CN106573617B - 自适应电子稳定性控制 - Google Patents

自适应电子稳定性控制 Download PDF

Info

Publication number
CN106573617B
CN106573617B CN201580046172.5A CN201580046172A CN106573617B CN 106573617 B CN106573617 B CN 106573617B CN 201580046172 A CN201580046172 A CN 201580046172A CN 106573617 B CN106573617 B CN 106573617B
Authority
CN
China
Prior art keywords
vehicle
data
receiving
weather
video data
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.)
Active
Application number
CN201580046172.5A
Other languages
English (en)
Other versions
CN106573617A (zh
Inventor
W.克利尔
B.拉维
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 CN106573617A publication Critical patent/CN106573617A/zh
Application granted granted Critical
Publication of CN106573617B publication Critical patent/CN106573617B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • 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
    • B60W40/02—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 ambient conditions
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • 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
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/822—Road friction coefficient determination affecting wheel traction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B60T2210/124—Roads with different friction levels
    • 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
    • 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
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

自适应控制响应于视频相机数据和GPS天气数据指示车辆道路条件不理想而调节车辆稳定性控件中的阈值。视频数据确定mue（摩擦系数）和道路类型。GPS天气数据包括温度、可见度、降雨量和风速连同车辆位置。人机接口响应于用户输入而手动地覆盖自适应控制。

