EP2941766A1 - Drifting training assistance system for a motor vehicle - Google Patents

Drifting training assistance system for a motor vehicle

Info

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
Application number
EP13799604.7A
Other languages
German (de)
French (fr)
Inventor
Philipp Reinisch
Moritz Werling
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke 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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP2941766A1 publication Critical patent/EP2941766A1/en
Ceased legal-status Critical Current

Links

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
    • B60W30/18—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.

Abstract

The present invention relates to a drifting training assistance system for a motor vehicle for learning drifting techniques (e.g. circle drift) required in high-performance driving training, the steering and the gas pedal movement or the combined action thereof being taken on and/or supported by a drifting assistance system.

Description

Drift-Trainingsassistenzsystem für ein Kraftfahrzeug  Drift training assistance system for a motor vehicle
Beschreibung Die vorliegende Erfindung betrifft ein Drift-Trainingsassistenzsystem für das Erlernen des Driftens mit einem Kraftfahrzeug. The present invention relates to a drift training assistance system for learning drifting with a motor vehicle.
Notwendiger Kursinhalt von Fahrertrainings ist das Driften (z. B. im Kreis), bei dem die Hinterräder bewusst so stark beschleunigt werden, dass das Fahrzeugheck herumkommt und sich ein großer Schwimmwinkel ergibt. Dies muss ohne jegliche Unterstützung seitens eines Assistenzsystems erlernt werden. 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.
Beim Driften versucht der Fahrer sein Fahrzeug zum Übersteuern zu bringen, während er die Kontrolle und sein Fahrtempo beibehält. Bei diesen Fahrmanövern haben die hinteren Räder einen höheren Schräglaufwinkel als die Vorderräder. When drifting, the driver tries to oversteer his vehicle while maintaining control and his speed. In these driving maneuvers, the rear wheels have a higher slip angle than the front wheels.
Beim Driften werden meistens leichte Fahrzeuge mit Heckantrieb und hoher Motorleistung und Drehmoment eingesetzt. Ein Heckantrieb bietet den Vorteil, gezielt über das Durchdrehen der Hinterräder den Driftwinkel zu kontrollieren, also ein provoziertes Übersteuern durch schieren Überfluss an Motorleistung. Fahrzeuge mit Vorderantrieb sind zum Driften weniger geeignet, da sie beim Gasgeben zum Unter- statt zum Übersteuern neigen. Ein Übersteuern kann beim Frontantrieb aber durch das Einsetzen der Handbremse erzeugt werden. Dies wird jedoch als„Slide" und nicht als„Drift" bezeichnet. Auch diese„Südes" werden von der vorliegenden Erfindung addressiert. Eine weitere Technik ist es, das Fahrzeug in eine Pendelbewegung zu bringen. Dabei versucht der Fahrer kleine Schlangenlinien zu fahren, so dass das Heck des Fahrzeugs bei einem plötzlichen und starken Einlenkmanöver ausbricht. When drifting mostly light vehicles with rear-wheel drive and high engine power and torque are used. 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.
Eine weitere Technik ist, die Hinterachse des Wagens kurzzeitig auf einer Grasfläche neben der Strecke zu platzieren. Dabei wird der Wagen so aufgeschaukelt, dass das Heck über die Fläche neben dem Asphalt rutscht und damit die Haftung verliert. Sobald der Eingangs-Drift- Winkel erreicht ist, wird das Fahrzeug wieder auf dem Asphalt bewegt. 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.
