EP2632784A1 - Procédé et dispositif pour déterminer un paramétrage de régulation transversale pour une régulation transversale d'un véhicule - Google Patents

Procédé et dispositif pour déterminer un paramétrage de régulation transversale pour une régulation transversale d'un véhicule

Info

Publication number
EP2632784A1
EP2632784A1 EP11758475.5A EP11758475A EP2632784A1 EP 2632784 A1 EP2632784 A1 EP 2632784A1 EP 11758475 A EP11758475 A EP 11758475A EP 2632784 A1 EP2632784 A1 EP 2632784A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
curvature
determining
current
parameterization
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Withdrawn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
EP11758475.5A
Other languages
German (de)
English (en)
Inventor
Lutz Buerkle
Thomas App
Thomas Glaser
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2632784A1 publication Critical patent/EP2632784A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • 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
    • 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
    • B60W2050/0062—Adapting control system settings
    • 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
    • B60W2520/10—Longitudinal 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering

Definitions

  • the present invention relates to a method for determining a Querreglers parameterization for the lateral control of a vehicle, a method for determining a manipulated variable for the lateral control of a vehicle, to a corresponding device and to a corresponding computer program product.
  • Lane departure warning systems such as Lane Departure Warning (LDW) and Lane Keeping Support (LKS), which warn drivers when they leave the lane unintentionally or assist in keeping their vehicle in the lane by steering wheel steering, have now been introduced to the European market ,
  • DE 10 2008 023 972 A1 discloses a method for detecting traffic-relevant information in a moving vehicle.
  • Sensor data and map data of a navigation system are searched for contained traffic-relevant information and compressed to relevant sensor data or map data, whereupon a corresponding output signal is output.
  • the traffic-related information can be, in particular, speed-limiting traffic signs, lane markings or obstacles.
  • the present invention proposes a method for determining transverse control parameterization for a lateral control of a vehicle, a method for determining a control variable for transverse control of a vehicle, a device which uses these methods, and finally a corresponding computer program product according to the independent patent claims.
  • Advantageous embodiments emerge from the respective subclaims and the following description.
  • the approach according to the invention can advantageously be used in conjunction with a lane departure warning system.
  • a lane departure warning system usually employs a video-based lane recognition system that can track the lane in front of the vehicle, e.g. a curvature of the lane, and the relative position of the vehicle in the lane, e.g. a lateral distance or a difference angle can be determined.
  • further environment sensors and information from a digital map in conjunction with a GPS location similar to a navigation system, can be used to support and expand the video-based lane information.
  • the digital map for example, information about the course of the busy stretch of road, the type of road, etc. are recorded. This information may be retrieved for the vehicle location determined by a GPS locating module and the route ahead.
  • LKS systems assist the driver in tracking his vehicle.
  • the data acquired by the environmental sensors are fed to a transverse controller, which then requests the assistance steering torque required for tracking in the electric power steering. Since the dynamics of a vehicle over the possible speed range, e.g. 0-200km / h, it is necessary in such systems, the controller parameterization of the cross controller by switching the controller parameters to the respective driven
  • This system state-dependent parameterization of the cross controller is referred to as gain scheduling in control engineering. Failure to perform this parameter adaptation may result in poor system performance. This can be expressed for example in such a way that the vehicle oscillates in the lane or even a system instability occurs. at which the pendulum motion ends until the vehicle leaves the lane.
  • the invention is based on the recognition that an optimal transverse control tuning by means of a selected parameter set for the tracking depends not only on the vehicle speed, but also on the structural design of the busy road on which the vehicle is moving.
  • On winding roads e.g. In the case of highways, it is necessary to have a different controller configuration for the optimal lane guidance than on predominantly straight roads, e.g. Motorways, even if the same speed is used in both cases, e.g.
  • a section of track can thus be classified from straight to very curvy, with any fine subdivision, which is referred to below as road class.
  • road class any fine subdivision
  • Curvature states of roads, so to speak a street class gain scheduling.