Description

自适应电子稳定性控制
背景技术
本发明涉及用于响应于来自安装在主车辆上的相机的视频数据和全球定位天气信号来调节电子稳定性控制的布置。
发明内容
在一个实施例中，本发明提供了一种用于在天气条件下提供车辆稳定性控制的方法，其包括：经由全球定位信号接收天气数据；从安装到车辆的视频相机接收视频数据；响应于天气数据和视频数据来确定是否提供受约束的驾驶条件；以及响应于受约束的驾驶条件的确定来约束车辆的操作。
在一些实施例中，约束车辆的操作包括通过提供受约束的阈值和/或限制引擎控件的最大车辆速度来修改车辆稳定性控件的标准阈值。
一个实施例包括从人机接口接收输入以启用或禁用车辆的操作的约束。
在另一个实施例中，接收天气数据包括接收从温度、可见度、降雨量和风速的组中选择的至少两项。
在一个实施例中，确定驾驶条件包括处理视频数据以确定来自柏油道路、泥土道路、沙石道路、水泥道路和沙砾道路的组中的道路类型；和/或处理视频数据以确定用于道路和轮胎的摩擦系数。
在一个实施例中，确定驾驶条件包括处理视频数据以确定用于道路和轮胎的摩擦系数。
在另一个实施例中，本发明提供了一种用于取决于天气和道路条件来约束车辆的操作的车辆控制系统，包括：全球定位系统接收器，用于经由全球定位信号接收天气数据；视频相机，安装到车辆以用于提供视频数据；数据处理器，用于接收天气数据和视频数据以确定驾驶条件；驾驶条件识别单元，用于响应于驾驶条件来确定是否输出约束性驾驶控制信号；以及通信网络，用于为全球定位系统接收器、视频相机、数据处理器和驾驶条件识别单元提供通信。
在一个实施例中，驾驶条件识别单元将受约束的驾驶控制信号提供给引擎控件的速度限制器以用于约束最大车辆速度。
在一个实施例中，驾驶条件识别单元将受约束的驾驶控制信号提供给车辆稳定性控件以用于修改车辆稳定性控件的阈值。
在一个实施例中，确定驾驶条件包括处理视频数据以确定包括以下之一的道路条件：死水或活水、结冰道路表面、平滑道路表面和粗糙道路表面。
在另一个实施例中，本发明提供了一种用于在天气条件下的车辆稳定性控制的方法，该方法包括：经由全球定位信号接收天气数据；从安装到车辆的视频相机接收视频数据；从天气数据和视频数据确定驾驶条件；响应于驾驶条件来确定是否提供受约束的驾驶条件；以及响应于受约束的驾驶条件的确定，通过经由提供受约束的阈值而修改车辆稳定性控件的标准阈值来约束车辆的操作。
本发明的其它方面将通过考虑详细描述和随附各图而变得清楚。
附图说明
图1是根据一个实施例的车辆操作系统的框图。
图2是示出了向电子控制单元的数据处理器提供的视频数据和GPS数据的框图。
图3是示出了电子控制单元的框图，所述电子控制单元包括用于向车辆稳定性控件选择性地提供受约束的驾驶模式信号的总体识别单元。
具体实施方式
在详细解释本发明的任何实施例之前，要理解到，本发明在其应用方面不限于在以下描述中阐述或者在所附各图中图示的组件的布置和构造的细节。本发明能够实现其它实施例并且能够以各种方式实践或实施。
图1图示了响应于GPS数据和视频相机数据而控制车辆稳定性的车辆操作系统10的相关部分。系统10包括电子控制单元12和车辆稳定性控件14。另外，车辆操作系统10包括全球定位系统（GPS）接收器16和视频相机18。人类/机器接口20从车辆操作者接收手动输入。操作系统10包括刹车控件22和引擎控件24，它们在一些情形下由车辆稳定性控件14来控制。通信网络26，诸如CAN总线或Flex-Ray总线，提供图1中示出的车辆操作系统10的所有设备、控件和单元之间的通信。各种其它子系统（未示出）连接到通信网络26。
图2示出了经由通信网络26向电子控制单元12提供的视频相机数据和GPS数据。电子控制单元12提供车辆操作的自适应控制。电子控制单元12包括数据处理器30，其接收视频相机数据并且从其确定车道的道路类型和mue。mue涉及车辆轮胎和道路表面之间的摩擦系数。用于mue和道路类型的值由处理器30输出并且在步骤或比较32、34处与值进行比较。将用于mue和道路类型的值提供给电子控制单元12的驾驶条件识别单元40。
数据处理器30还接收温度、可见度、降雨量、风速以及来自GPS接收器16的车辆位置/定位数据。数据处理器30将温度、可见度、降雨量和风速在步骤42、44、46、48处与值进行比较。在步骤50处，在一些实施例中，使用车辆的位置/定位来从数据表格查找特定于当前车辆位置和未来车辆路径的道路条件或其它信息。来自步骤或比较42、44、46、48、50的输出被提供给识别单元40。
