DE102009022170A1 - Driving speed regulating method for vehicle i.e. hybrid vehicle, involves providing maximally allowable driving speed, determining vehicle mass and regulating maximally allowable driving speed for region of road - Google Patents

Driving speed regulating method for vehicle i.e. hybrid vehicle, involves providing maximally allowable driving speed, determining vehicle mass and regulating maximally allowable driving speed for region of road

Info

Publication number
DE102009022170A1
DE102009022170A1 DE200910022170 DE102009022170A DE102009022170A1 DE 102009022170 A1 DE102009022170 A1 DE 102009022170A1 DE 200910022170 DE200910022170 DE 200910022170 DE 102009022170 A DE102009022170 A DE 102009022170A DE 102009022170 A1 DE102009022170 A1 DE 102009022170A1
Authority
DE
Germany
Prior art keywords
vehicle
driving speed
speed
max
maximum permissible
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.)
Withdrawn
Application number
DE200910022170
Other languages
German (de)
Inventor
Andreas Dr.-Ing. Schwarzhaupt
Istvan Dipl.-Ing. Vegh
Urs Dipl.-Ing. Wiesel
Jan Dr.-Ing. Wirnitzer
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.)
Daimler AG
Original Assignee
Daimler AG
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 Daimler AG filed Critical Daimler AG
Priority to DE200910022170 priority Critical patent/DE102009022170A1/en
Publication of DE102009022170A1 publication Critical patent/DE102009022170A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/0098Details of control systems ensuring comfort, safety or stability not otherwise provided for

Abstract

The invention relates to a method and a device for driving speed control of a vehicle, wherein a maximum permissible driving speed (Vmax) is predefined as a function of a course of the route ahead of the vehicle, wherein the maximum permissible driving speed (Vmax) for at least a portion of the route ahead is at least in Depending on a current vehicle speed (VFzg), a road curvature (c0), a Fahrreibreibwertes (kmy), a vehicle mass (m) and a limit for a resulting from cornering centripetal force is controlled.

