EP1682378A1 - Systeme de controle de trajectoire actif - Google Patents

Systeme de controle de trajectoire actif

Info

Publication number
EP1682378A1
EP1682378A1 EP04790840A EP04790840A EP1682378A1 EP 1682378 A1 EP1682378 A1 EP 1682378A1 EP 04790840 A EP04790840 A EP 04790840A EP 04790840 A EP04790840 A EP 04790840A EP 1682378 A1 EP1682378 A1 EP 1682378A1
Authority
EP
European Patent Office
Prior art keywords
lane
travel
driver
vehicle
determined
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Withdrawn
Application number
EP04790840A
Other languages
German (de)
English (en)
Inventor
Matthias Gut
Jürgen Trost
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of EP1682378A1 publication Critical patent/EP1682378A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • 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
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/082—Lane monitoring; Lane Keeping Systems using alarm actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping

Definitions

  • the invention relates to a method for monitoring the condition of a vehicle driver, in which the lane position of a vehicle is detected and monitored, a direction of travel is determined, the actual lane position is compared with the determined direction of travel, and the driver is supported in maintaining the lane position.
  • a system for assisting a driver is known from EP 0 640 903 A1, in which a video camera or the like is arranged on a vehicle. This video camera will used to recognize the lane or lane markings on the road.
  • An associated signal processor estimates the lateral position of the vehicle in relation to the lane markings.
  • An electric motor connected to the steering system is used to introduce a torque into the vehicle steering system that either supports or counteracts the driver's steering torque.
  • the signal processor is designed in such a way that it supports the driver in keeping the position of the vehicle in the lane. This simulates a trough-shaped roadway in which the vehicle is held.
  • the driver can override the driving assistance provided by the vehicle by introducing a sufficiently large steering torque.
  • a warning signal is issued as a sign that the vehicle is moving away from a calculated direction of travel. This should startle the driver so that he returns to the correct position on the road.
  • the object of the present invention is to create a method with which it can be recognized when a driver is no longer actively steering.
  • This object is achieved according to the invention by a method of the type mentioned in the introduction, in which a warning signal to the driver is generated over a predetermined period of time if the calculated direction of travel corresponds exactly to the actual lane position.
  • the vehicle drives exactly in the calculated direction of travel for a longer period of time, which can be preset at the factory, then it can be assumed that the driver has released the steering wheel or that he is no longer actively steering. In this case, the driver is replaced by a Warning signal again causes the vehicle to be actively controlled.
  • the position of the lane markings of the roadway is optically recorded. From the position of these markings relative to the vehicle and the current vehicle data, such as speed, it is determined where the vehicle should be heading in order to stay in the lane. In the event of a deviation from this determined direction of travel, the driver is actively supported in taking the calculated direction of travel.
  • an optical and / or acoustic and / or haptic warning signal is generated.
  • vibration of the steering wheel can be triggered.
  • the vehicle slows down. This is particularly useful if the driver does not respond to the warning signal.
  • a test signal that is dependent on the driving situation is added to the calculated direction of travel and that the warning signal is output when the vehicle follows the test signal.
  • This measure makes it possible to determine whether the vehicle is steering independently or whether the driver is steering the vehicle.
  • a deviation from the calculated direction of travel is advantageously determined and the steering angle is determined, which would have to be steered to keep the lane or to steer into the lane. By determining this data, the driver can be optimally supported in keeping the direction of travel.
  • the zero position of the steering torque is shifted by the determined steering angle via a manual torque divider.
  • the determined steering angle is passed on to the manual torque adjuster as an offset. This shifts the zero position of the steering torque by the transferred angle.
  • a manual torque actuator is used in particular in so-called “steer by wire” systems in which there is no mechanical connection between the wheels and the steering wheel. In order to convey to the driver the conventional driving sensation that exists when the steering wheel and wheels are mechanically connected The steering wheel is subjected to a torque which simulates the turning of the wheels.
  • the set torque is zero when the wheels are straight ahead and the steering wheel is in a central position. It can be provided that the manual torque increases linearly or disproportionately with a rotation of the steering wheel The more the steering wheel is deflected, the automatic centering causes the driver to actuate the steering wheel in such a way that the vehicle is kept in the specified or calculated direction of travel.
  • the driver has the feeling that the vehicle locks into the lane .
  • the driver's support for keeping the lane increases dynamically with a deviation from the calculated direction of travel. This means that the centering is dynamically increased the further the vehicle approaches a lane marking.
  • the steering assistance is preferably slowly withdrawn if the lane or lane marking is not recognized. If no more lane is recognized, the offset determined by the steering angle and the increased centering are slowly withdrawn. The fact that the steering assistance does not suddenly disappear does not frighten the driver and ensures safe driving of the vehicle.
  • a condition monitoring device comprising a lane detection device, means for determining a direction of travel, a monitoring device for monitoring deviations from the direction of travel and a warning device, wherein the warning device can be activated if there is a match in the monitoring device over a predetermined period of time certain driving direction and actual driving direction is detected.
  • the warning device can be activated if it is determined that the vehicle is kept in the lane only automatically, ie without the driver having to do anything. The driver is therefore warned before the vehicle moves off this ideal lane and comes close to a lane marking.
  • the condition monitoring device therefore increases safety in road traffic.
  • a "steer by wire” system is provided. It can be provided that the lane position of the vehicle is detected with the lane detection device. The deviation from a calculated direction of travel detected in the monitoring device can be passed on to the "Steer by Wire" system via the vehicle CAN bus. From the information, this can then determine the angle that would have to be steered in order to remain in the lane or to steer back into the lane. In a "steer by wire” system there is no mechanical connection between the wheels and the steering wheel.
  • the angle determined by "Steer by Wire” systems can be passed on to a manual torque adjuster as an offset. This shifts the zero position of the steering torque by the transferred angle. This is automatic centering. Automatic centering pulls the steering wheel in the direction of the angle needed to stay on track.
  • the "steer by wire” system can be integrated in the monitoring device or vice versa.
  • the manual torque adjuster generates an additive moment to the moment exerted by the chassis in the event that there is a mechanical connection between the steering wheel and the wheels, i.e. if no "Steer by Wire" system is used.
  • FIG. 1 shows schematically a condition monitoring device
  • a condition monitoring device 1 is shown in a highly schematic manner in FIG. 1.
  • a lane detection device 2 which can also be referred to as a series lane assistant
  • the position of the lane markings 3 is optically recorded, for example, by cameras. From the position of these lane markings 3 relative to the vehicle and the current vehicle data, a direction of travel is determined which the vehicle would have to take in order to remain between the lane markings 3. It can be provided that the vehicle should travel in the middle between the lane markings 3. Depending on the course of the roadway, however, a shift towards one of the lane markings 3 can also take place.
  • a monitoring device 5 determines whether the vehicle deviates from the calculated direction of travel.
  • the monitoring device 5 is part of a “steer by wire” system.
  • the determined angle is transmitted to a hand torque adjuster 6. This shifts the zero position of the steering torque by the transferred angle.
  • This automatic centering pulls the steering wheel 7 in the direction of the angle required to stay on track. To increase this effect, the centering is dynamically increased.
  • manual torque adjuster 6 is connected to chassis 8 in terms of data technology. From the position of the steering wheel 7 set by the driver, commands are determined in the "steer by wire” system in order to control a motor 9 which makes the actual setting of the wheels 10. If it is determined in the monitoring device 5 that the vehicle is traveling exactly in the calculated direction of travel over a longer period of time, then a warning device 11 is activated, since it must be assumed that the Driver has released the steering wheel 7 or that he is no longer actively steering.
  • the lane marking (3) of the lane in which the vehicle is moving is detected and a direction of travel is determined which the vehicle would have to follow in order to remain in the lane.
  • the vehicle driver is supported by an automatic centering of the steering wheel to stay on track. If the vehicle follows the determined direction of travel for a certain period of time, this is an indication that the driver is not actively steering and a warning signal is generated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Steering Controls (AREA)

Abstract

L'invention concerne un procédé de contrôle de l'état d'un conducteur de véhicule, selon lequel le marquage (3) de la voie dans laquelle se déplace le véhicule est détecté, et une trajectoire est déterminée, le véhicule devant suivre cette trajectoire afin de rester dans sa voie. Le conducteur du véhicule est assisté par un centrage du volant afin rester dans sa voie. Si le véhicule suit exactement la trajectoire déterminée pendant une période définie, cela signifie que le conducteur ne conduit pas activement et un signal d'alarme est émis.
EP04790840A 2003-11-05 2004-10-26 Systeme de controle de trajectoire actif Withdrawn EP1682378A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10351654A DE10351654A1 (de) 2003-11-05 2003-11-05 Aktiver Spurassistent
PCT/EP2004/012055 WO2005047045A1 (fr) 2003-11-05 2004-10-26 Systeme de controle de trajectoire actif

Publications (1)

Publication Number Publication Date
EP1682378A1 true EP1682378A1 (fr) 2006-07-26

Family

ID=34530131

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04790840A Withdrawn EP1682378A1 (fr) 2003-11-05 2004-10-26 Systeme de controle de trajectoire actif

Country Status (7)

Country Link
US (1) US7528730B2 (fr)
EP (1) EP1682378A1 (fr)
JP (1) JP2007509800A (fr)
KR (1) KR20060109438A (fr)
CN (1) CN1874910A (fr)
DE (1) DE10351654A1 (fr)
WO (1) WO2005047045A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014212422A1 (de) 2014-06-27 2015-12-31 Robert Bosch Gmbh Vorrichtung und Verfahren Vorrichtung zum Leiten eines Fahrzeugs in eine Soll-Stopp-Position

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DE102014212422A1 (de) 2014-06-27 2015-12-31 Robert Bosch Gmbh Vorrichtung und Verfahren Vorrichtung zum Leiten eines Fahrzeugs in eine Soll-Stopp-Position

Also Published As

Publication number Publication date
JP2007509800A (ja) 2007-04-19
DE10351654A1 (de) 2005-06-02
US7528730B2 (en) 2009-05-05
WO2005047045A1 (fr) 2005-05-26
US20070219688A1 (en) 2007-09-20
CN1874910A (zh) 2006-12-06
KR20060109438A (ko) 2006-10-20

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