CN108657180B - 补偿车道沟槽的影响 - Google Patents

补偿车道沟槽的影响 Download PDF

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CN108657180B
CN108657180B CN201810239741.3A CN201810239741A CN108657180B CN 108657180 B CN108657180 B CN 108657180B CN 201810239741 A CN201810239741 A CN 201810239741A CN 108657180 B CN108657180 B CN 108657180B
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克里斯托夫·阿恩特·德尔·哈比尔
安克·迪克曼
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Abstract

本发明涉及一种用于补偿路面上的车道沟槽对车辆的驾驶行为的影响的方法，其中通过为此设计的装置检测车道沟槽，关于车道沟槽的特征的信息被传输到控制装置，并且通过控制装置将控制命令传输到车辆的转向装置或车辆车轮的致动器，以便抵消车道沟槽对驾驶行为的影响。

Description

补偿车道沟槽的影响
技术领域
本发明涉及一种用于补偿路面上的车道沟槽(Spurrille)对车辆的驾驶行为的影响的方法，其中车道沟槽以预期的方式被检测并且驾驶行为被调整。
背景技术
车辆可能会遭遇对于无经验的驾驶员来说不容易处理的道路状况。这种道路状况的特征在于例如具有相对于路面纵向和/或横向存在车道沟槽的路面，该道路车道沟槽危害车辆的驾驶行为。严格地说，只有在路面纵向方向上的路面凹陷(图3)被称为车道沟槽；然而，本文中，相对于路面横向延伸的细长凹陷也被称为车道沟槽。车道沟槽的特征特别在于车道沟槽的长度、车道沟槽相对于道路或路面(取向)的位置以及车道沟槽的形状，其由道路表面的变形确定，也就是说除了长度之外基本上还由车道沟槽的宽度和深度决定。
车道沟槽特别出现在沥青道路上。纵向延伸车道沟槽造成道路损坏，该纵向延伸车道沟槽特别是由于在重型货车的高车轮负载的作用下的沥青的凹陷和重新压实而出现的道路损坏。横向延伸车道沟槽特别出现在交通信号灯、停车标志以及道路交叉口的区域，在该区域中车辆由于制动而导致沥青弯曲。
车道沟槽导致车辆的驾驶行为受到干扰，从而导致相应驾驶员的负担。这也可能导致危险情况，例如，如果水在潮湿的路面上的车道沟槽中聚集，则可能发生打滑现象。
然而，即使在干燥状况下，纵向延伸车道沟槽特别会产生方向盘扭矩并且会不利地影响驾驶员所预期的转向作用。诸如车道保持辅助系统的自动驾驶辅助系统也可受到纵向延伸车道沟槽的作用的影响。横向延伸车道沟槽特别影响车辆的制动距离，由于凹陷，在某些情况下车辆显示出不足的地面附着力以将制动力从车轮传递到路面上。此外，例如(图4)，车辆的车轮由于车道沟槽的作用而不均匀地磨损，因为重型货车车轮造成的车道沟槽比乘用车的车轮宽度更宽。因此，其目的是以预期的方式抵消车道沟槽对驾驶行为的影响。
发明内容
所述目的通过具有主权利要求的特征的方法来实现。本发明的有利实施例和改进将从并列权利要求和从属权利要求、附图以及示例性实施例中显现。
本发明的第一方面涉及一种用于补偿由道路的表面中的车道沟槽导致的对行进在所述道路上的车辆的影响的方法，包括如下步骤：
-在车辆到达车道沟槽之前，通过为此设计的车辆的装置检测位于道路前方路面上的车道沟槽，
-确定车道沟槽相对于车辆的车轮和轴距的位置、形状以及取向，
-考虑凹陷的区域中的预期车辆速度以及车道沟槽的位置、形状以及取向来计算凹陷对车辆的影响，
-通过车辆的至少一个控制系统来补偿车道沟槽的影响。
该方法特别涉及检测并且避开车道沟槽。然而，也可以通过该方法检测除了车道沟槽以外的凹陷。
该方法有利地允许控制系统和由控制系统控制的致动器永久适应永久、随机或突然发生的干扰车辆转向和制动系统的路面不平整性。特别地，该方法允许预先计算控制系统的作用以便避开车道沟槽，或者以便抵消车道沟槽对车辆的转向行为的影响，使得驾驶员不会注意到该车道沟槽。控制系统可以例如通过车辆的伺服转向辅助系统或其它合适的致动器来作用于转向行为。理想情况下，控制系统的作用未被指示给驾驶员。以这种方式，提高了驾驶舒适性，因为驾驶员可以控制车辆通过具有车道沟槽的区域而无需额外花费有关注意力和转向的个人努力。
车辆特别应被理解为意指陆地车辆，特别是机动车辆，并且更特别是四轮机动车辆。
用于检测车道沟槽的车辆的装置优选地选自包括立体摄像机、LiDAR以及RADAR装置的组中。本文中特别有利的是一种立体摄像机，该立体摄像机允许充分分辨位于前方(即位于车辆前方并且即将到达)的道路区域的表面结构。LiDAR和RADAR装置同样适用于捕获道路的表面结构。本文中，该装置也可以相互作用以检测车道沟槽。LiDAR和/或RADAR装置可以例如被用于确认由立体摄像机捕获的信息。
车道沟槽的影响的补偿优选地通过拉动漂移补偿设施来辅助。拉动漂移补偿(Pull-Drift-Compensation)是一种技术，该技术可以识别驾驶员对道路不平整性或侧风的补偿，并且例如通过伺服转向辅助系统自动施加相应的力输入。以这种方式，有利的是，除了在路面中的车道沟槽之外，还抵消了驾驶干扰的其他原因。
