DE102007063606A1 - Method for determining a probability for the occurrence of an imminent overtaking process - Google Patents

Method for determining a probability for the occurrence of an imminent overtaking process Download PDF

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Publication number
DE102007063606A1
DE102007063606A1 DE102007063606A DE102007063606A DE102007063606A1 DE 102007063606 A1 DE102007063606 A1 DE 102007063606A1 DE 102007063606 A DE102007063606 A DE 102007063606A DE 102007063606 A DE102007063606 A DE 102007063606A DE 102007063606 A1 DE102007063606 A1 DE 102007063606A1
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Prior art keywords
vehicle
probability
data
occurrence
control
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DE102007063606A
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German (de)
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DE102007063606B4 (en
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Andreas Wilde
Jörg Schneider
Caglayan Dr. Erdem
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Priority to DE102007063606.9A priority Critical patent/DE102007063606B4/en
Priority to DE102007054453A priority patent/DE102007054453A1/en
Publication of DE102007063606A1 publication Critical patent/DE102007063606A1/en
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    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur Ermittlung einer Wahrscheinlichkeit für das Stattfinden eines bevorstehenden Überholvorgangs. Die Ermittlung der Wahrscheinlichkeit erfolgt dabei in Abhängigkeit von Daten einer Sensorik zur Erkennung des vorausfahrenden Fahrzeugs, wobei durch die Sensorik zumindest erkannt wird, ob ein vorausfahrendes Fahrzeug vorhanden ist oder nicht. Ferner erfolgt die Ermittlung der Wahrscheinlichkeit zusätzlich abhängig von der aktuell gefahrenen Fahrzeuggeschwindigkeit des folgenden Fahrzeugs in Verbindung mit Informationen über den Verlauf der Fahrbahn und/oder in Verbindung mit Informationen über die auf der aktuell befahrenen Fahrbahn zulässige Höchstgeschwindigkeit.The invention relates to a method for determining a probability for the occurrence of an imminent overtaking process. In this case, the probability is determined as a function of data from a sensor system for detecting the preceding vehicle, with the sensor system at least detecting whether or not a vehicle in front is present. Furthermore, the determination of the likelihood additionally takes place as a function of the currently traveled vehicle speed of the following vehicle in conjunction with information about the course of the lane and / or in conjunction with information about the maximum speed permissible on the currently traveled lane.

Description

Die Erfindung betrifft ein Verfahren zur Ermittlung der Wahrscheinlichkeit für das Stattfinden eines bevorstehenden Überholvorgangs gemäß dem Oberbegriff des Anspruchs 1.The The invention relates to a method for determining the probability for the occurrence of an upcoming overtaking process according to the preamble of claim 1.

Aus der DE 10 2005 007 800 A1 ist bereits ein Verfahren zur Erkennung eines bevorstehenden Überholvorgangs bekannt. Hierbei wird auf das Vorliegen eines bevorstehenden Überholvorgangs geschlossen, indem der Abstand zu einem vorausfahrenden Fahrzeug ermittelt wird, die Relativgeschwindigkeit des vorausfahrenden Fahrzeugs bestimmt wird, und anhand eines Wertes einer vom Abstand und der Relativgeschwindigkeit abhängigen Funktion entschieden wird, ob tatsächlich ein Überholvorgang bevorsteht oder nicht.From the DE 10 2005 007 800 A1 is already known a method for detecting an imminent overtaking. Here, the presence of an upcoming overtaking operation is determined by determining the distance to a preceding vehicle, determining the relative speed of the preceding vehicle, and judging whether or not an overtaking operation is actually pending based on a value of a distance and relative speed dependent function ,

