Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
• • 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
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/17—Using electrical or electronic regulation means to control braking
  • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
  • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
• • 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
  • B60T2201/02—Active or adaptive cruise control system; Distance control
  • B60T2201/022—Collision avoidance 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
  • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
  • B60T2210/30—Environment conditions or position therewithin
  • B60T2210/32—Vehicle surroundings
• • 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
  • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
  • B60T2220/02—Driver type; Driving style; Driver adaptive features

Definitions

• Method and control unit for operating a vehicle dynamics control of a vehicle and control system for vehicle dynamics control of a vehicle using environmental sensing data
• the invention is based on a method for operating a control system for driving dynamics control of a vehicle, in particular a motor vehicle.
• the invention is further based on a control unit which is set up to operate a control system for driving dynamics control of a vehicle, in particular a motor vehicle, according to such a method.
• the invention proceeds from a corresponding control system for driving dynamics control of a vehicle, in particular a motor vehicle.
• a vehicle dynamics control system such as the Electronic Stability Program (ESP) is present in many motor vehicles today and is considered an important component of the active safety systems in the vehicle.
• ESP refers to a control system in the brake system and in the drive train of a vehicle, which counteracts the intentional braking of individual wheels sideways breaking out of the vehicle.
• the driver it is possible for the driver to change the thresholds of the ESP system or to completely switch off the ESP in order to either adapt to special situations (for example free-swinging in the snow) or to allow more sporty driving.
• inventive method with the features mentioned in claim 1, the control device according to the invention with the features mentioned in claim 8 and the inventive system with the features mentioned in claim 9 offer the advantage that minimizes a collision risk despite a largely exempt from noticeable control actions of the control system driving is.
• the following steps are provided: (a) detecting an object by means of at least one surroundings detection device detecting a detection area in the vehicle environment, (b) determining the probability of interaction of the vehicle with this object and causing damage to the vehicle or its occupants (C) changing the intensity of a control intervention of the vehicle dynamics control as a function of the previously determined probability of interaction of the vehicle with the object in at least one operating mode of the control system.
• the vehicle dynamics control is a vehicle dynamics control for preventing a sideways breakout of the vehicle. The interaction is in particular a collision of the vehicle with the object.
• control system Under the control system for vehicle dynamics control is a control system to understand, which engages in the brake system and in the drive system (the drive train) of a vehicle, and counteracts, for example by deliberate braking individual wheels sideways breaking of the vehicle.
• ESP Electronic Stability Program
• the determination of the probability of an interaction can be limited to determining a possibility of this interaction, ie whether the probability of the interaction lies above or below a probability limit or threshold.
• the interaction of the vehicle with the object is in particular a collision of the vehicle with this object.
• Such a determination of the probability or possibility of an interaction with an object is in another context of driver assistance systems with adaptive cruise control ACC plus (ACC:
• the change in the intensity of the control intervention may include, for example, a change in the delay of the control intervention and / or a change in the strength of the control intervention.
• changing the intensity of the control intervention - for example by setting intensity thresholds - is an adjustable change in the intensity of the control intervention.
• the change in the intensity of the control intervention of the vehicle dynamics control comprises activating or deactivating the vehicle dynamics control.
• the change in the intensity of the control intervention of the vehicle dynamics control is merely this activation or deactivation of the vehicle dynamics control.
• the detection of the object is a determination of a position and / or a speed and / or an acceleration of the object relative to the vehicle.
• the surroundings detection device is an environment detection device of a driver assistance system of the vehicle.
• the surroundings detection device is an optical and / or acoustic sensor, in particular a sensor of a radar system and / or a sensor of an infrared vision system and / or a camera of a video system and / or a sensor of an ultrasound system.
• sensors are already used on vehicles in Adaptive Cruise Control (ACC), Lane Departure Warning, Night Vision Assist, Collision Warning, etc.
