DE102017211966A1 - Method and device for operating an automatically steered motor vehicle - Google Patents
Method and device for operating an automatically steered motor vehicle Download PDFInfo
- Publication number
- DE102017211966A1 DE102017211966A1 DE102017211966.7A DE102017211966A DE102017211966A1 DE 102017211966 A1 DE102017211966 A1 DE 102017211966A1 DE 102017211966 A DE102017211966 A DE 102017211966A DE 102017211966 A1 DE102017211966 A1 DE 102017211966A1
- Authority
- DE
- Germany
- Prior art keywords
- motor vehicle
- desired trajectory
- normal
- driving
- trajectory
- 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- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000725 suspension Substances 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000003068 static effect Effects 0.000 claims description 2
- 230000000386 athletic effect Effects 0.000 claims 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W50/00—Details 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftfahrzeugs (1), wobei ein Fahrzeugführer zwischen unterschiedlichen Fahrweisen wählen kann, und wobei in Abhängigkeit von der gewählt Fahrweise Betriebsparameter des Kraftfahrzeugs (1), insbesondere eine Motormomenten-Kennlinie, eine Getriebeschalt-Kennlinie und/oder eine Fahrwerkseinstellung, verändert werden. Es ist vorgesehen, dass in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug (1) automatisch gelenkt wird, um einer Soll-Trajektorie (3,5,6) zu folgen, in Abhängigkeit der gewählten Fahrweise die Soll-Trajektorie (3,5,6) verändert wird.The invention relates to a method for operating a motor vehicle (1), wherein a driver can choose between different driving modes, and depending on the chosen driving mode operating parameters of the motor vehicle (1), in particular an engine torque characteristic, a transmission shift characteristic and / or a suspension setting, to be changed. It is provided that in a partially or fully automated driving operation, in which the motor vehicle (1) is automatically steered in order to follow a desired trajectory (3,5,6), the desired trajectory (3 , 5,6) is changed.
Description
Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftfahrzeugs, wobei ein Fahrzeugführer zwischen unterschiedlichen Fahrweisen wählen kann, und wobei in Abhängigkeit von der gewählten Fahrweise Betriebsparameter des Kraftfahrzeugs, insbesondere eine Motormomenten-Kennlinie, eine Getriebeschalt-Kennlinie und/oder eine Fahrwerkseinstellung, verändert werden.The invention relates to a method for operating a motor vehicle, wherein a driver can choose between different driving modes, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a gearshift characteristic and / or a suspension setting are changed.
Ferner betrifft die Erfindung eine Vorrichtung zum Betreiben eines Kraftfahrzeugs mit einem Steuergerät, das dazu ausgebildet ist, ein derartiges Verfahren durchzuführen sowie ein entsprechendes Kraftfahrzeug.Furthermore, the invention relates to a device for operating a motor vehicle with a control unit, which is designed to perform such a method and a corresponding motor vehicle.
Stand der TechnikState of the art
Verfahren, Vorrichtungen und Fahrzeuge in der eingangs genannten Art sind aus dem Stand der Technik bekannt. Beim Betrieb von Kraftfahrzeugen, die in herkömmlicher Weise über ein Lenkrad handgesteuert sind, kann vorgesehen sein, die Fahrzeugabstimmung an die vom Fahrer gewünschte Fahrweise anzupassen. Beispielsweise kann bei einer elektrisch angetriebenen Servolenkung (EPS) mittels eines Schalters als Auswahlvorrichtung eine der drei Einstellungen „Normal“, „Sport“ und „Komfort“ ausgewählt werden, wodurch das Unterstützungsniveau der Servolenkung an die gewünschte Fahrweise angepasst wird. In der Schalterstellung „Sport“ wird im Vergleich zur Schalterstellung „Normal“ die Unterstützungskennlinie reduziert, so dass der Fahrer zum Lenken mittels Lenkrad ein höheres Handmoment aufbringen muss. Gleichzeitig spürt der Fahrer eine höhere Fahrbahnrückmeldung. In der Schalterstellung „Komfort“ wird im Vergleich zur Schalterstellung „Normal“ die Unterstützungskennlinie erhöht, so dass der Fahrer zum Lenken mittels Lenkrad ein geringeres Handmoment aufbringen muss. Gleichzeitig spürt der Fahrer auch eine geringere Fahrbahnrückmeldung.Methods, devices and vehicles in the aforementioned type are known from the prior art. In the operation of motor vehicles, which are manually controlled in a conventional manner via a steering wheel, it may be provided to adapt the vehicle tuning to the driver's desired driving style. For example, in an electrically driven power steering (EPS) by means of a switch as a selection device one of the three settings "Normal", "Sport" and "Comfort" can be selected, whereby the support level of the power steering is adapted to the desired driving style. In the "Sport" switch position, the support characteristic curve is reduced compared to the switch position "Normal", so that the driver has to apply a higher manual torque for steering by means of a steering wheel. At the same time the driver feels a higher roadway feedback. In the "Comfort" switch position, the support characteristic curve is increased compared to the switch position "Normal", so that the driver has to apply a lower manual torque for steering by means of a steering wheel. At the same time, the driver also feels a lesser road feedback.
