DE102012002823A1 - Control device for vehicle e.g. motor car, has control units that are provided to actuate steering system and brake system of vehicle respectively in two different operating modes - Google Patents

Abstract

The control device (1) comprises a switching device (2) that is operated between two operating modes in reversible manner. The switching device is provided with a data memory (9) for memorizing a momentary operating condition. Two control units (3,5) are provided to actuate a steering system (4) and a brake system (6) of the vehicle respectively in two different operating modes. An independent claim is included for vehicle.

Description

The present invention relates to a control device for a vehicle. The invention further relates to a vehicle with such a control device.

Conventional control devices by means of which the driving dynamics of a vehicle can both be controlled and regulated are known by the term "electronic stability program" (ESP) and designate a driver assistance system which counteracts the breaking away of the vehicle by deliberate braking of individual wheels. The term "Electric Power Steering" (EPS), a control device in the form of an electric power steering is known, which amplifies a steering wheel operation by the driver of the vehicle hydraulically or electronically.

The DE 10 2009 048 954 A1 describes a method for automatically operating a vehicle in an autonomous mode of operation requiring no user action. The method includes detecting a present traffic situation, then checking whether the traffic situation meets a certain criterion, and disabling functionality that offers a sideline to a driver during autonomous driving that does not relate to a driving operation of the vehicle, if that first criterion is met.

The DE 11 2006 002 892 T5 describes a robotic vehicle that has a mechanical vehicle control system. The vehicle control system is capable of receiving manual inputs from a mechanical operator to operate the vehicle in a manual mode; the vehicle further includes a controller capable of generating autonomous control signals, and an actuator connected to the mechanical vehicle control system by at least one electrically actuated clutch. The actuator is configured to receive the autonomous control signals and operate the mechanical vehicle control system in an autonomous mode.

In modern vehicles, such control devices are also used in connection with a so-called autonomous operating state of the vehicle, in which the control of the vehicle can take place partially, largely or even completely without the intervention of a driver of the vehicle. Such an autonomous operating state can be used, for example, in the testing of driver assistance systems in a vehicle in connection with complex or dangerous traffic situations. Furthermore, the autonomous operating mode is suitable for experiments with so-called "driver dummies" in the implementation of so-called "misuse" experiments. The autonomous operating mode is also suitable for carrying out crash tests and for bad road testing.

It is an object of the present invention to provide an improved embodiment of a control device, in particular in connection with an autonomous operating state of a vehicle using such a control device.

The above object is achieved by a control device according to the independent claim 1. Preferred embodiments are subject of the dependent claims.

Due to the design of the control device according to the invention such that the first and / or second control unit controls the steering system or the braking system of the vehicle, in particular in the event of a malfunction in the first and / or second control unit, depending on the operating state of the control device can the flexibility of functionalities provided by the controller for autonomous operation of the vehicle can be improved. Furthermore, the operational safety of the vehicle can be improved in conjunction with an autonomous operation of the vehicle, in particular if errors occur in the control device in the control of the vehicle.

In a further embodiment, provision can be made for autonomous driving of the vehicle to be realized in the so-called "end-of-line" area of vehicle production, for example in consumption measurements or the like, in a first operating state. In a second operating state can be provided that a stable driving of trajectories is ensured by the vehicle, for example in connection with test drives for sensor evaluation, with crash tests, or with so-called. Steady misuse attempts. In a third operating state it can be provided that additional information, which is provided by an assistance system in connection with an environmental recognition, is used by the control device for the activation of the first and / or second control unit. This can be done, for example, in connection with the detection of obstacles on a road to be traveled by the vehicle by the assistance system. In particular, it is conceivable that the control device automatically performs an evasive maneuver in the third operating state by suitable activation of the first and / or second control unit.

In a preferred embodiment, the switching device may be connectable to an external input system for switching between the at least two operating states, and the controller may further comprise an authentication unit for authenticating the external input system. In this way, a particularly reliable external access to the control device can be realized.

Preferably, the first control unit may comprise a device for dynamically controlling a speed of the vehicle and / or an engine speed of an internal combustion engine of the vehicle, and / or the second control unit may comprise a device for assisting vehicle steering.

