DE102021003995A1 - Method for determining a vehicle's own speed when sliding with stationary wheels - Google Patents
Method for determining a vehicle's own speed when sliding with stationary wheels Download PDFInfo
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- DE102021003995A1 DE102021003995A1 DE102021003995.5A DE102021003995A DE102021003995A1 DE 102021003995 A1 DE102021003995 A1 DE 102021003995A1 DE 102021003995 A DE102021003995 A DE 102021003995A DE 102021003995 A1 DE102021003995 A1 DE 102021003995A1
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- vehicle
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- safety systems
- sliding
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000033001 locomotion Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/18—Four-wheel drive vehicles
- B60W2300/185—Off-road vehicles
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Ermittlung einer Eigengeschwindigkeit eines Fahrzeuges beim Rutschen mit stillstehenden Rädern. Bei einem Verfahren, mittels welchem eine Unfallgefahr zuverlässig vermieden wird, wird die Eigengeschwindigkeit des Fahrzeuges (1) mittels Signalen von fahrzeugeigenen Sensoren (15, 17), die Assistenz- und/oder Sicherheitssysteme (13) des Fahrzeuges (1) bedienen, berechnet und die so berechnete Eigengeschwindigkeit des Fahrzeuges (1) mit mindestens einer Geschwindigkeit eines Fahrzeugrades (11) verglichen, wobei bei Überschreitung der nach Null gehenden Radgeschwindigkeit durch die Eigengeschwindigkeit des Fahrzeuges (1) die Eigengeschwindigkeit als Eingangssignal der Assistenz- und/oder Sicherheitssysteme (13) zur sicheren Auslösung dieser verwendet wird.The invention relates to a method for determining a vehicle's own speed when sliding with stationary wheels. In a method which reliably avoids the risk of an accident, the vehicle's own speed is calculated and controlled using signals from the vehicle's own sensors (15, 17) which operate the assistance and / or safety systems (13) of the vehicle (1) the vehicle's own speed calculated in this way is compared with at least one speed of a vehicle wheel (11), with the vehicle's own speed being exceeded as the input signal of the assistance and / or safety systems (13) when the wheel speed, which goes to zero, is exceeded by the vehicle's own speed (1) is used to safely trigger this.
Description
Die Erfindung betrifft ein Verfahren zur Ermittlung einer Eigengeschwindigkeit eines Fahrzeuges beim Rutschen mit stillstehenden Rädern.The invention relates to a method for determining a vehicle's own speed when sliding with stationary wheels.
Bei glatten Straßenbedingungen kann ein Fahrzeug ins Rutschen kommen, ohne dass sich die Räder des Fahrzeuges drehen. Herkömmlich erhalten Assistenz- und/oder Sicherheitssysteme im Fahrzeug Geschwindigkeitsinformationen, die anhand der Raddrehzahl bestimmt werden. Dadurch würden das Assistenz- und/oder Sicherheitssystem, beispielsweise ein Airbagsystem, bei einem rutschenden Fahrzeug mit stillstehenden Rädern falsch reagieren oder gar nicht auslösen. Da das Fahrzeug durch das Rutschen eine signifikante Geschwindigkeit erreichen kann, erhöht sich eine Unfallgefahr.In slippery road conditions, a vehicle can slip without the vehicle's wheels turning. Conventionally, assistance and / or safety systems in the vehicle receive speed information that is determined on the basis of the wheel speed. As a result, the assistance and / or safety system, for example an airbag system, would react incorrectly or not at all in the event of a sliding vehicle with stationary wheels. Since the vehicle can reach a significant speed by sliding, the risk of an accident increases.
Aus der
Aufgabe der Erfindung ist es, ein Verfahren zur Ermittlung einer Eigengeschwindigkeit eines Fahrzeuges beim Rutschen mit stillstehenden Rädern anzugeben, mittels welchem eine Unfallgefahr zuverlässig vermieden wird.The object of the invention is to provide a method for determining the vehicle's own speed when sliding with stationary wheels, by means of which the risk of an accident is reliably avoided.