Der Erfindung liegt die Aufgabe zugrunde, ein alternatives Verfahren zur Erkennung eines bevorstehenden Überholvorgangs anzugeben bzw. ein Verfahren zur Ermittlung einer Wahrscheinlichkeit für einen bevorstehenden Überholvorgang zu schaffen. Insbesondere soll ein Verfahren angegeben werden, durch welches die Wahrscheinlichkeit für einen vermeintlich bevorstehenden Überholvorgang ermittelt werden kann. Ferner soll in Abhängigkeit von der Wahrscheinlichkeit für das Auftreten eines bevorstehenden Überholvorgangs die Steuerung des Energiemanagements des Kraftfahrzeugs erfolgen bzw. adaptiert werden – insbesondere soll die Steuerung des Energiemanagements bei einem Hybridfahrzeug mit einem Energiespeicher (z. B. Hochvoltbatterie und/oder Kondensatoreinrichtung bzw. supercap) an die mit hoher Wahrscheinlichkeit bevorstehende Fahrsituation „Überholvorgang" entsprechend angepasst werden.Of the Invention is based on the object, an alternative method to indicate an upcoming overtaking event or a method for determining a probability for a imminent overtaking. Especially should be given a method by which the probability for a supposedly overtaking process can be determined. Furthermore, depending on the likelihood of an imminent overtaking event the control of the energy management of the motor vehicle take place or be adapted - in particular, the control of the Energy management in a hybrid vehicle with an energy storage (eg high-voltage battery and / or capacitor device or supercap) to the most likely imminent driving situation "overtaking" be adjusted accordingly.

Erfindungsgemäß wird die Aufgabe durch die Gesamtheit der Merkmale des Anspruchs 1 gelöst, während in den Unteransprüchen bevorzugte Weiterbildungen der Erfindung angegeben sind.According to the invention the problem is solved by the entirety of the features of claim 1, while in the dependent claims preferred developments the invention are given.

Gemäß der Erfindung wird die Wahrscheinlichkeit für das Stattfinden eines bevorstehenden Überholvorgangs in Abhängigkeit von Daten einer Sensorik zur Erkennung eines vorausfahrenden Fahrzeugs ermittelt, wobei durch die Sensorik zumindest das Vorhandensein bzw. Nichtvorhandensein eines vorausfahrenden Fahrzeugs ermittelbar ist. Erfindungsgemäß werden bei Vorhandensein eines vorausfahrenden Fahrzeugs zumindest die aktuelle Fahrzeuggeschwindigkeit des überholenden Fahrzeugs (nachfolgendes Fahrzeug) in Verbindung mit Informationen über den bevorstehenden zu fahrenden Verlauf der aktuell befahrenen Fahrbahn bzw. Fahrroute (z. B. Daten eines Navigationssystems) und/oder in Verbindung mit Informationen über die auf der aktuell befahrenen Fahrbahn zulässige Höchstgeschwindigkeit ausgewertet.According to the Invention is the probability of taking place an upcoming overtaking process depending on of data from a sensor system for detecting a vehicle ahead determined, wherein at least the presence of or absence of a preceding vehicle can be determined is. According to the invention in the presence of a preceding vehicle at least the current vehicle speed of the overtaking vehicle (following vehicle) in Connection with information about the upcoming to moving course of the currently traveled lane or route (eg data of a navigation system) and / or in conjunction with Information about the currently used carriageway permissible maximum speed evaluated.

In einer Weiterbildung der Erfindung dienen weitere Informationen der Ermittlung der Wahrscheinlichkeit für das Stattfinden eines bevorstehenden Überholvorgangs – insbesondere Daten anhand derer auf die Fahrzeugart des vorausfahrenden Fahrzeugs geschlossen werden kann und/oder Daten anhand derer der Abstand zum vorausfahrenden (zu überholenden) Fahrzeug ermittelt werden kann und/oder Daten, die eine Information über die Relativgeschwindigkeit zum vorausfahrenden Fahrzeug umfassen. Zur Ermittlung des Fahrzeugtyps könnten beispielsweise Daten eines Kamerasystems ausgewertet werden, so dass zumindest zwischen den Fahrzeugarten „PKW" und „LKW" unterschieden werden kann. Dabei kann unter der Fahrzeugart „LKW" auch ein Traktor subsumiert werden. Neben der Unterscheidung zwischen „PKW" und LKW" kann die Unterscheidung erweitert werden um die Fahrzeugtypen „Motorrad" und „Fahrrad".In a development of the invention serve more information the Determining the probability of the occurrence of a imminent overtaking - especially Data on the basis of the vehicle type of the preceding vehicle can be closed and / or data on the basis of which the distance to the preceding vehicle (to be overtaken) determined can be and / or data containing information about the Include relative speed to the vehicle in front. to Identification of the vehicle type could be, for example, data a camera system are evaluated so that at least between the vehicle types "car" and "truck" are distinguished can. It can under the vehicle "truck" and a tractor be subsumed. In addition to the distinction between "car" and trucks "the distinction can be extended to the vehicle types" motorcycle " and "bike".

