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WO2019011766A1 - Procédé et dispositif pour faire fonctionner un véhicule à moteur à guidage automatique - Google Patents

Procédé et dispositif pour faire fonctionner un véhicule à moteur à guidage automatique Download PDF

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Publication number
WO2019011766A1
WO2019011766A1 PCT/EP2018/068198 EP2018068198W WO2019011766A1 WO 2019011766 A1 WO2019011766 A1 WO 2019011766A1 EP 2018068198 W EP2018068198 W EP 2018068198W WO 2019011766 A1 WO2019011766 A1 WO 2019011766A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
trajectory
driving
normal
curve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/068198
Other languages
German (de)
English (en)
Inventor
Thomas Nierobisch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2019011766A1 publication Critical patent/WO2019011766A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode

Definitions

  • the invention relates to a method for operating a motor vehicle, wherein a driver can choose between different driving modes, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a
  • the invention relates to a device for operating a motor vehicle with a control unit, which is designed to perform such a method and a corresponding motor vehicle.
  • EPS Power steering
  • Switch position "Normal" reduces the support characteristic, so that the driver has to apply a higher manual torque for steering by means of a steering wheel, while at the same time the driver feels a higher roadway feedback
  • Switch position "Comfort” is in comparison to the switch position "Normal” the Support characteristic increases, so that the driver has to apply for steering by means of steering wheel a lower hand moment. At the same time, the driver also feels a lesser road feedback.
  • the inventive method with the features of claim 1 has the advantage that even with an automatic / autonomous steering of
  • Driving style can be adjusted. According to the invention this is achieved in that a driver can choose between different driving styles, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a
  • Gear shift characteristic and / or a suspension setting to be changed being in a partially or fully automated driving, in which the
  • Motor vehicle is automatically steered to follow a desired trajectory, depending on the selected driving the target trajectory is changed.
  • changing the desired trajectory can be the real
  • At least one sporty, normal or comfortable desired trajectory is set.
  • the driver can choose in an advantageous manner in the automatic steering of the motor vehicle between the different driving styles, which he has available in the manual steering via a steering wheel and whose properties he knows.
  • a sporty desired trajectory for driving through a curve is predetermined such that the motor vehicle is directed closer to a vertex of the curve than in a normal target trajectory.
  • a close Vorbeilenken the motor vehicle at a vertex of a curve has the advantage that this simple change of the trajectory leads to a sportier driving feel with high dynamics.
  • the sporty desired trajectory has more steering movements than the normal desired trajectory.
  • the sporty desired trajectory has larger steering angles than the normal desired trajectory. More steering movements and / or larger steering angles also lead to an advantageous manner
  • a comfortable desired trajectory for driving through the curve is predetermined in such a way that the motor vehicle is steered further away from the vertex of the curve than in the case of the normal trajectory.
  • a Vorbeilenken the motor vehicle at a further distance from the vertex of a curve has the advantage that this simple change of the trajectory leads to a more comfortable driving experience.
  • the comfortable desired trajectory has fewer steering movements than the normal desired trajectory.
  • the comfortable desired trajectory has smaller steering angles than the normal desired trajectory. Less steering movements and / or smaller steering angle also lead advantageously to a more comfortable ride.
  • the respective desired trajectory is predefined as a function of a current traffic situation, a currently maximum possible static friction between the wheels and the roadway, their travel speed and / or the course of the road to be traveled.
  • safe driving can be ensured in an advantageous manner, regardless of the selected driving style and the selected desired trajectory, even in unfavorable external conditions, such as rain.
  • the inventive device according to claim 8 is for operating a motor vehicle that is partially or fully automated operable and a
  • Selection device for selecting a different driving style, provided.
  • the device is characterized by a specially prepared control device, which is designed to perform the inventive method when used as intended. This results in the already mentioned advantages.
  • the motor vehicle according to the invention according to claim 9, is adapted to be partially or fully automated to drive and is equipped with a selector for
  • the motor vehicle is characterized by the device according to the invention with the control unit, which is designed, when used as intended, the
  • Figure 1 shows the route of a motor vehicle according to the invention in one
  • Figure 3 shows the route of a motor vehicle according to the invention in one
  • the motor vehicle 1 shows an inventive motor vehicle 1.
  • the motor vehicle 1 is located in a partially or fully automated driving operation, in which the motor vehicle 1 is automatically directed into a curve 2.
  • the motor vehicle 1 can for semi or fully automated driving on a
  • the setpoint trajectory is changed by means of a specially prepared control unit In Figure 1, the driver selected a normal driving mode controls the vehicle 1 in a corresponding normal target trajectory 3 through the curve 2. In this case, the vehicle 1 passes through the curve 2 at a certain distance from the vertex 4 of the curve. 2
  • the desired trajectory can also be determined by the control unit by other parameters, in particular external parameters, such as the current traffic situation, the current friction coefficients on the tires, which are influenced by the weather conditions and the
  • the corresponding desired trajectory is selected by the control device.
  • the dynamics of a higher-level trajectory controller and a subordinate EPS rack position control can be adjusted by the control unit.
  • Figure 2 shows the motor vehicle 1 according to the invention again in a partially or fully automated driving operation, in which the motor vehicle 1 is automatically directed into the curve 2.
  • the control unit controls the vehicle 1 in a corresponding desired sporting trajectory 5 through the curve 2.
  • the vehicle 1 is deflected by a distance closer to the vertex 4 of the curve 2 than in a normal desired trajectory.
  • the sporty desired trajectory 5 larger steering angle and optionally also more steering movements than the normal target trajectory.
  • FIG. 3 shows the motor vehicle 1 according to the invention again in a partially or fully automated driving mode, in which the motor vehicle 1 is automatically steered into the curve 2.
  • the driver was a comfortable
  • the control unit controls the vehicle 1 in one
  • the vehicle 1 is further deflected by a distance at the vertex 4 of the curve 2 as in a normal target trajectory.
  • the comfortable desired trajectory 5 smaller steering angle and optionally less steering movements than the normal target trajectory, so that the vehicle 1 drives in a large, gentle arc around the curve 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner un véhicule à moteur (1), un conducteur du véhicule pouvant effectuer une sélection entre différents modes de conduite ; et des paramètres de fonctionnement du véhicule à moteur (1), en particulier une courbe caractéristique de couple moteur, une courbe caractéristique de changement de vitesse et/ou un réglage de la géométrie, étant modifiés en fonction du mode de conduite sélectionné. Selon l'invention, en conduite partiellement ou entièrement automatique, au cours de laquelle le véhicule à moteur (1) est guidé automatiquement afin de suivre une trajectoire théorique (3, 5, 6), la trajectoire théorique (3, 5, 6) est modifiée en fonction du mode de conduite sélectionné.
PCT/EP2018/068198 2017-07-12 2018-07-05 Procédé et dispositif pour faire fonctionner un véhicule à moteur à guidage automatique Ceased WO2019011766A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017211966.7A DE102017211966A1 (de) 2017-07-12 2017-07-12 Verfahren und Vorrichtung zum Betreiben eines automatisch gelenkten Kraftfahrzeugs
DE102017211966.7 2017-07-12