Es werden inzwischen aber auch Lenksysteme entwickelt und erprobt, die neben der herkömmlichen händischen Lenkung über ein Lenkrad („Hands on“ Modus) zusätzlich oder alternativ eine autonome Lenkung erlauben, bei der kein händischer Eingriff des Fahrers nötig ist („Hands off“ Modus).In the meantime, however, steering systems have also been developed and tested which, in addition to the conventional manual steering via a steering wheel ("hands on" mode), additionally or alternatively permit autonomous steering, in which no manual intervention by the driver is necessary ("hands off" mode). ,
Offenbarung der ErfindungDisclosure of the invention
Das erfindungsgemäße Verfahren mit den Merkmalen des Anspruchs 1 hat den Vorteil, dass auch bei einer automatischen/autonomen Lenkung des Kraftfahrzeugs die Fahrzeugabstimmung an die vom Fahrer gewünschte Fahrweise angepasst werden kann. Erfindungsgemäß wird dies dadurch erreicht, dass ein Fahrzeugführer zwischen unterschiedlichen Fahrweisen wählen kann, und wobei in Abhängigkeit von der gewählten Fahrweise Betriebsparameter des Kraftfahrzeugs, insbesondere eine Motormomenten-Kennlinie, eine Getriebeschalt-Kennlinie und/oder eine Fahrwerkseinstellung, verändert werden, wobei in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug automatisch gelenkt wird, um einer Soll-Trajektorie zu folgen, in Abhängigkeit der gewählten Fahrweise die Soll-Trajektorie verändert wird. Durch die Veränderung der Soll-Trajektorie kann in vorteilhafter Weise die reale Fahrweise des Kraftfahrzeugs an die vom Fahrer gewünschte Fahrweise auch in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug automatisch gelenkt wird, angepasst werden.The inventive method with the features of claim 1 has the advantage that even with an automatic / autonomous steering of the motor vehicle, the vehicle tuning can be adapted to the driver desired driving style. According to the invention this is achieved in that a driver can choose between different driving styles, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a transmission shift characteristic and / or a suspension setting are changed, in one part - or fully automated driving, in which the motor vehicle is automatically steered to follow a desired trajectory, depending on the selected driving the target trajectory is changed. By changing the target trajectory, the real driving style of the motor vehicle can advantageously be adapted to the driving style desired by the driver, even in a partially or fully automated driving mode, in which the motor vehicle is automatically steered.
Gemäß einer vorteilhaften Weiterbildung der Erfindung ist vorgesehen, dass in Abhängigkeit der gewählten Fahrweise zumindest eine sportliche, eine normale oder eine komfortable Soll-Trajektorie eingestellt wird. Somit kann der Fahrer in vorteilhafter Weise auch bei der automatischen Lenkung des Kraftfahrzeugs zwischen den unterschiedlichen Fahrweisen wählen, die er bei der händischen Lenkung über ein Lenkrad zur Verfügung hat und deren Eigenschaften er kennt. Alternativ oder zusätzlich ist vorgesehen, dass eine sportliche Soll-Trajektorie zum Durchfahren einer Kurve derart vorgegeben wird, dass das Kraftfahrzeug näher an einem Scheitelpunkt der Kurve vorbeigelenkt wird als bei einer normalen Soll-Trajektorie. Ein nahes Vorbeilenken des Kraftfahrzeugs an einem Scheitelpunkt einer Kurve hat den Vorteil, dass diese einfache Änderung der Trajektorie zu einem sportlicheren Fahrgefühl mit hoher Dynamik führt.According to an advantageous development of the invention, it is provided that, depending on the selected driving style, at least one sporty, normal or comfortable desired trajectory is set. Thus, the driver can choose in an advantageous manner in the automatic steering of the motor vehicle between the different driving styles, which he has available in the manual steering via a steering wheel and whose properties he knows. Alternatively or additionally, it is provided that a sporty desired trajectory for driving through a curve is predetermined in such a way that the motor vehicle is steered closer to a vertex of the curve than in the case of a normal desired trajectory. A close Vorbeilenken the motor vehicle at a vertex of a curve has the advantage that this simple change of the trajectory leads to a sportier driving feel with high dynamics.
