DE102020106317A1 - VEHICLE CONTROL SYSTEM AND PROCEDURES - Google Patents

Abstract

Embodiments of the present invention provide a control system (100) that implements one or more stability parameters of a host vehicle (800). The control system (100) has one or more controllers (120) that receive data from one or more sensors that indicate surroundings of the carrier vehicle (800). One or more processors (130) identify the presence of a target vehicle (T) and one or more features of the target vehicle (T) from the data. The one or more processors (130) are arranged to identify one or more stability parameters of the host vehicle (800) as a function of one or more properties of the target vehicle (T). The processor generates a suspension control signal at output (121), which is received by a suspension controller (140) in order to implement the one or more stability parameters of the carrier vehicle (800) before the carrier vehicle (800) reaches the target vehicle (T). happens.

Description

TECHNICAL PART

The present disclosure relates generally to a control system and method and in particular, but not exclusively, to a control system and method for implementing one or more stability parameters of a vehicle. Aspects of the invention relate to a control system for applying one or more vehicle stability parameters, a vehicle comprising the system, a method for implementing one or more stability parameters and a computer program product, a non-transitory computer-readable medium and a processor for implementing the method or of the com puter program m product.

BACKGROUND

Large vehicles, e.g. Trucks or buses traveling at high speed cause significant disruption of the aerodynamic environment. This disturbance occurs most often in smaller vehicles, e.g. with passing vehicles, i.e. Cars when driving through the aerodynamic environment created by the larger vehicle.

Such encounters usually take place when a smaller vehicle is overtaking a larger vehicle. The driver of the smaller vehicle must watch out for a push-pull-push effect of the smaller vehicle in the course of the overtaking maneuver and often take corrective action on the steering wheel of the smaller vehicle to keep the smaller vehicle on course.

This phenomenon is a direct result of the aerodynamic environment created by the larger vehicle, and in particular a so-called bow wave that extends the length of a truck.

Vehicle comfort and rest can be adjusted by adjusting one or more vehicle stability parameters, e.g. the suspension parameters. However, these tend to be reactive in nature in either active or semi-active suspension systems, i.e. the adaptation takes place in response to a specific disturbance, or they are based on a different vehicle mode and are therefore not tailored to a specific situation.

The object of the invention is therefore to provide a preventive vehicle stability system in which one or more vehicle stability parameters are implemented before the carrier vehicle and a target vehicle drive past.

Another object of the invention is to mitigate at least one or more problems in the prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a control system, method, vehicle, computer program, non-transitory computer readable medium, and processor as claimed in the appended claims.

According to one aspect of the invention there is provided a control system for a vehicle, the control system comprising one or more controllers, the control system configured to: receive environmental data indicative of surroundings of a host vehicle; identifies the presence of a target vehicle from the environmental data; identifies one or more features of the target vehicle from the environmental data; determines one or more stability parameters of the host vehicle as a function of the one or more features of the target vehicle; and implement the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle.

It is advantageous if a control system according to the present invention helps to maintain the stability and / or calmness of the host vehicle or at least to reduce the influence of the aerodynamic environment that surrounds and is created by a target vehicle when the host vehicle is the target vehicle happens. Such an effect reduces the need for the driver of the host vehicle to take corrective measures when a target vehicle is driven over, or at least reduces the scope of the necessary corrective measures.

Optionally, the one or more controllers may include: an electrical input configured to receive an electrical signal indicative of environmental data; one or more processors configured to identify from the environmental data: the presence of a target vehicle; one or more characteristics of the target vehicle; and determine one or more stability parameters of the host vehicle as a function of the one or more properties of the target vehicle; an electrical output configured to output one or more electrical signals to implement the one or more stability parameters.

The implementation of the one or more stability parameters can include the output of data which indicate the one or more parameters, for example in the form of one or more electrical signals.

The overtaking of the carrier and target vehicles may involve an interaction, e.g. include aerodynamic interaction between the host vehicle and the target vehicle. An aerodynamic interaction can depend on a carrier vehicle being in the vicinity of a target vehicle or within a certain area of the target vehicle, for example such that the carrier vehicle experiences an aerodynamic disturbance that is generated by the target vehicle. Additionally or alternatively, an aerodynamic interaction can be dependent on the speed of the carrier and / or target vehicle.

The implementation of one or more stability parameters of the host vehicle prior to an aerodynamic interaction between the host vehicle and the target vehicle can improve the stability, comfort and / or calmness of the host vehicle during the aerodynamic interaction.

In embodiments, environmental data can be received from one or more sensors. The one or more sensors can consist of lidar, radar or imaging means, for example a stereo camera. The one or more sensors may consist of one or more forward, forward, or forward facing sensors, one or more side, side, or side facing sensors and / or one or more rearward, rearward, or rearward facing sensors. The one or more sensors can provide 360 degree coverage of the surroundings of the host vehicle.

The environmental data can include weather data. The weather data can provide information about weather conditions in the vicinity of the carrier vehicle or in its vicinity. The weather data can e.g. can be received wirelessly from a central server or weather forecast station. In embodiments, the weather data can be determined by sensor means located on the carrier vehicle. The weather data can be received from other vehicles. The other vehicles can be linked vehicles, e.g. to vehicles that are part of a connected vehicle network and / or are connected to the carrier vehicle via one or more intermediate networks.

