DE102021005088A1 - Method for regulating or controlling a longitudinal movement of a vehicle - Google Patents
Method for regulating or controlling a longitudinal movement of a vehicle Download PDFInfo
- Publication number
- DE102021005088A1 DE102021005088A1 DE102021005088.6A DE102021005088A DE102021005088A1 DE 102021005088 A1 DE102021005088 A1 DE 102021005088A1 DE 102021005088 A DE102021005088 A DE 102021005088A DE 102021005088 A1 DE102021005088 A1 DE 102021005088A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- route control
- control
- target trajectory
- regulating
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 10
- 230000001276 controlling effect Effects 0.000 title claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 230000007613 environmental effect Effects 0.000 claims abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 230000006735 deficit Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
Images
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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W2050/0095—Automatic control mode change
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Regelung oder Steuerung einer Längsbewegung eines Fahrzeuges (1) nach Maßgabe einer in Abhängigkeit einer erfassten Umgebungssituation geplanten Soll-Trajektorie (S). Erfindungsgemäß ist vorgesehen, dass zum zielgenauen Anhalten des Fahrzeuges (1) an einer durch die Soll-Trajektorie (S) vorgegebenen Halteposition vor einem eingeleiteten Fahrzeugstillstand von einer Beschleunigungsregelung auf eine Wegeregelung oder Wegesteuerung umgeschaltet wird.The invention relates to a method for regulating or controlling a longitudinal movement of a vehicle (1) in accordance with a target trajectory (S) planned as a function of a detected environmental situation. According to the invention it is provided that to stop the vehicle (1) precisely at a stopping position specified by the target trajectory (S) before the vehicle comes to a standstill, a switch is made from acceleration control to route control or route control.
Description
Die Erfindung betrifft ein Verfahren zur Regelung oder Steuerung einer Längsbewegung eines Fahrzeuges nach Maßgabe einer in Abhängigkeit einer erfassten Umgebungssituation geplanten Soll-Trajektorie.The invention relates to a method for regulating or controlling a longitudinal movement of a vehicle in accordance with a target trajectory planned as a function of a detected environmental situation.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Regelung oder Steuerung einer Längsbewegung eines Fahrzeuges nach Maßgabe einer in Abhängigkeit einer erfassten Umgebungssituation geplanten Soll-Trajektorie anzugeben.The invention is based on the object of specifying a method for regulating or controlling a longitudinal movement of a vehicle in accordance with a target trajectory planned as a function of a detected environmental situation.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren gelöst, welches die in Anspruch 1 angegebenen Merkmale aufweist.The object is achieved according to the invention by a method which has the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous refinements of the invention are the subject matter of the subclaims.
Ein Verfahren zur Regelung oder Steuerung einer Längsbewegung eines Fahrzeuges nach Maßgabe einer in Abhängigkeit einer erfassten Umgebungssituation geplanten Soll-Trajektorie sieht erfindungsgemäß vor, dass zum zielgenauen Anhalten des Fahrzeuges an einer durch die Soll-Trajektorie vorgegebenen Halteposition vor einem eingeleiteten Fahrzeugstillstand von einer Beschleunigungsregelung auf eine Wegeregelung oder Wegesteuerung umgeschaltet wird.According to the invention, a method for regulating or controlling a longitudinal movement of a vehicle in accordance with a target trajectory planned as a function of a detected environmental situation provides that, in order to stop the vehicle precisely at a stopping position predetermined by the target trajectory, before the vehicle comes to a standstill, from an acceleration control to an Route regulation or route control is switched.
Durch Anwendung des Verfahrens können interne Störeinflüsse beim Folgen der Soll-Trajektorie, wie z. B. Systemlatenzen, Unstetigkeiten durch Getriebeschaltungen, etc., sowie externe Störeinflüsse, wie beispielsweise ein Überfahren von Straßenschäden, kompensiert werden. Dabei stellt das Verfahren eine nicht fahrzeugspezifische generische Lösung dar.By using the method, internal interference when following the target trajectory, such. B. system latencies, discontinuities due to gear shifting, etc., as well as external interference, such as driving over road damage, can be compensated. The process is a generic solution that is not vehicle-specific.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:
-
1 schematisch ein auftretendes Problem bei einer Regelung einer Längsbewegung eines Fahrzeuges und -
2 schematisch ein Blockschaltbild zur Wegeregelung oder Wegesteuerung bei einem Anhaltevorgang als Teil einer Trajektorienregelung des Fahrzeuges.
-
1 schematically a problem that occurs when regulating a longitudinal movement of a vehicle and -
2 schematically a block diagram for route regulation or route control during a stopping process as part of a trajectory regulation of the vehicle.
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided with the same reference symbols in all figures.
Im Allgemeinen ist bekannt, dass es vergleichsweise schwierig ist, dieselbe Lösung für eine Trajektorienregelung sowohl für einen Fahrbetrieb als auch für ein Anhalten des Fahrzeuges
Dabei ist das Überschießen anhand eines ersten Diagrammes
Mittels des in dem zweiten Diagramm
Insbesondere bei einer Getriebeschaltung ist das Überschießen relativ stark ausgeprägt und führt zusätzlich zu einer Beeinträchtigung eines Fahrkomforts. Im Fall, dass kurz vor einem Fahrzeugstillstand ein Getriebegang wechselt, wird noch ein Momentenschub erzeugt und das Fahrzeug
In dem Blockschaltbild sind eine Recheneinheit
In der Recheneinheit
Die ermittelte Soll-Trajektorie
Der weiteren Recheneinheit
Dabei erfolgt eine Erkennung
Dem Beschleunigungsregler
Ein von dem Beschleunigungsregler
Dieser Umschalter
Denkbar ist auch, eine Wegeregelung oder Wegesteuerung zu implementieren, welche abhängig von dem Restweg
Die Anwendung des beschriebenen Verfahrens kann zu einem genaueren und komfortableren Anhalten des Fahrzeuges
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED 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 was 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 PatentliteraturPatent literature cited
- DE 102012213815 A1 [0002]DE 102012213815 A1 [0002]
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021005088.6A DE102021005088A1 (en) | 2021-10-12 | 2021-10-12 | Method for regulating or controlling a longitudinal movement of a vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021005088.6A DE102021005088A1 (en) | 2021-10-12 | 2021-10-12 | Method for regulating or controlling a longitudinal movement of a vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102021005088A1 true DE102021005088A1 (en) | 2021-11-25 |
Family
ID=78408832
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102021005088.6A Pending DE102021005088A1 (en) | 2021-10-12 | 2021-10-12 | Method for regulating or controlling a longitudinal movement of a vehicle |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102021005088A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022001119A1 (en) | 2022-03-31 | 2023-10-05 | Mercedes-Benz Group AG | Method for remaining distance control for a vehicle |
GB2620940A (en) * | 2022-07-26 | 2024-01-31 | Jaguar Land Rover Ltd | Position-based vehicle control scheme |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012213815A1 (en) | 2011-08-03 | 2013-02-07 | Continental Teves Ag & Co. Ohg | Method and system for stopping a motor vehicle |
-
2021
- 2021-10-12 DE DE102021005088.6A patent/DE102021005088A1/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012213815A1 (en) | 2011-08-03 | 2013-02-07 | Continental Teves Ag & Co. Ohg | Method and system for stopping a motor vehicle |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022001119A1 (en) | 2022-03-31 | 2023-10-05 | Mercedes-Benz Group AG | Method for remaining distance control for a vehicle |
WO2023186429A1 (en) | 2022-03-31 | 2023-10-05 | Mercedes-Benz Group AG | Method for controlling a remaining distance for a vehicle |
GB2620940A (en) * | 2022-07-26 | 2024-01-31 | Jaguar Land Rover Ltd | Position-based vehicle control scheme |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102016217677A1 (en) | Method for automatic acceleration adaptation in a motor vehicle | |
DE102007022184A1 (en) | Driver assistance device and method for its control | |
DE102011085325A1 (en) | Method for driving a vehicle and driver assistance system | |
DE102021005088A1 (en) | Method for regulating or controlling a longitudinal movement of a vehicle | |
DE102007020280A1 (en) | Method and device for controlling a driver assistance system | |
DE102019217428A1 (en) | Method for operating a driver assistance system, driver assistance system and vehicle | |
DE102016226309A1 (en) | Device and method for vehicle guidance of a motor vehicle | |
DE102011084633A1 (en) | Device for detecting defects in track data i.e. operating mode of vehicle component of vehicle, has checker checking whether operating condition of vehicle position corresponding to feedback data with respect to track data | |
DE102017103132A1 (en) | A method for reducing latency when accelerating a motor vehicle, driver assistance system and motor vehicle | |
DE102019219263A1 (en) | Method and system for improving driving stability | |
EP1195669B1 (en) | Method for a longitudinal control of a vehicle in which data from a navigation system is acquired | |
DE102009054460A1 (en) | Method for controlling chassis system of motor vehicle, involves obtaining information relating to condition of existing driving route and behavior of vehicle driver at current vehicle position from chassis parameters | |
DE102018005970A1 (en) | Procedure for updating map data | |
DE102016220406A1 (en) | System for a motor vehicle for automated driving | |
WO2020007786A1 (en) | Method and device and assistance system for operating an autonomous driving mode and vehicle | |
DE102009024131A1 (en) | Traffic lane determining method for driver assistance system of vehicle, involves comparing curvature values of lane curvature with reference values of lane curvature, where reference values are determined from drive dynamics data | |
DE102017122426A1 (en) | Control with specification of a speed profile | |
DE102021204239A1 (en) | Method for operating an assistance system and assistance system | |
DE102018210368B4 (en) | Driver assistance system, vehicle, method for operating the driver assistance system, computer program and computer-readable storage medium | |
DE102016007497A1 (en) | Method for the continuous correction of sensor values in a vehicle | |
DE102009059801A1 (en) | Method for controlling and/or regulating active chassis of ambulance, involves analyzing road section with respect to surface quality of road section and signals for controlling and/or regulating active chassis | |
DE102020110671A1 (en) | Process for automated longitudinal control | |
DE102020200650A1 (en) | Method and device for operating automated lane guidance of a motor vehicle | |
DE102020005615A1 (en) | Method for operating a crosswind assistant in a vehicle | |
DE102007002500A1 (en) | Vehicle seat's movable part i.e. side flange, controlling method for motor vehicle, involves determining information about future driving dynamics of motor vehicle from sensor data, and controlling movable part based on information |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R230 | Request for early publication | ||
R081 | Change of applicant/patentee |
Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, STUTTGART, DE |
|
R012 | Request for examination validly filed |