Weiterhin ist bevorzugt vorgesehen, dass die sportliche Soll-Trajektorie mehr Lenkbewegungen aufweist als die normale Soll-Trajektorie. Alternativ oder zusätzlich ist vorgesehen, dass die sportliche Soll-Trajektorie größere Lenkwinkel aufweist als die normale Soll-Trajektorie. Mehr Lenkbewegungen und/oder größere Lenkwinkel führen ebenfalls in vorteilhafter Weise zu einem sportlicheren Fahrgefühl.Furthermore, it is preferably provided that the sporty desired trajectory has more steering movements than the normal desired trajectory. Alternatively or additionally, it is provided that the sporty desired trajectory has larger steering angles than the normal desired trajectory. More steering movements and / or larger steering angles also lead advantageously to a sportier driving feel.
Alternativ oder zusätzlich kann auch vorgesehen sein, dass eine komfortable Soll-Trajektorie zum Durchfahren der Kurve derart vorgegeben wird, dass das Kraftfahrzeug weiter von dem Scheitelpunkt der Kurve entfernt vorbeigelenkt wird als bei der Normal-Trajektorie. Ein Vorbeilenken des Kraftfahrzeugs in einer weiteren Entfernung von dem Scheitelpunkt einer Kurve hat den Vorteil, dass diese einfache Änderung der Trajektorie zu einem komfortableren Fahrgefühl führt.Alternatively or additionally, it may also be provided that a comfortable desired trajectory for driving through the curve is predetermined in such a way that the motor vehicle is steered further away from the vertex of the curve than in the case of the normal trajectory. A Vorbeilenken the motor vehicle at a further distance from the vertex of a curve has the advantage that this simple change of the trajectory leads to a more comfortable driving experience.
Weiterhin ist bevorzugt vorgesehen, dass die komfortable Soll-Trajektorie weniger Lenkbewegungen aufweist als die normale Soll-Trajektorie. Alternativ oder zusätzlich ist vorgesehen, dass die komfortable Soll-Trajektorie kleinere Lenkwinkel aufweist als die normale Soll-Trajektorie. Weniger Lenkbewegungen und/oder kleinere Lenkwinkel führen ebenfalls in vorteilhafter Weise zu einem komfortableren Fahrgefühl.Furthermore, it is preferably provided that the comfortable desired trajectory has fewer steering movements than the normal desired trajectory. Alternatively or additionally, it is provided that the comfortable desired trajectory has smaller steering angles than the normal desired trajectory. Less steering movements and / or smaller steering angle also lead advantageously to a more comfortable ride.
Gemäß einer bevorzugten Weiterbildung der Erfindung ist vorgesehen, dass die jeweilige Soll-Trajektorie in Abhängigkeit einer aktuellen Verkehrssituation, einer aktuell maximal möglichen Haftreibung zwischen den Rädern und der Fahrbahn, deren Fahrgeschwindigkeit und/oder des Verlaufs der zu befahrenden Straße vorgegeben wird. Durch diese Weiterbildung kann in vorteilhafter Weise unabhängig von der gewählten Fahrweise und der gewählten Soll-Trajektorie auch bei ungünstigen Außenbedingungen wie Regen eine sichere Fahrweise gewährleistet werden.According to a preferred development of the invention, it is provided that the respective desired trajectory is predefined as a function of a current traffic situation, a currently maximum possible static friction between the wheels and the roadway, their travel speed and / or the course of the road to be traveled. As a result of this development, safe driving can be ensured in an advantageous manner, regardless of the selected driving style and the selected desired trajectory, even in unfavorable external conditions, such as rain.
Die erfindungsgemäße Vorrichtung nach Anspruch 8 ist zum Betreiben eines Kraftfahrzeugs, das teil- oder vollautomatisiert betreibbar ist und eine Auswahleinrichtung zum Auswählen einer anderen Fahrweise aufweist, vorgesehen. Die Vorrichtung zeichnet sich durch ein speziell hergerichtetes Steuergerät aus, das dazu ausgebildet ist, bei bestimmungsgemäßem Gebrauch das erfindungsgemäße Verfahren durchzuführen. Es ergeben sich hierdurch die bereits genannten Vorteile.The device according to the invention as claimed in claim 8 is provided for operating a motor vehicle which can be operated partially or fully automatically and has a selection device for selecting a different driving style. The device is characterized by a specially prepared control device, which is designed to perform the inventive method when used as intended. This results in the already mentioned advantages.
