CN115534952A - 用于控制车辆接近的方法及距离调节器、计算机程序和存储单元 - Google Patents
用于控制车辆接近的方法及距离调节器、计算机程序和存储单元 Download PDFInfo
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Abstract
本发明涉及一种用于控制行驶中的车辆(12)接近在前行驶的至少一个参考车辆(14)的方法(10),该控制在应用自动化距离调整的情况下根据车辆(12)与参考车辆(14)之间的应有距离(22)来进行,其中,该应有距离(22)根据车辆(12)的操作元件(26)的操作位态(27)来计算,该操作元件能够由车辆(12)的驾驶员操纵并控制车辆(12)的驱动装置,其中,通过操纵车辆(12)的操纵元件(16)间接地或直接地减小该应有距离(22),该操纵元件具有操纵位态(38)并能够由车辆(12)的驾驶员操纵并控制车辆(12)的制动减速。本发明另外还涉及一种距离调节器(30)、一种计算机程序和一种存储单元。
Description
技术领域
本发明涉及一种用于控制行驶中的车辆接近在前行驶的至少一个参考车辆的方法,该控制在应用自动化距离调整的情况下根据该车辆与该参考车辆之间的应有距离来进行。本发明此外还涉及一种距离调节器、一种计算机程序和一种存储单元。
背景技术
DE 10 2018 201 306A1描述了一种距离调节器,该距离调节器为了确定车辆与在前行驶的参考车辆的距离目标值而读入车辆加速踏板的加速踏板角度。在使用所读入的值的情况下确定距离目标值。将该距离目标值传输到加速调节器。在该加速调节器的计算装置中,在使用该距离目标值和加速踏板角度的情况下计算加速期望值。由该加速调节器的操控装置读入该加速期望值。在该操控装置中,将加速度期望值实现为用于该车辆的驱动装置的驱动控制信号和/或用于该车辆的制动系统的制动信号。
发明内容
根据本发明,提出一种用于控制行驶中的车辆接近在前行驶的至少一个参考车辆的方法,该控制在应用自动化距离调整的情况下根据该车辆与该参考车辆之间的应有距离来进行。该自动化距离调整由此能够在接近过程中更好地符合驾驶员的期望。自动化距离调整能够更安全、更真实、更舒适地进行。自动化距离调整能够更好地匹配驾驶状况。能够为行驶中的车辆特别是在该车辆或该车辆前方和后方的其他车辆的并线驶入过程(Einschervorgang)中提供所需的自由空间。
该车辆可以是机动车、载客机动车、载重机动车、两轮车或同类的在行车道上向前运动的车辆。这同样适用于该参考车辆。该参考车辆可以在同一车道上或在该车辆的车道的旁边车道上在该车辆前方行驶。自动化距离调整可以考虑根据应有距离将对实际距离进行自动化调整和/或将实际距离自动化地至少限制在最小距离。自动化距离调整可以配属于面向驾驶员的辅助功能、特别是动态限距辅助功能(Dynamic Distance Assist,DDA)。在自动化距离调整中可以至少部分地接管操纵元件、优选车辆的用于调整制动减速的制动踏板的功能。自动化距离调整可以考虑通过车辆进行环境检测。例如可以通过距离传感器——如雷达传感器、摄像机和/或激光雷达传感器——来测量该车辆与参考车辆之间和/或与紧邻车辆的周围环境中的对象的距离。该操作元件可以是车辆的加速踏板。越强地操纵操作元件,车辆的驱动加速就越大。
操纵元件可以是制动设备的制动踏板。制动设备可以包括车辆的车轮上的至少一个制动器。所述制动器可以是盘式制动器。至少在自动化距离调整被禁用的情况下,越强地操纵操纵元件,车辆的制动减速就越强。自动化距离调整优选在操纵操纵元件时保持激活。车辆的制动减速可以通过自动化距离调整来自动匹配。应有距离可以直接地根据操纵元件的偏移和/或根据操纵元件的偏移的时间梯度来计算。应有距离可以直接地根据能被操纵位态直接影响的制动参数并因而间接地根据操纵位态来计算。制动参数可以是制动设备的制动压力。制动压力越大,通过制动设备所实施的制动减速就越强。应有距离此外还可以根据车辆的实际速度、该车辆与参考车辆之间的差速、该车辆与参考车辆之间的实际距离和/或该车辆与在该车辆后面跟随行驶的跟随车辆之间的实际距离来计算。此外还可以考虑例如由驾驶员通过车辆与驾驶员的用户界面(特别是开关和/或触摸屏)所预给定的应有距离。
在本发明的一种优选实施方式中有利的是,根据操纵位态来减小应有距离。由此能够使自动化距离调整匹配于驾驶状况。
在本发明的一种特殊构型中有利的是,越强地操纵操纵元件,应有距离就减小得越强。由此能够在自动化距离调整中适当地、安全地解决较危急的驾驶状况。通过操纵操纵元件所准备的或已引起制动减速的制动设备能够更快速地提供所需的必要时更强的制动能力。
在本发明的一种有利实施方案中,通过操纵操纵元件,应有距离比在未操纵操纵元件和/或操作元件时和/或比在操纵操作元件时减小得更强。在已对操纵元件进行操纵的情况下所准备的或已生效的制动扭矩能够更迅速地实现车辆的制动减速。因此能够通过操纵操纵元件来更强地减小应有距离。
通过操纵操作元件能够比在未操纵操作元件和/或操作元件时和/或比在操纵操作元件时预给定该车辆与参考车辆之间的更小的最小距离。
在本发明的一种优选实施方案中有利的是,操纵位态考虑操纵元件的偏移和/或考虑操纵元件的偏移的时间梯度。由此能够考虑对操纵元件进行的用于减小应有距离的操纵的强度和/或快速性。
本发明的一种优选构型是有利的,在该构型中,操作元件是制动踏板而操纵位态是制动踏板角度。越强地操纵操纵元件,制动踏板角度就可能越大。
优选根据操作元件的操作位态来减小应有距离。由此可能引起由于操作加速踏板而更贴近地撞上参考车辆。能够实现使驾驶员在自动化距离调整时对应有距离施加影响。
根据本发明,此外还提出一种距离调节器,该距离调节器设置为用于间接地或直接地实施具有至少一个先前所述的特征的方法。该距离调节器可以在车辆的控制器中实现。该控制器可以布置在车辆中。
在距离调节器或连接在该距离调节器后方的补充调节器(Nachregler)中附加地可以在输入侧考虑在弯道行驶时的车辆行驶特性。所述距离调节器或补充调节器——例如加速度调节器——此外还可以在输入侧考虑车辆的实际速度、该车辆与参考车辆之间的差速和/或该车辆与参考车辆之间的实际距离。此外还可以考虑该车辆与在该车辆后面跟随行驶的跟随车辆之间的实际距离。此外还可以考虑例如由驾驶员通过车辆与驾驶员的用户界面(特别是开关和/或触摸屏)所预给定的应有距离。
根据本发明,此外还提出一种计算机程序,该计算机程序具有可在至少一个计算机上执行的机器可读的指令,在执行所述指令时运行先前所描述的方法。
根据本发明,此外还提出一种存储单元,该存储单元实施为机器可读的和能够通过至少一个计算机访问的,并且在该存储单元上存储有先前所提及的计算机程序。
本发明的另外的优点和有利构型从附图说明中得出。
附图说明
以下参照附图详细描述本发明。分别示出:
图1:在本发明的一种特殊实施方式中的用于控制车辆接近的方法;
图2:车辆在接近在前行驶的参考车辆时的驾驶状况;
图3:车辆在接近在前行驶的参考车辆时的另一驾驶状况;
图4:在本发明的一种特殊实施方式中的具有距离调节器的车辆。
具体实施方式