此外，车道沟槽的影响的补偿优选地由至少一个车辆系统辅助，该至少一个车辆系统选自包括用于超车操作的驾驶员辅助系统、车道保持辅助系统、车道偏离警告辅助系统以及用于补偿拉动效应的装置的组中。通过系统的相互作用有利地实现稳健的驾驶行为。所陈述的系统被设置为使得它们在各种驾驶操作期间起作用。此外，道路的其它车道上的交通也可以结合到该方法中。
利用根据本发明的方法，检测相对于行进方向的纵向和横向延伸的车道沟槽。优选的是，利用该方法检测特别是相对于行进方向纵向延伸的车道沟槽。本文中，也可以检测仅仅相对于行进方向纵向延伸的车道沟槽。相对于行进方向纵向延伸的车道沟槽的检测有利地允许横向漂移的抵消，使得车辆不偏离行进方向并且驾驶员不必对此重视以及注意。
可替选地是，利用该方法优选地检测相对于行进方向横向延伸的车道沟槽。本文中，也可以检测仅仅相对于行进方向横向延伸的车道沟槽。相对于行进方向横向延伸的车道沟槽的检测允许适应于制动过程，例如根据所使用的定时(timing)和力。因此，优选的是，在制动过程期间，车轮的制动力以依赖于车道沟槽的方式被调整以便优化制动距离。
在该方法中，优选的是，包括路面上的水分、冰以及雪的环境影响也被纳入对车道沟槽的影响的补偿。这有利地致力于例如避免打滑，由于相对较大的水量可以在车道沟槽中，所以是特别不利的。本文中，有利地确定道路表面上(特别是在车道沟槽中)存在多少水。也确定特别是在道路表面区域中的温度以便估计存在的水分是否结冰。在这些情况下，车辆被控制使得向左或向右引导车轮通过车道沟槽。
在转弯期间，车辆的车轮优选地保持在车道沟槽外部。以这种方式，相对于直接向前行进的车轮在拐角处道路表面上的较低附着力不会因横向凹槽的作用而受到额外的损害。
本发明的第二方面涉及一种具有控制系统的车辆，该控制系统被设计用于执行根据本发明的方法。
附图说明
将根据附图更详细地讨论本发明，附图中：
图1是根据本发明的车辆在具有车道沟槽的道路上的实施例的示意图；
图2示出了根据本发明的方法的实施例的流程图；
图3显示了具有在右侧车道上的纵向延伸车道沟槽的道路的视图；
图4是具有相对于道路上的车道沟槽的车轮的车辆的示意图。
具体实施方式
在图1所示的实施例中，根据本发明的车辆1是具有四个车轮2的机动车辆。对于驾驶员的控制，车辆1具有转向装置3。车辆还具有控制装置4。控制装置4被连接到立体摄像机5，立体摄像机5被布置在挡风玻璃6的区域中，理想地在其上部区域中。可替选地，立体摄像机也可以被布置在车辆1的前部区域的其它位置。立体摄像机5被设计为捕获沿行进方向位于车辆前方的道路7的表面。箭头表示车辆1的行进方向。也可以将多个立体摄像机布置在挡风玻璃6的区域中或车辆1的前部区域的其它位置(例如在前照灯区域9中)。
在车辆1的行进方向上，车道沟槽8存在于道路7的路面上。车道沟槽8的特征在于车道沟槽8的长度、在道路上车道沟槽8的位置以及车道沟槽8的形状，也就是说，除了长度之外，基本上还由车道沟槽8的深度和宽度限定。立体摄像机5被设置用于检测车道沟槽。车道沟槽8在图1、3以及4中纵向地定向，也就是说车道沟槽8基本上沿着路面方向延伸。如图1中所示，基于右侧车道沟槽，纵向指向车道沟槽8也可能正好偏离直接向前方向。该取向也被检测到。根据本发明，然而也可以检测横向指向车道沟槽8。
可替选地或除了立体摄像机5之外，激光雷达(LiDAR)和/或雷达(RADAR)装置可以被布置在挡风玻璃6的区域或车辆1的前部区域的其它位置。LiDAR和/或RADAR装置同样被连接到控制装置4。控制装置4还被连接到车辆的车轮2和/或转向装置3的致动器，并且被设计为根据从立体摄像机5或从LiDAR和/或RADAR装置接收到的信号将控制命令传输到致动器和/或转向装置，以便抵消车道沟槽8的作用。
在根据本发明的根据图2示出的方法中，为了补偿由道路7中的车道沟槽8导致的对车辆的影响，在第一步骤S1中，通过立体摄像机5识别车道沟槽8。在此，图1、3以及4的图示涉及纵向延伸车道沟槽8。为了确保用于抵消车道沟槽8对车轮2上以及因此对车辆1的位置上的预期作用的足够时间长度，立体摄像机被设计成检测在充分位于车辆1前方的距离处的车道沟槽8。
在第二步骤S2中，确定了车道沟槽8的形状、取向以及长度。为此目的，车道沟槽的图像被立体摄像机5捕获并且被传送到控制装置4。在此，控制装置4还确定车道沟槽8相对于车辆1的车轮2和轴距的位置、形式以及取向。此外，在第三步骤S3中，控制装置4考虑当前车辆速度、车道沟槽8的区域中的预期车辆速度以及车道沟槽8的位置和尺寸来确定车道沟槽8对车辆1的影响。由控制装置4执行的处理操作是本领域技术人员已知的。
在第四步骤S4中，补偿了当车辆1的车轮2到达车道沟槽8时车道沟槽8的作用。为此，控制装置4将控制命令传送给至少一个车轮2或者所有车轮2的致动器，该致动器控制车轮2的状况和运动。具体地，车轮2被反向转向到例如车轮2将在没有对策的情况下通过车道沟槽的作用而转向的方向。可替选地或另外地，控制装置可以直接致动转向装置3的机构以便影响驾驶员的转向运动，使得与车轮2将在没有对策的情况下通过车道沟槽8的作用而转向的方向相反的转向作用被加强。至关重要的是，由控制装置4的作用实施的操作在驾驶员不知情的情况下执行。然而，也可以例如通过显示器向驾驶员指示车道沟槽8的存在和控制系统的作用。
在步骤S1中，车道沟槽8可以是横向延伸车道沟槽8。除了转向作用之外或者可替选地，在步骤S3中控制系统4也可以计算足以抵消横向延伸车道沟槽8对车轮2或底盘的不利作用的制动作用。
附图标记列表
1车辆
2车轮
3转向装置
4控制装置
5立体摄像机
6挡风玻璃
7道路
8车道沟槽
9前照灯

Claims (9)

1.一种用于补偿由道路(7)的表面中的车道沟槽(8)导致的对行进在所述道路(7)上的车辆(1)的影响的方法，包括如下步骤：
-在所述车辆(1)到达所述车道沟槽(8)之前，通过为此设计的所述车辆的装置(5)检测位于所述道路(7)前方路面上的车道沟槽(8)，
-确定所述车道沟槽(8)相对于所述车辆(1)的车轮(2)和轴距的位置、形状以及取向，
-考虑在所述车道沟槽(8)的区域中的预期车辆速度以及所述车道沟槽(8)的所述位置、形状以及取向来计算所述车道沟槽(8)对所述车辆(1)的影响，
-通过所述车辆(1)的至少一个控制系统来补偿所述车道沟槽(8)的影响；
其中在转弯期间，确定所述车道沟槽(8)的取向，以及基于所述车道沟槽(8)为横向延伸的车道沟槽将所述车辆的所述车轮(2)被保持在所述车道沟槽(8)的外部。
2.根据权利要求1所述的方法，其中用于检测车道沟槽(8)的所述车辆的所述装置选自包括立体摄像机(5)、LiDAR和以及RADAR装置的组中。
3.根据权利要求1或2所述的方法，其中拉动漂移补偿设施辅助补偿所述车道沟槽的影响。
4.根据前述权利要求中任一项所述的方法，其中选自包括用于超车操作的驾驶辅助系统、车道保持辅助系统、车道偏离警告辅助系统以及用于补偿拉动效应的装置的组中的至少一个车辆系统辅助补偿所述车道沟槽(8)的影响。
5.根据前述权利要求中任一项所述的方法，其中特别检测相对于行进方向纵向延伸的车道沟槽(8)。
6.根据权利要求1-4中任一项所述的方法，其中特别检测相对于行进方向横向延伸的车道沟槽(8)。
7.根据权利要求6所述的方法，其中在制动过程期间，所述车轮(2)的制动力以依赖于所述车道沟槽(8)的方式被调整以便优化制动距离。
8.根据前述权利要求中任一项所述的方法，其中包括路面上的水分、冰以及雪的环境影响也被纳入对所述车道沟槽(8)的影响的补偿。
9.一种车辆(1)，所述车辆具有被配置用于执行具有如权利要求1-8中任一项所述的特征的方法的控制系统。
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