Darüber hinaus können alternativ oder zusätzlich auch Informationen über aktuell vorliegende Witterungsverhältnisse (Regen, Schnee, Außentemperatur, Luftfeuchte, Sichtverhältnisse und dergleichen) und/oder Daten zur Erkennung eines Fahrerprofils (z. B. konservativ, normal, sportlich – z. B. i. A. vom Beschleunigungsverhalten des Fahrers) zur Ermittlung der Überholwahrscheinlichkeit herangezogen und ausgewertet werden.About that In addition, alternatively or additionally, too Information about current weather conditions (Rain, snow, outside temperature, humidity, visibility and the like) and / or driver profile recognition data (eg Conservative, normal, athletic - eg ia from vom Acceleration behavior of the driver) to determine the overtaking probability be used and evaluated.

In einer besonders bevorzugten Ausführungsform der Erfindung wird die Steuerung des Energiemanagements des Kraftfahrzeugs in Abhängigkeit von der ermittelten Wahrscheinlichkeit für das Stattfinden eines bevorstehenden Überholvorgangs durchgeführt – insbesondere wird das Lademanagement der Fahrzeugbatterie in Abhängigkeit vom ermittelten Grad an Überholwahrscheinlichkeit verändert bzw. gesteuert. Dabei kann das Energiemanagement sich auf den Lade- bzw. Entladevorgang der Bordnetzbatterie eines Kraftfahrzeugs mit Brennkraftmaschinenantrieb beziehen. Im Focus der Erfindung steht allerdings eher die Steuerung des Energiemanagements bei einem Hybridfahrzeug, welches zumindest eine elektrische Maschine als Antriebsaggregat umfasst. Mit Vorteil wird hier der Ladezustand des die elektrische Antriebsmaschine versorgenden Energiespeichers (insbesondere (Hochvolt-)Batterie und/oder Kondensatoranordnung) in Abhängigkeit von der ermittelten Überholwahrscheinlichkeit gesteuert.In a particularly preferred embodiment of the invention is the control of the energy management of the motor vehicle in Dependence on the determined probability for the taking place of an imminent overtaking process carried out - in particular becomes the charge management of the vehicle battery depending changed from the determined degree of passing probability or controlled. In this case, energy management can be based on the charging or discharging the on-board battery of a motor vehicle with Get internal combustion engine drive. In the focus of the invention but rather the control of energy management in a hybrid vehicle, which at least one electric machine as a drive unit includes. Advantageously, the state of charge of the electric Drive machine supplying energy storage (in particular (high-voltage) battery and / or Capacitor arrangement) as a function of the determined overtaking probability controlled.

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt, und wird im Folgenden näher beschrieben. Es zeigen:One Embodiment of the invention is in the drawing and will be described in more detail below. It demonstrate:

1: den Ablauf eines Überholvorgangs mit einem Hybridfahrzeug, bei unterschiedlichen Ladezuständen des elektrischen Energiespeichers zur Versorgung der elektrischen Abtriebsmaschine, und 1 : the process of an overtaking process with a hybrid vehicle, at different La dezuständen the electrical energy storage device for supplying the electric drive machine, and

2: ein Blockschaltbild zur Veranschaulichung des erfindungsgemäßen Verfahrens. 2 : a block diagram illustrating the method according to the invention.

1 zeigt ein, hinter einem Lastkraftwagen L (vorausfahrendes Fahrzeug) herfahrendes, Kraftfahrzeug P (folgendes Fahrzeug). Dabei ist das Kraftfahrzeug P als Hybridfahrzeug ausgebildet und umfasst als Antriebsaggregate eine Brennkraftmaschine und eine sowohl generatorisch als auch motorisch betreibbare elektrische Maschine. Die Fahrzeuge bewegen sich im dargestellten Ausführungsbeispiel auf einer Straße, auf der bis zu einem vorbestimmten Streckenpunkt x eine zulässige Höchstgeschwindigkeit von 60 km/h vorgeschrieben ist. Ab dem Streckenpunk x ist diese Höchstgeschwindigkeit aufgehoben, so dass beispielsweise eine Höchstgeschwindigkeit von 100 km/h zugelassen wird. 1 shows a, behind a truck L (preceding vehicle) approaching, motor vehicle P (following vehicle). In this case, the motor vehicle P is designed as a hybrid vehicle and comprises as drive units an internal combustion engine and a generator both operable as a generator and motor electric machine. The vehicles move in the illustrated embodiment on a road on which up to a predetermined waypoint x a maximum speed of 60 km / h is prescribed. From the distance point x this maximum speed is canceled, so that, for example, a maximum speed of 100 km / h is allowed.