图1示出本发明的一种特殊实施方式中的用于控制车辆接近的方法。在应用自动化距离调整的情况下执行用于控制行驶中的车辆12接近至少一个在前行驶的参考车辆14的方法10,在该方法中实现面向驾驶员的辅助功能,该辅助功能旨在尽可能地减轻车辆12的驾驶员对用于控制车辆12的制动减速的操纵元件16——优选是制动踏板18——的操纵负担。
在该自动化距离调整期间,车辆12的用于保持车辆12与参考车辆14之间的实际距离20的制动减速能够自动化地进行。为此计算应有距离22,自动化距离调整例如通过车辆12的制动过程,通过该应有距离来调整实际距离20。在此还计算最小距离24,实际距离20不应低于该最小距离以便满足安全性要求,特别是以便避免车辆12撞上参考车辆14。
在该自动化距离调整中,优选检测对操作元件26(该操作元件控制车辆12的驱动装置用于使该车辆向前运动)的操纵,并将该操作元件26(例如加速踏板28)的操作位态27与另外的输入侧参数如例如由驾驶员通过车辆与驾驶员的用户界面(特别是开关和/或触摸屏)所预给定的应有距离、该车辆12的实际速度32、该车辆12与参考车辆14之间的差速34和/或该车辆12与参考车辆14之间的实际距离20一起传递给距离调节器30。实际距离20可以通过距离传感器36测量,该距离传感器例如是雷达传感器、摄像机和/或激光雷达传感器。
此外还检测操纵元件16的操纵位态38,并根据所述另外的输入侧参数通过距离调节器30计算应有距离22,并将该应有距离输出到加速调节器40。在此,根据操作元件26的操作位态27和对该操纵元件16的操纵,优选根据操纵元件16的操纵位态38,减小应有距离22。由此能够实现驾驶员对自动化距离调整施加影响,其方式是,驾驶员操纵操纵元件16或操作元件26。应有距离22的减小强度优选与操纵位态38有关。例如可以是,越强地操纵操纵元件16,应有距离22就减小得越强。
在图2中示例性地描绘出一种驾驶状况,在该驾驶状况下,车辆12从车道并线驶入到旁边车道,在该旁边车道上已经有在车辆12在前行驶的参考车辆14和在该旁边车道上行驶在车辆12后方的跟随车辆39。例如,车辆12的驾驶员想要经由该旁边车道和与该旁边车道并列走向的驶离车道驶离该行车道。为此,车辆12在自动化距离调整激活的情况下并线驶入到该旁边车道上的参考车辆14与跟随车辆39之间。
若车辆12在此具有高于参考车辆14的速度,则车辆12将通过自动化距离调整被更强地制动,以便保持与参考车辆14的实际距离20。然而若车辆12的驾驶员在该车辆并线驶入到旁边车道期间操纵制动踏板,则距离调节器能够根据该制动踏板的操纵位态作为输入侧参数来减小应有距离而避免车辆12的过强的制动过程,过强的制动过程可能会使跟随车辆39撞上车辆12。
在此还可以通过操作操纵元件将车辆12与参考车辆14之间的最小距离24.1调整得比在操纵元件保持未被操纵时更低,特别是因为在已对操纵元件进行操纵的情况下所准备的或已生效的制动扭矩能够更迅速地实现车辆12的制动减速。因此能够通过操纵操纵元件预给定车辆12与参考车辆14之间的、比在操纵元件和/或操作元件保持未被操纵时和/或在操纵操作元件时的最小距离24.2更小的最小距离24.1。
在图3中对比地示出一种驾驶状况,在该驾驶状况下,在车辆12在前行驶的参考车辆14从旁边车道并线驶入到车辆12所行驶的车道上。若车辆12的驾驶员识别到以较低的速度向其车道并线驶入的参考车辆14,则通过操纵车辆12的制动踏板和在此通过距离调节器所减小的应有距离,来允许尽管比在制动踏板保持未被操纵时更小的与参考车辆14的应有距离,但由此可能避免在该车辆12后面跟随的跟随车辆39撞上,因为由于车辆12与参考车辆14之间的实际距离减小,车辆12与跟随车辆39的实际距离更大了。