Die Handbremse (ggf. elektronisch) selbst kann nicht nur zum Einleiten des Drifts benutzt, sondern auch dazu verwendet werden, einen Drift deutlich zu verlängern, indem man Instabilität in den Fahrzustand bringt, während der Wagen schon dazu neigt wieder Grip auf der Hinterachse aufzubauen. Eine weitere Einsatzmöglichkeit der Handbremse ist das Abbauen eines Geschwindigkeitsüberschuss zwischen Kurvenkombinationen. Wird zum Beispiel eine Kurve im vierten Gang gedriftet und folgt daraufhin eine Kurve, die den Drift im zweiten Gang voraus- setzt, bietet es sich an, mittels der Handbremse den Drift-Winkel vor Eingang der langsameren Kurve stark zu erhöhen und damit beim in die Kurve hineinrutschen Geschwindigkeit abzubauen. The handbrake (possibly electronic) 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.
Kurven im Drift zu nehmen, erfordert viel Können, bringt darüber hinaus aber auch noch die Sicherheit, das Fahrzeug auch in kritischen Situationen zu beherrschen. Entsprechende Driftfähigkeiten können in speziell angebotenen Kursen erworben werden. Taking turns drifting requires a lot of skill, but also brings the security of controlling the vehicle even in critical situations. Corresponding drift abilities can be acquired in specially offered courses.
Insbesondere das gleichzeitige Lenken und Gasgeben bereitet vielen Kursteilnehmern jedoch auch nach etlichen Trainingsrunden größte Probleme, so dass sich am Kursende häufig noch kein befriedigender Lernerfolg eingestellt hat. In particular, the simultaneous steering and accelerating gives many students but also after several rounds of training largest Problems, so that at the end of the course has not adjusted to a satisfactory learning success.
Es ist daher Aufgabe der vorliegenden Erfindung, hier Abhilfe zu schaf- fen. It is therefore an object of the present invention to remedy this situation.
Diese Aufgabe wird bei einem Drift-Trainingsassistenzsystem für ein Kraftfahrzeug zum Erlernen des im hochdynamischen Fahrtraining notwendigen Driftens (z. B. im Kreis), erfindungsgemäß dadurch gelöst, dass sowohl die Lenktätigkeit als auch die Gaspedalbewegung bzw. deren kombinierte Aktion von zumindest einem Drift-Assistenzsystem übernommen und/oder unterstützt werden. Alternativ können auch Handlungsanweisungen optischer und/oder akustischer Art dem Fahrer zur Verfügung gestellt werden. This object is achieved in a drift training assistance system for a motor vehicle for learning the drift necessary in highly dynamic driving training (eg in a circle), according to the invention in that 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. Alternatively, instructions for use of optical and / or acoustic nature can also be made available to the driver.
Durch die erfindungsgemäßen Maßnahmen wird es dem Kursteilnehmer ermöglicht, die für das Driften erforderlichen Lenkgewegungen direkt hinter dem Lenkrad vom Assistenzsystem demonstriert zu bekommen. Anschließend kann er das Lenken und Gasgeben unabhängig voneinander erlernen und so am Kursende zu einem zumindest befriedigenden Lernerfolg kommen. 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.
Die Unteransprüche beinhalten vorteilhafte Weiterbildungen und Ausgestaltungen der Erfindung. The dependent claims contain advantageous developments and refinements of the invention.
Gemäß einer vorteilhaften Weiterbildung setzt das Drift- Assistenzsystem die bei seiner Aktivierung vorhandene und aus der Gierrate, Querbeschleunigung oder GPS-Sensorik ermittelte Kurskrümmung eines fahrzeugfesten Referenzpunkts durch automati- sehe Lenkbewegungen fort. Die automatischen Lenkbewegungen werden vorteilhafterweise auch dann fortgesetzt, wenn das Heck des Kraftfahrzeuges durch vom Fahrer oder auch vom Drift-Assistenzsystem selbst dosiertes Gasgebens ausbricht. According to an advantageous development, 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 Gasgebens.
Um den Fahrzeugkurs den örtlichen Gegebenheiten des Trainingsgeländes anzupassen ist gemäß einer bevorzugten Ausgestaltung vorgesehen, dass die eingeregelte Kurskrümmung über einen Controller an- passbar ist. In order to adapt the vehicle course to the local conditions of the training area, it is provided according to a preferred embodiment that the adjusted course curvature can be adjusted via a controller.