Gemäß der oberen Abbildung wird ein Überholvorgang dargestellt, bei dem die Steuerung des Energiemanagements – insbesondere die Steuerung des Ladezustands des die elektrische Abtriebsmaschine versorgenden elektrischen Energiespeichers E (im Folgenden auch Hochvoltenergiespeicher genannt) – nicht in Abhängigkeit von einer zuvor ermittelten Wahrscheinlichkeit W für das Stattfinden eines bevorstehenden Überholvorgangs erfolgt. Aufgrund dieses unzureichenden Energiemanagements könnte, wie dargestellt, zu Beginn des Überholvorgangs der Hochvoltenergiespeicher E nur unzureichend aufgeladen sein, so dass während des Überholvorgangs nicht mehr ausreichend elektrische Energie für die Versorgung der elektrischen Antriebsmaschine zur Verfügung steht. Der Hochvoltenergiespeicher E könnte dann, wie dargestellt, während des Überholvorgangs soweit entleert sein, dass keine zusätzliche Antriebsenergie bzw. kein zusätzliches Antriebsmoment über die elektrische Maschine mehr bereitgestellt werden kann. Eine derartige Situation gilt es unter Berücksichtung von Sicherheitsaspekten zu vermeiden.According to the The figure above shows an overtaking process the control of the energy management - in particular the control of the state of charge of the electric drive machine supplying electric energy storage E (hereinafter also Highvoltage energy storage) - not in dependence from a previously determined probability W for the Taking place of an imminent overtaking process takes place. Due to this inadequate energy management, As shown, at the beginning of the overtaking process the high-voltage energy storage E be insufficiently charged, so that during the overtaking process no longer enough electrical energy for the supply the electric drive machine is available. The high-voltage energy storage E could then, as shown, be deflated during the overtaking process, that no additional drive energy or no additional Drive torque over the electric machine more provided can be. Such a situation applies under consideration from safety aspects.

Gemäß der unteren Abbildung von 1, bei der durch das erfindungsgemäße Verfahren die Wahrscheinlichkeit für einen bevorstehenden Überholvorgang ermittelt wird, kann die Situation gemäß 1 (oben) mit hoher Wahrscheinlichkeit vermieden werden. Das Folgefahrzeug P detektiert über eine Sensorik das vorausfahrende Fahrzeug L und ermittelt in einer Steuereinrichtung, in Abhängigkeit von der eigenen aktuell gefahrenen Fahrzeuggeschwindigkeit vP in Verbindung mit Informationen PNav über den Verlauf der aktuell befahrenen Fahrbahn (Navigationsdaten) und/oder in Verbindung mit einer Information über die auf dieser Fahrbahn zulässige Höchstgeschwindigkeit vzul, ein Maß an Wahrscheinlichkeit W für einen bevorstehenden Überholvorgang, bei dem das vorausfahrende Fahrzeug überholt werden würde. Dabei können die Informationen PNav über den Verlauf der aktuell befahrenen Fahrbahn z. B. per Navigationssystem und/oder durch eine z. B. kamerabasierte Sensorik zur Erfassung von Umgebung und/oder Verkehrszeichen generiert werden. Die Informationen über die zulässige Höchstgeschwindigkeit vzul können ebenfalls mittels einer kamerabasierten Sensorik und/oder elektronische Streckeninformationssysteme ermittelt werden. Im dargestellten Ausführungsbeispiel, 1 (unten), hat das Folgefahrzeug P beispielsweise mittels Kamerasystem die Aufhebung der zulässigen Höchstgeschwindigkeit von 60 km/h detektiert und zuvor während der Zeitdauer der vorhandenen Geschwindigkeitsbegrenzung von 60 km/h den Hochvoltenergiespeicher E bis auf eine vorbestimmte obere Grenze aufgeladen – so dass zum Zeitpunkt des Wegfalls der Höchstgeschwindigkeit ausreichend elektrische Energie zur Versorgung der elektrischen Antriebsmaschine während eines vermeintlich bevorstehenden Überholvorgangs zur Verfügung steht. Die vorbestimmte Grenze bis zu der der Hochvoltenergiespeicher E aufgeladen werden soll, liegt oberhalb einer vorbestimmten Grenze, die lediglich einen ausreichenden Rekuperationsbetrieb (Rückgewinnung von Energie im Schub- und Bremsbetrieb) gewährleisten soll. Liegt die Ladungsgrenze, die eine effiziente Rückgewinnung von Schub- bzw. Bremsenergie gewährleisten soll, bei einem Ladezustand SOC = 80%, so könnte diese Grenze um einen vorbestimmten Deltabetrag auf beispielsweise 85% angehoben werden. Auf diese Weise ist zum einen noch eine Reserve für die Energierückgewinnung vorhanden und zum anderen steht eine erhöhte Ladungsmenge für einen bevorstehenden Überholvorgang zur Verfügung. In einer Weiterbildung der Erfindung kann der vorbestimmte Deltabetrag, um den die vorbestimmte Ladungsgrenze für den Rekuperationsbetrieb angehoben wird, bzw. eine neu bestimmte Ladungsgrenze, in Abhängigkeit von dem ermittelten Grad der Überholwahrscheinlichkeit W veränderbar ausgebildet sein. Hierdurch könnte bei einer höheren Überholwahrscheinlichkeit W ein größerer Ladezustand zugelassen werden als bei einer niedrigeren Überholwahrscheinlichkeit W.As per the lower picture of 1 in which the likelihood of an imminent passing process is determined by the method according to the invention, the situation in accordance with 1 (above) are avoided with high probability. The follower vehicle P detects the preceding vehicle L via a sensor system and determines in a control device, in dependence on the own current vehicle speed v P in connection with information P Nav , the course of the currently traveled roadway (navigation data) and / or in conjunction with a Information about the maximum speed v zul permissible on this roadway, a measure of probability W for an imminent overtaking operation, in which the preceding vehicle would be overtaken. In this case, the information P Nav on the course of the currently traveled lane z. B. by navigation system and / or by a z. B. camera-based sensors for detecting environment and / or traffic signs are generated. The information about the permissible maximum speed v zul can also be determined by means of a camera-based sensor system and / or electronic route information systems. In the illustrated embodiment, 1 (below), the follower vehicle P has detected, for example by means of camera system, the lifting of the maximum permissible speed of 60 km / h and previously charged during the period of existing speed limit of 60 km / h, the high-voltage storage E up to a predetermined upper limit - so that at the time the elimination of the maximum speed sufficient electrical energy to supply the electric drive machine during an alleged upcoming overtaking process is available. The predetermined limit up to which the high-voltage energy storage E is to be charged is above a predetermined limit, which is only intended to ensure a sufficient recuperation operation (recovery of energy during coasting and braking operation). If the charge limit, which is to ensure efficient recovery of thrust or braking energy, at a state of charge SOC = 80%, so this limit could be increased by a predetermined delta amount to, for example, 85%. In this way, on the one hand there is still a reserve for the energy recovery available and on the other hand is an increased amount of charge for an imminent overtaking process available. In a further development of the invention, the predetermined delta amount by which the predetermined charge limit for the recuperation operation is raised, or a newly determined charge limit, can be made variable depending on the determined degree of overtaking probability W. As a result, a higher state of charge could be allowed for a higher passing probability W than for a lower passing probability W.