驾驶条件识别单元40包括似然性检查和仲裁算法以确定各种天气和道路条件是否导致针对以下的需要：车辆稳定性控件14和/或引擎控件24的操作的约束性阈值或其它改变。识别单元确定数据是否似乎合理以及结果是否可能。另外，仲裁算法权衡各种数据以确定是否存在针对约束性阈值的需要。驾驶条件识别单元40还确定车辆的最大速度是否必须由引擎控件24的操作限制，并且如果是，则通过最大车辆速度的值来限制。
操作
在操作中，从视频相机18通过通信网络26向电子控制单元12的数据处理器30提供视频相机数据。数据处理器30包括针对提供给它的数据的初始化、估计和预测性特征。数据处理器30从视频数据确定mue和道路类型。将mue与所存储的值进行比较。将针对mue和道路类型的比较提供给驾驶条件识别单元40以用于未来的处理。更具体地，通过查看道路的相机获得mue。估计包括以下之一的条件：死水或活水、结冰道路表面、平滑道路表面和粗糙道路表面，粗糙道路表面包括不平整的道路表面，诸如形成在道路中的坑洞。在确定mue值时将道路条件作为因素。
视频相机18和数据处理器30还检测道路类型，诸如柏油道路、泥土道路、水泥道路、沙石道路和沙砾道路，以及道路表面的粗糙度。包括道路类型的以上条件与mue相关，mue是用于道路和车辆轮胎的摩擦系数。
在一个实施例中，基本上与处理视频相机视频同时地，电子控制单元12的数据处理器30通过如图2中示出的通信网络26获得温度、可见度、降雨量、风速以及来自GPS接收器16的位置信息。数据处理器30利用初始化、估计和预测来确定何时必须将车辆放置于受约束的驾驶模式或条件中。
更具体地，比较温度、可见度、降雨量和风速与各种值以确定它们关于约束性驾驶的显著性。例如，如果存在冰点以下的温度连同降雨量，则电子控制单元12的驾驶条件识别单元40将通过通信网络26输出受约束的驾驶控制信号58。在这样的实例中，受约束的驾驶控制信号58从识别单元40通过网络26传递给如图3中示出的车辆稳定性控件14。
如图3中所示，车辆稳定性控件14通过网络26从电子控制单元12接收受约束的驾驶控制信号58。图3示出了具有开关62的开关单元60。受约束的驾驶控制信号58使开关62从标准阈值64的选择改变成约束性阈值66。阈值64、66具有提供给车辆稳定性处理器70的值。车辆稳定性控件14的车辆稳定性处理器70向刹车控件22、引擎控件24和其它控件或设备提供信号以确保车辆操作系统10在各种条件之下的恰当操作。
响应于视频数据和GPS天气数据的不同值，在图3中示出的电子控制单元12通过网络26向引擎控件24的速度限制器76提供引擎速度控制信号72。作为天气条件数据和/或视频数据的结果，速度限制器76防止车辆超出最大速度。
尽管在图3中针对车辆稳定性控件14图示了开关单元60，但是在一些实施例中，控制信号58是到车辆稳定性处理器70的消息，其提供标准阈值64和约束性阈值66之间的选择，标准阈值64由存储在非易失性存储器中的值表示，约束性阈值66存储在连接到处理器70的非易失性存储器中。在一些实施例中，约束性阈值的多个集合之一通过受约束的驾驶控制信号58基于视频数据和GPS天气数据的值来选择。
在一个实施例中，操作者覆盖并且停止由电子控制单元12对驾驶条件识别的操作。如图3中所示，由操作者向人类/机器接口20的输入导致启用信号80，其被提供给驾驶条件识别单元40以用于启用或禁用由识别单元输出的受约束的驾驶控制信号。因而，车辆操作者可以关于与视频数据组合的GPS天气信号而完全地断开车辆操作系统10的部分，以便鉴于不同天气和车辆条件来自动地改变车辆稳定性控件14的阈值。
在一些实施例中，通过安装到车辆的温度传感器来获得室外温度值。在其它实施例中，通过沿道路放置的RF天线而不是通过GPS信号将天气信息中继到车辆。
尽管电子控制单元12被示出为具有放置在其中的数据处理器30和驾驶条件识别单元40，但是在一些实施例中，接收和处理所有数据的电子控制单元12的功能由车辆稳定性处理器70执行。车辆操作系统10的其它电子控件也可以充当电子控制单元12。
尽管示出和公开了数据处理器30和驾驶条件识别单元40，但是设想到诸如ASIC电路和数字电路之类的其它布置用于信号处理。
因而，除其它事物之外，本发明提供了用于响应于包括天气数据的GPS信号和视频相机数据来增强车辆稳定性的方法和系统。在所附权利要求中阐述本发明的各种特征和优点。