• the determination of the probability of an interaction of the vehicle with the object is a determination of the probability of an interaction of the vehicle with the object and the change in the intensity of the vehicle Control intervention of the vehicle dynamics control system in response to a preselected probability threshold takes place.
• the driver of the vehicle selects the at least one operating mode from a plurality of selectable operating modes.
• the control device which is set up to operate a control system according to an aforementioned method, has (i) a device which is set up to determine the likelihood of an interaction of the vehicle with an object detected in the vehicle environment which causes damage to the vehicle or its occupants and (ii) a device for varying the intensity of a control intervention of the vehicle dynamics control in at least one operating mode of the control system.
• the vehicle dynamics control is a vehicle dynamics control for preventing lateral breaking of the vehicle.
• the control system comprises: (i) at least one surroundings detection area detecting vehicle detection area for detecting an object; (ii) means for determining the likelihood of an interaction of the vehicle with the object causing damage to the vehicle or its occupants and (iii) means for varying the intensity of a control intervention of the vehicle dynamics control as a function of the probability of an interaction of the vehicle with the object in at least one operating mode of the control system.
• the vehicle dynamics control is a vehicle dynamics control for preventing a sideways breakout of the vehicle. It is advantageously provided that the device for changing the intensity of the control intervention of the vehicle dynamics control is an activation and / or deactivation device for activating or deactivating the vehicle dynamics control.
• Such an environment detection device and such a device which is set up to determine the probability of a damage to the vehicle or its occupants causing interaction of the vehicle with this object is usually already present in vehicles with driver assistance systems, since the environment of the vehicle with respect to such possible damage is detected by the environment detection device.
• Such systems warn the driver of the vehicle and / or brake the vehicle for collision avoidance or at least prepare appropriate braking.
• the vehicle which is set up to determine the probability of a damage to the vehicle or its occupants causing interaction of the vehicle with this object is usually already present in vehicles with driver assistance systems, since the environment of the vehicle with respect to such possible damage is detected by the environment detection device.
• Such systems warn the driver of the vehicle and / or brake the vehicle for collision avoidance or at least prepare appropriate braking.
• Ambient detection device is an optical and / or acoustic sensor, in particular a sensor of a radar system and / or a sensor of an infrared vision system and / or a camera of a video system and / or a sensor of an ultrasound system.
• a far-range radar with a detection range up to 200 m a far / near infrared vision system with a nighttime detection range up to about 150 m, ultrasound systems and video sensors are known.
• the detection of the object is a determination of a position and / or a speed and / or an acceleration of the object relative to the vehicle.
• the system has a selection device for selecting the operating mode from a plurality of selectable operating modes.
• a selection device can be used, for example, as a user interface in the
• Figure 1 is a schematic representation of a vehicle with a control system for driving dynamics control of a vehicle according to a preferred embodiment of the invention, Figure 2A and 2B, a first driving situation in which the control system shown in Figure 1 is used and
• FIGS. 3A and 3B show a second driving situation in which the one shown in FIG
• Control system is used.
• FIG. 1 shows a trained as a motor vehicle 10 with a drive system 12, a brake system 14 and one with these two systems connected control system 16 for vehicle dynamics control (FDR) of the vehicle 10.
• FDR vehicle dynamics control
• components of the drive system 12 and the brake system 14 may also be part of the control system 16 for vehicle dynamics control simultaneously.
• ESP system Electronic Stability Program
• the control system 16 influences the drive torque generated by the drive system 12 and / or the braking torque generated by the brake system 14 (deceleration torque) by appropriate control interventions. Specifically, the control system 16 controls the vehicle dynamics control specifically ECUs 18, 30 of the drive system 12 and / or the brake system 14 at.
• the communication of the components of the different systems 12, 14, 16 takes place, for example, via
• the control units 18, 30 initiate appropriate measures. For example, the selective braking of individual wheels of the vehicle 10 by means of the separately controllable wheel brakes 22.
• Reference variables of the control system 16 for driving dynamics control are of a
• Sensor and user interfaces 32, 34 detected variables that indicate the driver's request, such as steering angle, brake or accelerator pedal position.
• Further reference variables of this control system 16 are variables detected by sensors 36 which detect the actual driving behavior of the vehicle 10, such as a yaw rate, a lateral acceleration, a wheel speed and a brake pressure.
