EP2941766A1 - Drift-trainingsassistenzsystem für ein kraftfahrzeug - Google Patents
Drift-trainingsassistenzsystem für ein kraftfahrzeugInfo
- Publication number
- EP2941766A1 EP2941766A1 EP13799604.7A EP13799604A EP2941766A1 EP 2941766 A1 EP2941766 A1 EP 2941766A1 EP 13799604 A EP13799604 A EP 13799604A EP 2941766 A1 EP2941766 A1 EP 2941766A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- drift
- assistance system
- training
- driver
- vehicle
- 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.)
- Ceased
Links
- 238000012549 training Methods 0.000 title claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000004913 activation Effects 0.000 claims description 4
- XDDAORKBJWWYJS-UHFFFAOYSA-N glyphosate Chemical compound OC(=O)CNCP(O)(O)=O XDDAORKBJWWYJS-UHFFFAOYSA-N 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
- 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
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
-
- 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
- B60T2210/36—Global Positioning System [GPS]
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
Definitions
- the present invention relates to a drift training assistance system for learning drifting with a motor vehicle.
- Necessary course content of driver training is drifting (eg in a circle), in which the rear wheels are deliberately accelerated so much that the rear of the vehicle comes around and results in a large slip angle. This must be learned without any assistance from an assistance system.
- a rear-wheel drive offers the advantage of controlling the drift angle in a targeted manner by turning the rear wheels through, ie a provoked oversteer by sheer excess of engine power.
- Front-wheel drive vehicles are less suitable for drifting because they tend to understeer rather than oversteer when accelerating.
- An oversteer can be generated in the front-wheel drive but by the onset of the handbrake. However, this is referred to as a “slide” and not as a “drift”. These "south” are also addressed by the present invention.
- Another technique is to bring the vehicle into a pendulum motion. The driver tries to drive small snaking lines, so that the rear of the vehicle breaks out in a sudden and strong Einlenkmanöver.
- Another technique is to temporarily place the rear axle of the car on a grassy area next to the track.
- the car is so rocked that the tail slips over the surface next to the asphalt and thus loses liability. Once the input drift angle is reached, the vehicle is moved back on the asphalt.
- the handbrake itself can not only be used to initiate drift, but can also be used to significantly increase drift by bringing instability to the driving state while the car tends to re-build grip on the rear axle.
- Another use of the handbrake is the reduction of a speed surplus between cam combinations. If, for example, a curve is drifted in fourth gear and then follows a curve that presupposes the drift in second gear, it is advisable to use the handbrake to increase the drift angle before the slower curve is input, and thus into the Turn in the curve to reduce speed.
- a drift training assistance system for a motor vehicle for learning the drift necessary in highly dynamic driving training eg in a circle
- both the steering action and the accelerator pedal movement or their combined action of at least one drift Assistance system be adopted and / or supported.
- instructions for use of optical and / or acoustic nature can also be made available to the driver.
- the measures according to the invention make it possible for the course participant to get the steering movements required for drifting directly behind the steering wheel from the assistance system. Afterwards he can learn how to steer and accelerate independently of each other and thus achieve an at least satisfactory learning success at the end of the course.
- the drift assistance system continues the course curvature of a vehicle-fixed reference point which is present during its activation and which is determined from the yaw rate, lateral acceleration or GPS sensor system by means of automatic steering movements.
- the automatic steering movements are advantageously continued even if the rear of the motor vehicle breaks out by the driver or the drift assistance system itself dosed Gasbies.
- the adjusted course curvature can be adjusted via a controller.
- the manual torque of the driver can also be measured, by means of which the desired course curvature is corrected (for example by integration of the signed manual torque).
- the driver then has the opportunity to follow the automatic steering movements with his hands and only with a desired course correction in turn according to the desired direction dosed "against the controller" to push Steering angle, yaw rate, lateral acceleration or reference eonics such as GPS determined slip angle of the vehicle center of gravity and controls the estimated slip angle to a set by the driver set by throttle or throttle.
- the drift assistance system can be activated by a kick-down of the accelerator pedal.
- the drift training assistance system is also available as an option for standard-production vehicles.
- both the steering action and the accelerator pedal movement or their combined action are taken over and / or supported by a drift assistance system according to the invention.
