CN108688663A - 用于自动调整车辆速度的方法 - Google Patents

用于自动调整车辆速度的方法 Download PDF

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CN108688663A
CN108688663A CN201810279252.0A CN201810279252A CN108688663A CN 108688663 A CN108688663 A CN 108688663A CN 201810279252 A CN201810279252 A CN 201810279252A CN 108688663 A CN108688663 A CN 108688663A
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vehicle
distance
driving stage
speed
deboost phase
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R.舍夫勒
T.布雷特施耐德
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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
    • B60K31/0008—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 including means for detecting potential obstacles in vehicle path
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Abstract

在一种通过对在先行驶的另外车辆进行连续的距离测量以自动调整车辆的车辆速度的方法中，为了减小初始距离，首先车辆在驱动阶段中以较高的车辆速度运动并且随后在制动阶段中被制动。

Description

用于自动调整车辆速度的方法
技术领域
本发明涉及一种用于自动调整车辆的车辆速度的方法，该方法在相对于在先行驶的另外车辆的连续的距离测量中实施。
背景技术
已知在车辆中的距离调节系统，利用所述距离调节系统，在没有驾驶员干涉的情况下，自动保持车辆与在先行驶的另外车辆之间的与速度有关的目标距离。所述距离调节系统包括雷达系统，利用该雷达系统能够获知车辆与在先行驶的另外车辆之间的当前距离。当所述距离低于目标距离时，车辆自发被加速以调整目标距离。与之相反，当在先行驶的另外车辆降低其速度时，所述车辆自发被制动。
发明内容
根据本发明的方法在相对于在先行驶的另外车辆的连续的距离测量中用于自动调整车辆的车辆速度。车辆与在先行驶的另外车辆之间的初始距离首先高于目标距离，该目标距离尤其与速度有关来确定。为了将初始距离减小到目标距离，车辆在驱动阶段中首先以比另外车辆更高的车辆速度来运动。随后制动阶段紧随，该制动阶段持续直至达到目标距离，并且在其结束时将车辆和另外车辆的速度进行适配。在制动阶段期间，车辆的速度通过或车辆的组件内的或车辆与环境之间的摩擦或者替代性地或附加地通过布置在车辆的驱动系中的电动马达的发电机运行来减小。
在后一种情况下，例如为混合驱动装置，该混合驱动装置包括至少一个电动马达并且附加地包括内燃机，其中该电动马达补充地用于内燃机或者用作唯一的驱动装置。具有一个或多个电动马达的作为车辆的仅有驱动装置的实施方式也是可能的。在任何情况下，在制动阶段中，至少一个电动马达能够被切换到发电机运行中，以便产生制动力并且将车辆制动到目标速度上 - 在先行驶的另外车辆的速度-。电动马达式的驱动单元处于再生模式下的发电机运行中，在其中车辆电池能够被充电。
在通过摩擦进行制动时，除了车轮与车道之间的空气摩擦和滚动摩擦之外，也能够利用驱动系中的摩擦力矩，例如用作驱动马达的内燃机中的拖曳力矩，和/或自动变速器或手动换挡变速器中的摩擦。由此实现了，在制动阶段中优选地仅通过至少一个电动马达的发电机运行和/或摩擦将车辆速度减小到目标速度。有利地，在制动阶段中，车辆中的制动系统不被操纵，从而仅通过摩擦或发电机运行来执行速度减小。
这种处理方式的优点在于一方面制动系统不被负载（belasten）。另一方面，用于闭合在距离调节运行中的间隙的驱动阶段和制动阶段以所述方式彼此配合（abstimmen），使得该过程被感知为舒适的并被驾驶员所接受。为了实现该方法，确定少数参数、例如从驱动阶段至制动阶段的切换时刻就足够了，这具有以下优点：能够以相对低的应用耗费执行在车辆中的方法功能的实施。在大多数情况下，即使在不利的环境条件和路面条件的情况下，在没有滑转调节（chlupfregelung）的情况下也能够实现在制动阶段期间实现的减速。但是针对滑转调节是要的情况下，也能够将其在根据本发明的方法中作为补充方案在驱动阶段和/或制动阶段期间激活。
有利地，车辆在整个驱动阶段被加速，尤其恒定地被加速，由此实现较高的行驶舒适性并且同时确保车辆与在先行驶的另外车辆之间的间隙的快速闭合（Schließen）。
驱动阶段和制动阶段能够持续不同长时间，尽管具有相同长时间的驱动-和制动阶段的实施方式也是可能的。