2 zeigt ein Blockschaltbild zur Veranschaulichung des erfindungsgemäßen Verfahrens in einer schematischen Darstellung. Dargestellt ist die Wirkungsweise einer Steuereinrichtung zur Ermittlung der Wahrscheinlichkeit W für das Stattfinden eines bevorstehenden Überholvorgangs. Dabei beinhaltet die Steuereinrichtung Mittel 2 zur Ermittlung der Wahrscheinlichkeit W sowie Mittel 4 zur Erstellung bzw. Anpassung einer Lade- bzw. Entladestrategie für die entsprechende Ansteuerung des elektrischen Energiespeichers E. Die Mittel 2 zur Ermittlung der Wahrscheinlichkeit W sind beispielsweise in Form eines Berechnungsmodells nach Bayes (Bayes Netzwerk) oder eines Fuzzy-Modells (Fuzzy Netzwerk) oder einem anderen geeigneten Modell bzw. Netzwerk ausgebildet. Bevorzugte Eingangsgrößen für die Wahrscheinlichkeitsermittlung sind zumindest die Fahrzeug-Istgeschwindigkeit vP des Folgefahrzeugs P sowie Daten PNav über den Straßenverlauf der aktuell befahrenen Fahrbahn (insbesondere den Verlauf der Fahrbahn, der für den bevorstehenden Überholvorgang voraussichtlich zu befahren ist) und/oder Informationen über die zulässige Höchstgeschwindigkeit vzul auf der aktuell befahrenen Fahrbahn (insbesondere die zulässige Höchstgeschwindigkeit vzul auf einem Straßenabschnitt vor dem Überholvorgang als auch die zulässige Höchstgeschwindigkeit vzul auf einem späteren Streckenabschnitt, zu dem voraussichtlich der Überholvorgang stattfinden wird). Als weitere bevorzugte Eingangsgrößen in deren Abhängigkeit die Wahrscheinlichkeitsermittlung noch verbessert werden kann, sind dargestellt und vorgesehen:

  • • Daten PFahrzeug, die eine Unterscheidung zwischen vorgegebenen Fahrzeugtypen (wie PKW, LKW, Krad; Fahrrad, ...) erlauben – z. B. über die Auswertung von Frontkameradaten,
  • • Blinkersignale PBlinker des Folgefahrzeugs P und/oder des vorausfahrenden Fahrzeugs L,
  • • Sensorsignale PLicht eines Lichtsensors zur Ermittlung der äußeren Lichtverhältnisse,
  • • Sensorsignale PRegen eines Regensensors zur Ermittlung äußerer Witterungsverhältnisse, und/oder
  • • Informationen PFahrer die eine Klassifizierung von unterschiedlichen Fahrertypen bzw. die Auswahl eines Fahrertyps aus einer vorbestimmten Auswahl von verschiedenen Fahrertypen erlauben.
2 shows a block diagram for illustrating the method according to the invention in a schematic representation. Shown is the operation of a control device for determining the probability W for the occurrence of an imminent overtaking. In this case, the control means includes means 2 to determine the probability W as well as means 4 for the creation or adaptation of a charging or discharging strategy for the corresponding control of the electrical energy storage E. The means 2 for determining the probability W are, for example, in the form of a calculation model according to Bayes (Bayes network) or a fuzzy model (fuzzy network or another suitable model or network. Preferred input variables for the probability determination are at least the actual vehicle speed v P of the follower vehicle P and data P Nav on the road course of the currently traveled roadway (in particular the course of the road, which is likely to drive for the upcoming overtaking process) and / or information about the permissible maximum speed v zul on the currently traveled lane (in particular the maximum permissible speed v zul on a section of road before overtaking and the maximum permissible speed v zul on a later section of the route at which overtaking is likely to take place). As further preferred input variables in dependence of which the probability determination can be improved, are shown and provided:
  • • Data P vehicle allowing a distinction to be made between given types of vehicles (such as cars, trucks, motorcycles, bicycles, etc.) - eg. Eg via the evaluation of front camera data,
  • Turn signal P turn signals of the following vehicle P and / or the preceding vehicle L,
  • Sensor signals P light of a light sensor for determining the external light conditions,
  • • Sensor signals P Rain of a rain sensor for determining external weather conditions, and / or
  • Information P drivers that allow a classification of different driver types or the selection of a driver type from a predetermined selection of different driver types.

Zur Klassifizierung bzw. Auswahl oder Erkennung eines Fahrertyps wird im vorliegenden Ausführungsbeispiel ein weiteres Bayes Netzwerk 6 verwendet, über welches in Abhängigkeit von vorbestimmten Betriebsparametern Px (z. B. Fahrpedalweg/-gradient, Lenkausschlag/-gradient, und dergleichen) ein Fahrertyp ermittelt bzw. zugeordnet werden kann. Ist erst in Abhängigkeit einzelner vorbestimmter Größen eine Wahrscheinlichkeit W (z. B. mit einem Wahrscheinlichkeitsgrad zwischen 0% ... 100%) für einen bevorstehenden Überholvorgang ermittelt worden, wird durch die Mittel 4 zur Erstellung bzw. Anpassung einer Lade- bzw. Entladestrategie der Lade- bzw. Entladevorgang des Energiespeichers E in Abhängigkeit von dem gefundenen Wahrscheinlichkeitsgrad W gesteuert. Hierfür können beispielsweise unterschiedlichen Wahrscheinlichkeitsgraden W unterschiedliche Energiemanagement- bzw. Entlade-/Ladestrategien zugeordnet sein.For classification or selection or recognition of a driver type in the present embodiment, another Bayes network 6 is used, over which a driver type can be determined or assigned in dependence on predetermined operating parameters P x (eg accelerator pedal travel / gradient, steering deflection / gradient, and the like). If a probability W (eg with a degree of probability between 0% and 100%) has only been determined for an imminent overtaking process as a function of individual predetermined variables, the means 4 for the creation or adaptation of a charging or discharging strategy, the charging or discharging process of the energy store E is controlled as a function of the probability level W found. For this purpose, for example, different degrees of probability W can be assigned different energy management or discharge / charging strategies.

ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • - DE 102005007800 A1 [0002] - DE 102005007800 A1 [0002]

Claims (8)