- the drift assistance system can now influence both the steering action and the accelerator pedal movement or their combined action.
- the curvature of the vehicle (estimated from the yaw rate) that is active when the vehicle is activated is continued by automatic steering movements, even if the tail breaks out (due to the throttle being metered by the driver or the system itself).
- the instantaneous curvature of each vehicle-fixed reference point is suitable for stabilizing the curvature of the driving curve.
- FIG. 1 shows the forces acting on a vehicle during a drift
- FIG. 2 shows an optical display system for a drift training assistance system according to the invention.
- FIG. 1 shows the forces acting on a vehicle F during a drift.
- the front wheels V are inclined due to a steering angle at a steering angle 1 to the vehicle longitudinal axis, while the vehicle F moves sideways at a float angle 2.
- a driving force 3 is applied to the rear wheels H, which are subject to a cornering force 4 at the same time.
- FIG. 2 shows a display concept which indicates to the driver in which direction he has to move the steering wheel L in order to carry out an optimum drift.
- the desired steering angle S and the actual steering angle I do not match, since the two markings are not congruent.
- the driver would have to turn the steering wheel L to the right, so that the two markings are brought to cover.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Entrepreneurship & Innovation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013200027.8A DE102013200027A1 (de) | 2013-01-02 | 2013-01-02 | Drift-Trainingsassistenzsystem für ein Kraftfahrzeug |
PCT/EP2013/075763 WO2014106559A1 (de) | 2013-01-02 | 2013-12-06 | Drift-trainingsassistenzsystem für ein kraftfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2941766A1 true EP2941766A1 (de) | 2015-11-11 |
Family
ID=49713101
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13799604.7A Ceased EP2941766A1 (de) | 2013-01-02 | 2013-12-06 | Drift-trainingsassistenzsystem für ein kraftfahrzeug |
Country Status (4)
Country | Link |
---|---|
US (1) | US10077051B2 (de) |
EP (1) | EP2941766A1 (de) |
DE (1) | DE102013200027A1 (de) |
WO (1) | WO2014106559A1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105261259B (zh) * | 2015-11-26 | 2018-07-06 | 杜霄鹤 | 一种智能车辆驾驶培训系统 |
DE102016001362B4 (de) | 2016-02-06 | 2018-06-28 | Audi Ag | Drift-Assistenzsystem für ein Kraftfahrzeug |
US10118605B2 (en) | 2017-03-13 | 2018-11-06 | Ford Global Technologies, Llc | Methods and system for a hybrid vehicle |
US10106150B2 (en) | 2017-03-13 | 2018-10-23 | Ford Global Technologies, Llc | Methods and system for operating a hybrid vehicle |
US10513265B2 (en) | 2017-03-13 | 2019-12-24 | Ford Global Technologies, Llc | Methods and system for hybrid vehicle regenerative braking |
US10513254B2 (en) * | 2017-03-13 | 2019-12-24 | Ford Global Technologies, Llc | Methods and system providing vehicle drift |
CN110126831B (zh) * | 2019-03-21 | 2020-11-06 | 纳恩博(北京)科技有限公司 | 一种车辆漂移的控制方法、控制系统和车辆 |
EP3800095B1 (de) * | 2019-10-03 | 2023-09-27 | Ningbo Geely Automobile Research & Development Co. Ltd. | Verfahren zur gewöhnung eines fahrers an den rutschigen zustand einer strasse |
US11498564B2 (en) | 2020-08-19 | 2022-11-15 | Toyota Research Institute, Inc. | Controlling a vehicle that is skidding |
US11858497B2 (en) * | 2021-06-14 | 2024-01-02 | Toyota Research Institute, Inc. | Operator drift maintenance |
US20240025393A1 (en) * | 2022-07-15 | 2024-01-25 | GM Global Technology Operations LLC | Vehicle intentional drift detection and control |