在驱动阶段，车辆在优选的实施方式中经历加速。在另一种实施方式中，车辆在驱动阶段具有恒定的速度，然而该恒定的速度高于在先行驶的车辆的目标速度。当在利用手动的行驶运行的行驶状况下激活距离调节功能时，例如出现这种情况：即，在该情况中车辆的速度大于在先行驶的另外车辆的速度。根据另一种有利的实施方式，其涉及在车辆的驱动阶段期间的被加速的行驶方式，在驱动阶段期间的最大加速度被确定为持续时间的函数，其中用于自动调整车辆速度的功能是主动的并且从车辆的初始距离和初始盈余速度开始，达到目标距离和目标速度。此外，最大加速度能够与在制动阶段期间能够实现的最大的减速度有关。 在驱动阶段中直至从驱动阶段至制动阶段中切换时刻所执行的最大加速度能够由取决于车辆的初始盈余速度、制动阶段的车辆减速 -其中，有利地不仅加速而且减速都以恒定的数值被执行-、初始距离以及持续时间的运动学的关系来确定，该持续时间为从初始距离和初始盈余速度直至达到目标距离和目标速度所需的持续时间。在知道切换时刻、最大加速度、初始距离的最大减速度和初始盈余速度的情况下，则确定用于执行用来自动调整车辆速度的方法所需的所有的确定参量。在此，以传感器的方式获知车辆速度以及到在先行驶的另外车辆的距离就足够了，其中在先行驶的另外车辆的速度和车辆的相对速度或盈余速度能够由多个距离测量来获知。根据另一种有利的实施方式，在存在定义的事件、例如用于并入另外交通参与者的情况下，所述车辆与所述在先行驶的另外车辆之间的距离自动地增加。该另外交通参与者在进一步的过程中形成所述在先行驶的另外车辆，在先行驶的另外车辆处现在所述车辆在目标距离和目标速度方面定向。为了增加距离，首先执行制动阶段，随后为了减小相对于所述另外交通参与者的距离，能够再次执行驱动阶段，尤其另一个制动阶段紧随所述驱动阶段，其中所述驱动阶段和所述另一个制动阶段能够根据如上所述那样的根据本发明的方法来执行。为了增加距离而执行的第一制动阶段和随后的驱动阶段能够类似于间隙闭合来执行，但是以相反的顺序。
各种方法步骤有利地在车辆中的控制器中被执行，该控制器尤其能够是车辆中的距离调节系统的组成部分。距离调节系统还配备有距离获知系统，利用该距离获知系统能够获知车辆与在先行驶的另外车辆之间的距离。在此优选是雷达辅助的距离获知系统，其中必要时也考虑其它的距离获知系统，尤其基于视频、基于超声波或基于激光雷达的距离获知系统。
附图说明
由其它的权利要求、附图描述和附图得知其它的优点和有利的实施方案。其中：
图1示出了在减小（Reduzieren）与在先行驶的另外车辆的距离时作为时间的函数的加速-/减速走势，
图2示出了在增加（Vergrößern）与在先行驶的另外车辆的距离时作为时间的函数的加速-/减速图。
具体实施方式
图1涉及一种用于自动、自发调整车辆的车辆速度的方法，该方法在相对于在先行驶的另外车辆的连续的距离测量中实施，其中车辆与在先行驶的另外车辆之间的较大的初始距离应该被减小（reduzieren）到较小的目标距离。当激活距离调节功能时，实际的初始距离由此大于目标距离。车辆的初始速度能够必要时大于另外车辆的速度，尽管车辆的初始速度等于或小于另外车辆的速度的实施方式也是可能的。
为了将初始距离减小到尤其与速度有关确定的目标距离，在连续测量车辆与在先行驶的另外车辆之间距离的情况下首先执行在初始时刻t0和切换时刻tU之间的驱动阶段，该切换时刻标记从驱动阶段到随后的持续直至时刻tL的制动阶段的切换。同时，tL表示用于用来执行该方法的整个持续时间，直到达到目标距离和与在先行驶的另外车辆的速度一致的车辆的目标速度。车辆的距离调节系统中的连续的距离测量优选地借助于距离雷达系统来执行。替代性地，也考虑其它的距离获知系统，距离获知系统例如基于视频或基于超声波或激光雷达起作用。在驱动阶段中，车辆具有至少部分地比另外车辆更高的速度，以便将较大的初始距离减小到目标距离。
切换时刻tu能够被预先给定，其从初始时刻t0开始测量，具有例如10 ms到100 s的时间跨度，并且优选处于500 ms到1 s之间。在切换时刻tU与结束时刻或整个持续时间tL之间的制动阶段中的直到达到目标距离的车辆减速度aS同样能够被预先给定，并且处于例如直至-4 m / s2的数量级，尤其处于-0.1m / s2到-0.5m / s2之间。
tU和tL之间的制动阶段中的车辆减速度aS优选地在不操纵液压制动系统的情况下被执行，并且仅基于摩擦或者基于布置在车辆的驱动系中的电动马达的发电机运行。该摩擦尤其涉及空气阻力、车轮与车道之间的滚动摩擦以及内燃机的内部的拖曳力矩或一般在驱动系中，尤其在变速器中的摩擦。只要在驱动系中布置有电动马达，则该电动马达在发电机运行中被运行并且再生（rekuperiert），由此能够在制动阶段中实现显著的减速。
在方法（Verfahrens）开始时，首先借助于距离确定系统确定在初始时刻t 0的初始距离s（t 0）以及差速度Δv（t0），其中随后车辆在激活距离调节系统的时刻既能够具有高于，又能够具有低于或者如先行驶的另外车辆那样相同的速度。根据这些信息，能够确定持续时间tL，该持续时间借助于当前速度（在初始盈余速度的情况下）对于将初始距离s（t0）减小到目标距离sd来说是必须的。在t0和tU之间的驱动阶段中被执行的最大加速度aB能够 –在均匀的加速度的前提条件下 - 借助于以下关系来确定：。
如图1中能够看出的那样，加速度值aB在t0与tU之间的驱动阶段中，作为恒定的加速度通过车辆内的驱动马达被施加。在切换时刻tU，进行从驱动阶段到制动阶段的切换，其中不产生其它的驱动力矩，并且代替地生成制动力，该制动力然而不是借助于车辆自身的制动系统，而是如上所述，通过摩擦、拖曳力矩和/或布置在驱动系中的电动马达的发电机运行而产生。减速度aS在制动阶段的整个持续时间内有利地也为恒定的。在时刻tL制动阶段结束（abgeschlossen），车辆与在先行驶的另外车辆之间的距离对应于目标距离并且车辆速度对应于目标速度（在先行驶的另外车辆的速度）。
在图2中示出了用于增加（Vergrößern）相对于在先行驶的另外车辆的距离的方法，例如用于在该车辆和在先行驶的另外车辆之间的间隙（Lücke）中并入（Einfädeln）另外交通参与者。类似于图1，整个持续时间tL被分为t0和tU之间的制动阶段以及tU和tL之间的驱动阶段。在初始的制动阶段中，施加恒定的减速度aS，其必要时能够如根据图1的减速度aS那样一样大。在随后的tU和tL之间的驱动阶段以恒定的加速度aB进行，该加速度必要时能够同样地如图1中的加速度aB那样一样大。切换时刻tU被预先给定为数值并且处于例如0.1 s至5之间s，优选0.5 s至2 s之间的数值范围。类似于图1的制动阶段能够再次紧随tU与tL之间的加速阶段进行，以便调整（einzustellen）相对于已经插入（einscheren）到间隙中的另外交通参与者的车辆的期望的目标距离和目标速度。