Das erfindungsgemäße Kraftfahrzeug nach Anspruch 9, ist dazu ausgebildet, teil- oder vollautomatisiert zu fahren und ist mit einer Auswahleinrichtung zum Auswählen einer von mehreren Fahrweisen ausgestattet. Das Kraftfahrzeug zeichnet sich durch die erfindungsgemäße Vorrichtung mit dem Steuergerät aus, das dazu ausgebildet ist, bei bestimmungsgemäßem Gebrauch das erfindungsgemäße Verfahren durchzuführen.The motor vehicle according to the invention as claimed in claim 9 is designed to be partially or fully automated and is equipped with a selection device for selecting one of a plurality of driving modes. The motor vehicle is characterized by the device according to the invention with the control unit, which is designed to perform the inventive method when used as intended.
Weitere Vorteile und bevorzugte Merkmale und Merkmalskombinationen ergeben sich insbesondere aus dem zuvor beschriebenen sowie aus den Ansprüchen.Further advantages and preferred features and combinations of features emerge in particular from the previously described and from the claims.
Im Folgenden soll die Erfindung anhand der Figuren näher erläutert werden. Dazu zeigen
-
1 den Wegverlauf eines erfindungsgemäßen Kraftfahrzeugs in einer Kurvenfahrt bei normaler Soll-Trajektorie, -
2 den Wegverlauf eines erfindungsgemäßen Kraftfahrzeugs in einer Kurvenfahrt bei sportlicher Soll-Trajektorie, -
3 den Wegverlauf eines erfindungsgemäßen Kraftfahrzeugs in einer Kurvenfahrt bei komfortabler Soll-Trajektorie.
-
1 the route of a motor vehicle according to the invention in a cornering at normal nominal trajectory, -
2 the course of a motor vehicle according to the invention when cornering at sporty desired trajectory, -
3 the course of a motor vehicle according to the invention in a cornering with comfortable desired trajectory.
Neben der gewählten Fahrweise kann die Soll-Trajektorie durch das Steuergerät zusätzlich auch durch andere Parameter bestimmt werden, insbesondere externe Parameter, wie die aktuelle Verkehrssituation, die aktuellen Reibwerte an den Reifen, die durch die Wetterbedingungen beeinflusst werden und den Straßenverlauf, aber auch fahrzeuginterne Parameter, wie der allgemeine Fahrzeugzustand und der bekannten Reglerperformance der unterlagerten EPS Zahnstangenpositionsregelung.In addition to the chosen driving style, the desired trajectory can be additionally determined by the control unit by other parameters, in particular external parameters, such as the current traffic situation, the current friction coefficients on the tires, which are influenced by the weather conditions and the road, but also in-vehicle parameters , such as the general vehicle condition and the known regulator performance of the underlying EPS rack position control.
Entsprechend der mit der Auswahlvorrichtung gewählten Fahrweise wird durch das Steuergerät die entsprechende Soll-Trajektorie ausgewählt. Zusätzlich kann durch das Steuergerät die Dynamik eines überlagerten Trajektorienreglers sowie einer unterlagerten EPS -Zahnstangenpositionsregelung angepasst werden.In accordance with the driving mode selected with the selection device, the corresponding desired trajectory is selected by the control device. In addition, the dynamics of a higher-level trajectory controller and a subordinate EPS rack position control can be adjusted by the control unit.