  • the curvature of the road is included as an attribute in digital maps and is thus available.
  • a controller parameterization in the context of the road class gain is included as an attribute in digital maps and is thus available.
  • the present invention provides a method for determining a lateral controller parameter for a lateral control of a vehicle on a section of road currently to be traveled by the vehicle, the method comprising the following step:
  • the method can be carried out, for example, in connection with a lane keeping assistance system of the vehicle.
  • the lateral control of the vehicle may e.g. be used to ensure a pendulum-free driving of the vehicle within the provided lane boundaries of the track section to be traveled.
  • the transverse control By means of the transverse control, the vehicle can be kept, for example, on a driving trajectory. That is, there is an intervention by the transverse control, if a deviation of the vehicle from the
  • the cross controller parameterization may include one or a plurality of parameters.
  • a control behavior of the cross controller can be set.
  • the control behavior can be adjusted depending on the curvature.
  • a parameter may determine the duration and strength of a steering angle of the
  • the parameter can be part of a parameter set for a transverse control of the vehicle.
  • the section of road to be traveled may be, for example, a predefined extension in front of the vehicle, e.g. one
  • the route section may be, for example, part of a route to a travel destination determined by a navigation system of the vehicle.
  • the curvature history information may include, for example, a number and order of left and / or right turns within the trajectory to be traversed.
  • the information about the course of curvature may contain information about the radii and / or the lengths of the curves or curvatures contained in the section. In this case, the curvature can be calculated from the radius and vice versa.
  • the information about the course of curvature can be a winding pass road as well as a nearly straight course, for example, of a motorway exit.
  • the cross controller parameterization may be determined based on a road type on which the vehicle is currently located. In general, all information provided by a card or a corresponding data collection can be used to determine the transverse controller parameterization. For example, information about a track width can be used to adjust the cross control parameterization. Compared to a wider track, a narrower track requires better control performance, ie deviations from a nominal trajectory must not be too large.
  • the present invention further provides a method in which the following steps are performed to determine cross-controller parameterization:
  • each curvature class including at least one parameter related to a curvature state corresponding to the curl class;
  • the method may also be performed in conjunction with the lane departure warning system of the vehicle.
  • the different classes of curvature can describe curvature states from "very curvy" to "nearly straight".
  • the individual parameters assigned to the different curvature classes can define, for example, control signals for steering actions of different duration and strength.
  • the parameters can define different cross-controller parameterizations which are optimally suited for the current len road type are.
  • the curvature profile of the route section currently to be traveled can be determined, for example, by accessing a digital map in which the curvature state of the route section is contained.
  • the selection of the current curvature class can, for example, be carried out by means of a suitable algorithm which selects the suitable curvature class by comparing the curvature state of the current route section with the different curvature states of the curvature classes.
  • the parameters covered by the curvature classes can be stored in a memory.
  • a parameter of a class of curvature associated with the current span can be read from the memory.
  • the parameter can be provided, for example, to a transverse controller connected to a navigation system of the vehicle or to a control unit which is designed to output a control signal for the transverse control of the vehicle, for example to an electric power steering system of the vehicle.
  • each of the plurality of curvature classes may include a plurality of parameters related to different vehicle travel speeds.
  • the steering action to be performed for tracking on the route section can thus be adapted to a current driving speed of the vehicle.
  • the lateral control can be carried out exactly according to the currently prevailing conditions, since both the exact course of a curve or curvature and the speed with which the curve or curvature will be traversed, the control unit for lateral control of the vehicle are available as information.
  • the method may further include a step of determining a current vehicle speed.
  • the lateral control parameterization may be further determined taking into account the actual vehicle speed. For example, a curvature class for the speed ranges 0-50km / h, 50-