In the case of an aerodynamic interaction, the weather can affect the aerodynamic environment. The provision of weather data as part of the environmental data can therefore help to further improve the stability, comfort and / or calmness due to the effects of the weather conditions on the aerodynamic environment, which are taken into account when determining one or more stability parameters of the host vehicle.

The one or more stability parameters of the host vehicle can be determined as a function of one or more properties of the target vehicle in combination with the weather data.

The one or more features can include one or more variables of the target vehicle, a speed of the target vehicle, a lateral displacement between the carrier vehicle and the target vehicle, and a minimum distance between the carrier vehicle and the target vehicle.

Taking one or more of these properties into account is advantageous in that one or more stability parameters can be optimized or refined based on the size of the target vehicle.

The size of the target vehicle may include one or more of the following: the total height of the target vehicle, the total width of the target vehicle, and the total length of the target vehicle.

In embodiments, the size of the target vehicle is composed of a combination of the total height of the target vehicle, the total width of the target vehicle and the total length of the target vehicle.

Optionally, the size of the target vehicle may include a cross-sectional area of the target vehicle, e.g. on a plane perpendicular to a main axis of the target vehicle or on a plane parallel to a main axis of the target vehicle.

The total height of the target vehicle, the total width of the target vehicle and the total length of the target vehicle can include one or more threshold values, via which one or more stability parameters of the host vehicle are determined.

The threshold for the overall height can be greater than 2.0 m, for example 2.2 m, 2.4 m, 2.6 m or 2.8 m. Optionally, the threshold for the total height can be 2.9 m.

The threshold value for the total width can be at least 1.6 m, for example 1.8 m, 1.9 m or 2.0 m. Optionally, the threshold value for the total width can be 2.1 m.

Optionally, the threshold value for the total length is greater than 5.0 m, for example 5.5 m, 6.0 m or 6.5 m. Optionally, the threshold for the total length can be 6.9 m.

Alternatively, the total height of the target vehicle, the total width of the target vehicle and the total length of the target vehicle can include one or more values, within which one or more stability parameters of the host vehicle are determined.

The range for the total height can be 2.0m-4.0m, for example 2.2m-3.8m, 2.4m-3.6m, 2.8-3.4m.

For embodiments, the range for the total width is 1.6m-2.6m, for example 1.8m-2.4m or 2.0m-2.2m.

In embodiments, the range for the total length is 5.0m-8.0m, for example 5.5m-7.5m or 6.0m-7.0m.

The lateral displacement between the host vehicle and the target vehicle can include a threshold value, below which one or more stability parameters of the host vehicle are determined.

Optionally, the threshold value for the lateral displacement can be 5.0 m, 4.5 m or 4.0 m. In some embodiments, the lateral displacement threshold may be 3.55 meters.

The lateral displacement between the carrier vehicle and the target vehicle can be determined or predicted, for example as a function of a probable or probable trajectory of the carrier vehicle and / or the target vehicle. The lateral displacement between the host and target vehicles can be determined or predicted based on a preprogrammed route, e.g. a route programmed in a navigation system of the carrier and / or target vehicle.

The speed of the target vehicle can include a threshold value, above which one or more stability parameters of the host vehicle are determined. The speed threshold can be determined as a function of one or more other characteristics of the target vehicle, e.g. the size of the target vehicle. The speed of the target vehicle can be determined as a function of the speed of the carrier vehicle and the approach speed or the speed of the approach between the carrier vehicle and the target vehicle.

The threshold speed can be at least 20mph, 30mph, 40mph, 50mph, or 60mph. The speed range can be 20mph-60mph, for example 25mph-55mph, 30mph-50mph, 35mph-45mph.

The one or more stability parameters of the host vehicle may only be implemented if the size and speed of the target vehicle exceed predetermined values and the lateral displacement is equal to or less than a predetermined value.

The provision of one or more threshold values is advantageous in that stability parameters can only be implemented when necessary. If, for example, the target vehicle or a target vehicle is so large or drives at such a speed that it would have little or no effect on the carrier vehicle when driving past, this can be taken into account by defining one or more threshold values.

The system can be configured in such a way that it uses the environmental data to monitor a spatial relationship between the host vehicle and the target vehicle. The spatial relationship between the host vehicle and the target vehicle can be monitored while the vehicle is driving past. The spatial relationship can include the location of the target vehicle in relation to the host vehicle.

The control system can be set up to repeatedly determine the spatial relationship between the host vehicle and the target vehicle by monitoring as the host vehicle and the target vehicle pass by. In addition, the control system can be set up in such a way that it determines the spatial relationship between the host vehicle and the target vehicle before and / or after the host vehicle and the target vehicle pass.

The control system can be configured in such a way that it determines one or more of the following variables depending on the spatial relationship: the current lateral displacement of the target vehicle with respect to the host vehicle, the lateral displacement between the carrier and the target vehicle and the complete overtaking.