Im Sportmodus wird die Kurve
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017211966.7A DE102017211966A1 (en) | 2017-07-12 | 2017-07-12 | Method and device for operating an automatically steered motor vehicle |
PCT/EP2018/068198 WO2019011766A1 (en) | 2017-07-12 | 2018-07-05 | Method and device for operating and automatically steered motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017211966.7A DE102017211966A1 (en) | 2017-07-12 | 2017-07-12 | Method and device for operating an automatically steered motor vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102017211966A1 true DE102017211966A1 (en) | 2019-01-17 |
Family
ID=62873327
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102017211966.7A Withdrawn DE102017211966A1 (en) | 2017-07-12 | 2017-07-12 | Method and device for operating an automatically steered motor vehicle |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102017211966A1 (en) |
WO (1) | WO2019011766A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021202280A1 (en) | 2021-03-09 | 2022-09-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Device and method for operating a vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090254253A1 (en) * | 2008-04-02 | 2009-10-08 | Gm Global Technology Operations, Inc. | Adaptive steering control for a motor vehicle |
DE102012011301A1 (en) * | 2012-06-06 | 2013-12-12 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Method for controlling lane-tracking assistant for motor vehicle, involves determining vehicle distance to lane edge, generating steering torque, and considering curve radius of roadway as reference curve is tilted forming secondary minimum |
DE102013017212A1 (en) * | 2013-10-16 | 2015-04-16 | Audi Ag | Motor vehicle and method for controlling a motor vehicle |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013013867A1 (en) * | 2013-08-20 | 2015-03-12 | Audi Ag | Motor vehicle and method for controlling a motor vehicle |
US9365218B2 (en) * | 2014-07-14 | 2016-06-14 | Ford Global Technologies, Llc | Selectable autonomous driving modes |
EP3240714B1 (en) * | 2014-12-29 | 2023-08-30 | Robert Bosch GmbH | Systems and methods for operating autonomous vehicles using personalized driving profiles |
-
2017
- 2017-07-12 DE DE102017211966.7A patent/DE102017211966A1/en not_active Withdrawn
-
2018
- 2018-07-05 WO PCT/EP2018/068198 patent/WO2019011766A1/en active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090254253A1 (en) * | 2008-04-02 | 2009-10-08 | Gm Global Technology Operations, Inc. | Adaptive steering control for a motor vehicle |
DE102012011301A1 (en) * | 2012-06-06 | 2013-12-12 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Method for controlling lane-tracking assistant for motor vehicle, involves determining vehicle distance to lane edge, generating steering torque, and considering curve radius of roadway as reference curve is tilted forming secondary minimum |
DE102013017212A1 (en) * | 2013-10-16 | 2015-04-16 | Audi Ag | Motor vehicle and method for controlling a motor vehicle |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021202280A1 (en) | 2021-03-09 | 2022-09-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Device and method for operating a vehicle |
Also Published As
Publication number | Publication date |
---|---|
WO2019011766A1 (en) | 2019-01-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102011010845B3 (en) | Method and device for influencing the cornering behavior of a motor vehicle and motor vehicles | |
DE102008057313B4 (en) | Method and device for determining a corrective steering torque | |
DE102015001248B4 (en) | Method and system for operating a motor vehicle | |
DE102018101181B4 (en) | Method for controlling a steer-by-wire steering system when a maximum available power of the steering actuator is reached | |
DE102017221379B4 (en) | Method for operating a motor vehicle and corresponding motor vehicle | |
DE102019202003A1 (en) | Method for controlling a steering system for a motor vehicle and a steering system for a motor vehicle for carrying out the method | |
DE102012013690B4 (en) | Method for adapting a supportive steering of a vehicle and driver assistance system | |
EP3589531A1 (en) | Operating method for a steer-by-wire steering system, control unit for a steer-by-wire steering system, steer-by-wire steering system, and vehicle | |
EP3947067B1 (en) | Brake regulating device, braking method, and brake system for a rail vehicle | |
WO2019201792A1 (en) | Method for controlling a steer-by-wire steering system comprising a limiter for reaching a safety level | |
DE102006017714B4 (en) | Method for characteristic or map-dependent variation of the applied over a steering wheel of an active or semi-active steering system or a pedal of a motor vehicle steering or torque | |
DE102016207049B4 (en) | Trajectory planning method for automated driving | |
WO2019011766A1 (en) | Method and device for operating and automatically steered motor vehicle | |
DE102019134568A1 (en) | Method for operating a power steering system of a vehicle, power steering system and vehicle | |
DE102018119268B4 (en) | Rack force optimized steering feel of a steer-by-wire motor vehicle steering system | |
DE102009003147A1 (en) | Method for operating a steering system in a vehicle | |
DE102016222985A1 (en) | Electromechanical steering and method for controlling electromechanical steering | |
DE112018004394T5 (en) | Adjusting a drift gain according to a steering wheel torque to improve the feel of a power steering system | |
DE102019208395A1 (en) | Method for influencing the lateral dynamics of a vehicle | |
EP3853108B1 (en) | Adjustment of the steering feel subject to the steering speed | |
DE102017220486A1 (en) | Method for adapting a predetermined reference line for a motor vehicle and device | |
DE102018215487B4 (en) | Method for guiding, in particular lateral guiding, of a vehicle | |
DE102022204503B3 (en) | Method for operating a steering system, computer program product and vehicle | |
DE102006008071A1 (en) | Towing vehicle and uni-axial trailer combination control system, has electronically controllable drive train with electronically controllable steering device, by which guidance intervention is implemented according to measure of drive input | |
DE102014112444B4 (en) | Procedure for level regulation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R163 | Identified publications notified | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |