addition to the procedure, the invention relates to a motor vehicle that is designed in particular for carrying out the inventive method. It includes a chassis control system, especially an ESP system, with the detection of a spin state and for determining at least one of the driving dynamics descriptive parameter designed control unit and at least one other vehicle system, the or a further control device for detecting the vehicle stabilizing direction and is configured to output a the driver's attention, particularly his views on the direction steered reference on the other vehicle system.
[0020] With such a motor vehicle to which of course allows all versions with regard to transfer of the inventive process, it is therefore possible to view from a potential collision object away and to channel to the motor vehicle stabilizing direction, so the driver to intuitively counter-steering is excited. The suspension control system, particularly the ESP system are, for example, various sensors associated with particular acceleration sensors and / or lateral acceleration sensors and / or rotation rate sensors and / or steering angle sensors, so that the driver's desired state can be compared with the actual condition of the vehicle to determine whether to run outside of range, ie in particular, is present if a spin state. This is done by analyzing the sensor data and possibly other data in the control unit of the chassis control system. The control unit of the chassis control system is now also designed to determine when a detected state, a spin-stabilizing the vehicle direction of travel. This can then be transferred for example to the control unit of another vehicle system, which then the appropriate indication of the view the driver steers the direction of travel spending.
[0021] With particular advantage that or another vehicle system, a pivotable and / or be in their footprint comprehensive variable headlamp headlight system. As already stated above, for example, the headlights are tilted against the rotational direction of the motor vehicle to the side slip angle, so that they shine in the original direction of travel desired by the driver, so that this intuitive, counter-steer the spotlight following can. The production of light signals or the like is possible.
[0022] The one or another vehicle system may further include a display device, particularly a head-up display, . Include Preferably, these are a contact analog head-up display. This can, for example, in addition to a change in the Ausleuchtcharaktersitik the lights, for example, a pivoting of the spotlight, to be used, but in principle conceivable in isolation as a means for reporting the issue. In a contact analog display is also taken into account nor the sight of the driver, so that for example a direction which the motor vehicle stabilizing arrow correctly imaging are projected onto the windshield.
[0023] Further advantages and details of the present invention will become apparent from the below-described embodiments and from the drawing. In the drawings:
[0024] 1 an inventive motor vehicle,
[0025] 2 is an explanatory drawing to the end of the novel process, and
[0026] 3 a possible indication of a contact analog display.
[0027] 1 shows an inventive motor vehicle 1. It includes a chassis control system, here an ESP system 2, which is presently located centrally in the vehicle 1 and a control unit 3 and 4 includes a sensor arrangement. The sensor assembly 4 includes accelerometers, gyroscopes and a lateral acceleration sensor. Data with other vehicle systems, such as a steering angle sensor 5, can be exchanged via a bus 6, here a CAN bus.
[0028] Because the sensor data, particularly data from the sensors of the sensor array 4 and the steering angle sensor 5 detects the control unit 3, a deviation between the driver's side movement desired and the actual movement of the motor vehicle 1, including in particular the dynamics of the motor vehicle 1 descriptive parameters are determined . In the present example, the target rotation rate is compared with the Istdrehrate. The so-called border zone, where the car reacts not to the vertical axis, so there is no spin state, the ESP system to try 2 by selective braking of individual wheels to prevent skidding of the vehicle 1 and the driver thus securing the control of the vehicle. To this end, communicates with a brake control unit 7. Out of range, so if a spin state is detected, are also made braking intervention to stabilize the vehicle 1 again, but this is known and is not to be explained in more detail.
[0029] was detected by a spin state, the vehicle reacts consequently about the vertical axis, the control unit 3 determines the inventive motor vehicle 1, a the motor vehicle stabilizing the direction of travel of at least one vehicle dynamics described, determined by the chassis control system 2 parameters. In this direction so determined now to the view of the Driver can be guided to a correct, to reach the motor vehicle 1 stabilizing counter-steering with it.
[0030] The vehicle 1 includes now also a headlamp system 8. This includes a control unit 9 controllable headlamp 10, the footprint is changed here by pivoting the headlamp 10 itself.
[0031] Further, as another vehicle system, an information system is provided, which in this case includes a contact analog head-up display 11 as a display device.
[0032] The control unit 3 is now adapted to the system as another vehicle headlight system to control 8 so that the direction of stabilizing the vehicle is illuminated, which means the headlights 10 are pivoted such that they light up in the specific direction from the control unit 3. The driver will continue to follow with his eyes to the spotlight and is intuitively correct to draw.
[0033] To determine the direction of stabilizing the vehicle are two main variants are conceivable. First, the control unit 3 will be considered in the calculated attitude angle, indicating yes, how far the vehicle from departing from the driver through the steering angle desired direction. The spotlight 10 may now be pivoted against this deviation by a slip angle to the driver back to its original desired Direction cause.
[0034] In an alternative, the dynamics described by the parameters describing the overall condition of the vehicle considered, and determines a most appropriate direction to stabilize the vehicle. can
[0035] In addition or alternatively to divert the attention of the driver on the stabilization of the motor vehicle suitable direction, including the head-up display used 11th For example, by symbols or the like, the direction of travel are highlighted on the windshield.
[0036] There are of course other possible variants to attract the attention of the driver to the driving direction, such as light signals such as arrows, which can be projected onto the roadway before the vehicle or the like.
[0037] 2, the operation of the inventive method described in support of the driver, as implemented by the motor vehicle 1 in more detail. Shown is a road with two lanes 13 and 12, the motor vehicle 1 and the footprint of its lights at different times. The side of the road there is also a tree 14th In position A, the vehicle travels through a curve. In position B, it is skidding, as is shown by the arrow 15 (rotation about the vertical axis). If the motor vehicle will not be carrying out the inventive Procedure designed, would the headlights 10 of the motor vehicle 1, as illustrated with reference to the footprint 16 in the A position already, continue to shine in front of the motor vehicle 1, as broken as a footprint 17 are shown in position B is. The driver according to the arrow 18 looks forward to the tree 14, and would continue zulenken unconsciously to this, as indicated by the position of C.
[0038] The invention is now provided, however, that a new, stabilizing direction of the motor vehicle 1 19 is determined and the headlamp 10 according to radiate in this direction, for example by pivoting about the attitude angle, as shown by the footprint 20 is. The driver now follows with its view of the spotlight and can distract back intuitively: the vehicle returns back to that right lane 13, position D. Thus, a possible collision with the tree 14 can be avoided and the driver is supported in the motor vehicle 1 to stabilize.
[0039] 3 finally shows a possible display on the head-up display 11, that information which is projected contact analogous to the wind-disc 21. Through the windshield 21, the road 12 and 14 are the tree to see if the motor vehicle 1 in the B position in Figure 2. Also, to recognize the footprint 20, the headlamp 10 according to stabilizing of the vehicle 19 illuminate the direction of travel. In addition, now projected by the contact analog head-up display orientation arrows 22 for the driver on the windshield to assist him further with countermeasures.
[0040] It is at this point to be noted that the inventive motor vehicle 1, of course, continue to carry out the ESP system 2 his usual measures for stabilization of the motor vehicle 1. In parallel, however, the driver will be given an indication of how he can support the stabilization process and can return to its original path.
Method for supporting a driver of a motor vehicle during a skid and motor vehicle
Technical and scientific translations
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