Alternativ kann auch das Handmoment des Fahrers gemessen werden, anhand dessen die Sollkurskrümmung (z.B. durch Aufintegration des vorzeichenbehafteten Handmoments) korrigiert wird. Der Fahrer hat dann die Möglichkeit, den automatischen Lenkbewegungen mit seinen Händen nachzugehen und nur bei einer angestrebten Kurskorrektur seinerseits entsprechend der Sollrichtung dosiert„gegen den Regler" zu drücken. Gemäß einer vorteilhaften Weiterbildung ermittelt das Drift- Assistenzsystem den bei seiner Aktivierung vorhandenen und aus dem Lenkwinkel, der Gierrate, der Querbeschleunigung oder Referenzseon- sorik wie GPS ermittelten Schwimmwinkel des Fahrzeugsschwerpunktes und regelt durch Gasgeben oder Gaswegnehmen den geschätzten Schwimmwinkel auf einen vom Fahrer einstellbaren Sollwert. Alternatively, 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.
Eine vorteilhafte Weiterbildung ist, anstelle der aktiven Fahreingriffe, die akustische oder optische Darstellung der Reglerstellgrößen. Folgt der Fahrer diesen Handlungsanweisungen (z. B. Soll- und Ist-postition des Lenkradwinkels im Head-up Display, Differenz zwischen Soll- und Ist- gaswinkel mittels Tonhöhe), stellt sich dasselbe gewollte Systemverhalten dar, wie wenn die Regler direkt auf Lenkung und Gas zugreifen würden - bei gleichzeitig höherem Eigenanteil des Fahrers. Bevorzugt ist das Drift-Assistenzsystem durch einen Kick-Down des Gaspedals aktivierbar. An advantageous development is, instead of the active driving interventions, the acoustic or visual representation of the controller control variables. If the driver follows these instructions (eg target and actual position of the steering wheel angle in the head-up display, difference between setpoint and actual gas angle by pitch), is the same intentional system behavior, as if the controller would directly access the steering and gas - at the same time higher own contribution of the driver. Preferably, the drift assistance system can be activated by a kick-down of the accelerator pedal.
Damit die gefahrenen Manöver gemeinsam mit einem Fahrtrainer ausgewertet und analysiert werden können, werden gemäß einer vorteilhaf- ten Weiterbildung wichtige Fahrdaten, wie Geschwindigkeit, Gierrate, Schwimmwinkel usw., aufgezeichnet. So that the maneuvers can be evaluated and analyzed together with a driving trainer, important driving data, such as speed, yaw rate, slip angle, etc., are recorded according to an advantageous development.
Vorteilhafterweise ist das Drift-Trainingsassistenzsystem auch als Sonderausstattung für Serienkraftfahrzeuge erhältlich. Advantageously, the drift training assistance system is also available as an option for standard-production vehicles.
Weitere Einzelheiten, Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung. Further details, features and advantages of the invention will become apparent from the following description.
Zur Erlernung des im hochdynamischen Fahrtraining notwendigen Drif- tens (z. B. im Kreis) wird sowohl die Lenktätigkeit als auch die Gaspedalbewegung bzw. deren kombinierte Aktion von einem erfindungsgemäßen Drift-Assistenzsystem übernommen und/oder unterstützt. To learn the drift required in highly dynamic driver training (eg in a circle), 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.
Dabei macht man sich zu Nutze, dass bei heckangetriebenen Fahrzeu- gen während des Kreisdriftens der Schräglaufwinkel der Vorderräder im Vergleich zu dem der Hinterräder sehr klein ist. Darüber hinaus kann die Gierrate des Fahrzeugs sehr genau gemessen werden, so dass hierdurch eine näherungsweise Schätzung des Schwimmwinkels des Fahrzeugsschwerpunkts ohne teure Inertial- und GPS-Sensorik möglich ist. Auf der Grundlage von Gierrate und Schwimmwinkel kann nunmehr das Drift-Assistenzsystem sowohl die Lenktätigkeit als auch die Gaspedalbewegung bzw. deren kombinierte Aktion beeinflussen. In doing so, one makes use of the fact that, in the case of rear-wheel drive vehicles, the slip angle of the front wheels in comparison with that of the rear wheels is very small during circular drifting. In addition, the yaw rate of the vehicle can be measured very accurately, so that an approximate estimate of the slip angle of the vehicle's center of gravity is possible without expensive inertial and GPS sensors. Based on the yaw rate and the slip angle, the drift assistance system can now influence both the steering action and the accelerator pedal movement or their combined action.
Übernimmt das Drift-Assistenzsystem die Lenkregelung, so wird zunächst die bei Aktivierung vorhandene Kurskrümmung des Fahrzeugs (geschätzt aus der Gierrate) durch automatische Lenkbewegungen fortgesetzt, auch wenn das Heck (durch vom Fahrer oder auch vom System selbst dosiertes Gasgebens) ausbricht. Zur Stabilisierung der Fahrkurskrümmung eignet sich prinzipiell die instantane Krümmung eines jeden fahrzeugfesten Referenzpunkts. Als vorteilhaft erweist sich jedoch das sog. Zentrum der Perkussion (engl, center of percussion), welches sich im Abstand d=J/(m*l_h) [J = Gierträgheitsmoment des Fahrzeugs, m = Fahrzeugmasse, l_h Hinterachsabstand zum Schwerpunkt] vor dem Fahrzeugschwerpunkt befindet. Dies liegt darin begründet, dass eine Veränderung der Hinterachsquerkraft zu keiner Querbe- schleunigungsänderung in diesem Punkt führt und somit instanten der Kurs auch bei plötzlichem Eintereten einer Rutschbewegung der Hinterachse beibehalten wird und der Lenkeingriff später erfolgen kann. Eine Anpassung der eingeregelten Kurskrümmung kann über einen Controller erfolgen, so dass der Fahrer die Möglichkeit hat, durch Lenkbewegungen am Controller den Fahrzeugkurs den örtlichen Gegebenheiten des Trainingsgeländes anzupassen. Eine Alternative stellt die Aufintegration des Handmoments des Fahrers im Sinne einer Admittanz bzw. Impedanzregelung dar. Ähnlich verhält es sich bei der automatischen Antriebsregelung, die durch Gasgeben oder Gaswegnehmen den geschätzten Schwimmwinkel auf einen vom Fahrer einstellbaren Sollwert regelt. Als Lenkalgo- rithmik eignen sich hierzu insbesondere robuste Regelungsansätze mit variabler Regelungsstruktur (z.B. sog. Sliding-mode-Regelungen), welche schwankende Streckenparameter (z.B. Untergrundbedingungen) kompensieren können. Zur Aktivierung des Drift-Assistenzsystems bietet sich ein kurzzeitiger Kick Down des Fahrers am Gaspedal an. Alternativ ist auch eine Aktivierung des Drift-Assi Stenzsystems durch einen kurzen Schwenk am Schalthebel des Fahrzeuges denkbar. Die Aufzeichnung wichtiger Fahrdaten, wie Geschwindigkeit, Gierrate und Schwimmwinkel erlauben eine Visualisierung des Manövers am Computer, so dass dieses gemeinsam mit einem Fahrtrainer analysiert werden kann. Die Auswertung der Messdaten kann automatisch z. B. mit einer Punktevergabe erfolgen. If the drift assistance system takes over the steering control, then 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). In principle, the instantaneous curvature of each vehicle-fixed reference point is suitable for stabilizing the curvature of the driving curve. However, the so-called center of percussion, which is located at a distance d = J / (m * l_h) [J = moment of inertia of the vehicle, m = vehicle mass, l_h rear-axle distance to the center of gravity], proves to be advantageous Vehicle center is located. This is due to the fact that a change in the Hinterachsquerkraft leads to no Querbeschleunigungsänderung in this point and thus instanten the course is maintained even with sudden Eintereten a sliding movement of the rear axle and the steering intervention can be done later. An adjustment of the adjusted course curvature can take place via a controller, so that the driver has the opportunity to adjust the vehicle course to the local conditions of the training area by means of steering movements on the controller. An alternative is the integration of the manual torque of the driver in the sense of an admittance or impedance control. The same applies to the automatic drive control, which regulates the estimated slip angle to a driver-adjustable setpoint by accelerating or decelerating. Robust control approaches with variable control structure (eg so-called sliding-mode controls), which can compensate fluctuating route parameters (eg subsoil conditions), are particularly suitable as steering algorithms for this purpose. To activate the drift assistance system, a brief kick down of the driver on the gas pedal is recommended. Alternatively, an activation of the drift Assi Stenzsystems by a short swing on the shift lever of the vehicle is conceivable. The recording of important driving data, such as speed, yaw rate and slip angle allow a visualization of the maneuver on the computer so that it can be analyzed together with a driving coach. The evaluation of the measured data can automatically z. B. with a score.
Der Verkauf eines solchen Drifttrainers ist ebenfalls als Sonderausstattung für ein Serienfahrzeug denkbar. The sale of such a drift trainer is also conceivable as an option for a production vehicle.
Weitere Einzelheiten, Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung anhand der Zeichnungen. Es zeigen: Further details, features and advantages of the invention will become apparent from the following description with reference to the drawings. Show it:
Figur 1 die bei einem Drift auf ein Fahrzeug einwirkenden Kräfte, und Figur 2 ein optisches Anzeigesystem für eine das erfindungsgemäße Drift-Trainingsassistenzsystem. Figure 1 shows the forces acting on a vehicle during a drift, and FIG. 2 shows an optical display system for a drift training assistance system according to the invention.
In Figur 1 sind die bei einem Drift auf ein Fahrzeug F einwirkenden Kräfte dargestellt. FIG. 1 shows the forces acting on a vehicle F during a drift.
Die Vorderräder V sind infolge eines Lenkeinschlages unter einem Lenkwinkel 1 zur Fahrzeuglängsachse geneigt, während sich das Fahrzeug F unter einem Schwimmwinkel 2 seitwärts bewegt. Infolge des Gasgebens wird eine Antriebskraft 3 auf die Hinterräder H aufgebracht, die gleichzeitig einen Seitenführungskraft 4 unterliegen. 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. As a result of accelerating a driving force 3 is applied to the rear wheels H, which are subject to a cornering force 4 at the same time.
In Figur 2 ist ein Anzeigekonzept dargestellt, welches dem Fahrer angibt, in welche Richtung er das Lenkrad L zu bewegen hat, um einen optimalen Drift auszuführen. Im dargestellten Ausführungsbeispiel stimmen Solllenkwinkel S und Istlenkwinkel I nicht überein, da die beiden Markierungen nicht deckungsgleich sind. Damit der Solllenkwinkel S und Istlenkwinkel I übereinstimmen müsste der Fahrer das Lenkrad L nach rechts drehen, so dass die beiden Markierungen zur Deckung ge- bracht werden. 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. In the illustrated embodiment, the desired steering angle S and the actual steering angle I do not match, since the two markings are not congruent. In order for the desired steering angle S and actual steering angle I to coincide, the driver would have to turn the steering wheel L to the right, so that the two markings are brought to cover.
Die vorhergehende Beschreibung der vorliegenden Erfindung dient nur zu illustrativen Zwecken und nicht zum Zwecke der Beschränkung der Erfindung. Im Rahmen der Erfindung sind verschiedene Änderungen und Modifikationen möglich, ohne den Umfang der Erfindung sowie ihrer Äquivalente zu verlassen. The foregoing description of the present invention is for illustrative purposes only, and not for the purpose of limiting the invention. Various changes and modifications are possible within the scope of the invention without departing from the scope of the invention and its equivalents.