The spatial relationship can be the lateral displacement between the carrier vehicle and include the target vehicle and / or the longitudinal displacement between the carrier vehicle and the target vehicle. The spatial relationship can be determined from a combination of the lateral displacement and the longitudinal displacement between the carrier vehicle and the target vehicle.

Optionally, the received environmental data, e.g. When the carrier and target vehicle drive past, an indication of a region that is to the side or side of the carrier vehicle.

In some embodiments, the control system can be configured to update one or more stability parameters when it is determined that the target vehicle is no longer present, the lateral displacement between the host vehicle and the target vehicle exceeds a predetermined value, or the overhaul is complete.

Such a function advantageously enables the control system to implement more suitable stability parameters when the target vehicle is no longer present. Such a feature can optimize the stability, comfort, and / or calm of the host vehicle.

The update of the one or more stability parameters can comprise the return to an earlier stability parameter or, if no stability parameter was present, the switching off of the one or more stability parameters. Updating one or more stability parameters can include deactivating the system.

The control system can be set up in such a way that it receives updated environmental data and recognizes the presence of another target vehicle from the data.

In embodiments, the updated environmental data can be received while the host vehicle and a target vehicle are passing by.

If a further target vehicle is usually identified on a common longitudinal axis with the target vehicle, the system can be configured in such a way that a described gap between the target vehicle and the further target vehicle is determined.

The control system can be configured in such a way that the stability parameters determined are retained if it is established that the described distance between the target vehicle and another target vehicle is below a predetermined threshold value.

Such a feature can help improve stability, comfort and / or calmness when the host vehicle passes more than one target vehicle. The function prevents the system from adapting one or more stability parameters that are still required when the other target vehicle is driven over and thus contributes to improving the stability of the carrier vehicle.

In embodiments, the threshold distance is less than 100 m, for example less than 90 m, 80 m, 70 m, 60 m or 53 m. The threshold distance can be dynamic or depend on a property of one or more of the target vehicles or further target vehicles.

The control system can be configured to determine an activation point before a passage and a deactivation point after a passage, the activation point being a point at which one or more particular stability parameters are implemented and the deactivation point being a point at which the or the determined stability parameters are updated.

The update of the one or more stability parameters can comprise the return to an earlier stability parameter or, if no stability parameter was present, the switching off of the one or more stability parameters. Updating one or more stability parameters can include deactivating the system.

The control system can be configured in such a way that an activation zone described between activation and deactivation points is determined.

The control system can be configured to have one or more of the activation and deactivation points, e.g. their location, determined depending on one or more properties of the target vehicle.

The control system can be configured so that the deactivation point is the one at which a passage is complete. The control system can be configured to use environmental data to determine that a handover is complete.

The control system can be configured to use the environmental data to determine whether the host vehicle should overtake the target vehicle, whether the target vehicle should overtake the host vehicle, or whether the target vehicle is an oncoming vehicle.

The control system can be configured such that it determines one or more stability parameters depending on whether the target vehicle is to be overtaken by a carrier vehicle, the target vehicle is to overtake the carrier vehicle or the target vehicle is an oncoming vehicle.

In embodiments, the one or more stability parameters include one or more parameters for controlling the suspension.

The one or more parameters of the chassis control can consist of one or more reinforcements of the chassis controller, the chassis damping, the ride height and the chassis rigidity.

The determination of one or more stability parameters can include the determination of one or more yaw and roll stability of the vehicle.

In embodiments, the one or more stability parameters include one or more parameters of the drive train or the drive train controller. The one or more parameters of the powertrain may include engine or engine output torque. The one or more parameters of the drive train can be a torque distribution, e.g. between the wheels of the carrier vehicle. The one or more stability parameters may include one or more braking parameters or braking control parameters.

In some embodiments, the control system may include: a suspension controller for a vehicle suspension having one or more suspension actuators, wherein the suspension controller is arranged to receive the one or more stability parameters and to control the one or more suspension actuators to adjust the one or more to implement several stability parameters.

According to another aspect of the invention, there is provided a method for controlling a suspension system of a vehicle, the method comprising: identifying the presence of a target vehicle from environmental data indicating the surroundings of a host vehicle; Identifying one or more features of the target vehicle from the environmental data; Determining one or more stability parameters of the host vehicle as a function of the one or more features of the target vehicle; Implement the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle.

Optionally, the one or more properties of the target vehicle include one or more variables of the target vehicle, a speed of the target vehicle, a lateral displacement between the carrier vehicle and the target vehicle and a minimum distance between the carrier vehicle and the target vehicle.

In embodiments, the method can include the implementation of one or more stability parameters of the host vehicle only if the size and speed of the target vehicle exceed predetermined values and the lateral displacement is equal to or less than a predetermined value.

The method can include the monitoring of a spatial relationship between the host vehicle and the target vehicle while the host vehicle and the target vehicle are driving past from the environmental data.

Depending on the spatial relationship, the method can include the determination of one or more of the following variables: the lateral displacement of the target vehicle relative to the carrier vehicle, the lateral displacement between the carrier and target vehicle and the complete overtaking.