Description

  • The The invention relates to a method for driving speed control a vehicle, wherein a maximum permissible driving speed depending on a course of the vehicle ahead route is given.
  • From the DE 199 52 392 A1 A method and apparatus for providing route-dependent driver information to a driver of a vehicle is known. In this case, a course of a distance to be traveled by the vehicle is determined at least in regions in a forward-looking manner and at least relative to the current vehicle position. A current driving state, for example a current driving speed or an acceleration, of the vehicle is ascertained, at least one limit condition for the driving state is determined, which enables a safe passage through an area of the route to be traveled ahead of the vehicle, and generates at least one route-dependent warning information, if the current driving condition does not meet the at least one boundary condition.
  • In addition, in the DE 198 48 236 A1 discloses a method and apparatus for limiting a speed of a vehicle. In the course of an iterative process, a setpoint speed is determined as a function of vehicle speed, maximum lateral acceleration and curve radius. The setpoint speed approaches a limit speed with which the curve to be traveled can be safely traversed. The vehicle speed is controlled depending on this target speed and an actual speed.
  • Of the Invention is based on the object, a relation to the State of the art improved method for driving speed control indicate, based on which a curve on a vehicle ahead Route can be passed safely.
  • The Task is according to the invention in terms of A method by the in claim 1 and in terms of the device solved by the features specified in claim 5. advantageous Further developments of the invention are the subject of the dependent claims.
  • The inventive method for driving speed control of a vehicle provides that a maximum allowable Driving speed depending on a course of a the route ahead of the vehicle. According to the invention the maximum permissible travel speed for at least an area of the route ahead in dependence a current driving speed, a curvature of the road, a road friction coefficient, a vehicle mass and a limit value for a resulting from cornering centripetal force regulated.
  • Based the process of the invention is in profit bringing a driving comfort for a vehicle occupant increased, since the maximum permissible driving speed depending on a resulting from cornering Transverse acceleration is determined and thereby acting on the vehicle occupant Centripetal force, also called transverse force, as not unpleasant becomes. For this purpose, the current driving speed of the vehicle delayed to the maximum permissible travel speed, the delay being particularly advantageous not done abruptly.
  • Next Increasing driving comfort and driving safety the fuel consumption of the vehicle is reduced because the driving speed of the vehicle in a particularly advantageous manner anticipatory regulated becomes.
  • About that In addition, driving safety is increased because the respective area the route ahead with an adjusted driving speed, the maximum permissible driving speed, is traversed.
  • embodiments The invention will be explained in more detail with reference to a drawing.
  • there shows:
  • 1 schematically a program flowchart of the method according to the invention for driving speed control of a vehicle.
  • each other corresponding parts are in the figure with the same reference numerals Mistake.
  • In 1 a program flowchart of the method according to the invention for vehicle speed control of a vehicle is shown.
  • In particular, the method according to the invention is initiated when a need for an intervention with regard to a current driving speed v Fzg of the vehicle, in particular before cornering, is detected.
  • For this For example, the vehicle has one automatic cruise control device.
  • It is provided that by means of at least one detection unit E an environment identifier U of the vehicle, such as a camera, a radar sensor, a lidar and / or a photonic mixer, a distance ahead of the vehicle is detected.
  • alternative or additionally may be for detecting the vehicle ahead Route also a navigation system N can be used.
  • If the vehicle on the road ahead at least a curve ahead of the E of the environment recognition is located in the detection area of the detection unit U, are in an advantageous manner a road curvature c 0, hereafter referred to as curvature c 0 denotes optionally a curve change of curvature c 1 and a distance d detected at a Kurvenkurümmungspunkt and a signal processing S a control unit SE supplied.
  • Of the Curvature point denotes a so-called Vorschauort, where the forecast location in the distance d to the vehicle, in particular to the position of the detection unit E, the environment identifier U is located.
  • In addition, the instantaneous travel speed v Fzg of the vehicle is determined as a further input variable for carrying out the method according to the invention. The current driving speed V Fzg can be read in , for example via an engine control unit of the vehicle.
  • In the present exemplary embodiment, the instantaneous driving speed v Fzg is, in particular, a desired driving speed v Fzg set which is predetermined for the speed control device of the vehicle via the vehicle driver.
  • The detected signals with respect to the curvature of curve c 0 , possibly the curvature change c 1 and the distance d to the curvature point and the instantaneous vehicle speed V Fzg are the signal processing S supplied, wherein a sensor data fusion for predicting a curve is performed on the vehicle ahead route.
  • In the control unit SE, for example, in the control unit of the cruise control device, a characteristic field K is deposited, which at least a maximum permissible vehicle speed v max as a function of the curve curvature c 0 and a limit for a resulting from cornering with a corresponding curve curvature c 0 centripetal force, ie a acting on a vehicle occupant lateral force F Q , wherein the limit is hereinafter referred to as Grenzquerkraft F transverse, boundary comprises.
  • Preferably the characteristic field K was empirically determined on the basis of driving tests.
  • The lateral force F Q acting on the vehicle, in particular on the vehicle occupants, can be determined, for example, as follows:
    Figure 00040001
    With
    F Q lateral force,
    m vehicle mass,
    r radius, wherein the radius of the reciprocal of the curvature c is 0 , and
    v Vehicle current vehicle speed.
  • Preferably, the characteristic field K further acts on a curve sizes, such. B. the vehicle mass m and / or a Fahrbahnreibwert k my , with a possible procedure for determining the vehicle mass m and the Fahrbahnreibwertes k my is described in more detail below.
  • If the determined instantaneous driving speed V Fzg of the vehicle is less than a maximum permissible driving speed v max dependent on the detected curve curvature or if the instantaneous driving speed v Fzg is the same value as the maximum permissible driving speed v max , then the driving speed control for cornering becomes corresponding the current driving speed V Fzg regulated and / or controlled, wherein a delay a Fzg, delay , ie a negative acceleration of the vehicle is 0.
  • In one possible embodiment of the method according to the invention, the maximum permissible driving speed v max can be determined mathematically / physically as an alternative or in addition on the basis of the detected signals, which can be fed to an evaluation unit of the control unit SE, for example.
  • The maximum permissible travel speed v max in relation to the forecast location at a distance d taking into account the vehicle mass m results, for example, from the following equation:
    Figure 00050001
    With
    v max maximum permissible travel speed,
    k my road friction coefficient,
    k (v veh ) vehicle speed dependent factor,
    F quer, Grenz Grenzquerkraft,
    m vehicle mass, and
    c 0 curve curvature.
  • The driving speed-dependent lateral lateral force F transverse, limit is determined by a driving-speed-dependent factor k (v Fzg ) and, if appropriate, information relating to a road friction coefficient k my , which is determined, for example, by at least one detection unit E arranged on the vehicle.
  • Furthermore, the driving speed-dependent lateral lateral force F is transverse, limit of the vehicle mass m dependent. A vehicle empty weight is specified as known and stored for example in the control unit SE, for example, the speed control device, wherein a load of the vehicle, for example by means arranged on an air suspension spring travel sensors and / or arranged on vehicle axles axle load sensors are determined or will. The vehicle mass m is thus determined preferably based on the vehicle idle weight plus the load of the vehicle.
  • Laying down the side load F transversely boundary may be provided on the one hand that this is preset or it may alternatively be provided that the lateral limit force F transversely boundary is chosen by the driver himself.
  • In one possible embodiment of the method according to the invention, when determining the lateral transverse force F transverse, limit , a center of gravity position and a resulting rolling motion of the vehicle can also be taken into account.
  • If the value of the instantaneous driving speed v Fzg does not correspond to the value of the maximum permissible driving speed v max determined on the basis of the characteristic field K and / or the mathematical derivation, or is the value of the instantaneous driving speed v Fzg greater than the maximum permissible driving speed v max for the vehicle Cornering, so the deceleration a Fzg, deceleration of the vehicle, the negative acceleration, for example, determined by the following equation:
    Figure 00060001
    With
    a vehicle, delay delay, negative acceleration,
    v max maximum permissible travel speed,
    v Fzg instantaneous driving speed, and
    d distance of the vehicle, in particular distance of the detection unit E of the surroundings identifier U to the preview location.
  • In this case, the deceleration a Fzg, deceleration represents a function of the maximum permissible travel speed v max for the forecast location at a distance d and the instantaneous vehicle speed v Fzg of the vehicle.
  • The determined value of the deceleration a Fzg, delay is supplied to the control unit SE functional interfaces for actuators SG, for example, a turn-off air compressor LV, a turn-off generator G and / or a device V for energy recovery, especially in a hybrid vehicle supplied.
  • In this case, the delay a Fzg, delay of the vehicle in a particularly advantageous manner is not carried out abruptly.
  • The inventive method can be referred to as a predictive cruise control, the vehicle speed control, for example, by the driver for a straight ahead driving speed v Fzg, set controls and / or regulates, and the current vehicle speed V Fzg of the vehicle when cornering on the maximum for cornering permissible travel speed v max delayed.
  • In a particularly advantageous manner, at the maximum permissible driving speed v max, the lateral force F Q acting on the vehicle driver from the cornering is taken into account, it being possible to provide that the lateral lateral force F transverse, limit is predetermined or predetermined by a vehicle driver.
  • Based the method according to the invention is a driving safety as well as increased ride comfort, especially when cornering that a lane course in the longitudinal and lateral direction successively is predicted. The driving speed of the vehicle is anticipatory controlled and / or regulated, thereby reducing fuel consumption of the vehicle can be achieved.
  • In addition, information about the size of the delay a Fzg, delay the current vehicle speed v Fzg also targeted for an active energy management, for example, from switchable ancillaries to operating strategies of hybrid drives are used.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • 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.
  • Cited patent literature
    • DE 19952392 A1 [0002]
    • - DE 19848236 A1 [0003]

Claims (5)

  1. A method for driving speed control of a vehicle, wherein a maximum permissible driving speed (v max ) is predetermined as a function of a course of the vehicle ahead route, characterized in that the maximum permissible driving speed (v max ) for at least a portion of the route ahead at least in dependence current vehicle speed (v Fzg ), a road curvature (c 0 ), a road friction coefficient (k my ), a vehicle mass (m) and a limit value for a resulting from cornering centripetal force is controlled.
  2. A method according to claim 1, characterized in that the maximum permissible driving speed (v max ) is determined based on a stored Kennlineinfeldes (K).
  3. A method according to claim 1 or 2, characterized in that the maximum permissible driving speed (v max ) is determined mathematically.
  4. Method according to one of claims 1 to 3, characterized in that the vehicle mass (m) based on a Loading state of the vehicle is determined.
  5. Device for operating a vehicle speed control of a vehicle, wherein at least one detection unit (E) is provided, by means of which a vehicle ahead route can be detected, wherein detected signals of a control unit (SE) can be supplied and a maximum speed (v max ) based on the detected Signals can be predetermined, characterized in that by means of at least one further detection unit (E) at least a current vehicle speed (v Fzg ), a road curvature (c 0 ), a Fahrbahnreibwert (k my ) and a vehicle mass (m) detectable and the detected signals of the Control unit can be supplied, wherein the maximum permissible travel speed (v max ) by means of the control unit (SE) based on the detected signals and a determined limit value for a resulting from cornering centripetal force is controllable.
DE200910022170 2009-05-20 2009-05-20 Driving speed regulating method for vehicle i.e. hybrid vehicle, involves providing maximally allowable driving speed, determining vehicle mass and regulating maximally allowable driving speed for region of road Withdrawn DE102009022170A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200910022170 DE102009022170A1 (en) 2009-05-20 2009-05-20 Driving speed regulating method for vehicle i.e. hybrid vehicle, involves providing maximally allowable driving speed, determining vehicle mass and regulating maximally allowable driving speed for region of road

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200910022170 DE102009022170A1 (en) 2009-05-20 2009-05-20 Driving speed regulating method for vehicle i.e. hybrid vehicle, involves providing maximally allowable driving speed, determining vehicle mass and regulating maximally allowable driving speed for region of road

Publications (1)

Publication Number Publication Date
DE102009022170A1 true DE102009022170A1 (en) 2010-01-14

Family

ID=41412959

Family Applications (1)

Application Number Title Priority Date Filing Date
DE200910022170 Withdrawn DE102009022170A1 (en) 2009-05-20 2009-05-20 Driving speed regulating method for vehicle i.e. hybrid vehicle, involves providing maximally allowable driving speed, determining vehicle mass and regulating maximally allowable driving speed for region of road

Country Status (1)

Country Link
DE (1) DE102009022170A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012213933A1 (en) 2012-08-07 2014-02-13 Bayerische Motoren Werke Aktiengesellschaft Method for controlling cruise control system of e.g. motor car, involves terminating vehicle turning mode when variable corresponding to lateral acceleration of vehicle reaches or exceeds maximum value
DE102013218127A1 (en) * 2013-09-11 2015-03-12 Continental Automotive Gmbh Method for controlling the operation of at least one drive or load component of a hybrid or electric vehicle and method for generating an operation optimization notice for such operation
DE102015015923A1 (en) 2015-12-09 2017-06-14 Wabco Gmbh Method for adaptively controlling a vehicle speed in a vehicle and cruise control system for carrying out the method
DE102017201051A1 (en) 2017-01-24 2018-07-26 Zf Friedrichshafen Ag Control of a motor vehicle

