DE102015224389A1 - Assistance system with load condition compensation - Google Patents
Assistance system with load condition compensation Download PDFInfo
- Publication number
- DE102015224389A1 DE102015224389A1 DE102015224389.3A DE102015224389A DE102015224389A1 DE 102015224389 A1 DE102015224389 A1 DE 102015224389A1 DE 102015224389 A DE102015224389 A DE 102015224389A DE 102015224389 A1 DE102015224389 A1 DE 102015224389A1
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- DE
- Germany
- Prior art keywords
- steering
- motor vehicle
- loading
- assistance system
- assistance
- 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.)
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Classifications
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- 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
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- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
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- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Ein Verfahren und eine Vorrichtung zur Kompensation der Beladung eines Kraftfahrzeugs in einem Assistenzsystem des Kraftfahrzeugs, wobei das Assistenzsystem einen Eingriff in die Lenkung des Kraftfahrzeugs ausübt, führt die folgenden Schritte aus: – Bestimmen des Beladungszustands des Kraftfahrzeugs, – Ermitteln eines Lenkwinkel und/oder einer Lenkwinkelgeschwindigkeit und/oder eines Lenkmoments unter Berücksichtigung des Beladungszustands, und – Einstellen des ermittelten Lenkwinkels und/oder der Lenkwinkelgeschwindigkeit an der Lenkung und/oder Beaufschlagen der Lenkung mit dem ermittelten Lenkmoment.A method and a device for compensating the loading of a motor vehicle in an assistance system of the motor vehicle, wherein the assistance system exerts an intervention in the steering of the motor vehicle, performs the following steps: determining the loading state of the motor vehicle, determining a steering angle and / or a Steering angle speed and / or a steering torque taking into account the loading condition, and - setting the determined steering angle and / or the steering angle speed at the steering and / or applying the steering torque with the determined steering torque.
Description
Die Erfindung betrifft ein Verfahren zur Beladungskompensation in Assistenzsystemen, deren Eingriff über die Lenkung erfolgt, gemäß dem Oberbegriff des Anspruchs 1 sowie ein entsprechendes Assistenzsystem gemäß dem Oberbegriff des Anspruchs 5. The invention relates to a method for load compensation in assistance systems, the intervention takes place via the steering, according to the preamble of
Bei heutigen Assistenzsystem im PKW-Bereich spielt die Fahrzeugbeladung üblicherweise keine Rolle, da die Zuladung im PKW-Bereich einen untergeordneten Einfluss auf das Fahrverhalten hat, zumindest wenn die Zuladung sich im üblichen Rahmen bewegt. Im Nutzfahrzeugsektor jedoch ist aufgrund des beträchtlichen Unterschieds zwischen den Zuständen "Unbeladen" und "Beladen" die Auswirkungen der Zuladung auf das Fahrverhalten des Nutzfahrzeugs deutlich größer. In today's assistance system in the car area, the vehicle load usually does not matter because the load in the car area has a minor influence on driving behavior, at least when the payload moves within the usual range. However, in the commercial vehicle sector, the impact of payload on the handling of the commercial vehicle is significantly greater due to the significant difference between the unloaded and loaded conditions.
Die Druckschrift
Die Druckschrift
Die Druckschrift
Der Erfindung liegt daher die Aufgabe zugrunde, die Stellgenauigkeit von Assistenzsystemen, deren Eingriff über die Lenkung erfolgt, zu verbessern. The invention is therefore based on the object to improve the positioning accuracy of assistance systems whose intervention takes place via the steering.