Claims

Patentansprüche  claims
. Drift-Trainingsassistenzsystem für ein Kraftfahrzeug zum Erlernen des im hochdynamischen Fahrtraining notwendigen Driftens (z. B. im Kreis), dadurch gekennzeichnet, dass sowohl die Lenktätigkeit als auch die Gaspedalbewegung bzw. deren kombinierte Aktion von zumindest einem Drift-Assistenzsystem übernommen und/oder unterstützt werden. , Drift training assistance system for a motor vehicle for learning the drift necessary in highly dynamic driver training (eg in a circle), characterized in that both the steering operation and the accelerator pedal movement or their combined action taken over and / or supported by at least one drift assistance system become.
2. Drift-Trainingsassistenzsystem nach Anspruch 1 , dadurch gekennzeichnet, dass das Drift-Assistenzsystem die bei seiner Aktivierung geschätzte Kurskrümmung durch automatische Lenkbewegungen fortsetzt. 2. drift training assistance system according to claim 1, characterized in that the drift assistance system continues the estimated during its activation curvature by automatic steering movements.
3. Drift-Trainingsassistenzsystem nach Anspruch 2, dadurch gekennzeichnet, dass die automatischen Lenkbewegungen fortgesetzt werden, auch wenn das Heck des Kraftfahrzeuges durch vom Fahrer oder auch vom Drift-Assi Stenzsystem selbst dosiertes Gasgebens ausbricht. 3. drift training assistance system according to claim 2, characterized in that the automatic steering movements are continued, even if the rear of the motor vehicle breaks out by the driver or by the drift Assi Stenzsystem itself metered accelerating.
4. Drift-Trainingsassistenzsystem nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass die eingeregelte Kurskrümmung über einen Controller oder das anliegende Handmoment anpassbar ist, so dass der Fahrer die Möglichkeit hat, durch die automatischen Lenkbewegungen den Fahrzeugkurs den örtlichen Gegebenheiten des Trainingsgeländes anzupassen. 4. drift training assistance system according to claim 2 or 3, characterized in that the adjusted course curvature is adaptable via a controller or the applied manual torque, so that the driver has the opportunity to adapt by the automatic steering movements the vehicle course the local conditions of the training area.
5. Drift-Trainingsassistenzsystem nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das Drift-Assistenzsystem den bei seiner Aktivierung geschätzten Schwimmwinkel eines fahrzeugfesten Referenzpunkts ermittelt und durch Gasgeben oder Gaswegnehmen den geschätzten Schwimmwinkel auf einen vom Fahrer einstellbaren Sollwert regelt. 5. drift training assistance system according to one of claims 1 to 4, characterized in that the drift assistance system determines the estimated during its activation slip angle of a vehicle-fixed reference point and controls the estimated slip angle to a set by the driver setpoint by accelerating or decelerating.
6. Drift-Trainingsassistenzsystem nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Reglerstellgrößen akustisch und/oder optisch darstellbar sind. 6. drift training assistance system according to one of claims 1 to 5, characterized in that the controller control variables are acoustically and / or visually representable.
7. Drift-Trainingsassistenzsystem nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass das Drift-Assistenzsystem durch einen Kick-Down des Gaspedals aktivierbar ist. 7. drift training assistance system according to one of claims 1 to 6, characterized in that the drift assistance system can be activated by a kick-down of the accelerator pedal.
8. Drift-Trainingsassistenzsystem nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass wichtige Fahrdaten, wie Geschwindigkeit, Gierrate, Schwimmwinkel usw., aufgezeichnet werden und eine Analyse der gefahrenen Manöver erlauben. 8. drift training assistance system according to one of claims 1 to 7, characterized in that important driving data, such as speed, yaw rate, slip angle, etc., are recorded and allow an analysis of the maneuvers driven.
9. Drift-Trainingsassistenzsystem nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass das Drift-Assistenzsystem als Sonderausstattung für Serienkraftfahrzeuge erhältlich ist. 9. drift training assistance system according to one of claims 1 to 8, characterized in that the drift assistance system is available as an option for production vehicles.
EP13799604.7A 2013-01-02 2013-12-06 Drifting training assistance system for a motor vehicle Ceased EP2941766A1 (en)

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