In a further or alternative embodiment, which is already protectable as such, the first operating state may be a state in which the vehicle to be controlled is operated without a driver controlling the vehicle, and the second operating state may be a state in which the vehicle to be controlled is operated by a driver controlling the vehicle. In this way, functionalities associated in particular with the braking or steering behavior can be optimized with regard to autonomous operation of the vehicle with or without driver.

For the purpose of further improving the operational safety of the vehicle, the first control unit can control the steering system such that the vehicle is steered under execution of a defined steering strategy, and / or the second control unit can then control the braking system such that the vehicle, in particular to the full Standstill, is slowed down.

• – Beibehalten eines momentanen Lenkwinkels,
• – Rückführen eines momentanen Lenkwinkels, insbesondere über einen vorbestimmten Rückführungs-Zeitraum, auf einen Nullwert.

In a further embodiment, the defined steering strategy may include at least one of the following sub-strategies:

• Maintaining a current steering angle,
• - Returning a current steering angle, in particular over a predetermined feedback period, to a zero value.

This ensures the transfer of a vehicle operated in a driverless operating state in the event of a malfunction in a fail-safe state.

In further variants, further operating states may be provided in the control device, such that different functionalities are provided for different applications with regard to an autonomous operation of the vehicle. Thus, a further operating state can be optimized especially for autonomous operation of the vehicle without steering interventions, for example when rolling tests are to be carried out before delivery of the vehicle to a customer on a so-called vehicle roll, in particular if such attempts result in fuel consumption of the vehicle should be determined.

By means of such a design of the control device is achieved that at the same time both a high functionality in terms of a partially autonomous or even fully autonomous operation of the vehicle to be controlled and the fulfillment of high security requirements are ensured, especially in connection with malfunction in the partially or fully autonomous control of Vehicle, so that poses no security risk of such a controlled vehicle, neither for a driver of the vehicle nor for other road users.

The invention further relates to a vehicle, comprising a braking system for braking the motor vehicle, a steering system for adjusting a direction of travel of the motor vehicle, and one with one or more of the above features.

Other important features and advantages of the invention will become apparent from the dependent claims, from the drawings and from the associated figure description with reference to the drawings.

It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

Preferred embodiments of the invention are illustrated in the drawings and will be described in more detail in the following description, wherein like reference numerals refer to the same or similar or functionally identical components.

In each case show schematically:

1 an embodiment of a control device according to the invention

2 an embodiment of a method for switching the operating state of the control device.

In the 1 is a control device according to the invention with 1 designated. The control device 1 has a first, second and third operating state (I, II, III) and includes a switching device 2 by means of which the control device 1 between the operating states (I, II, III) is switchable. It is clear that in variants also a different number of operating states is conceivable.

The control device 1 further comprises a first control unit 3 for driving a steering system 4 of the vehicle and a second control unit 5 for driving a brake system 6 of the vehicle.

The first control unit 3 can be designed as so-called EPS ("Electronic Power Steering") - unit and in particular so-called. ASM functionalities ("Autonomous Steering Mode") include. The second control unit 4 may be designed as a so-called. ESP ("Electronic Stability Program") - unit and in particular so-called. DGR functionalities for speed and speed control include.

The first and second control units 3 . 5 control the steering system 4 or the brake system 6 of the vehicle in dependence on the current operating state (I, II or III) of the control device 1 at.

In the first operating state (I), the first and second control units support one another 3 . 5 an autonomous driving without steering intervention of the vehicle in the so-called "end of line" range of vehicle manufacturing, for example, fuel consumption measurements, or the autonomous change from one processing station to the next along the production tape o. Ä. In the second operating state (II) with autonomous steering interventions of the vehicle, a stable driving of trajectories by the vehicle, for example, in connection with test drives for sensor evaluation, with crash tests, or with so-called. Steady misuse attempts ensured. In the third operating state (III), in addition to drive control, brake interventions and steering interventions, additional information, which is provided by an assistance system in connection with environmental detection, is used to control the first and second control unit 3 . 5 used. This can be done, for example, in connection with the detection of obstacles on a road to be traveled by the vehicle by the assistance system. In particular, it is conceivable that the control device independently in this context, an evasive maneuver by suitably driving the first and second control unit 3 . 5 transit.

In an alternative variant of the exemplary embodiment, the control device can have exactly two operating states, namely a first (I) and a second (II) operating state. Here, the first operating state (I) is a state in which the vehicle to be controlled is operated without a driver, and the second operating state (II) is a state in which the vehicle to be controlled is operated with a driver. The first or / and second control unit 3 . 5 then controls the steering system 4 or the brake system 6 of the vehicle, in particular in the event of a malfunction in the first and / or second control unit 3 . 5 , in dependence on the current operating state (I or II) of the control device 1 at.

• a) Beibehalten eines momentanen Lenkwinkels, und
• b) Rückführen eines momentanen Lenkwinkels, insbesondere über einen vorbestimmten Rückführungs-Zeitraum, auf einen Nullwert. Für den entsprechenden Fall, dass sich die Steuerungseinrichtung bei Auftreten einer Fehlfunktion in der zweiten Steuerungseinheit 3 in dem ersten Betriebszustand (I) befindet, steuert die erste Steuerungseinheit 3 das Bremssystem 4 derart an, dass das Fahrzeug, insbesondere bis zum vollständigen Stillstand, abgebremst wird.

In the event that the control device in the event of a malfunction in the first control unit 3 in the first operating state (I), the first control unit controls 3 the steering system 4 such that the vehicle is steered using a defined steering strategy. Such a defined steering strategy may include at least one of the following sub-strategies:

• a) maintaining a current steering angle, and
• b) returning a current steering angle, in particular over a predetermined feedback period, to a zero value. For the corresponding case that the control device in the event of a malfunction in the second control unit 3 in the first operating state (I), the first control unit controls 3 the brake system 4 such that the vehicle is braked, in particular until it is completely stopped.

As in the presentation of 1 shown, the control device 1 generally a data storage 9 which, in turn, includes both volatile and non-permanent data storage 21 , as well as a permanent data store 22 may include. The volatile data store 21 can be designed as conventional RAM, the permanent data storage 22 as conventional ROM, especially as flash ROM.

In the volatile data store 21 can the currently set operating state of the controller 1 be filed. Furthermore, in the volatile data memory 21 Also, further parameter data may be stored based on which the first and the second control unit 3 . 5 the steering system 4 or the brake system 6 drive.

By means of such parameter data, it is thus possible to determine which functionalities with regard to an autonomous operation of the vehicle as a function of the respective operating state of the control device 1 by the first or second control unit 3 . 5 to be provided. Depending on the current operating status, the parameter Data in the volatile data store 21 be modified. The modified parameter data is then from the first and second control unit 3 . 5 read out and processed. The parameter data may include corresponding control and regulation algorithms, but also lookup tables or the like.

The switching of the operating state by the switching device 2 , an associated dropping of the current operating state in the volatile data memory 21 and also modifying parameter data in the volatile data store 21 To adapt to the currently set operating state can be through an external input system 7 take place, by means of which an operator access to the data memory 9 the control device 1 receives. To access the data store 9 through the external input system 7 may require authentication, for example in the form of a password query o. Ä. For authentication, the controller 1 therefore an authentication unit 20 exhibit. In the event that the authentication can not be successfully performed, the connection is established between data storage 9 and external input system 7 not allowed. In the case of a successful authentication, the parameter data can be stored in the volatile data memory 21 by means of the external input system 7 change or can be the operating state of the control device 1 switch. The first or second control unit 3 . 5 then controls the steering or braking system 4 . 6 based on the changed parameter data or the set operating state. In this case, a change in the parameter data for the purpose of changing the operating state of the vehicle is possible only within fixed preset parameter limits which are stored in the permanent data memory 22 are stored.

In the event that the changed parameter data are no longer within the permissible limits for the parameter data, they can be reset in a variant of the embodiment to original default values or adapted to the permissible limits. In this way, a high reliability of the vehicle can be achieved.

In a further variant of the embodiment, it is conceivable that via the connection of the external input system 7 not just parameter data in the data store 9 but also directly commands for remote control of the vehicle to the first and second control unit 3 . 5 be transmitted. In this case, the external input system takes over 7 the function of a master computer.

Such a variant is particularly interesting for test drives of the vehicle, if this is still in the development phase and, for example, in the context of crash tests o. Ä. Without driver should be virtually "remotely controlled". In the event that in the context of such "remote control" of the vehicle parameter data in the data memory 9 be modified such that in the permanent data memory 22 stored limit values are exceeded, it is conceivable that, alternatively or in addition to the above-mentioned measures of resetting or adjusting the parameter data, the connection between the external input system 7 and the controller 1 temporarily or permanently disabled. In this way, the occurrence of malfunctions can be reduced and the operational safety of the vehicle can be increased.

In the 2 an embodiment of a method is shown, according to which the operating state of the control device 1 switched to autonomous operation of the vehicle.

This will be done in a first step 12 a communication connection between the switching device 2 and the external input system 7 produced. If this can be done successfully, then done in step 13 authenticating the external input system 7 by means of the authentication unit 20 the control device 1 , Otherwise, the inventive method is stopped (see arrow 16 ) and the communication link between the external input system 7 and the authentication unit 20 completed.

In the case of a successful authentication, the operating state by the switching device 2 be switched; In particular, this may be the new operating state in the volatile data memory 21 be filed. Furthermore, parameter data in the volatile data memory 21 be changed to adapt to the newly set operating state. If the authentication is unsuccessful, the inventive method is aborted (see arrow 16 ) and the communication link between the external input system 7 and the authentication unit 20 completed.

In one step 14 It will now check if the modified parameter data is within the permanent data store 22 stored limits. If this is the case, the modified parameter data are in the control of the first and second control unit 3 . 5 according to step 15 used. If the modified Data parameters are not within the limits stored in the persistent data store, the communication link between the external input system becomes 7 and the authentication unit 20 finished (see arrow 16 ), and it becomes the original data parameters in the volatile data memory 21 restored. The steps 14 and 15 can be carried out in an iterative process to optimize the operational safety of the vehicle (see arrow 17 ).

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009048954 A1 [0003]
• DE 112006002892 T5 [0004]

Claims (8)

Control device ( 1 ) for a vehicle, the control device ( 1 ) has at least two operating states, comprising: a switching device ( 2 ), by means of which the control device ( 1 ) is switchable between the operating states, wherein the switching device ( 2 ) may in particular comprise a data memory for storing the current operating state, - a first control unit ( 3 ) for driving a steering system ( 4 ) of the vehicle, or / and - a second control unit ( 5 ) for driving a brake system ( 6 ) of the vehicle, characterized in that - the first or / and the second control unit ( 3 . 5 ) the steering system ( 4 ) or the brake system ( 6 ) of the vehicle in dependence on the operating state of the control device ( 1 ). Control device ( 1 ) according to claim 1, characterized in that that the operating conditions include: - autonomous driving of the vehicle with drive control and brake control - autonomous driving with drive control, brake interventions and steering interventions for autonomous driving on predetermined trajectories, - autonomous driving of the vehicle according to the specifications of an assistance system for Umfeldfassung, - secured locking of the autonomous driving functions. Control device ( 1 ) according to claim 1 or 2, characterized in that: - the switching device ( 6 ) with an external input system ( 7 ) is connectable for switching between the at least two operating states, - the control device further comprises an authentication unit ( 20 ) for authenticating the external input system ( 7 ) Control device ( 1 ) according to claim 1, 2 or 3, characterized in that - the first control unit ( 3 ) comprises a device for dynamically controlling a speed of the vehicle and / or an engine speed of an internal combustion engine of the vehicle, and / or that - the second control unit ( 4 ) comprises a device for assisting a vehicle steering. Control device according to one of claims 1 to 4, characterized in that - The first operating state is a state in which the vehicle to be controlled is operated without a driver, and that the second operating state is a state in which the vehicle to be controlled is operated with a driver. Control device ( 1 ) according to claim 5, characterized in that upon occurrence of a predefined event in the first and / or second control unit ( 3 . 5 ) in the first operating state: - the first control unit ( 5 ) the steering system ( 6 ) such that the vehicle is steered under execution of a defined steering strategy, and / or - the second control unit ( 3 ) the braking system ( 4 ) so that the vehicle, in particular to a complete stop, is braked. Control device ( 1 ) according to claim 6, characterized in that the defined steering strategy comprises at least one of the following sub-strategies: - maintaining a current steering angle - returning a current steering angle, in particular over a predetermined feedback period, to a zero value. A vehicle comprising: - a braking system for braking the motor vehicle, - a steering system for adjusting a direction of travel of the motor vehicle, - a control device ( 1 ) according to any one of the preceding claims.

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