In embodiments, the method comprises updating one or more stability parameters when it is determined that the target vehicle is no longer present, the lateral displacement between the carrier and the target vehicle exceeds a predetermined value, or the drive past is completed.

Updating the one or more stability parameters may include returning to a previous stability parameter.

The method may include receiving updated environmental data and identifying the presence of another target vehicle from the data.

The updated environment data can be received while the carrier and target vehicles are driving past.

The method can include the identification of whether a further target vehicle is located on a common longitudinal axis with the target vehicle, and if so, the determination of a described gap between the target vehicle and the further target vehicle.

Optionally, the method includes maintaining the stability parameters determined, if it is established that the described distance between the target vehicle and another target vehicle is below a predetermined threshold value.

The method may include determining an activation point before an overflight and a deactivation point after an overflight, the activation point being a point at which the one or more particular stability parameters are implemented and the deactivation point being a point at which the one or more Stability parameters are updated.

The method can include the determination of an activation zone described between the activation point and the deactivation point.

In embodiments, the method includes determining one or more of the activation and deactivation points as a function of one or more properties of the target vehicle.

The method may include determining the deactivation point at which passage is complete.

Optionally, the method includes determining from the environmental data whether the target vehicle is to be overtaken by the carrier vehicle, whether the target vehicle is to overtake the carrier vehicle, or whether the target vehicle is an oncoming vehicle.

According to another aspect of the invention, a vehicle is provided which comprises a control system as described above or is arranged to carry out a method as described above

According to another aspect of the invention, a computer program product executable on a processor is provided for implementing the method described above.

According to another aspect of the invention, a non-temporary computer-readable data carrier is provided with a computer-readable code which, when executed, causes a vehicle to carry out the method described above.

According to a further aspect of the invention, a processor is provided which implements the method described above or the computer program product described above.

Figure list

• ist ein Schema eines Regelsystems zur Steuerung einer Fahrzeugaufhängung;
• ist ein Flussdiagramm, das eine Methode zur Implementierung eines Stabilitätsparameters entsprechend einer Verkörperung der Erfindung veranschaulicht;
• ist ein Flussdiagramm, das eine Methode zur Implementierung eines Stabilitätsparameters gemäß einer anderen Verkörperung der Erfindung veranschaulicht;
• ist ein Flussdiagramm, das eine Methode zur Implementierung eines Stabilitätsparameters gemäß einer anderen Verkörperung der Erfindung veranschaulicht;
• ist eine Draufsicht, die schematisch ein Träger-Fahrzeug und ein Zielfahrzeug zeigt;
• ist eine Draufsicht, die schematisch ein Träger-Fahrzeug und ein Zielfahrzeug zeigt; und
• ist eine Draufsicht, die schematisch ein Träger-Fahrzeug, ein Zielfahrzeug und ein weiteres Zielfahrzeug zeigt; und
• ist ein Fahrzeug nach einer Verkörperung der vorliegenden Erfindung.

Embodiments of the invention will now be described only by way of example with reference to the accompanying drawings in which they are described:

• Figure 3 is a schematic of a control system for controlling a vehicle suspension;
• Figure 3 is a flow diagram illustrating a method for implementing a stability parameter in accordance with an embodiment of the invention;
• Figure 3 is a flow diagram illustrating a method for implementing a stability parameter in accordance with another embodiment of the invention;
• Figure 3 is a flow diagram illustrating a method for implementing a stability parameter in accordance with another embodiment of the invention;
• Fig. 13 is a plan view schematically showing a host vehicle and a target vehicle;
• Fig. 13 is a plan view schematically showing a host vehicle and a target vehicle; and
• Fig. 13 is a plan view schematically showing a host vehicle, a target vehicle, and another target vehicle; and
• Fig. 3 is a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION

With reference to is now a schematic system diagram of a control system 100 shown according to an embodiment of the invention for implementing one or more stability parameters. The tax system 100 includes an electrical input 122 of the controller 120 that generates an electrical signal during operation 110 receives. The electrical input 122 can be in the form of an electrical pin connection to an input means of the controller 120 take place, the one or more electrical devices for receiving the electrical signal 110 may include. The controller 120 has a processor 130 and a memory 135 for storing data. The processor 130 is an electronic processor for executing computer-readable instructions. The processor 130 is configured to access the memory 135 to execute computer readable instructions stored therein. The memory 135 can also be used to store data that the processor 130 can handle it.

The electrical signal 110 is an indicator or representation of environmental data. The environmental data are an indication of the surroundings of a carrier vehicle 800 or representative of the surroundings of a carrier vehicle 800 , as in shown, ie the vehicle 800 is a vehicle 800 in which the tax system 100 is installed or implemented. The environmental data are collected from one or more recording means associated with the vehicle 800 can be connected, collected or received. The one or more detection means are arranged in such a way that they cover one or more aspects of the surroundings of the vehicle 800 determine and can include one or more detection devices in the form of one or more lidar, radar or imaging means, for example imaging devices, stereo cameras (not shown), in this embodiment. The memory 135 is arranged so that it can be driven by the electrical signal 110 saves environmental data shown. The memory 135 can also provide information and parameters related to the control system 100 to save.