• the control system 16 now also has at least one surroundings detection device 38 for detecting objects (shown in FIGS. 2 and 3) in the surroundings of the vehicle 10, a device 42 for determining the possibility or the probability of damage through interaction of the vehicle 10 with a detected one Object 22 in the vehicle environment, _
• the controller 30 integrally includes the device 42 and the device 44.
• the illustrated environment detection device 38 is a forward-looking sensor of a radar system 46 having a certain detection range 48.
• the sensor 46 is installed in the front area of the vehicle 10.
• the detection area 48 of the sensor facing the front is a detection area 48 directed in the forward direction of the vehicle 10.
• further surroundings detection devices 38 which are based on other measurement principles and / or detect other areas of the vehicle surroundings.
• Another user interface 50 is set up as a selector for selecting the operating mode of the vehicle dynamics control system 16 from a plurality of selectable modes.
• the surroundings detection device 38 and the device 40 for determining the probability of damage by interaction of the vehicle 12 with a detected object 18 are, for example, part of a driver assistance system of the vehicle 10.
• the vehicle dynamics control (FDR) of the vehicle 10 assists the driver of the vehicle 10 by ensuring increased directional stability of the vehicle 10, thus suppressing drifting or understeering or oversteering.
• Drift refers to a driving state in which the vehicle 10 moves in a curve laterally to its own longitudinal axis, and thus large skew angles are maintained on both axes.
• a predominant rear-wheel drift is generally referred to as oversteer. This means that after breaking out of the rear of the vehicle, the steering is straight or even to steer in the direction of the outside of the curve.
• a predominant front wheel drift is called understeer. This means steering in more than the turning radius of the road would actually require.
• Initial situation is either a previously activated vehicle dynamics control or a previously deactivated vehicle dynamics control.
• the vehicle dynamics control system 16 of the vehicle 10 is operated in a corresponding mode as follows:
• the surroundings detection device 38 When the vehicle 10 is moving, the surroundings detection device 38 permanently detects the surroundings of the vehicle 10 or a detection area 48 of the surroundings detection device 38 in the surroundings. In this case, the surroundings detection device 38 detects an object 40 (FIGS. 2B and 3B) in its detection area
• the system 16 determines the likelihood of a damage to the vehicle 10 or its occupants causing interaction of the vehicle 10 with this object 40. Subsequently, the vehicle dynamics control for preventing a sideways movement of the vehicle 10 is automatically activated or deactivated as a function of the previously determined probability of interaction of the vehicle 10 with the object 40 in the operating mode "automatic switch-on / automatic switch-off of the vehicle dynamics control" of the control system 16 Mode of operation may be a general or optional mode of operation, if an optional mode of operation is selected by the driver or other occupant of the vehicle 10, the mode automatically activates the vehicle dynamics control or automatically deactivates the vehicle dynamics control among multiple selectable modes via the user interface 50 Other operating modes may be, for example, an operating mode with permanently deactivated vehicle dynamics control or an operating mode with permanently connected vehicle dynamics control. If the vehicle dynamics control is switched on, depending on the variables measured by the sensor 36, which detect the actual driving behavior of the vehicle 10 (yaw rate, lateral acceleration, etc.), a control intervention occurs.
• FIG. 2A shows a typical driving situation in which, without driving dynamics control, the vehicle 10 is understeered.
• the vehicle 10 is approaching a curve 52, and due to the driver's chosen / environmental parameters (speed, steering angle,... / Friction values, tire pressures,...) The vehicle 10 begins to understeer.
• FIGS. 3A and 3B A different driving situation is shown in FIGS. 3A and 3B.
• the vehicle 10 begins to oversteer or oversteer already in a curve 54.
• the vehicle dynamics control FDR stabilizes the vehicle 10 and thus reduces the probability of collision with objects 40 that are recognizable by the surroundings detection device 38.

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• Engineering & Computer Science (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Regulating Braking Force (AREA)
• Traffic Control Systems (AREA)

Applications Claiming Priority (2)

Publications (1)

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ID=46970234

Family Applications (1)

Country Status (5)

Families Citing this family (9)

Citations (2)

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• 2011
  • 2011-10-25 DE DE102011085140A patent/DE102011085140A1/de active Pending
• 2012
  • 2012-08-30 EP EP12768740.8A patent/EP2771216A1/de not_active Withdrawn
  • 2012-08-30 US US14/351,650 patent/US9393959B2/en active Active
  • 2012-08-30 CN CN201280052690.4A patent/CN103889795B/zh active Active
  • 2012-08-30 WO PCT/EP2012/066896 patent/WO2013060512A1/de active Application Filing

Patent Citations (2)

Non-Patent Citations (1)

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