在此特别是还可以通过操作操纵元件、即制动踏板将最小距离24.1调整得比在操纵元件保持未被操纵时的最小距离24.2更低,特别是因为在已对操纵元件进行操纵的情况下所准备的或已生效的制动扭矩能够更迅速地实现车辆12的制动减速,以避免撞上参考车辆14。
回到图1,加速调节器40除了接收由距离调节器30所输出的应有距离22以外,还在输入侧接收操纵元件16的操纵位态38和操作元件26的操作位态27,并据此输出应有加速度41,该应有加速度可以是作为制动减速的负值或者是作为驱动加速的正值并且实现自动化距离调整。
图4示出本发明的一种特殊实施方式中的具有距离调节器的车辆。车辆12具有控制器42,该控制器配属有距离调节器30,该距离调节器在车辆12接近在前行驶的参考车辆时通过应用自动化距离调整来计算应有距离。距离调节器30可以在输入侧考虑车辆12的实际速度、车辆12与参考车辆之间的差速和/或车辆12与参考车辆之间的实际距离。该实际距离能够通过距离传感器36测量,该距离传感器例如是雷达传感器、摄像机和/或激光雷达传感器。
由该距离调节器30所计算出的应有距离被输出到加速调节器40。加速调节器40也可以配属给控制器42。加速调节器40根据该应有距离计算应有加速度41,该应有加速度被输出到控制单元44。控制单元44控制车轮48上的制动设备46用于执行车辆12的实际制动减速,以实现自动化距离调整。
Claims (10)
1.一种用于控制行驶中的车辆(12)接近在前行驶的至少一个参考车辆(14)的方法(10),所述控制在应用自动化距离调整的情况下根据所述车辆(12)与所述参考车辆(14)之间的应有距离(22)来进行,其中,所述应有距离(22)根据所述车辆(12)的操作元件(26)的操作位态(27)来计算,所述操作元件能够由所述车辆(12)的驾驶员操纵并控制所述车辆(12)的驱动装置,
其特征在于,
通过操纵所述车辆(12)的操纵元件(16)间接地或直接地减小所述应有距离(22),所述操纵元件具有操纵位态(38),能够由所述车辆(12)的驾驶员操纵并控制所述车辆(12)的制动减速。
2.根据权利要求1所述的方法(10),其特征在于,根据所述操纵位态(38)来减小所述应有距离(22)。
3.根据权利要求1或2所述的方法(10),其特征在于,越强地操纵所述操纵元件(16),所述应有距离(22)就减小得越强。
4.根据前述权利要求中任一项所述的方法(10),其特征在于,通过操纵所述操纵元件(16),所述应有距离(22)比在未操纵所述操纵元件(16)和/或所述操作元件(26)时和/或比在操纵所述操作元件(26)时减小得更多。
5.根据前述权利要求中任一项所述的方法(10),其特征在于,所述操纵位态(38)考虑所述操纵元件(16)的偏移和/或考虑所述操纵元件(16)的偏移的时间梯度。
6.根据前述权利要求中任一项所述的方法(10),其特征在于,所述操纵元件(16)是制动踏板(18)而所述操纵位态(38)是制动踏板角度。
7.根据前述权利要求中任一项所述的方法(10),其特征在于,所述应有距离(22)根据所述操作位态(27)来减小。
8.一种距离调节器(30),所述距离调节器设置为用于间接地或直接地实施根据前述权利要求中任一项所述的方法(10)。
9.一种计算机程序,所述计算机程序具有能够在至少一个计算机上执行的机器可读的指令,在执行所述指令时运行根据权利要求1至7中任一项所述的方法(10)。
10.一种存储单元,所述存储单元实施为机器可读的和能够通过至少一个计算机访问的,并且在所述存储单元上存储有根据权利要求9所述的计算机程序。
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