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19848236A1 (en) 1998-10-20 2000-04-27 Bosch Gmbh Robert Method for controlling speed of motor vehicle prior to vehicle traveling around bend involves controlling speed in dependence of target speed determined by iterative process
DE19952392A1 (en) 1999-10-29 2001-05-31 Daimler Chrysler Ag Providing driver warning information dependent on route involves generating route-dependent information if current driving state does not fulfill at least one boundary condition

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19848236A1 (en) 1998-10-20 2000-04-27 Bosch Gmbh Robert Method for controlling speed of motor vehicle prior to vehicle traveling around bend involves controlling speed in dependence of target speed determined by iterative process
DE19952392A1 (en) 1999-10-29 2001-05-31 Daimler Chrysler Ag Providing driver warning information dependent on route involves generating route-dependent information if current driving state does not fulfill at least one boundary condition

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012213933A1 (en) 2012-08-07 2014-02-13 Bayerische Motoren Werke Aktiengesellschaft Method for controlling cruise control system of e.g. motor car, involves terminating vehicle turning mode when variable corresponding to lateral acceleration of vehicle reaches or exceeds maximum value
DE102013218127A1 (en) * 2013-09-11 2015-03-12 Continental Automotive Gmbh Method for controlling the operation of at least one drive or load component of a hybrid or electric vehicle and method for generating an operation optimization notice for such operation
DE102015015923A1 (en) 2015-12-09 2017-06-14 Wabco Gmbh Method for adaptively controlling a vehicle speed in a vehicle and cruise control system for carrying out the method
WO2017097392A1 (en) 2015-12-09 2017-06-15 Wabco Gmbh Method for adaptively controlling a vehicle speed in a vehicle, and speed control system for carrying out the method
US10668923B2 (en) 2015-12-09 2020-06-02 Wabco Gmbh Method for adaptively controlling a vehicle speed in a vehicle, and speed control system for carrying out the method
DE102017201051A1 (en) 2017-01-24 2018-07-26 Zf Friedrichshafen Ag Control of a motor vehicle

Similar Documents

Publication Publication Date Title
JP6577002B2 (en) Improved vehicle cruise control
CN105593700B (en) Adaptive learning algorithms with Entrance ramp detection
US9180890B2 (en) Smart adaptive cruise control
EP2979914A2 (en) Vehicle control apparatus and vehicle control method
CN103038802B (en) Vehicle control system
EP2536606B1 (en) Method for automatically preventing aquaplaning
DE102013016488B4 (en) Motor vehicle and method for controlling a motor vehicle
CN103813950B (en) Method for improving riding stability
JP4931714B2 (en) Vehicle speed control device and vehicle speed control program
JP5336052B2 (en) Cruise control device, program, and target vehicle speed setting method
EP2813408A1 (en) Method and device for controlling a vehicle
EP1074421B1 (en) Curve approach control apparatus
JP5502134B2 (en) Method for predicting the running state of a vehicle traveling in front
US8209090B2 (en) Method and device for performing a collision avoidance maneuver
US8346476B2 (en) Vehicle running control system
JP4497231B2 (en) Vehicle speed control device
RU2545189C2 (en) Evaluation method and system related with acceleration
US7363155B2 (en) Method and device for warning the driver of a motor vehicle
CN105000019A (en) Method and system for detecting, tracking and estimating stationary roadside objects
US8359149B2 (en) Method for integrating multiple feature adaptive cruise control
KR20150058030A (en) Method and driver assistance device for assisting lane changes or overtaking maneuvers of a motor vehicle
DE19830318B4 (en) Vehicle control device
JP4466717B2 (en) Traveling locus generation method and traveling locus generation device
EP2251240B1 (en) Method for automatic longitudinal guidance of a vehcile including Adaptive Cruise Control
EP1484212B1 (en) Risk potential calculation device and driving assist system

Legal Events

Date Code Title Description
OAV Applicant agreed to the publication of the unexamined application as to paragraph 31 lit. 2 z1
8130 Withdrawal