Publications (1)

Publication Number Publication Date
WO2019011766A1 true WO2019011766A1 (fr) 2019-01-17

Family

ID=62873327

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/068198 Ceased WO2019011766A1 (fr) 2017-07-12 2018-07-05 Procédé et dispositif pour faire fonctionner un véhicule à moteur à guidage automatique

Country Status (2)

Country Link
DE (1) DE102017211966A1 (fr)
WO (1) WO2019011766A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119659587A (zh) * 2024-12-31 2025-03-21 上汽通用五菱汽车股份有限公司 一种车辆控制方法、车辆、服务端、系统及存储介质

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021202280A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Betreiben eines Fahrzeugs

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013013867A1 (de) * 2013-08-20 2015-03-12 Audi Ag Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs
DE102015110903A1 (de) * 2014-07-14 2016-01-14 Ford Global Technologies, Llc Auswählbare autonome Fahrmodi
WO2016109540A1 (fr) * 2014-12-29 2016-07-07 Robert Bosch Gmbh Systèmes et procédés pour faire fonctionner des véhicules autonomes en utilisant des profils de conduite personnalisés

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2106988B1 (fr) * 2008-04-02 2011-01-12 GM Global Technology Operations, Inc. Commande de direction adaptative pour véhicule automobile
DE102012011301A1 (de) * 2012-06-06 2013-12-12 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Die Erfindung bezieht sich auf ein Verfahren zur Steuerung eines Spurhalteassistenten für ein Kraftfahrzeug
DE102013017212A1 (de) * 2013-10-16 2015-04-16 Audi Ag Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013013867A1 (de) * 2013-08-20 2015-03-12 Audi Ag Kraftfahrzeug und Verfahren zur Steuerung eines Kraftfahrzeugs
DE102015110903A1 (de) * 2014-07-14 2016-01-14 Ford Global Technologies, Llc Auswählbare autonome Fahrmodi
WO2016109540A1 (fr) * 2014-12-29 2016-07-07 Robert Bosch Gmbh Systèmes et procédés pour faire fonctionner des véhicules autonomes en utilisant des profils de conduite personnalisés

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119659587A (zh) * 2024-12-31 2025-03-21 上汽通用五菱汽车股份有限公司 一种车辆控制方法、车辆、服务端、系统及存储介质

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