The processor 130 is arranged so that he can get the electrical signal 110 processed and an output signal 121 at the exit facility 123 that produces an electrical output 123 of the controller 120 may be the one or more electrical devices for outputting the electrical signal 121 may include. The output signal 121 is from an electrical input 141 a chassis controller 140 a vehicle suspension 150 received in this version.

The output signal 121 provides a suspension control signal in this embodiment. The suspension control signal is arranged to implement one or more stability parameters specified by the processor 130 to be determined. The output signal 121 of the controller 120 is at the electrical entrance 141 of the chassis controller 140 receive. The suspension regulator 140 is arranged so that it is the vehicle's suspension 150 calibrated or adjusted to one or more stability parameters depending on that at the electrical input 141 to implement the received signal. The calibration of the vehicle suspension 150 influences or adjusts the dynamics of the carrier vehicle 800 over the wheel 160 learns about, for example, the comfort and tranquility of the carrier vehicle 800 in the event of a fault, ie during an interaction between the host vehicle 800 and target vehicle T to influence.

The one or more stability parameters can be one or more parameters of the chassis control, for example an amplification of the chassis controller, the chassis damping, the ride height and the rigidity of the suspension. The one or more stability parameters is / are arranged so that the calibration of the vehicle suspension 150 can be adjusted. The one or more stability parameters can be implemented individually or in combination. Each stability parameter can affect the vehicle suspension differently 150 impact. Any of the above or any other stability or suspension control parameters can be controlled by a suspension control signal in the form of the output signal 121 being represented.

With reference to now becomes a method 200 to operate the control system 100 according to an embodiment of the invention. The method 200 starts at 210 , the carrier vehicle 800 travels on a navigable path, e.g. a road. The method 200 then go to step 220 about where the environmental data from the controller 120 via the electrical input described above 110 be received. The environmental data are an indication of the surroundings or the surroundings of the carrier vehicle 800 .

In step 230 the processor determines 130 the presence of a target vehicle T based on the environmental data, as in FIG to shown. The target vehicle T is another vehicle in the vicinity of the host vehicle 800 , ie within the range of one or more sensors of the carrier vehicle 800 . The target vehicle T can go in the same direction as the host vehicle 800 or in an opposite direction to the host vehicle 800 drive.

If the presence of the target vehicle T is not identified, the method returns 200 to step 220 in which the environmental data from the controller 120 be received. That is, the method waits in step 220 that the target vehicle T is identified or recognized.

When the target vehicle T is identified, the processor determines 130 in step 240 one or more features of the target vehicle T as a function of the environmental data. In the present embodiment, step 240 one or more of the size of the target vehicle T, the speed of the target vehicle T and the lateral displacement between the host vehicle 800 and the target vehicle T can be determined.

In step 250 the method 200 becomes a stability parameter of the carrier vehicle 800 determined as a function of the determined properties of the target vehicle T. The stability parameter can be determined with the aim that the comfort and the calmness of the carrier vehicle 800 during an interaction between the host vehicle 800 and the target vehicle T, for example the carrier vehicle driving past 800 and the target vehicle T, i, is maintained or maximized.e. during an aerodynamic interaction between the host vehicle 800 and the target vehicle T. The stability parameter is one or more parameters of the suspension control, for example one or more Reinforcements of the suspension regulator, suspension damping, ride height and suspension stiffness. The one or more parameters of the suspension control is / are arranged so that the calibration of the vehicle suspension 150 of the carrier vehicle 800 is adapted, for example, to the comfort and tranquility of the carrier vehicle 800 to influence, ie during an interaction between the host vehicle 800 and the target vehicle T.

A change in the gain of the suspension regulator can affect the response of the vehicle's suspension 150 affect a disturbance, e.g. during an interaction between the carrier vehicle 800 and the target vehicle T. An increase in the gain of the suspension controller can, for example, result in a greater response or a reaction of the vehicle suspension 150 lead to a disturbance of larger size / amplitude.

A change in the damping or stiffness of the suspension can affect the dynamic behavior of the vehicle suspension 150 affect a disruption. For example, an increase in suspension stiffness can cause the vehicle suspension 150 in the event of a fault, ie during an interaction, is more resistant to displacement.

An increase in the suspension damping can lead to the vibration behavior of the vehicle suspension 150 , for example in response to a disturbance during an interaction, is shortened.

A change in the ride height, for example an increase in the ride height, can improve the comfort and tranquility of the carrier vehicle 800 during an interaction, ie due to an increase in the center of gravity of the carrier vehicle 800 , affect.

The one or more stability parameters of the host vehicle 800 can be determined in relation to one or more threshold values. In some embodiments, one or more stability parameters of the host vehicle are used 800 only determined when the in step 240 determined one or more features fall above or below predetermined threshold values. For example, one or more stability parameters of the carrier vehicle 800 can only be determined if one or more of the total height of the target vehicle T is greater than a predetermined height, for example greater than 2.0 m, for example 2.2 m, 2.4 m, 2.6 m, 2.8 m or 2.9 m, the total width of the target vehicle T is greater than 2.1 m and the lateral displacement between the carrier vehicle 800 and the target vehicle T is less than 3.55 m and the speed of the target vehicle T is greater than a predetermined speed, for example 30 mph.