Die Erfindung ergibt sich aus den Merkmalen der unabhängigen Ansprüche. Vorteilhafte Weiterbildungen und Ausgestaltungen sind Gegenstand der abhängigen Ansprüche. Weitere Merkmale, Anwendungsmöglichkeiten und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung, sowie der Erläuterung von Ausführungsbeispielen der Erfindung, die in den Figuren dargestellt sind.The invention results from the features of the independent claims. Advantageous further developments and refinements are the subject matter of the dependent claims. Further features, possible applications and advantages of the invention emerge from the following description, as well as the explanation of exemplary embodiments of the invention, which are shown in the figures.
Die Aufgabe wird mit dem Gegenstand des Patentanspruchs 1 gelöst.The object is achieved with the subject matter of
Bei dem Eingangs erläuterten Verfahren wird die Eigengeschwindigkeit des Fahrzeuges mittels Signalen von fahrzeugeigenen Sensoren, die Assistenz- und/oder Sicherheitssysteme des Fahrzeuges bedienen, berechnet und die so berechnete Eigengeschwindigkeit des Fahrzeuges mit mindestens einer Geschwindigkeit eines Fahrzeugrades verglichen, wobei bei Überschreitung der nach Null gehenden Radgeschwindigkeit durch die Eigengeschwindigkeit des Fahrzeuges die Eigengeschwindigkeit als Eingangssignal der Assistenz- und/oder Sicherheitssysteme zur sicheren Auslösung dieser verwendet wird. Dies hat den Vorteil, dass in Situationen, in denen das Fahrzeug rutscht, die Assistenz- und/oder Sicherheitssysteme des Fahrzeuges immer mit der korrekten Eigengeschwindigkeit des Fahrzeuges gespeist werden, so dass eine korrekte Funktionsweise der Assistenz- und/oder Sicherheitssysteme gewährleistet bleibt.In the method explained at the beginning, the vehicle's own speed is calculated using signals from the vehicle's own sensors that operate the vehicle's assistance and / or safety systems, and the vehicle's own speed calculated in this way is compared with at least one speed of a vehicle wheel Wheel speed due to the vehicle's own speed, the vehicle's own speed is used as an input signal for the assistance and / or safety systems to safely trigger this. This has the advantage that in situations in which the vehicle is slipping, the assistance and / or safety systems of the vehicle are always fed with the correct speed of the vehicle, so that correct functioning of the assistance and / or safety systems is guaranteed.
Vorteilhafterweise wird als fahrzeugeigener Sensor eine Kamera und/oder ein Radarsensor und/oder ein Lidarsensor verwendet. Da diese Sensoren an sich im Fahrzeug vorgesehen sind, ist eine kostengünstige Realisierung des Verfahrens möglich.A camera and / or a radar sensor and / or a lidar sensor is advantageously used as the vehicle's own sensor. Since these sensors are actually provided in the vehicle, an inexpensive implementation of the method is possible.
In einer Ausgestaltung wird die Eigengeschwindigkeit des Fahrzeuges als Eingangssignal der Assistenz- und/oder Sicherheitssysteme genutzt, wenn alle Räder des Fahrzeuges eine Radgeschwindigkeit von Null aufweisen. Damit wird sichergestellt, dass immer das richtige Geschwindigkeitssignal an das Assistenz- und/oder Sicherheitssystem ausgegeben wird.In one embodiment, the vehicle's own speed is used as an input signal for the assistance and / or safety systems when all of the vehicle's wheels have a wheel speed of zero. This ensures that the correct speed signal is always output to the assistance and / or safety system.
In einer Variante wird die Eigengeschwindigkeit des Fahrzeuges als Eingangssignal der Assistenz- und/oder Sicherheitssysteme genutzt, wenn die berechnete Eigengeschwindigkeit des Fahrzeuges einen Geschwindigkeitsgrenzwert überschreitet. Dadurch wird die Eigengeschwindigkeit des Fahrzeuges auch dann an die Assistenz- und (oder Sicherheitssysteme weitergeleitet, wenn falsch ermittelte Radgeschwindigkeiten vorliegen.In one variant, the vehicle's own speed is used as an input signal for the assistance and / or safety systems when the calculated own speed of the vehicle exceeds a speed limit value. As a result, the vehicle's own speed is also passed on to the assistance and (or safety systems) if incorrectly determined wheel speeds are present.
In einer Ausführungsform wird ein parametrierbarer Geschwindigkeitsgrenzwert verwendet. Der Geschwindigkeitsgrenzwert kann beispielsweise in Abhängigkeit einer Straßenbeschaffenheit und/oder einer Neigung der Straße, was ebenfalls von fahrzeugeigenen Sensoren erfasst wird, angepasst werden, um ein entsprechendes Eingreifen des Assistenz- und/oder Sicherheitssystems zu gewährleisten.In one embodiment, a parameterizable speed limit value is used. The speed limit value can be adapted, for example, as a function of a road condition and / or an incline of the road, which is also detected by the vehicle's own sensors, in order to ensure appropriate intervention by the assistance and / or safety system.
Weitere Vorteile, Merkmale und Einzelheiten ergeben sich aus der nachfolgenden Beschreibung, in der - gegebenenfalls unter Bezug auf die Zeichnung - zumindest ein Ausführungsbeispiel im Einzelnen beschrieben ist. Beschriebene und/oder bildlich dargestellte Merkmale können für sich oder in beliebiger, sinnvoller Kombination den Gegenstand der Erfindung bilden, gegebenenfalls auch unabhängig von den Ansprüchen, und können insbesondere zusätzlich auch Gegenstand einer oder mehrerer separater Anmeldung/en sein. Gleiche, ähnliche und/oder funktionsgleiche Teile sind mit gleichen Bezugszeichen versehen.Further advantages, features and details emerge from the following description in which - possibly with reference to the drawing - at least one exemplary embodiment is described in detail. Described and / or graphically represented features can form the subject matter of the invention individually or in any meaningful combination, possibly also independently of the claims, and in particular can additionally also be the subject matter of one or more separate applications. Identical, similar and / or functionally identical parts are provided with the same reference symbols.
Es zeigt:
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1 ein Ausführungsbeispiel für eine Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens.
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1 an embodiment of a device for performing the method according to the invention.
In
In dem Assistenz- und/oder Sicherheitssystem
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturPatent literature cited
- DE 102011009082 A1 [0003]DE 102011009082 A1 [0003]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102021003995.5A DE102021003995A1 (en) | 2021-08-03 | 2021-08-03 | Method for determining a vehicle's own speed when sliding with stationary wheels |
Applications Claiming Priority (1)
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DE102021003995.5A DE102021003995A1 (en) | 2021-08-03 | 2021-08-03 | Method for determining a vehicle's own speed when sliding with stationary wheels |
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DE102021003995A1 true DE102021003995A1 (en) | 2021-10-07 |
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DE102021003995.5A Withdrawn DE102021003995A1 (en) | 2021-08-03 | 2021-08-03 | Method for determining a vehicle's own speed when sliding with stationary wheels |
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Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011009082A1 (en) | 2011-01-21 | 2012-07-26 | Stefan Szanto | Vehicle e.g. truck has anti-slip material scattering equipment for scattering anti-slip material before the wheel tire, when vehicle is driven on ice-covered road |
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2021
- 2021-08-03 DE DE102021003995.5A patent/DE102021003995A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011009082A1 (en) | 2011-01-21 | 2012-07-26 | Stefan Szanto | Vehicle e.g. truck has anti-slip material scattering equipment for scattering anti-slip material before the wheel tire, when vehicle is driven on ice-covered road |
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R230 | Request for early publication | ||
R081 | Change of applicant/patentee |
Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, STUTTGART, DE |
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |