CN106564530A - Method and apparatus for assisting driver of motor vehicle in a vehicle dynamic boundary situation - Google Patents
Method and apparatus for assisting driver of motor vehicle in a vehicle dynamic boundary situation Download PDFInfo
- Publication number
- CN106564530A CN106564530A CN201610879450.1A CN201610879450A CN106564530A CN 106564530 A CN106564530 A CN 106564530A CN 201610879450 A CN201610879450 A CN 201610879450A CN 106564530 A CN106564530 A CN 106564530A
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- CN
- China
- Prior art keywords
- motor vehicles
- boundary condition
- under
- steering
- dynamic critical
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- 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
-
- 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
-
- 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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- 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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a method for assisting a driver of a motor vehicle in a vehicle dynamic boundary situation, wherein a steering torque is applied by means of a steering support device to a steering device for steering the motor vehicle in a driving dynamically critical limiting situation. The steering torque is applied in this case in such a way that the driver can recognize in which direction he has to steer in order to be able to keep the motor vehicle controlled in the critical dynamically critical situation. In this case, the steering torque is only applied by the steering assist device in the critical critical situation critical to the driving dynamics for the purpose of holding the motor vehicle in this critical critical situation The invention also relates to a device implementing the method for assisting a driver of a motor vehicle in a driving dynamics boundary situation.
Description
Technical field
Preamble according to claim 1, the present invention relates to one kind auxiliary machine motor-car under traveling dynamic boundary condition
The method of driver.Preamble according to claim 9, the invention further relates to one kind is auxiliary under traveling dynamic boundary condition
Help the device of motor vehicle operator.
Background technology
Traveling dynamic control is such as, for example, ESP (ESP) lifts motor vehicles under boundary condition
Controllability, boundary condition is such as, for example, ovdersteering when through bend.Term traveling is dynamically control on hereinafter
It is interpreted as by starting all systems that actuator energetically intervenes the driver behavior of vehicle.This is included in special system
In, such as, for example, ABS (anti-lock braking system), TCS (TCS), ESP or AFS (active steering systems
System).Known traveling dynamic control especially uses brake, engine management or turns to adjustor as the actuator of control.
Additionally, the motor vehicle steering device equipped with suitable support and aid system is well-known.It is configured to help
The transfer that power is turned to is usually hydraulic operation, and here they are primarily used to pure steering power auxiliary.On the other hand update
System have the power steering with electric drive motor.Electric operating or servo steering device are provided mutually to be tied with other aid systems
The simple probability closed.This transport condition identified by aid system can be notified, for example, to driving for driving vehicle
The person of sailing, for example, by the haptic confirmation on transfer, for example, the steering wheel of motor vehicles itself.Except electric hydaulic is held
Row (also referred to as " electric hydaulic electronic-controlled power steering ", EHPS), the pure electromechanical of steering performs (also referred to as " electric boosted turn
To ", EPAS) it is also known.
From the B4 of DE 103 54 662 it is known that for example, for auxiliary under the traveling dynamic boundary condition of Vehicular turn
The method for helping motor vehicle operator.For as quick as possible and cosily excessive motor vehicles of stable turning again, turn to
Torque is applied on steering wheel on the stable direction of motor vehicles, and it is indicated to his direction that must turn to of driver with to the greatest extent
The fast control for recovering the vehicle to ovdersteering and thereby stable vehicle.
The content of the invention
In this context, the present invention be to provide traveling dynamic boundary condition under auxiliary maneuvering vehicle driver method and
Device, in this way can with a kind of controllable mode control travel dynamic boundary condition.Additionally, motor vehicles are driven
The person of sailing must be aided in his driving task in the way of maximum possible.Additionally, compared to the motor vehicles of conventional assembling
Prior art, the method and device implement should economical and effective, and therefore need additional components as few as possible.
This purpose is solved by the method with claim 1 feature and the device with claim 9 feature.Respectively
From dependent claims further disclose particularly advantageous embodiment of the invention.
It should be pointed out that the feature listed in the following description can each other in any technically significant mode
Combination, and represent the further embodiment of the present invention.
According to the present invention, there is provided a kind of method of the auxiliary maneuvering vehicle driver under traveling dynamic boundary condition, wherein
Under traveling dynamic critical boundary condition, such as, for example, when motor vehicles ovdersteering, torque is turned to by turning to
Auxiliary device is applied to transfer, for example, for the steering wheel for turning to motor vehicles.Torque is turned to such
Mode is applied in this, i.e., driver will recognize direction that he must turn to the energy under traveling dynamic critical boundary condition
Enough to keep vehicle in a controlled manner, traveling dynamic critical boundary condition is for example, during ovdersteering.Therefore, this can make
Motor vehicle operator more easily controls motor vehicles during driving, and especially carries out the predetermined driving phase in unstable region
Between, that is, in dynamic critical borderline region is driven, such as, for example, ovdersteering.
Specific embodiment
Preferred unstable transport condition --- driving in traveling dynamic critical borderline region --- is by present extensively
The ESP system detection being present in motor vehicles.For this purpose, ESP system is preferably included for detecting motor vehicles
Instantaneous transport condition sensor, the instantaneous transport condition of motor vehicles be for example, yaw-rate, transverse acceleration, steering angle,
Steering angular velocity, the rotating speed of wheel, speed etc..Additionally, critical transport condition can also be passed in addition using one or more videos
Sensor, such as one video camera or multiple video cameras are detected.
Apply steering torque preferably by electric operating from steering assistance device to the transfer of motor vehicles or electronic help
The mode of power steering realizing, for example, an EHPS or EPAS system, wherein the method according to the invention and EPAS systems
Combination be particularly preferred because the system is due to less expensive structure and its economic operability, and can realize
Particularly accurate controllability and be widely used.
The method according to the invention is allowed now, for example, in motor vehicles by intentional ovdersteering performing so-called drift
Move and in a controlled manner by vehicle be maintained at drift about in.During drifting about, it usually needs many quick steerings are corrected.Racing car
Driver performs these divertical motions due to their experience in the way of loosening.However, unfamiliar driver can not
Vehicle is maintained in drift and has in a controlled manner or at least tackle substantial amounts of steering force.It is substantially square except driver
To specification, the method according to the invention vehicle can be maintained in a controlled manner fast in drift what is be additionally required now
Driver is aided in fast corrective action.
Another principal advantages of the method according to the invention are to be generally equipped with ESP system and EHPS or EPAS
The motor vehicles of system do not need extra structure member to perform or implement this method, because the method is used as pure software reality
The part in Already in motor vehicles can be now used, e.g., for example, for detecting the biography of the instantaneous transport condition of motor vehicles
Sensor, the steering torque controller for applying steering torque to transfer etc..
An advantageous embodiment of the invention, turns to torque and is applied to one section of wink earlier than motor vehicles of transfer
When transport condition needed for time interval, it is therefore an objective to vehicle can be kept during traveling dynamic critical boundary condition, traveling is dynamic
State critical boundary condition is for example ovdersteering.In other words, according to the present embodiment, steering dress is applied to by steering support device
The steering torque put is previously provided to transfer.In this way it is possible to consider, for example, the driver of motor vehicles is only right
Make a response with certain steering torque for being applied to transfer for postponing.Therefore, specified time interval is driven with motor vehicles
The average response time of the person of sailing advantageously is corresponded to so as to respond the steering torque that steering support device applies to transfer.
According to further advantageous embodiment, torque is turned to only in the function of motor vehicles electronic stability program (ESP)
After being disabled manually, under traveling dynamic critical boundary condition, for example, ovdersteering is applied to use by steering support device
To keep motor vehicles under traveling dynamic critical boundary condition.By this way, it is ensured that the driver of motor vehicles only connects
The steering assistance for the holding vehicle under traveling dynamic critical boundary condition according to the present invention is received, at this moment, by disabling ESP,
He represents that he thinks deliberately to control vehicle in person under traveling dynamic critical boundary condition, particularly during ovdersteering, and nothing
Need ESP to intervene in a stable manner in conventional manner and thus terminate the traveling dynamic critical perimeter strip of motor vehicles as early as possible
Part.On the other hand when ESP is activated, in the sense that stablizing from the motor vehicles made under traveling dynamic critical boundary condition
For, ESP can in a conventional manner perform control to be intervened.
In addition, turn to torque only movement of vehicle driving behavior function by after manually opened, it is dynamic in traveling
Under the conditions of state critical boundary, for example, ovdersteering, by steering support device applying under traveling dynamic critical boundary condition
Keep motor vehicles, for example, by special actuation means, for example, for opening and disabling the motor behavior of motor vehicles
Activate switch.It is also in this way, can clearly to recognize that driver will be under traveling dynamic critical boundary condition, example
Such as, during ovdersteering, the intention of motor vehicles is controlled in person.
But another advantageous embodiment of the present invention is provided, torque is turned to only in the fortune of motor vehicle operator
After dynamic driving behavior is automatically determined by the driving style detection means of motor vehicles, in traveling dynamic critical boundary condition
Under, for example, ovdersteering, by steering support device applying to keep motor vehicles under traveling dynamic critical boundary condition.
This detection can be based on, for example, the assessment of vehicle lateral acceleration in specified time interval, wherein when relative to tradition driving
When the generally higher lateral-acceleration value of pattern occurs, the sport drive mode of driver it may be provided that, in this driving
Driver wishes to control motor vehicles in person under traveling dynamic critical boundary condition in pattern, for example, during ovdersteering.
Preferably, the steering assistance for being provided by steering support device can be turned at any time by the driver of motor vehicles
To excessive so that motor vehicles remained in that and can be controlled by the driver of motor vehicles at any time.Therefore, motor vehicles
Driver also can at any time independently of transfer provide steering assistance traveling dynamic critical boundary condition under
Perform riding manipulation, particularly ovdersteering.
According to another aspect of the present invention, there is provided a kind of auxiliary maneuvering vehicle under traveling dynamic critical boundary condition
The device of driver, wherein provide steering support device, the steering support device under traveling dynamic critical boundary condition, example
Such as, during the ovdersteering of motor vehicles, to the transfer applying steering torque for turning to motor vehicles.This
In the case of, steering support device applies to turn to torque by this way, i.e. driver can identify the side that he must turn to
To so as to traveling dynamic critical boundary condition under, for example, during ovdersteering, motor vehicles are kept in a controlled manner.
Therefore, for vehicle driver, during driving, especially deliberately during unstable region driving, that is, travelling
In dynamic critical borderline region, for example, during ovdersteering, motor vehicles can be more easily controlled.
Preferably, device of the invention includes the ESP system for detecting unstable transport condition, i.e. motor vehicles
Traveling dynamic critical borderline region in transport condition.For this purpose, ESP system correspondingly preferably include for
The sensor of the detection instantaneous transport condition of motor vehicles, the instantaneous transport condition of motor vehicles is for example, yaw-rate, to laterally accelerate
Degree, steering angle, steering angular velocity, vehicle wheel rotational speed, speed etc..Additionally, critical transport condition can also use in addition one or many
Individual video sensor, such as one video camera or multiple video cameras are detected.
Additionally, the device preferably includes the steering of electrically operated or electronic auxiliary as steering support device, example
Such as, for will turn to torque be applied to motor vehicles transfer EHPS or EPAS systems.Here it is particularly preferably
EPAS systems, because the system is due to relatively inexpensive structure and its economic operability, and can realize particularly accurate controllable
Property and be widely used.
Device of the invention is allowed now, and for example, deliberately ovdersteering is drifted about simultaneously with performing to enable motor vehicles
Vehicle is maintained in drift in a controlled manner.Except the basic orientation specification of driver, device of the invention is present
Driver can be aided in the quick corrective action being in a controlled manner maintained on vehicle in drift being additionally required.
Another principal advantages of device of the invention are to be generally equipped with ESP system and EHPS or EPAS
The motor vehicles of system do not need extra structure member, because the device can use the institute in Already in motor vehicles
There is part, e.g., for example, for detecting the sensor of the instantaneous transport condition of motor vehicles, for applying steering turn to transfer
Steering torque controller of square etc..
For the further advantageous embodiment of device of the invention, with reference to advantageous embodiment as herein described,
By its with combined according to the method for obtaining herein, this similarly can also be used on device.
In a preferred embodiment, device of the invention is used in the motor vehicle.
Claims (9)
1. it is a kind of traveling dynamic critical boundary condition under auxiliary maneuvering vehicle driver method, wherein traveling dynamic critical
Under boundary condition, steering torque is applied to the transfer for turning to the motor vehicles by steering support device,
Wherein,
Apply the steering torque by this way, i.e. driver can identify direction that he must turn to so as to
The motor vehicles are kept in a controlled manner under the traveling dynamic critical boundary condition.
2. the method for claim 1,
Wherein, the traveling dynamic critical boundary condition is the ovdersteering of the motor vehicles.
3. method as claimed in claim 1 or 2,
Wherein,
The steering torque is applied to needed for one section of instantaneous transport condition earlier than the motor vehicles of the transfer
Specified time interval such that it is able to keep the motor vehicles under the traveling dynamic critical boundary condition.
4. the method according to previous claim,
Wherein,
The specified time interval is corresponding with the average response time of the motor vehicle operator so as in response to described turn
To the steering torque that device applies.
5. the method as described in any one of aforementioned claim,
Wherein,
It is described to turn to torque only after the function of the electronic stability program of the motor vehicles is disabled manually, described
Under traveling dynamic critical boundary condition, applied under the traveling dynamic critical boundary condition by the steering support device
Keep the motor vehicles.
6. the method as described in any one of aforementioned claim,
Wherein,
It is described turn to torque only the motor vehicles motion driving behavior function by after manually opened, in the row
Under sailing dynamic critical boundary condition, applied to protect under the traveling dynamic critical boundary condition by the steering support device
Hold the motor vehicles.
7. the method as described in any one of aforementioned claim,
Wherein,
It is described turn to torque only the motor vehicle operator motion driving behavior by the driving wind of the motor vehicles
After lattice detection means is automatically determined, under the traveling dynamic critical boundary condition, applied to use by the steering support device
To keep the motor vehicles under the traveling dynamic critical boundary condition.
8. the method as described in any one of aforementioned claim,
Wherein,
The steering torque applied by the steering support device can be turned at any time by the motor vehicle operator
To excessive.
9. one kind be adapted for carrying out as described in any one of aforementioned claim traveling dynamic critical boundary condition under auxiliary machine
The device of the method for dynamic vehicle driver, wherein steering support device are provided, described under traveling dynamic critical boundary condition
Steering support device to the transfer for turning to the motor vehicles applies steering torque,
Wherein,
The steering support device applies by this way the steering torque, i.e. driver can identify that he must turn to
Direction so as to it is described traveling dynamic critical boundary condition under keep the motor vehicles in a controlled manner.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015219675.5 | 2015-10-12 | ||
| DE102015219675 | 2015-10-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106564530A true CN106564530A (en) | 2017-04-19 |
| CN106564530B CN106564530B (en) | 2021-10-01 |
Family
ID=58405610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610879450.1A Active CN106564530B (en) | 2015-10-12 | 2016-10-08 | Method and device for assisting a driver of a motor vehicle in driving dynamics |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106564530B (en) |
| DE (1) | DE102016218414B4 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1491170A (en) * | 2001-02-07 | 2004-04-21 | 鲁卡斯工业有限公司 | Haptic controller for road vehicles |
| DE10354662A1 (en) * | 2003-11-22 | 2005-06-23 | Robert Bosch Gmbh | Method for assisting the driver in driving-dynamic limit situations by applying a steering torque |
| CN102806910A (en) * | 2011-05-31 | 2012-12-05 | 通用汽车环球科技运作有限责任公司 | A method of operating a driver assistance system of a motor vehicle and the driver assistance system for the motor vehicle |
| CN103359114A (en) * | 2012-03-26 | 2013-10-23 | 通用汽车环球科技运作有限责任公司 | System and method for vehicle lateral control |
| CN104276172A (en) * | 2013-07-09 | 2015-01-14 | 通用汽车环球科技运作有限责任公司 | Driver assistance system for a motor vehicle |
-
2016
- 2016-09-26 DE DE102016218414.8A patent/DE102016218414B4/en active Active
- 2016-10-08 CN CN201610879450.1A patent/CN106564530B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1491170A (en) * | 2001-02-07 | 2004-04-21 | 鲁卡斯工业有限公司 | Haptic controller for road vehicles |
| DE10354662A1 (en) * | 2003-11-22 | 2005-06-23 | Robert Bosch Gmbh | Method for assisting the driver in driving-dynamic limit situations by applying a steering torque |
| CN102806910A (en) * | 2011-05-31 | 2012-12-05 | 通用汽车环球科技运作有限责任公司 | A method of operating a driver assistance system of a motor vehicle and the driver assistance system for the motor vehicle |
| CN103359114A (en) * | 2012-03-26 | 2013-10-23 | 通用汽车环球科技运作有限责任公司 | System and method for vehicle lateral control |
| CN104276172A (en) * | 2013-07-09 | 2015-01-14 | 通用汽车环球科技运作有限责任公司 | Driver assistance system for a motor vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106564530B (en) | 2021-10-01 |
| DE102016218414A1 (en) | 2017-04-13 |
| DE102016218414B4 (en) | 2019-02-14 |
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