In some embodiments, the stability parameter is stored using a reference-based structure in memory 135 of the controller 120 certainly. The reference-based structure can be a look-up table based on one or more of the in step 240 determined features of the target vehicle T is based. The one or more characteristics of the target vehicle can be used as a key to the reference-based structure in order to retrieve the stability parameter. However, any suitable equation or algorithm for determining the stability parameter (s) based on the characteristic (s) of the target vehicle T is provided.

Once the stability parameter in step 250 is determined, the method goes 200 to step 260 about where through the processor 130 it is determined whether the carrier vehicle 800 and the target vehicle T, which should possibly drive past each other, should cooperate. The overhaul can be carried out by the carrier vehicle 800 that overtakes the target vehicle T, the target vehicle T that the host vehicle 800 overtaken or by the carrier vehicle 800 and the target vehicle T passing each other in the opposite direction.

Determining whether the carrier vehicle 800 and the target vehicle T are to pass is achieved in some embodiments by the controller 120 at respective times, ie at intervals, receives environmental data and the processor 130 the location of the target vehicle T relative to the carrier vehicle from the environmental data at the respective times 800 certainly. From the change in the location of the target vehicle T relative to the carrier vehicle 800 can the processor 130 determine whether the vehicles should drive past each other.

Although it is described that the controller 120 It is also provided that the controller receives environmental data at time intervals 120 continuously, ie as a time-varying signal, can receive environmental data. In this case, in some embodiments, a value of the signal can be determined at corresponding time intervals.

Additionally or alternatively, the determination of whether the host vehicle 800 and the target vehicle T are to be reached, depending on a user input. The user input can, for example, involve the use of a blinker control on the carrier vehicle 800 be to signal a change of direction, or a steering input to the movement of the vehicle from a current lane to an adjacent lane of the Carrier vehicle 800 to control. The user input can be used in combination with the environmental data.

If in step 260 it is found that the carrier vehicle 800 and the target vehicle T should not pass each other, the method reverses 200 to step 220 in which the environmental data from the controller 120 be received. It is estimated that the environmental data can be received continuously during other steps of the method 200 be performed.

If in step 260 it is determined that the carrier vehicle 800 and the target vehicle T are to pass each other, the method drives 200 with step 270 continued with the regulator 120 a landing gear control signal 121 at the electrical output 123 to the landing gear controller 140 sends to the in step 250 certain stability parameters in the chassis control 150 to implement. step 270 before the interaction, ie overtaking, of the carrier vehicle 800 and the target vehicle T carried out so that the stability parameter during the entire duration of the interaction, ie overtaking, the host vehicle 800 and the target vehicle T, ie prior to the aerodynamic interaction between the host vehicle 800 and the target vehicle T, is implemented, for example in such a way that comfort and quiet are maintained or maximized.

In step 280 either the existing stability parameter is retained during the entire interaction, ie during the run, or method 200 is according to method 300 in continued.

With reference to now becomes a method 300 according to an embodiment of the invention. The method 300 can be considered a continuation of the method 200 be considered, ie it will follow the method 200 carried out.

The method 300 takes place during an interaction, such as passing the carrier vehicle 800 and the target vehicle T. In the present embodiment, the method is performed 300 from the point at which the stability parameter in step 270 the method 200 is implemented.

At step 310 the environmental data from the controller 120 at the electrical input described above 122 received and in memory 135 saved. The environment data, as described above, is an indication of the environment or the environment of the carrier vehicle 800 . In the present embodiment, the environmental data includes data indicating a region on the side and a region behind the host vehicle 800 display and from one or more side sensors and one or more rear sensors of the carrier vehicle 800 be received.

Once the environment data is received, the method goes 300 to step 320 about where the processor 130 the spatial relationship between the carrier vehicle 800 and the target vehicle T is determined.

In step 330 the processor determines 130 from the spatial relationship as to whether the target vehicle T is laterally offset, that is to say present to the side and from the carrier vehicle 800 is spaced. If it is determined that the target vehicle T is not or is no longer to the side of the carrier vehicle 800 is offset, the stability parameter is set to step 370 updated. In the current embodiment, updating the stability parameter includes returning to a previous stability parameter, ie a stability parameter that was prior to step 270 the method 200 was present.

If it is determined that the target vehicle T is to the side of the carrier vehicle 800 is offset, the method continues 300 with step 340 continued with the processor 130 the lateral displacement between the carrier vehicle 800 and the target vehicle T is determined. If it is determined that the lateral displacement exceeds a predetermined value, the stability parameter according to step 370 updated. In the current embodiment, the update of the stability parameter comprises according to the step described above 330 the return to a previous stability parameter, ie a stability parameter that was prior to step 270 the method 200 was present.

Determining the lateral displacement in step 340 allows the tax system 100 to determine whether either the host vehicle 800 or the target vehicle T change lanes, drive on a driveway or take an alternative route from one another. The result of step 340 is that the stability parameter can be updated if it is determined that there is no aerodynamic interaction between the host vehicle 800 and the target vehicle T is longer, ie the host vehicle 800 travels outside of the aerodynamic environment created by or surrounds the target vehicle T, or is no longer influenced or influenced by the aerodynamic environment created by or surrounds the target vehicle T.