Diese Aufgabe wird durch eine Verfahren mit den Merkmalen des Anspruchs 1 sowie durch ein Assistenzsystem mit den Merkmalen des Anspruchs 5 gelöst. Bevorzugte Ausführungsformen der Erfindung sind Gegenstand der Unteransprüche. This object is achieved by a method having the features of
Das erfindungsgemäße Verfahren zur Kompensation der Beladung eines Kraftfahrzeugs in einem Assistenzsystem des Kraftfahrzeugs, wobei das Assistenzsystem einen Eingriff in die Lenkung des Kraftfahrzeugs ausübt, führt die folgenden Schritte aus:
- – Bestimmen des Beladungszustands des Kraftfahrzeugs,
- – Ermitteln eines Lenkwinkels und/oder einer Lenkwinkelgeschwindigkeit und/oder eines Lenkmoments unter Berücksichtigung des Beladungszustands, und
- – Einstellen des ermittelten Lenkwinkels und/oder der Lenkwinkelgeschwindigkeit an der Lenkung und/oder Beaufschlagen der Lenkung mit dem ermittelten Lenkmoment.
- Determining the loading state of the motor vehicle,
- Determining a steering angle and / or a steering angular velocity and / or a steering torque taking into account the loading state, and
- - Setting the determined steering angle and / or the steering angle speed at the steering and / or applying the steering with the determined steering torque.
Vorzugsweise bestimmt eine Beladungssensorik Daten der Beladung des Kraftfahrzeugs und eine Einrichtung ermittelt aus den Beladungsdaten den Beladungszustand des Kraftfahrzeugs. Preferably, a loading sensor determines data of the load of the motor vehicle and a device determines the loading state of the motor vehicle from the loading data.
Weiter bevorzugt wird der Beladungszustand des Kraftfahrzeugs von dem ESP-System des Kraftfahrzeugs ermittelt. Mit anderen Worten, die Beladungssensorik und die Einrichtung zur Ermittlung des Beladungszustands sind Bestandteile des ESP-Systems. More preferably, the loading state of the motor vehicle is determined by the ESP system of the motor vehicle. In other words, the loading sensor and the device for determining the loading state are components of the ESP system.
Weiter bevorzugt wird das einen Eingriff in die Lenkung ausübende Assistenzsystem durch ein PLA (Parklenkassistent), ein LA (Lane Assist) oder ein DSR (Driver Steering Recommendation) gebildet. More preferably, the assistance system performing an intervention in the steering system is formed by a PLA (Park Assist), an LA (Lane Assist) or a DSR (Driver Steering Recommendation).
Bei einem Nutzfahrzeug hat die Kompensation des Beladungszustands beispielsweise bei einem Park-Lenkassistenten (PLA) den Vorteil, dass die Stellgenauigkeit des PLAs erhöht wird, da dann zur Einstellung des Lenkwinkels höhere Lenkkräfte eingestellt werden können. In a commercial vehicle, the compensation of the load state, for example, in a parking steering assistant (PLA) has the advantage that the positioning accuracy of the PLA is increased, since then higher steering forces can be adjusted to adjust the steering angle.
Das erfindungsgemäße Assistenzsystem eines Kraftfahrzeugs, welches einen Eingriff in die Lenkung des Kraftfahrzeugs ausübt, wobei das Assistenzsystem zur Durchführung des im Vorangegangenen erläuterten Verfahrens eingerichtet und ausgelegt ist, umfasst:
- – eine Beladungssensorik,
- – eine Einrichtung zur Ermittlung des Beladungszustands,
- – eine Steuereinrichtung zur Generierung der Assistenzfunktion, und
- – eine Aktorik zur Erzeugung der Assistenzfunktion.
- A loading sensor system,
- A device for determining the state of loading,
- A control device for generating the assistance function, and
- - An actuator to generate the assistance function.
Weiter bevorzugt generiert die Aktorik einen Lenkwinkel und/oder eine Lenkwinkelgeschwindigkeit und/oder ein Lenkmoment. More preferably, the actuator generates a steering angle and / or a steering angular velocity and / or a steering torque.
Eine bevorzugte Ausführungsform der Erfindung wird nachfolgende anhand der Zeichnungen erläutert. Dabei zeigt A preferred embodiment of the invention will be explained below with reference to the drawings. It shows
Der Beladungszustand eines Fahrzeugs kann beispielsweise von dem fahrzeugeigenen ESP-System bestimmt werden. In dem Fall wären die Beladungssensorik
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 1 1
- Assistenzsystem assistance system
- 2 2
- Beladungssensorik load sensors
- 3 3
- Einrichtung zur Ermittlung des Beladungszustands Device for determining the loading condition
- 4 4
- Steuereinrichtung zur Generierung der Assistenz Control device for generation of assistance
- 5 5
- Aktorik zur Lenkwinkelunterstützung Actuator for steering angle support
- 6 6
- Aktorik zur Lenkmomentunterstützung Actuator for steering torque assistance
- 10 10
- ESP ESP
- 11 11
- PLA / LA / DSR PLA / LA / DSR
- 12 12
- Aktorik zur Generierung des Lenkwinkels / der Lenkwinkelgeschwindigkeit / des LenkmomentsActuator for generating the steering angle / the steering angle speed / the steering torque
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102005048718 A1 [0003] DE 102005048718 A1 [0003]
- WO 2008/037509 A1 [0004] WO 2008/037509 A1 [0004]
- DE 102010031464 A1 [0005] DE 102010031464 A1 [0005]
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102015224389.3A DE102015224389B4 (en) | 2015-12-07 | 2015-12-07 | Assistance system with load compensation |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102015224389.3A DE102015224389B4 (en) | 2015-12-07 | 2015-12-07 | Assistance system with load compensation |
Publications (2)
Publication Number | Publication Date |
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DE102015224389A1 true DE102015224389A1 (en) | 2017-06-08 |
DE102015224389B4 DE102015224389B4 (en) | 2022-02-10 |
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DE102015224389.3A Active DE102015224389B4 (en) | 2015-12-07 | 2015-12-07 | Assistance system with load compensation |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11472476B2 (en) | 2017-11-06 | 2022-10-18 | Isuzu Motors Limited | Steering control device, steering control method, and recording medium |
DE102017122169B4 (en) | 2016-09-28 | 2024-03-21 | Steering Solutions Ip Holding Corporation | Estimating a payload using electric power steering signals |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11945428B2 (en) * | 2019-09-27 | 2024-04-02 | Hitachi Astemo, Ltd. | Vehicle motion control apparatus |
Citations (11)
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DE19546943C1 (en) * | 1995-12-15 | 1997-06-19 | Daimler Benz Ag | Steering for non-track-bound vehicles |
DE10150605A1 (en) * | 2001-10-12 | 2003-04-17 | Bayerische Motoren Werke Ag | Method for stabilizing of multitrack motor vehicle calculates compensation steering angle taking into account vehicle load condition, tire pressures, and frictional connection utilization on steered wheels |
DE10221721A1 (en) * | 2002-05-16 | 2003-11-27 | Bayerische Motoren Werke Ag | Motor vehicle steering system/stop limiter for limiting angle of steering lock for steerable vehicle wheels has an electronic control component to determine/reset the angle at maximum |
DE102005048718A1 (en) | 2004-10-15 | 2006-06-14 | Ford Global Technologies, LLC (n.d.Ges.d. Staates Delaware), Dearborn | Vehicle safety system controlling method, involves generating roll rate signal that indicates roll rate of vehicle, and generating revised mass in response to roll rate signal and potential load change |
DE19680331B4 (en) * | 1995-05-16 | 2007-02-01 | Mitsubishi Fuso Truck And Bus Corp. | Vehicle load dependent power steering system |
WO2008037509A1 (en) | 2006-09-26 | 2008-04-03 | Continental Automotive Gmbh | Method for operating a vehicle |
EP1987710A1 (en) * | 2007-05-01 | 2008-11-05 | Deere & Company | Automatic steering system and method for a work vehicle with feedback gain dependent on a sensed payload |
DE102009034003A1 (en) * | 2009-07-21 | 2011-02-10 | Audi Ag | Method for electromechanically adjusting wheel angle at wheel axle of motor vehicle i.e. heavy vehicle, involves computing electrical voltage, and providing computed electrical voltage to electric engine for adjusting wheel angle |
DE102009057625A1 (en) * | 2009-12-09 | 2011-06-16 | Volkswagen Ag | Steering mechanism for use in lorry, has device arranged at vehicle to determine vehicle weight that is transmitted as input parameter to controller, and control signal determined within controller based on determined weight |
DE102010031464A1 (en) | 2010-07-16 | 2012-01-19 | Continental Teves Ag & Co. Ohg | Motor vehicle i.e. passenger car, loading condition detecting method, involves evaluating difference in pressure resulting from temperature change caused during rolling by loads, where difference is developed between tires during travel |
WO2015082971A1 (en) * | 2013-12-06 | 2015-06-11 | Toyota Jidosha Kabushiki Kaisha | Parking assist system |
-
2015
- 2015-12-07 DE DE102015224389.3A patent/DE102015224389B4/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19680331B4 (en) * | 1995-05-16 | 2007-02-01 | Mitsubishi Fuso Truck And Bus Corp. | Vehicle load dependent power steering system |
DE19546943C1 (en) * | 1995-12-15 | 1997-06-19 | Daimler Benz Ag | Steering for non-track-bound vehicles |
DE10150605A1 (en) * | 2001-10-12 | 2003-04-17 | Bayerische Motoren Werke Ag | Method for stabilizing of multitrack motor vehicle calculates compensation steering angle taking into account vehicle load condition, tire pressures, and frictional connection utilization on steered wheels |
DE10221721A1 (en) * | 2002-05-16 | 2003-11-27 | Bayerische Motoren Werke Ag | Motor vehicle steering system/stop limiter for limiting angle of steering lock for steerable vehicle wheels has an electronic control component to determine/reset the angle at maximum |
DE102005048718A1 (en) | 2004-10-15 | 2006-06-14 | Ford Global Technologies, LLC (n.d.Ges.d. Staates Delaware), Dearborn | Vehicle safety system controlling method, involves generating roll rate signal that indicates roll rate of vehicle, and generating revised mass in response to roll rate signal and potential load change |
WO2008037509A1 (en) | 2006-09-26 | 2008-04-03 | Continental Automotive Gmbh | Method for operating a vehicle |
EP1987710A1 (en) * | 2007-05-01 | 2008-11-05 | Deere & Company | Automatic steering system and method for a work vehicle with feedback gain dependent on a sensed payload |
DE102009034003A1 (en) * | 2009-07-21 | 2011-02-10 | Audi Ag | Method for electromechanically adjusting wheel angle at wheel axle of motor vehicle i.e. heavy vehicle, involves computing electrical voltage, and providing computed electrical voltage to electric engine for adjusting wheel angle |
DE102009057625A1 (en) * | 2009-12-09 | 2011-06-16 | Volkswagen Ag | Steering mechanism for use in lorry, has device arranged at vehicle to determine vehicle weight that is transmitted as input parameter to controller, and control signal determined within controller based on determined weight |
DE102010031464A1 (en) | 2010-07-16 | 2012-01-19 | Continental Teves Ag & Co. Ohg | Motor vehicle i.e. passenger car, loading condition detecting method, involves evaluating difference in pressure resulting from temperature change caused during rolling by loads, where difference is developed between tires during travel |
WO2015082971A1 (en) * | 2013-12-06 | 2015-06-11 | Toyota Jidosha Kabushiki Kaisha | Parking assist system |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017122169B4 (en) | 2016-09-28 | 2024-03-21 | Steering Solutions Ip Holding Corporation | Estimating a payload using electric power steering signals |
US11472476B2 (en) | 2017-11-06 | 2022-10-18 | Isuzu Motors Limited | Steering control device, steering control method, and recording medium |
DE112018005265B4 (en) | 2017-11-06 | 2024-03-28 | Isuzu Motors Limited | STEERING CONTROL DEVICE, STEERING CONTROL METHOD AND RECORDING MEDIUM |
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DE102015224389B4 (en) | 2022-02-10 |
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