Claims (20)

1.一种用于在天气条件下提供车辆稳定性控制的方法，该方法包括：
经由全球定位信号在电子控制单元处接收位置/定位数据；
在所述电子控制单元处接收天气数据；
在所述电子控制单元处从安装到车辆的视频相机接收视频数据；
响应于所述位置/定位数据、天气数据和视频数据来确定是否提供受约束的驾驶条件；以及
响应于受约束的驾驶条件的确定而约束车辆的操作，其中鉴于天气条件来自动地改变车辆稳定性控件的阈值。
2.根据权利要求1所述的方法，其中约束车辆的操作的步骤包括通过提供受约束的阈值来修改车辆稳定性控件的标准阈值。
3.根据权利要求2所述的方法，其中约束车辆的操作的步骤还包括限制引擎控件的最大车辆速度。
4.根据权利要求1所述的方法，包括从人机接口接收输入以启用或禁用车辆的操作的约束的步骤，且其中接收天气数据包括从RF天线接收天气数据。
5.根据权利要求1所述的方法，其中接收天气数据的步骤包括接收从温度、可见度、降雨量和风速的组中选择的至少两项。
6.根据权利要求1所述的方法，其中确定驾驶条件的步骤包括处理视频数据以确定来自柏油道路、泥土道路、沙石道路、水泥道路和沙砾道路的组中的道路类型。
7.根据权利要求6所述的方法，其中确定驾驶条件的步骤包括处理视频数据以确定用于道路和轮胎的摩擦系数。
8.根据权利要求1所述的方法，其中确定驾驶条件的步骤包括处理视频数据以确定用于道路和轮胎的摩擦系数。
9.一种用于取决于天气和道路条件来约束车辆的操作的车辆控制系统，包括：
全球定位系统接收器，用于经由全球定位信号接收位置/定位数据；
视频相机，安装到车辆以用于提供视频数据；
电子控制单元中的数据处理器，用于接收所述位置/定位数据、天气数据和视频数据以确定驾驶条件；
所述电子控制单元中的驾驶条件识别单元，用于响应于驾驶条件来确定是否输出约束性驾驶控制信号；以及
通信网络，用于为全球定位系统接收器、视频相机、数据处理器和驾驶条件识别单元提供通信，其中鉴于天气和道路条件来自动地改变车辆稳定性控件的阈值。
10.根据权利要求9所述的系统，其中驾驶条件识别单元将受约束的驾驶控制信号提供给引擎控件的速度限制器以用于约束最大车辆速度。
11.根据权利要求9所述的系统，其中驾驶条件识别单元将受约束的驾驶控制信号提供给车辆稳定性控件以用于修改车辆稳定性控件的阈值。
12.根据权利要求9所述的系统，包括启用或禁用驾驶条件识别单元的人机接口。
13.根据权利要求9所述的系统，其中天气数据包括选自温度、可见度、降雨量和风速的组中的至少两项。
14.根据权利要求9所述的系统，其中确定驾驶条件的步骤包括处理视频数据以确定包括以下之一的道路条件：死水或活水、结冰道路表面、平滑道路表面和粗糙道路表面。
15.一种用于在天气条件下提供车辆稳定性控制的方法，该方法包括：
使用安装到车辆的视频相机获取视频数据；
经由全球定位信号在电子控制单元处接收位置/定位数据；
在所述电子控制单元处接收天气数据；
从所述安装到车辆的视频相机在所述电子控制单元处接收所述视频数据；
从所述位置/定位数据、天气数据和视频数据确定驾驶条件；
响应于驾驶条件来确定是否提供受约束的驾驶条件；以及
响应于受约束的驾驶条件的确定，通过经由提供受约束的阈值而修改车辆稳定性控件的标准阈值来约束车辆的操作，其中鉴于天气条件来自动地改变车辆稳定性控件的标准阈值。
16.根据权利要求15所述的方法，其中约束车辆的操作的步骤还包括限制引擎控件的最大车辆速度。
17.根据权利要求15所述的方法，包括从人机接口接收输入以启用或禁用车辆的操作的约束的步骤。
18.根据权利要求15所述的方法，其中接收天气数据的步骤包括接收选自温度、可见度、降雨量和风速的组中的至少两项，并且确定驾驶条件的步骤包括处理视频数据以确定来自柏油道路、泥土道路、沙石道路、水泥道路和沙砾道路的组中的道路类型。
19.根据权利要求15所述的方法，其中确定驾驶条件的步骤包括处理视频数据以确定用于道路和轮胎的摩擦系数。
20.根据权利要求15所述的方法，其中确定驾驶条件的步骤包括处理视频数据以确定包括以下之一的道路条件：死水或活水、结冰道路表面、平滑道路表面和粗糙道路表面，且其中接收天气数据包括从RF天线接收天气数据。
CN201580046172.5A 2014-08-28 2015-07-17 自适应电子稳定性控制 Active CN106573617B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/471491 2014-08-28
US14/471,491 US9387851B2 (en) 2014-08-28 2014-08-28 Adaptive electronic stability control
PCT/US2015/040930 WO2016032638A1 (en) 2014-08-28 2015-07-17 Adaptive electronic stability control

Publications (2)

