DE102008033821A1 - Information improving method for vehicle system, involves evaluating predictive distance data for obtaining redundant information and evaluating information for determining current vehicle condition - Google Patents

Abstract

The method involves evaluating predictive distance data for obtaining redundant information, where the redundant information is utilized for validation and/or for accuracy increase of measured values. Information is evaluated for determining a current vehicle condition, where the information to be evaluated comprises predictive distance data that contains data concerning curvature and/or slope and/or length of actual driven segments. Transverse velocity and/or transverse acceleration and/or yaw rate are calculated from wheel speed and predictive distance data. An independent claim is also included for an arrangement of equipment for improving information of a vehicle system, comprising a memory unit.

Description

The The invention relates to a method for improving information for at least one vehicle system according to the generic term of claim 1 and an associated device arrangement.

ever more accurate and reliable a current driving condition of a Known vehicle, the better can be vehicle dynamics control systems, such as ESP (Electronic Stability Program), ABS (antilock braking system), etc., assistance systems, such as ACC (Automatic Cruise Control), safety systems, such as airbags, PreCrash systems, and information systems, such as instrument cluster, MMI (human-machine interface) act. The current driving condition is usually detected with the help of sensors in the vehicle are installed. For reasons of economy, the aim is the lowest possible number of possible low-priced Sensors to use. As for a more accurate and reliable driving condition determination however, a large number of different sensors are required is, this is in conflict with the economic aspects.

Around the quality of driving condition estimation anyway certain assumptions are made. So can at a determination of the offset error of an ESP lateral acceleration sensor the assumption is made that an average of the lateral acceleration Zero is average because the vehicle is on a long drive with a high probability equally often to the left and is moved to the right. Dips a calculated mean of zero This deviation value can be considered as an offset error become. In some situations, the assumption made here applies but not to, for. B. when driving on a circuit.

Of Furthermore, the driving state estimation can interventions of the vehicle actuators require to determine sizes that are not direct can be measured with sensors. In unsuitable driving situations However, such interventions can negatively affect the driving behavior influence. For example, the coefficient of friction of the road It is known that the ESP decelerates a wheel and whose delay behavior evaluates. Find this procedure shortly before a corner entry, then this can have negative effects to the driving behavior of the vehicle.

In the published international patent application WO 23007/065725 A1 a digital database system for a navigation device and a system for monitoring a travel corridor of a means of transport is described. To monitor the driving corridor, vehicle dynamics characteristics of the means of locomotion such as speeds and accelerations are detected by a driving dynamics sensor and evaluated, for example, for an anti-lock braking system (ABS) or for an electronic stability program (ESP). In order to determine and compensate for errors occurring during the measurement of the driving dynamics characteristics, locating data of the navigation device is used.

task The invention is to provide information for at least one Vehicle system to improve the quality of driving condition estimation to increase.

The The invention solves this problem by providing a Method for improving information for at least a vehicle system having the features of claim 1, and by a device arrangement for improving information for at least one vehicle system with the characteristics of Patent claim 8.

advantageous Embodiments and developments of the invention are specified in the dependent claims.

According to the invention, information which is evaluated to determine a current vehicle state comprises predictive route data which includes at least information about the curvature and / or gradient and / or length of a currently traveled route segment. The idea is to use this predictive route data in such a way that faulty sensor values can be detected and / or variables that can not be measured or only inadequately measured by sensors can be determined. Thus redundant information can advantageously be obtained from the predictive route data. For example, a redundant information about the wheel speeds can be obtained from the length of the route segment. From the curvature of the route segment, a redundant information for yaw rate and lateral acceleration can be obtained. The redundant information can be used to check the plausibility of the measured values and to increase their accuracy. For example, the predictive trip data may be compared to the readings from sensors for which they include redundant information. If the assertion of a sensor signal over a longer period of time does not agree with that of the predictive path data, this sensor can be recognized as defective. If, for example, a number of track segments having a high curvature have been driven through at a sufficiently high speed without the yaw rate sensor having measured a yaw rate which deviates significantly from zero, this sensor can be recognized as being defective. With sufficient accuracy of the predictive track data, this track data can also be used to to save corresponding sensors. The idea is to use the predictive path data so that certain physical quantities are calculated from the predictive path data instead of measuring signals of these physical quantities. For example, the lateral velocity, the lateral acceleration and the yaw rate can be calculated from the predictive distance data and the wheel speeds. In addition, physical quantities can be calculated that can not or only inaccurately be determined by sensors used in vehicles today.

In Embodiment of the method according to the invention the predictive route data comprises a road classification, such as As highway, federal, rural or local road or other roads, the currently used section of the route. Furthermore, the predictive route data Information about at least one further segment include, which is expected to drive next becomes. By the evaluation of the predictive route data For example, the following segments can be estimated of the sensor offset will be omitted if by the predictive Track data of several consecutive segments with the same direction Curvature can be detected. This allows in an advantageous manner To recognize situations in which made assumptions, such as for example, that on average just as often to the left how to drive to the right, and made presets not true. In addition, situations can be detected in which interventions of vehicle actuators are carried out, without negatively influencing the driving behavior. So can for example, using the predictive track data be to interventions by the vehicle actuators before and in distance segments to prevent with strong curvature. In addition, you can in case of deterioration or short-term failure of one external locating signal, such. As a GPS signal, the predictive Track data can be used to determine the position of the vehicle.

at an associated device arrangement for improvement of information for at least one vehicle system the at least one vehicle system provides the information for the determination of a current vehicle state, wherein at least one sensor unit and / or a navigation system, the information to be evaluated make available. According to the invention provides the navigation system predictive route data as being evaluated Information is available, which at least provides information about Curvature and / or slope and / or length of a currently traveled route segment.

In Embodiment of the device arrangement according to the invention For example, the predictive route data is in one Memory unit stored coupled with the navigation system is. The at least one vehicle system evaluates the predictive Route data, for example, to obtain redundant information from where the redundant information for plausibility and / or be used to increase the accuracy of readings, which be detected by the at least one sensor system.

A advantageous embodiment of the invention is in the drawing and will be described below. The only figure shows a schematic block diagram of an embodiment a device arrangement for improving information for at least one vehicle system.

As can be seen from the single figure, an embodiment of an inventive device arrangement 1 to improve information for at least one vehicle system 30 . 32 . 36 . 38 a sensor system 40 , this is two sensor units 42 . 44 has, and a navigation system 10 , The at least one vehicle system 30 includes in the illustrated embodiment, a vehicle dynamics control system 32 , which is designed for example as an electronic stability program (ESP) or anti-lock braking system (ABS), an assistance system 34 which is designed, for example, as an Automatic Cruise Control (ACC) system, a safety system 36 , which is designed for example as an airbag system or PreCrash system, and an information system 38 which is designed, for example, as an instrument cluster or as a human-machine interface (MMI). The vehicle systems 30 . 32 . 34 . 36 . 38 For determining a current vehicle state, the information from each of the sensor systems is evaluated 40 or from the sensor units 42 . 44 and / or the navigation system 10 to provide. According to the invention, the navigation system 10 predictive route data as information to be evaluated via a communication bus system 20 to disposal. In the illustrated exemplary embodiment, the predictive route data includes information about curvature and / or gradient and / or length and / or a road classification, such as, for example, highway, federal, local or local road or other roads, a currently traveled route segment and further route segments, which are likely to be will be driven next. In the illustrated embodiment, the predictive path data is in a memory unit 14 saved with the navigation system 10 is coupled. To determine the current vehicle position is the navigation system 10 also with a tracking unit 12 coupled, which is designed here as a GPS receiver.

The individual vehicle systems 30 . 32 . 36 . 38 evaluate the predictive route data to obtain redundant information, wherein the redundant information is used for plausibility and / or to increase the accuracy of readings from the sensor units 42 . 44 of the sensor system 40 be recorded. For example, redundant information about the wheel speeds can be obtained from the length of the segments. From the curvature of the segment, redundant information about the yaw rate and lateral acceleration can be obtained. With sufficient accuracy of the predictive track data, these can also be used to corresponding sensors of the sensor units 42 . 44 save. Instead of measuring certain physical quantities, they are then calculated from the predictive path data. In addition, physical quantities can be calculated that can not or only inaccurately be determined with the sensors used in vehicles today.

The predictions about the following distance segments allow situations to be identified in which assumptions made, eg. B. that on average is driven just as often to the left as to the right, do not apply. In addition, situations can be detected in which interventions by the vehicle actuators can be carried out without negatively influencing the driving behavior. In case of deterioration or short-term failure of locating signals from the positioning unit designed as a GPS receiver 12 For example, the predictive path data may be used to determine the current position of the vehicle.

The predictive route data are from ECUs of the individual vehicle systems 32 . 34 . 36 . 38 read. Subsequently, the predictive route data with the measured values from the sensor units 42 . 44 for which they contain redundant information. If the statement of a sensor signal for a long time does not agree with the statement of the predictive path data, then the corresponding sensor unit 42 . 44 be recognized as defective. If, for example, several sections have been driven through with a strong curvature at a sufficiently high speed, without a yaw rate sensor, which example, in the first sensor unit 42 is arranged, has measured a significantly different from zero yaw rate, then this sensor can be considered as defective.

Alternatively, with sufficient accuracy of the predictive path data, a lateral acceleration and yaw rate sensor installed in vehicles today can be saved. The lateral acceleration and yaw rate can then be in the control unit of the corresponding vehicle system 32 . 34 . 36 . 38 calculated from the predictive distance data and the wheel speeds. In addition, a transverse speed can also be calculated from these variables.

Furthermore, for example, the control unit of the vehicle dynamics control system 32 do not make an estimate of the sensor offset if the evaluation of the predictive path data shows that several consecutive segments are traversed with a rectified curvature. In addition, the predictive path data can be used to prevent vehicle actuator action from occurring in and in high curvature path segments.

1

device arrangement

10

navigation system

12

locating unit

14

storage unit

20

communication bus system

30

vehicle systems

32

Driving dynamics control systems

34

assistance system

36

security system

38

information system

40

sensor system

42

first sensor unit

44

second sensor unit

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - WO 23007/065725 A1 [0005]

Claims (10)

Method for improving information for at least one vehicle system ( 30 . 32 . 36 . 38 ), wherein the information for determining a current vehicle state are evaluated, characterized in that the information to be evaluated includes predictive route data, which include at least information about the curvature and / or slope and / or length of a currently traveled route segment. Method according to claim 1, characterized in that that the predictive route data is a road classification of the currently traveled route section. Method according to claim 1 or 2, characterized that the predictive route data contains information about include at least one further segment which is expected to be will be driven next. Method according to one of claims 1 to 3, characterized in that the predictive track data be evaluated to obtain redundant information, wherein the redundant information for plausibility and / or to increase accuracy of readings. Method according to one of claims 1 to 3, characterized in that the predictive track data to obtain information as a substitute for readings be evaluated. Method according to one of claims 1 to 5, characterized in that a transverse speed and / or a lateral acceleration and / or a yaw rate of wheel speeds and the predictive track data. Method according to one of claims 1 to 6, characterized in that from the predictive track data an actual vehicle position is calculated. Device arrangement for improving information for at least one vehicle system ( 30 . 32 . 36 . 38 ), in particular for carrying out the method according to one of claims 1 to 7, wherein the at least one vehicle system ( 30 . 32 . 36 . 38 ) evaluates the information for determining a current vehicle state, and wherein at least one sensor unit ( 42 . 44 ) and / or a navigation system ( 10 ) provide the information to be evaluated, characterized in that the navigation system ( 10 ) provides predictive route data as information to be evaluated, which information comprises at least information about the curvature and / or gradient and / or length of a currently traveled route segment. Device arrangement according to claim 8, characterized in that the predictive route data in a memory unit ( 14 ) stored with the navigation system ( 10 ) is coupled. Device arrangement according to claim 8 or 9, characterized in that the at least one vehicle system ( 30 . 32 . 36 . 38 ) evaluates the predictive route data for obtaining redundant information, wherein the redundant information for plausibility and / or to increase the accuracy of measured values are used, which of the at least one sensor system ( 40 . 42 . 44 ) are recorded.