Claims (12)

1.用于自动调整车辆的车辆速度的方法，该方法在相对于在先行驶的另外车辆的连续的距离测量中实施，以便将初始距离（s（t0））减小到目标距离（sd），其中，首先在驱动阶段中使所述车辆以比所述另外车辆更高的车辆速度运动并且随后在制动阶段中通过摩擦和/或布置在所述车辆的驱动系中的电动马达的发电机运行来使所述车辆制动，直至达到所述目标距离（sd）并且所述速度相适配。
2.根据权利要求1所述的方法，其特征在于，所述车辆在整个驱动阶段期间被加速。
3.根据权利要求1或2所述的方法，其特征在于，所述车辆在所述驱动阶段中被恒定地加速。
4.根据权利要求1至3中任一项所述的方法，其特征在于，在所述驱动阶段期间的最大加速度（aB）被作为持续时间（tL）的函数进行获知，持续时间是从所述初始距离（s（t0））和初始盈余速度（∆v（t0））开始直至达到所述车辆与所述另外车辆之间的所述目标距离（sd）所需的持续时间。
5.根据权利要求1至4中任一项所述的方法，其特征在于，所述车辆在所述制动阶段中仅通过摩擦和/或发电机运行被制动。
6.根据权利要求1至5中任一项所述的方法，其特征在于，从驱动阶段至制动阶段的切换时刻（tU）被确定为由于所述摩擦和/或所述发电机运行的制动能力的函数。
7.根据权利要求1至6中任一项所述的方法，其特征在于，从驱动阶段至制动阶段的切换时刻（tU）由以下关系中的一个或多个关系来确定：
其中，
t0表示初始时刻，
tL表示直至到达所述目标距离的持续时间，
tU表示从驱动阶段至制动阶段的切换时刻，
s（t0）表示在时刻t0的初始距离，
s（tU）表示在时刻tU的距离，
Δv（t0）表示初始差速度，
Δv（tU）表示在时刻tU的盈余速度，
aB表示驱动阶段中的车辆加速度，
aS表示制动阶段中的车辆减速度。
8.根据权利要求1至7中任一项所述的方法，其特征在于，在存在定义的事件、例如用于并入另外交通参与者的情况下，所述车辆与所述在先行驶的另外车辆之间的距离自动地增加。
9.根据权利要求8所述的方法，其特征在于，为了增加所述距离，首先执行制动阶段并且随后为了减小相对于所述另外交通参与者的距离而执行驱动阶段。
10.控制器，其用于执行根据权利要求1至9中任一项所述的方法。
11.车辆中的距离调节系统，其具有根据权利要求10所述的控制器并具有用于获知相对于在先行驶的另外车辆的距离的距离获知系统。
12.车辆，其具有在根据权利要求11中的驾驶员辅助系统。
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