DE102022003544A1 (de) | 2022-09-27 | 2023-12-07 | Mercedes-Benz Group AG | Assistenzsystem und Verfahren zur Unterstützung eines Fahrers bei einem Driftmanöver mit einem Fahrzeug |
CN115610401B (zh) * | 2022-12-14 | 2023-03-03 | 博世汽车部件(苏州)有限公司 | 车辆及其漂移辅助系统 |
DE102023101057A1 (de) | 2023-01-17 | 2024-07-18 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Darstellung eines Anzeigeinhalts in einem Fortbewegungsmittel |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4201146A1 (de) * | 1991-01-18 | 1992-07-23 | Hitachi Ltd | System fuer die vorhersage des verhaltens eines kraftfahrzeugs und fuer die hierauf basierende steuerung des fahrzeugverhaltens |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3627549A1 (de) * | 1986-08-13 | 1988-02-18 | Daimler Benz Ag | Vorrichtung zum selbsttaetigen umschalten von fahrzeugaggregaten eines kraftfahrzeuges |
JP2528955B2 (ja) * | 1988-12-29 | 1996-08-28 | 日産自動車株式会社 | 車両のパワ―ドリフト走行制御装置 |
DE19749005A1 (de) * | 1997-06-30 | 1999-01-07 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Regelung von die Fahrzeugbewegung repräsentierenden Bewegungsgrößen |
DE10011779A1 (de) * | 1999-09-10 | 2001-06-21 | Continental Teves Ag & Co Ohg | Verfahren zur Regelung eines Giermoments |
US6637543B2 (en) * | 2001-02-14 | 2003-10-28 | Delphi Technologies, Inc. | Oversteer control for a motor vehicle |
DE10130659A1 (de) * | 2001-06-28 | 2003-01-16 | Daimler Chrysler Ag | Vorrichtung zur Stabilisierung eines Fahrzeuges |
US6793234B2 (en) * | 2001-10-17 | 2004-09-21 | Meritor Light Vehicle Technology, Llc | Steering wheel feedback mechanism |
US6856877B2 (en) * | 2002-05-29 | 2005-02-15 | Ford Global Technologies, Llc | Integration of active assist and vehicle dynamics control and method |
DE10324812A1 (de) | 2003-06-02 | 2004-12-23 | Robert Bosch Gmbh | Anzeigeanordnung für ein Kraftfahrzeug und Verfahren zur Ausgabe von Fahrerinformationen, insbesondere für eine Einparkhilfe |
US7165644B2 (en) * | 2004-03-18 | 2007-01-23 | Ford Global Technologies, Llc | Method and apparatus of controlling an automotive vehicle using brake-steer as a function of steering wheel torque |
CA2631433C (en) * | 2005-12-27 | 2010-09-21 | Honda Motor Co., Ltd. | Controller of vehicle |
JP5287717B2 (ja) * | 2007-04-17 | 2013-09-11 | 日産自動車株式会社 | 車輪接地面摩擦状態推定のための装置と方法 |
DE102008029894B4 (de) * | 2008-06-24 | 2018-04-19 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Stabilisierung eines Kraftfahrzeugs beim Durchfahren einer Kurve |
GB2492543B (en) * | 2011-06-30 | 2013-07-03 | Land Rover Uk Ltd | A vehicle sideslip control system and method |
-
2013
- 2013-01-02 DE DE102013200027.8A patent/DE102013200027A1/de not_active Withdrawn
- 2013-12-06 WO PCT/EP2013/075763 patent/WO2014106559A1/de active Application Filing
- 2013-12-06 EP EP13799604.7A patent/EP2941766A1/de not_active Ceased
-
2015
- 2015-07-01 US US14/788,999 patent/US10077051B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4201146A1 (de) * | 1991-01-18 | 1992-07-23 | Hitachi Ltd | System fuer die vorhersage des verhaltens eines kraftfahrzeugs und fuer die hierauf basierende steuerung des fahrzeugverhaltens |
Non-Patent Citations (2)
Title |
---|
See also references of WO2014106559A1 * |
T. SINGH ET AL: "Design of Hardware/Algorithms for Enhancement of Driver-Vehicle Performance in Inclement Conditions Using a Virtual Environment", SAE TECHNICAL PAPER SERIES, vol. 1, 6 March 2000 (2000-03-06), US, pages 1 - 14, XP055466490, ISSN: 0148-7191, DOI: 10.4271/2000-01-0322 * |
Also Published As
Publication number | Publication date |
---|---|
WO2014106559A1 (de) | 2014-07-10 |
US10077051B2 (en) | 2018-09-18 |
DE102013200027A1 (de) | 2014-07-03 |
US20150298702A1 (en) | 2015-10-22 |
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