Publication Number Publication Date
CN106573617A CN106573617A (zh) 2017-04-19
CN106573617B true CN106573617B (zh) 2022-06-17

Family

ID=53794487

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580046172.5A Active CN106573617B (zh) 2014-08-28 2015-07-17 自适应电子稳定性控制

Country Status (5)

Country Link
US (2) US9387851B2 (zh)
EP (1) EP3186125A1 (zh)
JP (1) JP2017526578A (zh)
CN (1) CN106573617B (zh)
WO (1) WO2016032638A1 (zh)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015216483A1 (de) * 2015-01-29 2016-08-04 Robert Bosch Gmbh Verfahren zum Betrieb einer Reibwertdatenbank und Reibwertdatenbank
CN106143148A (zh) * 2016-07-16 2016-11-23 许乐群 汽车安全速度控制系统及其控制方法
US10183677B2 (en) * 2016-09-20 2019-01-22 Ford Global Technologies, Llc Ice and snow detection systems and methods
US10585440B1 (en) 2017-01-23 2020-03-10 Clearpath Robotics Inc. Systems and methods for using human-operated material-transport vehicles with fleet-management systems
US10106168B2 (en) * 2017-02-27 2018-10-23 GM Global Technology Operations LLC Methods and systems for proactively estimating road surface friction coefficient
US11097736B2 (en) * 2017-02-28 2021-08-24 Clearpath Robotics Inc. Systems and methods for traction detection and control in a self-driving vehicle
DE102017204647A1 (de) * 2017-03-21 2018-09-27 Robert Bosch Gmbh Verfahren und Fahrerassistenzsystem zum Unterstützen eines Fahrers eines Fahrzeuges
FR3067684A1 (fr) * 2017-06-16 2018-12-21 Peugeot Citroen Automobiles Sa Dispositif d’alerte de risque de verglas pour un vehicule
US10536646B2 (en) * 2017-07-28 2020-01-14 Panasonic Intellectual Property Corporation Of America Imaging control device and imaging control method
US10414393B2 (en) * 2017-09-08 2019-09-17 Robert Bosch Gmbh Systems and methods for stabilizing a vehicle
WO2019055826A1 (en) * 2017-09-15 2019-03-21 Cummins, Inc. VEHICLE LOSS CALCULATION FOR ENHANCED FUEL SAVINGS
FR3077053A1 (fr) * 2018-01-24 2019-07-26 Psa Automobiles Sa Systeme de commande du mode de conduite d’un groupe motopropulseur
US20210012119A1 (en) * 2018-03-01 2021-01-14 Jaguar Land Rover Limited Methods and apparatus for acquisition and tracking, object classification and terrain inference
DE102018206853A1 (de) * 2018-05-03 2019-11-07 Zf Friedrichshafen Ag Verfahren zum Bestimmen einer Beschaffenheit einer Oberfläche einer Fahrbahn
US10837793B2 (en) * 2018-06-12 2020-11-17 Volvo Car Corporation System and method for utilizing aggregated weather data for road surface condition and road friction estimates
US11845310B2 (en) 2018-10-18 2023-12-19 Ford Global Technologies, Llc Systems and methods for tire warmup and vehicle launch optimization
US11390277B2 (en) 2018-11-30 2022-07-19 Clearpath Robotics Inc. Systems and methods for self-driving vehicle collision prevention
US11649147B2 (en) 2019-09-20 2023-05-16 Clearpath Robotics Inc. Autonomous material transport vehicles, and systems and methods of operating thereof
CN111137270A (zh) * 2019-12-25 2020-05-12 上海博泰悦臻电子设备制造有限公司 一种车辆的控制方法、车载终端及计算机存储介质
CN113071499B (zh) * 2020-01-06 2022-10-21 北京地平线机器人技术研发有限公司 调整车辆的行驶状态的方法及装置
CN111950092B (zh) * 2020-08-25 2023-07-04 江苏徐工工程机械研究院有限公司 操控件布局设计、评估方法、装置以及工程机械
FR3124469B1 (fr) * 2021-06-25 2023-11-24 Renault Sas Procede d’optimisation du contrôle dynamique du châssis d’un vehicule

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080167819A1 (en) * 1997-10-22 2008-07-10 Intelligent Technologies International, Inc. Vehicular Environment Scanning Techniques
EP2048476A1 (de) * 2007-10-08 2009-04-15 Delphi Technologies, Inc. Fahrerunterstützungsverfahren
EP2154043A1 (de) * 2008-08-12 2010-02-17 Robert Bosch GmbH Geschwindigkeits- und Abstandsregler mit Beeinflussung durch Informationen des Navigationssystems
CN101844554A (zh) * 2009-03-24 2010-09-29 福特全球技术公司 用于改善坡度上车辆性能的系统

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2339174A1 (fr) * 1976-01-21 1977-08-19 Ekman Adolphe Procede et dispositif d'indication de niveaux de vitesse limites pour un vehicule automobile
US5436835A (en) * 1994-03-04 1995-07-25 Emry; Lewis D. Motor vehicle collision avoidance method and means
JP3513937B2 (ja) * 1994-10-21 2004-03-31 トヨタ自動車株式会社 自動変速機の変速制御装置
KR100249590B1 (ko) 1994-12-01 2000-03-15 와다 아끼히로 스케줄 세팅 및 처리 시스템
DE4443219C1 (de) * 1994-12-05 1996-05-15 Daimler Benz Ag Tempomat-Fahrgeschwindigkeitsregeleinrichtung mit regelschwingungsbeeinflussenden Mitteln
EP0720137B1 (en) * 1994-12-28 2007-02-21 Omron Corporation Traffic information system
US5854987A (en) * 1995-02-22 1998-12-29 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system using navigation system
JPH0995194A (ja) * 1995-09-29 1997-04-08 Aisin Seiki Co Ltd 車両前方の物体検出装置
DE19536512A1 (de) * 1995-09-29 1997-04-03 Bayerische Motoren Werke Ag Gangwechselsteuerung für Automatikgetriebe in Kraftfahrzeugen mit einem elektronischen Steuergerät
JPH09286257A (ja) * 1996-04-23 1997-11-04 Nissan Motor Co Ltd 車間距離制御装置
JPH11144185A (ja) * 1997-09-03 1999-05-28 Honda Motor Co Ltd 自動運転制御誘導システム
JPH11321440A (ja) * 1998-05-18 1999-11-24 Koito Mfg Co Ltd 車輌用灯具装置
DE19848236A1 (de) * 1998-10-20 2000-04-27 Bosch Gmbh Robert Verfahren und Vorrichtung zur Begrenzung der Geschwindigkeit eines Fahrzeugs
US6895310B1 (en) * 2000-04-24 2005-05-17 Usa Technologies, Inc. Vehicle related wireless scientific instrumentation telematics
US6873898B1 (en) * 2000-06-15 2005-03-29 Continental Teves, Inc. Vehicle control system utilizing gps data
US6691015B1 (en) * 2000-08-02 2004-02-10 Alfred B. Levine Vehicle drive overdrive system
US20070158128A1 (en) * 2006-01-11 2007-07-12 International Business Machines Corporation Controlling driver behavior and motor vehicle restriction control
JP5104175B2 (ja) * 2007-10-02 2012-12-19 株式会社ジェイテクト 車両制御装置
US8589049B2 (en) 2007-12-03 2013-11-19 Lockheed Martin Corporation GPS-based system and method for controlling vehicle characteristics based on terrain
US20100185389A1 (en) 2009-01-21 2010-07-22 Michael Glenn Woodard GPS-based vehicle alert and control system
US8352120B2 (en) 2009-02-17 2013-01-08 Lockheed Martin Corporation System and method for stability control using GPS data
JP2012006468A (ja) * 2010-06-24 2012-01-12 Clarion Co Ltd 運転支援制御装置
GB2492953A (en) 2011-07-13 2013-01-23 Land Rover Uk Ltd Vehicle control system and method employing output from an imaging device
DE102011111592A1 (de) * 2011-08-25 2013-02-28 Wabco Gmbh Verfahren und Steuereinrichtung zum Steuern oder Regeln eines Fahrzeug-Bremssystems
US8880294B2 (en) 2011-10-04 2014-11-04 Continental Automotive Systems, Inc. Proactive electronic stability control system
DE102011121487B4 (de) 2011-12-16 2016-03-03 Audi Ag Vorrichtung und Verfahren zum Betreiben zumindest eines Fahrerassistenzsystems eines Kraftwagens
DE102012112724A1 (de) 2012-12-20 2014-06-26 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung eines Fahrbahnzustands aus Umfeldsensordaten
DE102014213663B4 (de) * 2013-07-15 2024-04-11 Magna Powertrain Of America, Inc. Traktionssteuersystem für Vierrad-/Allradantrieb-Fahrzeuge mit Bordkamera
US9139204B1 (en) * 2014-06-12 2015-09-22 GM Global Technology Operations LLC Road surface condition detection with recursive adaptive learning and validation
US11040725B2 (en) * 2015-09-04 2021-06-22 Inrix Inc. Manual vehicle control notification

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080167819A1 (en) * 1997-10-22 2008-07-10 Intelligent Technologies International, Inc. Vehicular Environment Scanning Techniques
EP2048476A1 (de) * 2007-10-08 2009-04-15 Delphi Technologies, Inc. Fahrerunterstützungsverfahren
EP2154043A1 (de) * 2008-08-12 2010-02-17 Robert Bosch GmbH Geschwindigkeits- und Abstandsregler mit Beeinflussung durch Informationen des Navigationssystems
CN101844554A (zh) * 2009-03-24 2010-09-29 福特全球技术公司 用于改善坡度上车辆性能的系统

Also Published As

Publication number Publication date
US9387851B2 (en) 2016-07-12
WO2016032638A1 (en) 2016-03-03
JP2017526578A (ja) 2017-09-14
CN106573617A (zh) 2017-04-19
US20160264130A1 (en) 2016-09-15
EP3186125A1 (en) 2017-07-05
US20160059851A1 (en) 2016-03-03

Similar Documents

Publication Publication Date Title
CN106573617B (zh) 自适应电子稳定性控制
US11608040B2 (en) Traction control based on friction coefficient estimation
US11891023B1 (en) Using camera data to manage a vehicle parked outside in cold climates
US9798323B2 (en) Crowd-sourced transfer-of-control policy for automated vehicles
US10609341B1 (en) Automatic maintenance of front and/or rear windshield visibility
CN111194287B (zh) 用于控制车辆和自主驾驶车辆的方法和装置
CN107415956B (zh) 用于检测和传送非连接车辆的打滑的系统和方法
JP6697522B2 (ja) 区画線認識装置
US20160121904A1 (en) Method and Apparatus for Predictive Driving-Mode Learning and Enablement
JP2023153776A (ja) 事故判定装置
CN107358168B (zh) 一种车辆可行驶区域的检测方法及装置、车载电子设备
DE102018120682A1 (de) Verfahren und vorrichtung für eine autonome antriebsmodusauswahl
CN110562264B (zh) 面向无人驾驶的道路危险预测方法、装置、设备及介质
CN114030487A (zh) 车辆控制方法、装置、存储介质及车辆
US11373327B2 (en) Image processing device and method that determine a stop position in a parking frame using images from two cameras
US20160129834A1 (en) System and method for recognizing surrounding vehicle
US20200192401A1 (en) Method and device for determining a highly-precise position and for operating an automated vehicle
US20230360524A1 (en) Vehicle control system and method for generating speed limit signal
JP2018127063A (ja) ワイパ駆動制御装置、ワイパ駆動制御方法及びコンピュータプログラム
Galanis et al. Weather-based road condition estimation in the era of Internet-of-Vehicles (IoV)
CN116481552A (zh) 地图路径信息的确定方法、装置和电子设备
CN111055836B (zh) 用于避免陡坡接载和卸放地点的车辆系统和方法
KR102543174B1 (ko) 차량 제어 장치 및 그의 작동 방법
KR101526788B1 (ko) 차량 속도 자동 제어 장치 및 방법
WO2023119800A1 (ja) 車載演算処理装置、および、演算処理方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant