DE102013200028A1 - Method for situation-adaptive changing of steering stiffness of motor car, involves parameterizing angle controller/steering angle rate controller for steering intervention such that criticality of situation is reflected in stiffness - Google Patents
Method for situation-adaptive changing of steering stiffness of motor car, involves parameterizing angle controller/steering angle rate controller for steering intervention such that criticality of situation is reflected in stiffness Download PDFInfo
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- DE102013200028A1 DE102013200028A1 DE201310200028 DE102013200028A DE102013200028A1 DE 102013200028 A1 DE102013200028 A1 DE 102013200028A1 DE 201310200028 DE201310200028 DE 201310200028 DE 102013200028 A DE102013200028 A DE 102013200028A DE 102013200028 A1 DE102013200028 A1 DE 102013200028A1
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000006978 adaptation Effects 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000011161 development Methods 0.000 description 2
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- 230000001154 acute effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
Abstract
Description
Die vorliegende Erfindung betrifft ein Verfahren zur situationsadaptiven Veränderung der Lenksteifigkeit bei einem Kraftfahrzeug.The present invention relates to a method for situation-adaptive change of the steering stiffness in a motor vehicle.
Aktive Eingriffe in die Lenkung eines Kraftfahrzeuges erfolgen entweder unterstützend (geringe Steifigkeit der automatischen Lenkung, der Fahrer wird geführt) oder vollautonom (der Fahrer wird überstimmt). Dabei wird für ein bestimmtes System mit aktivem Lenkeingriff (z. B. Ausweichassistent) eine einzige Parametrierung der Lenksteifigkeit (z. B. ”hohe” Steifigkeit) gewählt. Weiterhin findet keine kontinuierliche Anpassung zwischen den beiden Steifigkeitsparametrierungen der Lenkregelung in Abhängigkeit der Verkehrssituation (z. B. ”Situation spitzt sich zu; das Fahrzeug kommt einem Hindernis sehr nahe”) statt.Active intervention in the steering of a motor vehicle is either supportive (low rigidity of the automatic steering, the driver is guided) or fully autonomous (the driver is overruled). In this case, a single parameterization of the steering stiffness (eg "high" stiffness) is selected for a specific system with active steering intervention (eg avoidance assistant). Furthermore, there is no continuous adaptation between the two stiffness parameters of the steering control as a function of the traffic situation (eg "situation becomes more acute, the vehicle comes very close to an obstacle").
Es ist daher Aufgabe der vorliegenden Erfindung hier Abhilfe zu schaffen.It is therefore an object of the present invention to remedy this situation.
Diese Aufgabe wird gelöst durch ein Verfahren zur situationsadaptiven Veränderung der Lenksteifigkeit bei einem Kraftfahrzeug, bei dem zur Realisierung eines automatischen Lenkeingriffs der unterlagerte Lenkwinkelregler/Lenkwinkelratenregler/Fahrzeugquerregler derart parametriert wird, dass sich die Kritikalität der Situation in dessen Steifigkeit widerspiegelt.This object is achieved by a method for situation-adaptive change of the steering stiffness in a motor vehicle in which the subordinate steering angle controller / steering angle controller / vehicle transverse controller is parameterized such that the criticality of the situation is reflected in its rigidity for the realization of an automatic steering intervention.
Durch die erfindungsgemäßen Maßnahmen erfolgt eine bedarfsgerechte Unterstützung des Fahrers bei automatischen Lenkeingriffen, wodurch sowohl ein Sicherheits- als auch Aktzeptanzgewinn einhergeht.By the measures according to the invention a needs-based assistance of the driver is carried out in automatic steering interventions, which is associated with both a security and Aktzeptanzgewinn.
Die Unteransprüche beinhalten vorteilhafte Weiterbildungen und Ausgestaltungen der Erfindung.The dependent claims contain advantageous developments and refinements of the invention.
Gemäß einer bevorzugten Ausgestaltung wird bei kurz bevorstehenden Kollisionen die Lenkmomentenführung so steif/intensiv eingestellt, dass ein Ausweichmanöver nahezu autonom durchgeführt wird.According to a preferred embodiment, the steering torque guidance is adjusted so stiff / intense in imminent collisions that an evasive maneuver is performed almost autonomously.
Weiterhin wird gemäß einer vorteilhaften Weiterbildung für den Fall, dass mehr Zeit bis zur Kollision verbleibt, die Lenkmomentenführung weicher als bei kurz bevorstehenden Kollisionen eingestellt.Furthermore, according to an advantageous development, in the event that more time remains until the collision, the steering torque guidance is set softer than in the case of imminent collisions.
Bevorzugt wird bei dem erfindungsgemäßen Verfahren als Maß für die Kritikalität ein Bewertungskriterium herangezogen, welches Fahrzeugparameter, wie beispielsweise die erforderliche Querbeschleunigung, Lenkstärke, Bremsstärke verbleibender Platz zum Hindernis usw. mit einbezieht.Preferably, in the method according to the invention a criterion of criterion is used as a measure of the criticality, which includes vehicle parameters, such as the required lateral acceleration, steering strength, braking power remaining space to the obstacle, etc.
Weiterhin kann gemäß einer vorteilhaften Ausgestaltung die Adaption über die geschätzte Sensorsicherheit erfolgen, wobei eine hohe Sensorgüte zu einer hohen Steifigkeit führt.Furthermore, according to an advantageous embodiment, the adaptation can take place via the estimated sensor safety, wherein a high sensor quality leads to a high rigidity.