In the present embodiment, step 350 parallel, that is, at the same time, with the steps 330 and 340 carried out. In step 350 the processor determines 130 from the spatial relationship whether the interaction, i.e. overtaking, has been completed, eg if the carrier vehicle 800 the target vehicle T overtakes whether the target vehicle T is behind, behind or behind the carrier vehicle 800 lies, ie so that the carrier vehicle 800 is no longer influenced or influenced by the aerodynamic environment that is created by or surrounds the target vehicle T.

If it is determined that the interaction, ie the passing, is complete, the stability parameter (s) according to step 370 in a manner similar to the steps described above 330 & 340 updated.

If in step 330 it is determined that the target vehicle T is to the side of the base vehicle 800 is offset in step 340 it is determined that the lateral displacement of the target vehicle T relative to the base vehicle 800 is below a predetermined value, and in step 350 it is determined that the interaction, ie overtaking, of the base vehicle 800 and the target vehicle T is not complete, that in step 270 of the procedure 200 Maintain implemented stability parameters.

In the present embodiment, the method reverses 300 to step 310 back with the environmental data from the controller 120 are received and the steps 320-350 be repeated. method 300 enables the spatial relationship between the carrier vehicle to be monitored 800 and the target vehicle T during an interaction, ie when passing, so that in step 270 the method 200 implemented stability parameters are retained or updated if necessary, ie method 300 allows the tax system 100 , to changes in the trajectory or the navigation path of the carrier vehicle 800 and / or the target vehicle T to respond.

With reference to now becomes a method 400 according to an embodiment of the invention. The method 400 can as a continuation of the method 200 to be viewed as.

The method 400 takes place during an interaction, such as passing the carrier vehicle 800 and the target vehicle T, in particular from the point at which the stability parameter in step 270 the method 200 is implemented.

The method 400 can be done simultaneously with the method 300 be performed. However, it is also provided that method 300 and method 400 can switch between them so that they are applied at different times.

In step 410 the environmental data from the controller 120 via the electrical input described above 122 received and in memory 135 saved. The environment data, as described above, is an indication of the environment or the environment of the carrier vehicle 800 .

Once the environment data is received, the method goes 400 to step 420 about where the processor 130 determines whether there is another target vehicle F, as in FIG shown. In the present embodiment, when there is no other target vehicle F, the method ends or ends 400 at step 470 . The method 300 can still be used for the target vehicle T.

If in step 420 If it is determined that another target vehicle F is present, the method continues 400 to step 430 about where the processor 130 it is determined from the environmental data whether the target vehicle T and the further target vehicle F are traveling on a common longitudinal axis, that is to say within the same lane of a road or a motorway. If it is determined that the target vehicle T and the further target vehicle F are not traveling on a common longitudinal axis, ie on different lanes from one another, the method is reversed 400 to step 220 the method 200 in which environment data is received and the method 200 proceeds on the basis of the further target vehicle F, that is to say the target vehicle T and the further target vehicle F are treated as two separate or individual vehicles to which the respective method is applied 200 is applied.

If it is determined that the target vehicle T and the further target vehicle F are traveling on a common longitudinal axis, the method continues 400 to step 440 about where a distance between them is determined, ie the distance between the front of the target vehicle T and the rear of the further target vehicle F.

If in step 450 If the gap between the target vehicle T and another target vehicle F is above a predetermined threshold value, the method is reversed 400 to step 220 of the procedure 200 back, in which the target vehicle T and the further target vehicle F are treated as two separate individual vehicles, on each of which the method 200 is applied.

If in step 450 it is determined that the gap is below the predetermined threshold value, while the carrier vehicle is driving past 800 The method 300 is applied and both the target vehicle T and the further target vehicle F, ie the target vehicle T and the further target vehicle F, are effectively treated as a single vehicle.

Though step 310 the method 300 and step 410 the method 400 as separate steps above, this need not be the case. The steps 310 and 410 can be the same step to receive environmental data. In such a case the respective methods 300 and 400 after this step continued on separate, parallel branches.

Furthermore, while above in terms of method 400 described that once in step 420 it is determined that another target vehicle F is present, the method 400 to step 430 passes, in which it is determined whether the further target vehicle F lies on a common longitudinal axis, but this need not be the case.

Instead can step 240 the method 200 between steps 420 and 430 the method 400 so that if it is determined that a further target vehicle F is present, one or more features of the further target vehicle F can be identified. This step would make it possible to disregard the further target vehicle F if the one or more features fall above or below predetermined threshold values, as discussed above.

In addition, the step 250 the method 200 between step 240 and step 430 lie, so that a stability parameter of the carrier vehicle 800 can be determined as a function of the determined properties of the further target vehicle F.

With reference to is a scheme 500 a carrier vehicle 800 shown approaching a target vehicle T. The front mounted sensor 810 of the carrier vehicle 800 receives the from the sensor beam 811 recorded environmental data.

In the in illustrated embodiment is the method 200 is performed based on the identification of the target vehicle T.

With reference to is a scheme 600 a carrier vehicle 800 shown, which is approached by a target vehicle T so that the carrier vehicle 800 is overtaken by the target vehicle T. In this case, the sensor attached to the stern receives 820 of the carrier vehicle 800 those from the sensor beam 821 recorded environmental data.

The processor 130 becomes the lateral displacement X between the carrier vehicle 800 and the target vehicle T.

With reference to is a scheme 700 a carrier vehicle 800 shown while a target vehicle T is passing by. While the target vehicle T is driving past, the sensor attached to the side receives 830 those from the sensor beam 831 recorded environmental data.

The processor 130 of the control system 100 determined from the sensor beam 831 recorded environmental data using the method 300 the lateral displacement X.

In addition, the sensor attached to the front receives 810 while the carrier vehicle is passing by 800 and the target vehicle T from the sensor beam 811 recorded environmental data. The processor 130 of the control system 100 determines the presence of another target vehicle F by using the method 400 .

In addition, the described gap Y between the target vehicle T and the further target vehicle F is determined from the environmental data from the front-mounted sensor 810 be included.

Those skilled in the art will also appreciate that any number of combinations of the features mentioned above and / or the features illustrated in the accompanying drawings offer clear advantages over the prior art and therefore fall within the scope of the invention described here.

All features disclosed in this specification (including all accompanying claims, abstractions and drawings) and / or all steps of a method or method disclosed in this way can be combined in any combination, with the exception of combinations in which at least some of these features are mutually exclusive and / or steps mutually exclusive.

Any feature indicated in this specification (including all accompanying claims, abstractions and drawings) can be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Unless expressly stated otherwise, each feature disclosed is only an example of a generic set of equivalent or similar features.

The invention is not limited to the details of the aforementioned embodiments. The invention extends to any novel or novel combinations of the features disclosed in this specification (including any accompanying claims, abstractions, and drawings) or to any novel or novel combinations of the steps of any method or process so disclosed. The claims should not be construed to cover only the above embodiments, but also all embodiments that fall within the scope of the claims.

Claims (10)

A control system for a vehicle, the control system comprising one or more controllers, the control system being configured to: Obtain environmental data indicative of the surroundings of a carrier vehicle; identify the presence of a target vehicle from the environmental data; identify one or more features of the target vehicle from the environmental data; determine one or more stability parameters of the host vehicle as a function of one or more properties of the target vehicle; implement the one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle; monitor a spatial relationship between the host vehicle and the target vehicle from the environmental data while the host vehicle and the target vehicle are passing by; to determine one or more of the following information as a function of the spatial relationship: whether the target vehicle is currently offset to the side of the carrier vehicle, the lateral displacement between the carrier and target vehicle and whether the drive past has been completed; obtain updated environmental data and identify the presence of another target vehicle from the data; and wherein, if another target vehicle is identified on a common longitudinal axis with the target vehicle, the system is configured such that it determines a described distance between the target vehicle and the further target vehicle. Tax system according to Claim 1 configured to update one or more stability parameters when it is determined that the target vehicle is no longer present, the lateral displacement between the host vehicle and the target vehicle exceeds a predetermined value, or the overhaul is complete. Control system according to one of the preceding claims, which is configured in such a way that it maintains the determined stability parameters if it is determined that the described distance between the target vehicle and another target vehicle is below a predetermined threshold value. The control system of any preceding claim configured to determine an activation point prior to an overtaking maneuver and a deactivation point after an overtaking maneuver, the activation point being a point at which the one or more particular stability parameters are implemented and the deactivation point being a point is, at which the one or more specific stability parameters are updated, and optionally one or more of the activation and deactivation points are determined depending on the one or more properties of the target vehicle, optionally the deactivation point being the one at which an overtaking maneuver is completed. Control system according to one of the preceding claims, which is configured such that it determines on the basis of the environmental data whether the target vehicle should be overtaken by the host vehicle, whether the target vehicle should overtake the host vehicle or whether the target vehicle is an oncoming vehicle. The control system of any preceding claim, wherein the one or more stability parameters include one or more suspension control parameters, wherein the one or more suspension control parameters include one or more of the following: gain of the suspension controller, suspension damping, ride height and suspension stiffness, and wherein the determination of one or more a plurality of stability parameters comprises the determination of one or more of the variables vehicle yaw stability and vehicle roll stability. Vehicle comprising a system according to any one of Claims 1 to 6th includes. A method of controlling a suspension system of a vehicle, the method comprising: the identification of the presence of a target vehicle on the basis of environmental data which indicate the surroundings of a carrier vehicle; Identification of one or more features of the target vehicle from the environmental data; Determination of one or more stability parameters of the host vehicle as a function of one or more properties of the target vehicle; the implementation of one or more stability parameters of the host vehicle before the host vehicle passes the target vehicle. Computer program product that can be executed on a processor in accordance with the method Claim 8 or a non-transitory computer-readable medium that contains computer-readable code that, when executed, causes a vehicle to follow the method Claim 8 executes. Processor arranged to follow the method Claim 8 or the computer program product after Claim 9 implemented.

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