Verfahren zur Ermittlung einer Wahrscheinlichkeit (W) für das Stattfinden eines bevorstehenden Überholvorgangs für ein, einem vorausfahrenden Fahrzeug (L) folgendes Kraftfahrzeug (P), wobei die Ermittlung der Wahrscheinlichkeit (W) in Abhängigkeit von Daten einer Sensorik zur Erkennung des vorausfahrenden Fahrzeugs (L) erfolgt, wobei durch die Sensorik zumindest erkannt wird, ob ein vorausfahrendes Fahrzeug (L) vorhanden ist oder nicht, dadurch gekennzeichnet, dass die Ermittlung der Wahrscheinlichkeit (W) in Abhängigkeit von – der aktuell gefahrenen Fahrzeuggeschwindigkeit (vP) des folgenden Fahrzeugs (P) in Verbindung mit – Informationen (PNav) über den Verlauf der Fahrbahn und/oder mit Informationen über die auf der aktuell befahrenen Fahrbahn zulässige Höchstgeschwindigkeit (vzul) erfolgt.Method for determining a probability (W) for the occurrence of an imminent passing maneuver for a motor vehicle (P) following a preceding vehicle (L), the determination of the probability (W) being dependent on data from a sensor system for detecting the preceding vehicle (L ), wherein the sensor system at least detects whether a preceding vehicle (L) is present or not, characterized in that the determination of the probability (W) as a function of - the currently driven vehicle speed (v P ) of the following vehicle ( P) in conjunction with - information (P Nav ) over the course of the road and / or with information about the speed limit (v zul ) permissible on the currently traveled roadway. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Ermittlung der Wahrscheinlichkeit (W) in Abhängigkeit von – Daten (PFahrzeug) zur Unterscheidung zwischen unterschiedlichen Fahrzeugarten, und/oder – Daten bezüglich des Abstandes zum vorausfahrenden Fahrzeug (L), und/oder – Daten, die eine Information über die relative Geschwindigkeit umfassen mit der sich das folgende Fahrzeug (P) dem vorausfahrenden Fahrzeug (L) nähert, erfolgt.A method according to claim 1, characterized in that the determination of the probability (W) as a function of - data (P vehicle ) for distinguishing between different types of vehicles, and / or - data relating to the distance to the vehicle in front (L), and / or - Data including information about the relative speed with which the following vehicle (P) approaches the preceding vehicle (L) is given. Verfahren nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Ermittlung der Wahrscheinlichkeit (W) in Abhängigkeit von Daten (PRegen) einer Sensorik zur Erfassung von Witterungsverhältnissen und/oder Daten (PFahrer) einer Sensorik zur Erkennung eines Fahrerprofils erfolgt.Method according to one of the preceding claims, characterized in that the determination of the probability (W) as a function of data (P rain ) of a sensor for detecting weather conditions and / or data (P driver ) of a sensor for detecting a driver profile. Verfahren nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass die Steuerung des Energiemanagements des Kraftfahrzeugs, insbesondere die Steuerung von Lade- und Entladevorgängen eines elektrischen Energiespeichers (E), in Abhängigkeit von einer ermittelten Wahrscheinlichkeit (W) für das Stattfinden eines möglicherweise bevorstehenden Überholvorgangs eines vorausfahrenden Fahrzeugs (L) erfolgt.Method according to one of the preceding claims, characterized in that the control of the energy management of the motor vehicle, in particular the control of charging and discharging operations an electrical energy store (E), depending from a determined probability (W) for the occurrence a possible overtaking event of a preceding vehicle (L). Verfahren nach einem der vorstehenden Ansprüche 1–3, dadurch gekennzeichnet, dass die Steuerung des Energiemanagements des Kraftfahrzeugs in Abhängigkeit von einer ermittelten Wahrscheinlichkeit (W) für das Stattfinden eines möglicherweise bevorstehenden Überholvorgangs eines vorausfahrenden Fahrzeugs (L) erfolgt, wobei die Steuerung des Energiemanagements die Steuerung von Lade- und Entladevorgängen eines elektrischen Energiespeichers (E) zur Versorgung einer elektrischen Maschine zur Erzeugung von auf zumindest ein Antriebsrad wirkenden Antriebsmoment umfasst.Method according to one of the preceding claims 1-3, characterized in that the control of the energy management of the motor vehicle as a function of a determined Probability (W) for possibly taking one imminent overtaking of a preceding vehicle (L), wherein the control of the energy management control of Charging and discharging an electrical energy storage (E) for supplying an electric machine for generating comprises drive torque acting on at least one drive wheel. Verfahren nach vorstehendem Anspruch 5, dadurch gekennzeichnet, dass das Kraftfahrzeug als ein eine elektrische Maschine und eine Brennkraftmaschine umfassendes Hybridfahrzeug ausgebildet ist, bei dem die Erzeugung von auf die Antriebsräder wirkendem Antriebsmoment in Abhängigkeit von unterschiedlichen Betriebssituationen zumindest entweder ausschließlich durch die elektrische Maschine oder durch die Brennkraftmaschine und die elektrische Maschine gemeinsam erfolgt.Method according to the preceding claim 5, characterized that the motor vehicle as an electric machine and a Internal combustion engine comprehensive hybrid vehicle is formed at the generation of acting on the drive wheels drive torque depending on different operating situations at least either exclusively by the electrical Engine or by the internal combustion engine and the electric machine done together. Verfahren nach einem der vorstehenden Ansprüche 4–6, dadurch gekennzeichnet, dass bei der Steuerung der Ladevorgänge des elektrischen Energiespeichers EUR eine vorbestimmte obere Ladegrenze vorhanden ist, bis zu der der Energiespeicher (E) außerhalb eines Rekuperationsbetriebs aufgeladen werden darf, und diese Ladegrenze in Abhängigkeit von der ermittelten Wahrscheinlichkeit (W) für das Stattfinden eines bevorstehenden Überholvorgangs angehoben wird.Method according to one of the preceding claims 4-6, characterized in that in the control of Charging the electric energy storage EUR one predetermined upper charging limit is present, up to the energy storage (E) be charged outside of a Rekuperationsbetriebs may, and this loading limit depending on the determined Probability (W) for the occurrence of an imminent passing process is raised. Verfahren nach vorstehendem Anspruch 7, dadurch gekennzeichnet, dass das Maß der Anhebung der Ladegrenze variierbar ist, und die Anhebung der Ladegrenze in Abhängigkeit von dem Grad der ermittelten Wahrscheinlichkeit (W) für das Stattfinden eines bevorstehenden Überholvorgangs erfolgt.Method according to the preceding claim 7, characterized that the extent of the increase in the loading limit is variable, and raising the loading limit depending on the Degree of the determined probability (W) for the occurrence an upcoming overtaking process takes place.
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