Darüber hinaus kann gemäß einer vorteilhaften Ausgestaltung die Adaption über die dem Fahrer zur Verfügung stehenden Fahralternativen erfolgen. Stellt sich die Verkehrssituation so dar, dass dem Fahrer nur ein bestimmtes Manöver zur Kollisionsvermeidung verbleibt, so kann dieses weitaus intensiver vom System eingeregelt werden, als wenn mehrere gleichwertige Alternativen zur Verfügung steht.In addition, according to an advantageous embodiment, the adaptation can be made via the driver alternatives available. If the traffic situation is such that the driver only has one particular collision avoidance maneuver, then the system can control this far more intensively than if several equivalent alternatives are available.
Die Adaption kann vorteilhafterweise über den zum Hindernis verbleibenden Platz erfolgen, wobei wenig Platz zu einer hohen Steifigkeit führt.The adaptation can advantageously take place over the space remaining to the obstacle, with little space leading to a high rigidity.
Gemäß einer bevorzugten Ausgestaltung kann die Lenksteifigkeit asymmetrisch ausgelegt sein. Dabei erfolgt eine Abstoßung weg vom Hindernis mit einer höheren Lenksteifigkeit als beispielsweise das anschließende Rücklenken nach dem Hindernis, falls genügend Freiraum vorhanden ist.According to a preferred embodiment, the steering stiffness can be designed asymmetrically. In this case, a repulsion away from the obstacle with a higher steering stiffness than, for example, the subsequent return steering after the obstacle, if there is enough space available.
Gemäß einer vorteilhaften Ausgestaltung kann die Lenksteifigkeit von Fahrer zu Fahrer unterschiedliche parametriert werden. Damit wird der Tatsache Rechnung getragen, dass eine zierliche Person viel empfänglicher für aktive Lenkmomente ist, als eine kräftige. Die Parametrierung kann entweder über den Fahrer durch Eingabe erfolgen oder durch Online-Schätzung des Lenkwiderstands (Impedanz) des Fahrers.According to an advantageous embodiment, the steering stiffness can be parameterized differently from driver to driver. This takes into account the fact that a petite person is much more receptive to active steering moments than a strong one. The parameterization can be done either via the driver by input or by online estimation of the steering resistance (impedance) of the driver.
In
Fährt ein Fahrzeug F an einer Wand entlang und befindet sich auf der der Wand abgewandten Seite des Fahrzeuges F ein Freiraum, so regelt das erfindungsgemäße Verfahren die Lenksteifigkeit situationsadaptiv so ein, dass einer Lenkbewegung in Richtung Wand ein höherer Lenkwiderstand entgegensteht als einer Lenkbewegung in Richtung Freiraum.If a vehicle F is traveling along a wall and there is a free space on the side of the vehicle F facing away from the wall, the method according to the invention adjusts the steering stiffness in a situation-adaptive manner such that a steering movement in the direction of the wall precludes a higher steering resistance than a steering movement in the direction of free space ,
Claims (10)
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DE201310200028 DE102013200028A1 (en) | 2013-01-02 | 2013-01-02 | Method for situation-adaptive changing of steering stiffness of motor car, involves parameterizing angle controller/steering angle rate controller for steering intervention such that criticality of situation is reflected in stiffness |
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DE201310200028 DE102013200028A1 (en) | 2013-01-02 | 2013-01-02 | Method for situation-adaptive changing of steering stiffness of motor car, involves parameterizing angle controller/steering angle rate controller for steering intervention such that criticality of situation is reflected in stiffness |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005008875A1 (en) * | 2005-02-24 | 2006-09-07 | Daimlerchrysler Ag | Vehicle`s e.g. truck, driver assisting method, involves moving vehicle along or away from target trajectory when force that is applied for operation of steering wheel by driver is increased larger or smaller, respectively |
DE102005034936A1 (en) * | 2005-07-27 | 2007-02-08 | Zf Lenksysteme Gmbh | Method for steering element control in motor vehicle steering system, by determining driver's driving behavior based on motor vehicle movement parameters e.g. lateral acceleration |
DE102007049516A1 (en) * | 2006-10-13 | 2008-04-24 | A.D.C. Automotive Distance Control Systems Gmbh | Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor |
DE102011122190A1 (en) * | 2011-12-23 | 2012-06-28 | Daimler Ag | Method for actuating control torque applied to driver-actuated steering wheel for parking resistance system of vehicle, involves providing set of weights of reference value, and obtaining weighted control value for adjusted control torque |
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2013
- 2013-01-02 DE DE201310200028 patent/DE102013200028A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005008875A1 (en) * | 2005-02-24 | 2006-09-07 | Daimlerchrysler Ag | Vehicle`s e.g. truck, driver assisting method, involves moving vehicle along or away from target trajectory when force that is applied for operation of steering wheel by driver is increased larger or smaller, respectively |
DE102005034936A1 (en) * | 2005-07-27 | 2007-02-08 | Zf Lenksysteme Gmbh | Method for steering element control in motor vehicle steering system, by determining driver's driving behavior based on motor vehicle movement parameters e.g. lateral acceleration |
DE102007049516A1 (en) * | 2006-10-13 | 2008-04-24 | A.D.C. Automotive Distance Control Systems Gmbh | Objects e.g. pedestrian, multimodal-determination system for vehicle i.e. car, has danger processor, where measure for increasing passive security is triggered by relevant objects during detection of danger situation by processor |
DE102011122190A1 (en) * | 2011-12-23 | 2012-06-28 | Daimler Ag | Method for actuating control torque applied to driver-actuated steering wheel for parking resistance system of vehicle, involves providing set of weights of reference value, and obtaining weighted control value for adjusted control torque |
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