  • 100km / h, 100-150km / h and 150-200km / h each have a different parameter.
  • the specified speed ranges are chosen only as an example.
  • the curvature can be determined by accessing a digital map stored in the vehicle. Therefore For example, a current position of the vehicle can first be determined and marked in the map in order subsequently to calculate the curvature profile of a predefined section of a travel route determined by the navigation system of the vehicle from this point.
  • this involves information that is always present when the navigation system is being guided.
  • further map information can be included in the determination of the cross-controller parameterization.
  • the step of determining the course of the curvature can be determined based on a currently traveled road type determined by means of a digital map of the vehicle.
  • a type of road may, for example, identify a motorway, a country road or a local road, for each of which a typical curvature can be assumed, which in turn can be assigned to a corresponding class of curvature with one or more corresponding parameters for the transverse control.
  • This embodiment of the method offers the advantage that the method can be carried out much faster and with fewer repetitions.
  • in the step of determining the curvature profile can be determined based on a curvature profile of a previous route section.
  • this curvature state initially essentially persists because the curvature of a road is usually topographically conditioned and thus does not change abruptly.
  • This embodiment makes sense if, for example, route determination by the navigation system is not possible due to insufficient satellite coverage of a region or interference with satellite reception.
  • the method proposed here can be at least temporarily independent of the navigation system of the
  • the present invention further provides a method for determining a manipulated variable for the transverse control of a vehicle, the method having the following steps: Determining a transverse controller parameterization for the transverse control of the vehicle on a road section currently to be traveled by the vehicle according to one of the preceding claims;
  • the method can be carried out in a control unit connected to a navigation system of the vehicle or integrated into the navigation system of the vehicle.
  • the current position of the vehicle in the lane can advantageously be supplied by a camera system, for example a video sensor system with a downstream lane detection algorithm.
  • the deviation of the current position from the target position of the vehicle can be determined, for example, in the context of a suitable control method by comparing the current position with the desired position.
  • the deviation can be determined when a threshold for a deviation of an actual position is exceeded by a target position of the vehicle. In the case of a track-center guidance, there is no such threshold value, or the threshold value is zero.
  • the lane may be bounded on one side by road posts, a crash barrier, or a curb, and on the other by a lane marker of the link.
  • the manipulated variable for the transverse control can be determined in the control unit using a value for the determined deviation and the parameter, and e.g. are output to a vehicle connected to a power steering transverse controller of the vehicle to perform the lateral control of the vehicle.
  • the target position may lie on a driving trajectory for the route section currently to be traveled.
  • the driving trajectory can run along a center of the lane of the route section to be traveled by the vehicle. If it makes sense to cut, for example, narrow curves of the course of the road, the driving trajectory may at least partially deviate from the center of the lane.
  • a basis of the driving trajectory at Performing the method is advantageous because it allows a very smooth and quiet ride of the vehicle.
  • the desired position may be related to a distance to a boundary of the lane.
  • the limitation may be, for example, a curb and / or a lane marking.
  • the focus is on a particularly safe ride of the vehicle.
  • this embodiment is advantageous in the case of a narrow and confusing road course within a town.
  • the present invention further provides an apparatus adapted to perform the steps of the inventive methods in corresponding devices.
  • the device may be implemented as a control unit, which may be connected to a navigation system of the vehicle. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.
  • a device can be understood to mean an electrical device which processes sensor signals and outputs control signals or manipulated variables as a function thereof.
  • the device may have an interface, which may be formed in hardware and / or software.
  • the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
  • Also of advantage is a computer program product with program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out the method according to one of the embodiments described above. is used when running the program on a device that corresponds to a computer.
  • a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory
  • FIG. 1a shows a vehicle on a route section with a first curve course, according to an embodiment of the present invention
  • FIG. 1b shows a vehicle on a route section with a second curve course, according to an exemplary embodiment of the present invention
  • FIG. 2 is a block diagram of an apparatus for determining a parameter for a lateral control of a vehicle according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of a method for determining a parameter for a lateral control of a vehicle, according to an embodiment of the present invention.
  • FIG. 1 a shows a vehicle 100 on a stretch section 110 with a first curvature profile, according to one exemplary embodiment of the present invention.
  • the illustration in FIG. 1 may be displayed in a similar manner or on a display device of a navigation device of the vehicle 100, for example.
  • the route section 110 may be part of a route determined by the navigation system to a destination.
  • the first curvature course of the track section 110 has a right turn, which merges into a subsequent left turn.
  • the route section 110 may be associated, for example, with a curvature class "curvy.”
  • the vehicle 100 moves at a speed v in the right lane to the curves to pass through them.
  • the lane is bounded on the right by a structural or color boundary, eg a guardrail or a side marker, and on the left by a lane marker.
  • An adequate passage through the route section 10 depends equally on the current driving speed v of the vehicle 100 and the curvature state of the route section 110.
  • a lateral control of the vehicle 100 can be achieved, which enables safe and fluid passage through the track section 110 in the right lane.
  • the transverse control can be done by a suitable manipulated variable is output to a steering of the vehicle 100 or a suitable intervention in the steering takes place.
  • the steering then performs steering actions of appropriate duration and strength such that the link 110 is traversed into the steering of the vehicle 100 without direct driver intervention.
  • a short-term corrective automatic steering lock may occur, for example when a distance to a lane boundary becomes too low, or in such a case a warning tone may be issued warning the driver to correct his steering.
  • Fig. 1b shows the vehicle 100 approaching a nearly straight stretch 120.
  • the stretch 120 may be e.g.
  • another parameter for the lateral control flows into the method, so that the same vehicle speed v of the vehicle 100 as in FIG Fig. 1 a results in a Fig. 1 a deviating transverse control for tracking the vehicle 100 when passing through the section 120 results.
  • FIG. 2 shows a vehicle 100 having a device 200 for determining a parameter for a lateral control of a vehicle according to an embodiment of the present invention.
  • the cross-regulation may be a digital map-based street-level adaptive cross controller.
  • the vehicle has 100 has a navigation device 210 and a
  • the device 200 comprises a memory device 230, in which a plurality of curvature classes 240 are deposited, and means 250 for selecting a curvature class 240 from the plurality of curvature classes.
  • the curvature classes 240 represent different curvature states of a possible road course.
  • Each class of curvature 240 comprises one or more parameters
  • the navigation device 210 of the vehicle 100 determines a curvature profile of a route section currently to be traveled by accessing a digital map stored in the vehicle 100 and transmits information about the curvature to the device 200 via a suitable interface actual vehicle speed v of the vehicle 100 transmitted to device 200.
  • Means 250 selects a current curl class 240 from the plurality of curvature classes based on the curvature information. In turn, based on the current vehicle speed information v, a parameter of the current curl class 240 is determined as the parameter for the lateral control of the vehicle 100 and provided to the cross controller 220 of the vehicle 100 via a suitable interface.
  • FIG. 3 shows a flow chart of a method for determining a parameter for a lateral control of a vehicle, according to an embodiment of the present invention.
  • the blocks 310a, 310b, 310c comprise a plurality of curvature classes representing different curvature states of a possible road course. According to the embodiment of the method shown in FIG.
  • a curvature class is provided with a cross controller parameter related to a typical curvature condition of a freeway
  • a curvature class with a cross controller parameterization is provided which corresponds to a typical curvature condition of a highway Highway
  • a curvature class with a cross controller parameterization related to a typical curvature condition of a main road is provided in a block 310a.
  • the respective transverse controller parameterization of the aforementioned class of curvature comprises a plurality of parameters related to different vehicle speeds of the vehicle.
  • the corresponding parameters can be stored in a memory so that the blocks 310a, 310b, 310c can be memory devices.
  • a curvature profile of a route section currently to be traveled is determined in a block 320a by means of GPS positioning and access to a digital map.
  • the curvature course is used to classify the route section so that a road class can be assigned to the route section.
  • a curvature class corresponding to the determined road class is selected from one of the plurality of curvature classes provided in the blocks 310a, 310b, 310c.
  • one of the blocks 310a, 310b, 310c may be accessed and a corresponding cross-controller parameterization may be read.
  • the functional section 320 can carry out a road class-dependent forwarding of the corresponding transverse controller parameterization table.
  • an appropriate parameter or parameter set may be provided from the blocks 310a, 310b, 310c.
  • a so-called velocity gain scheduling takes place, in which a current vehicle speed of the vehicle is determined in a block 330a or provided by a vehicle CAN bus.
  • a speed-dependent cross-controller parameterization is determined by selecting a corresponding speed-dependent parameter from the selected curvature class based on the current vehicle speed and determining it as the parameter for the lateral control of the vehicle.
  • a speed-dependent transfer of the corresponding cross-controller parameterization can take place.
  • a suitable parameter or parameter set may be provided from the blocks 310a, 310b, 310c.
  • a current parameter or parameter set which is assigned to the current road class and the current vehicle speed, can be selected by the functional sections 320, 330 from the blocks 310a, 310b, 310c.
  • the current parameter or parameter set is sent to a cross controller 340. terleton.
  • the cross controller 340 is configured to execute a lateral control algorithm in response to an input signal and to output a corresponding manipulated variable for lateral control of the vehicle.
  • the lateral control algorithm is set to the current road class and current vehicle speed.
  • corresponding method steps of the method for determining a parameter for a transverse control of a vehicle can be implemented.
  • the functional sections 320, 330 can also be executed in the reverse order or together in a common functional section. If the transverse controller parameterizations in the blocks 310a, 310b, 310c do not already have speed-dependent parameters, a corresponding adaptation of the parameters can be carried out, for example, in the function block 330b.
  • a controller designed in accordance with the approach presented here is characterized, inter alia, by the fact that, in contrast to pure speed-adaptive controller parameterization, ie speed gain scheduling, it can have not only one parameterization table with the speed-dependent parameters, but several each table eg associated with a particular street class. Depending on the returned road class of the digital map, the corresponding table can be selected and used for the parameterization of the controller.
  • the embodiments described and shown in the figures are chosen only by way of example. Different embodiments may be combined together or in relation to individual features. Also, an embodiment can be supplemented by features of another embodiment. Furthermore, method steps according to the invention can be repeated as well as carried out in a sequence other than that described.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour déterminer le paramétrage de régulation transversale pour une régulation transversale d'un véhicule (100) sur une partie de trajet que doit effectivement parcourir le véhicule (100), le procédé présentant une étape consistant à déterminer le paramètre sur la base d'une information relative à un tracé courbe de la partie de trajet (110) que doit effectivement parcourir le véhicule.
EP11758475.5A 2010-10-26 2011-09-21 Procédé et dispositif pour déterminer un paramétrage de régulation transversale pour une régulation transversale d'un véhicule Withdrawn EP2632784A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010042900A DE102010042900A1 (de) 2010-10-26 2010-10-26 Verfahren und Vorrichtung zum Bestimmen einer Querreglerparametrierung für eine Querregelung eines Fahrzeugs
PCT/EP2011/066429 WO2012055645A1 (fr) 2010-10-26 2011-09-21 Procédé et dispositif pour déterminer un paramétrage de régulation transversale pour une régulation transversale d'un véhicule

Publications (1)

Publication Number Publication Date
EP2632784A1 true EP2632784A1 (fr) 2013-09-04

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EP11758475.5A Withdrawn EP2632784A1 (fr) 2010-10-26 2011-09-21 Procédé et dispositif pour déterminer un paramétrage de régulation transversale pour une régulation transversale d'un véhicule

Country Status (6)

Country Link
US (1) US9090279B2 (fr)
EP (1) EP2632784A1 (fr)
JP (1) JP2014501651A (fr)
CN (1) CN103328298B (fr)
DE (1) DE102010042900A1 (fr)
WO (1) WO2012055645A1 (fr)

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JP6304894B2 (ja) * 2015-10-28 2018-04-04 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
JP6652401B2 (ja) * 2016-02-22 2020-02-19 本田技研工業株式会社 車両走行制御装置
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US9090279B2 (en) 2015-07-28
JP2014501651A (ja) 2014-01-23
DE102010042900A1 (de) 2012-04-26
US20140039716A1 (en) 2014-02-06
CN103328298B (zh) 2016-12-21
WO2012055645A1 (fr) 2012-05-03

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