EP3145765A1 - Procédé et système d'adaptation de la vitesse d'un véhicule lors de la prise d'une courbe - Google Patents

Procédé et système d'adaptation de la vitesse d'un véhicule lors de la prise d'une courbe

Info

Publication number
EP3145765A1
EP3145765A1 EP15796651.6A EP15796651A EP3145765A1 EP 3145765 A1 EP3145765 A1 EP 3145765A1 EP 15796651 A EP15796651 A EP 15796651A EP 3145765 A1 EP3145765 A1 EP 3145765A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
steering wheel
speed
angle
change
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Withdrawn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
EP15796651.6A
Other languages
German (de)
English (en)
Other versions
EP3145765A4 (fr
Inventor
Jonny Andersson
Linus Bredberg
Tom NYSTRÖM
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.)
Scania CV AB
Original Assignee
Scania CV AB
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 Scania CV AB filed Critical Scania CV AB
Publication of EP3145765A1 publication Critical patent/EP3145765A1/fr
Publication of EP3145765A4 publication Critical patent/EP3145765A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • B60K31/0075—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature responsive to vehicle steering angle
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • B60K31/0083—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature responsive to centrifugal force acting on vehicle due to the path it is following
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00—Arrangements, adaptations or methods for cruise controls
    • B60K2310/24—Speed setting methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2310/00—Arrangements, adaptations or methods for cruise controls
    • B60K2310/30—Mode switching, e.g. changing from one cruise control mode to another
    • 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
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • 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
    • B60T2210/20—Road shapes
    • B60T2210/24—Curve radius
    • 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
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/125—Heavy duty trucks
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/205—Steering 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering 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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/142—Heavy duty trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/02—Control of vehicle driving stability
    • B60Y2300/022—Stability in turns or during cornering
    • B60Y2300/0227—Stability in turns or during cornering related to under-steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/143—Speed control
    • B60Y2300/146—Speed limiting

Definitions

  • the invention relates to a method for the adaptation of the speed of a vehicle when taking a curve according to the introduction to claim 1 .
  • the invention relates to a system for the adaptation of the speed of a vehicle when taking a curve.
  • the invention relates also to a motor vehicle.
  • the invention relates also to a computer program and a computer program product.
  • DE10258167 and EP2492160 reveal methods to control the speed of the vehicle before a curve based on the shape of the curve and the position of the vehicle.
  • the accelerating vehicle in the curve may cause an accident.
  • One purpose of the present invention is to achieve a method and a system for the adaptation of the speed of a vehicle in association with taking a curve that makes improved safety possible.
  • the purposes are achieved with method for the adaptation of the speed of a vehicle when taking a curve comprising the step to control the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius, such that a predetermined lateral acceleration is not exceeded. It is in this case avoided that the driver is permitted to accelerate too strongly or to resume a previously preset cruise-control speed in a curve. As a consequence of this, safety while taking a curve is in this case improved, whereby the risks of skidding or leaving the roadway in the curve are reduced. With such a solution, high safety when taking a curve can be achieved without map data or corresponding means to determine coming degrees of curvature along the route of the vehicle being required for adaptation of the speed when taking the curve.
  • the step of controlling the speed of the vehicle includes the step of determining a highest permitted instantaneous speed based on the vehicle parameters: the said predetermined lateral acceleration, the said steering wheel angle, the effective wheelbase, the gear ratio of the steering, and, where appropriate, the understeer gradient of the vehicle.
  • the method comprises the step to limit the raising of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position. It is in this case avoided that the vehicle accelerates too much during an S-bend between a first curve and a second curve. The safety when driving along a winding road is in this case further improved.
  • the method comprises the step to permit raising the highest permitted instantaneous speed only a specified time after the rate of change of angle has fallen below a predetermined value. It is in this case avoided that the vehicle accelerates too early after a first curve in order to avoid that the vehicle has sufficient time to accelerate too strongly at a subsequent second curve.
  • the step to limit the raising of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position takes place only for a change of steering wheel position greater than a predetermined magnitude. Unnecessary limitation of the speed during small changes of steering wheel position is in this case avoided.
  • the embodiments of the system demonstrate corresponding advantages as corresponding embodiments of the method described above.
  • Figure 1 illustrates schematically a motor vehicle according to one embodiment of the invention
  • Figure 2 illustrates schematically a system for the adaptation of the speed of a vehicle during taking a curve according to one embodiment of the present invention
  • Figure 3 illustrates schematically a block diagram of a method for the adaptation of the speed of a vehicle during taking a curve according to one embodiment of the present invention
  • Figure 4 illustrates schematically a computer according to one embodiment of the present invention.
  • the term “link” refers to a communication link that may be a physical line, such as an opto-electronic communication line, or a non- physical line, such as a wireless connection, for example a radio link or microwave link.
  • the term “effective wheelbase” refers to the virtual distance between the axles of the vehicle that most closely corresponds to a simplified representation of a two-axled vehicle.
  • the term “effective wheelbase” involves a simplification of reality. For a two-axled truck, the effective wheelbase is equal to the wheelbase, i.e. the distance between the axles.
  • FIG. 1 illustrates schematically a motor vehicle 1 according to one embodiment of the present invention.
  • the vehicle 1 given as an example is constituted by a heavy vehicle in the form of a lorry.
  • the vehicle may be constituted by any appropriate vehicle at all, such as a bus or a car.
  • the vehicle includes a system I according to the present invention.
  • Figure 2 illustrates schematically a block diagram of a system I for the adaptation of the speed of a vehicle during taking a curve according to one embodiment of the present invention.
  • the system I comprises an electronic control unit 100.
  • the system I comprises means 1 10 to control the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius, such that a predetermined lateral acceleration is not exceeded.
  • the means to control the speed of the vehicle includes means 1 1 0a to determine a highest permitted instantaneous speed based on the vehicle parameters: the said predetermined lateral acceleration, the said steering wheel angle, the effective wheelbase, the gear ratio of the steering, and, where appropriate, the understeer gradient of the vehicle.
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 1 1 to determine a maximum permitted lateral acceleration a/a f .
  • the means 1 1 1 to determine a maximum permitted lateral acceleration comprises the determination of a predetermined maximum permitted lateral acceleration that is based on normal conditions with respect to properties of the vehicle such as the length of the vehicle, the width of the vehicle, the composition of the vehicle train, the distribution of load on the vehicle, the centre of gravity of the vehicle, and the axle pressure of the vehicle, and/or properties of the surroundings such as the effective width of the traffic lane, frictional properties of the roadway, visibility conditions, and camber properties of the roadway.
  • the predetermined maximum permitted lateral acceleration is, according to one embodiment, of the magnitude of 2 m/s 2 .
  • the maximum permitted lateral acceleration is in this case constituted by a predetermined maximum permitted lateral acceleration.
  • the electronic control unit 1 00 includes stored data of the maximum permitted lateral acceleration.
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 12 to determine the steering wheel angle ⁇ .
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 12 to determine the steering wheel angle ⁇ .
  • the means 1 12 to determine the steering wheel angle is arranged for the continuous determination of steering wheel angle.
  • the means 1 12 to determine the steering wheel angle comprises sensor means in the form of steering wheel angle sensors to determine the position of the steering wheel that corresponds to a certain steering wheel angle.
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 13 to determine the effective wheelbase L
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 13 to determine the effective wheelbase L.
  • the effective wheelbase includes the determination of properties of the vehicle including the distance between wheel axles, the number of wheel axles, the presence of a bogie where relevant, and possibly also the presence of a support axle and the position of the support axle, i.e. whether the support wheels on the support axle are caused to interact with the roadway or are elevated such that the support wheels are not in contact with the roadway.
  • the effective wheelbase is estimated based on, among other things, the axle separation, the bogie distance, the number of axles, the distribution of weight, whether the support axle is elevated, etc.
  • the electronic control unit 1 00 includes stored data of the effective wheelbase.
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 14 to determine the gear ratio of the steering i L
  • the means 1 14 to determine the gear ratio of the steering includes, according to one variant, stored data for the gear ratio, which is normally known.
  • the means to determine the gear ratio of the steering comprises sensor means to determine the gear ratio of the steering by measuring the input and the output rates of change of steering wheel angle.
  • the electronic control unit 100 includes stored data of the gear ratio of the steering.
  • the means 1 10a to determine a maximum permitted instantaneous speed comprises means 1 15 to determine the understeer gradient K us of the vehicle.
  • the means 1 15 to determine the understeer gradient of the vehicle comprises sensor means to determine the understeer gradient of the vehicle, and calculation models in which the understeer gradient is determined based on, among other things, the steering wheel angle, effective wheelbase, speed of the vehicle, input and output rates of change of steering wheel angle, speed of gearing, and degree of curvature of the roadway.
  • the electronic control unit 1 00 includes stored data of the understeer gradient of the vehicle.
  • K us the understeer gradient of the vehicle.
  • the system I comprises means 120 to determine continuously the speed of the vehicle.
  • the means 120 to determine continuously the speed of the vehicle includes, according to one variant, speed measurement means.
  • the system I comprises means 130 to limit the raising of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position.
  • the means 130 to limit the raising of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position comprises means 132 to determine the rate of change of angle of the steering wheel position.
  • the means 1 32 to determine the rate of change of angle of the steering wheel position comprises means for derivation, including possible filtration of the steering wheel angle.
  • the means 1 32 to determine rate of change of angle of the steering wheel position comprises means 132a to determine the magnitude of the steering wheel position.
  • the system I comprises in this case means 132a to determine the magnitude of the steering wheel position.
  • the means 130 to limit the raising of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position comprises means 134 to limit the increase only for steering wheel positions that lie above a certain magnitude.
  • the system I comprises means 140 to permit raising the highest permitted instantaneous speed only a specified time after the rate of change of angle has fallen below a predetermined value.
  • the means 140 to permit raising the highest permitted instantaneous speed only a specified time after the rate of change of angle has fallen below a predetermined value comprises means to determine the time from the rate of change of angle having fallen below the predetermined value and during the predetermined time, and the time from the rate of change of angle having fallen below the predetermined value, and until the rate of change of angle again achieves or exceeds the predetermined value.
  • the electronic control unit 1 00 is connected through a link 10a such that it exchanges signals with the means 1 10 to control the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius, such that a predetermined lateral acceleration is not exceeded.
  • the electronic control unit 100 is arranged to transmit through the link 10a a signal to the means 1 10 representing control data for the control of the speed of the vehicle.
  • the electronic control unit 1 00 is connected through a link 10b such that it exchanges signals with the means 1 10 to control the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius, such that a predetermined lateral acceleration is not exceeded.
  • the electronic control unit 100 is arranged to receive over the link 1 0b a signal from the means 1 10 that represents steering wheel angle data corresponding to a determined turning radius of the vehicle.
  • the electronic control unit 100 is connected through a link 1 0 such that it exchanges signals with the means 1 1 0a to determine a highest permitted instantaneous speed based on the vehicle parameters: the said predetermined lateral acceleration, the said steering wheel angle, the effective wheelbase, the gear ratio of the steering, and, where appropriate, the understeer gradient of the vehicle.
  • the electronic control unit 100 is arranged to receive over the link 10 a signal from the means 1 10 representing parameter data, including lateral acceleration data for the predetermined lateral acceleration, steering wheel angle data for the current steering wheel angle, data for the effective wheelbase, data for the gear ratio of the steering, and, where relevant, data for the understeer gradient.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 20 with the means 120 to determine continuously the speed of the vehicle.
  • the electronic control unit 100 is arranged to receive over the link 20 a signal from the means 120 to determine continuously the speed of the vehicle representing speed data for the current speed of the vehicle.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 32 with the means 1 32 to determine the rate of change of angle of the steering wheel position.
  • the electronic control unit 100 is arranged to receive over the link 32 a signal from the means 132 that represents rate of change of angle data for the rate of change of angle of the steering wheel position including data for the magnitude of the steering wheel position from the means 132a.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 34 with the means 134 to limit the instantaneous increase of the highest permitted instantaneous speed only when the magnitude of the steering wheel position lies above a predetermined magnitude.
  • the electronic control unit 100 is arranged to receive over the link 34 a signal from the means 1 34 representing limitation data in order to limit the increase only when the steering wheel position lies above a predetermined magnitude.
  • the electronic control unit 100 is connected through a link 40a to the means 140 to permit increase of the highest permitted instantaneous speed only a specified time after the rate of change of angle has fallen below a predetermined value.
  • the electronic control unit 100 is arranged to transmit over the link 40a a signal to the means 140 that represents rate of change of angle data for the rate of change of angle of the steering wheel position including data for the magnitude of the steering wheel position.
  • the electronic control unit 100 is connected such that it exchanges signals through a link 40b with the means 140 to permit increase of the highest permitted instantaneous speed only a specified time after the rate of change of angle has fallen below a predetermined value.
  • the electronic control unit 100 is arranged to receive over the link 40b a signal from the means 140 that represents time data for the time during which the rate of change of angle lies below, with a certain magnitude of the steering wheel position, a predetermined value.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 30a with the means 130 to limit the increase of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position.
  • the electronic control unit 1 00 is arranged to transmit over the link 30a a signal to the means 130 that represents rate of change of angle data for the rate of change of angle of the steering wheel position including data for the magnitude of the steering wheel position and the time of such a rate of change of angle.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 30b with the means 130 to limit the increase of the highest permitted instantaneous speed based on the rate of change of angle of the steering wheel position.
  • the electronic control unit 100 is arranged to receive over the link 30b a signal from the means 130 that represents limiting data for the limitation of the rate of change of angle based on rate of change of angle data.
  • the electronic control unit 1 00 is in this case arranged to process the said steering wheel angle data corresponding to a determined turning radius of the vehicle and the said parameter data, including lateral acceleration data for the predetermined lateral acceleration, steering wheel angle data for the current steering wheel angle, data for the effective wheelbase, data for the gear ratio of the steering, and, where relevant, data for the understeer gradient, and the said speed data, in order to determine control data for the control of the speed of the vehicle such that a predetermined lateral acceleration is not exceeded.
  • the electronic control unit 1 00 is in this case arranged to process the said rate of change of angle data for the rate of change of angle of the steering wheel position including data for the magnitude of the steering wheel position, the said limitation data in order to limit the increase only during steering wheel positions over a predetermined magnitude, and the said time- based data for the time during which the rate of change of angle lies below, with a certain magnitude of the steering wheel position, a predetermined value in order to determine whether the rate of change of angle has exceeded a predetermined speed and a predetermined magnitude of the steering wheel position, and in the case in which this is the case, to transmit limitation data for the limitation of the speed as long as this continues, and a predetermined after that the rate of change of angle lies below a predetermined value.
  • Figure 3 illustrates schematically a block diagram of a method for the adaptation of the speed of a vehicle during taking a curve according to one embodiment of the present invention.
  • the method for the adaptation of the speed of a vehicle when taking a curve comprises a step S1 .
  • the speed of the vehicle is controlled during this step based on the steering wheel angle of the vehicle corresponding to a determined turning radius such that a predetermined lateral acceleration is not exceeded.
  • the control unit 100 that has been described with reference to Figure 2 can comprise in one execution the arrangement 500.
  • the arrangement 500 comprises a non-transient memory 520, a data processing unit 51 0 and a read/write memory 550.
  • the non-transient memory 520 has a first section of memory 530 in which a computer program, such as an operating system, is stored in order to control the function of the arrangement 500.
  • the arrangement 500 comprises a bus controller, a serial communication port, I/O means, an A/D converter, a unit for the input and transfer of time and date, an event counter and an interrupt controller (not shown in the drawing).
  • the non-transient memory 520 has also a second section of memory 540.
  • a computer program P comprises routines for the adaptation of the speed of a vehicle when taking a curve according to the innovative method.
  • the program P comprises routines to control the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius, such that a predetermined lateral acceleration is not exceeded.
  • the program P may be stored in an executable form or in a compressed form in a memory 560 and/or a read/write memory 550.
  • the data processing unit 510 carries out a certain function, it is to be understood that the data processing unit 510 carries out a certain part of the program that is stored in the memory 560, or a certain part of the program that is stored in the read/write memory 550.
  • the data processing arrangement 510 can communicate with a data port 599 through a data bus 515.
  • the non-transient memory 520 is intended for communication with the data processing unit 51 0 through a data bus 512.
  • the separate memory 560 is intended to communicate with the data processing unit 510 through a data bus 51 1 .
  • the read/write memory 550 is arranged to communicate with the data processing unit 51 0 through a data bus 514. Links associated with the control unit 100, for example, may be connected to the data port 599.
  • the data processing unit 510 When data is received at the data port 599 it is temporarily stored in the second section of memory 540. When the data that has been received has been temporarily stored, the data processing unit 510 is prepared for the execution of code in a manner that has been described above.
  • the signals received at the data port 599 can be used by the arrangement 500 to control the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius, such that a predetermined lateral acceleration is not exceeded.
  • Parts of the methods described here may be carried out by the arrangement 500 with the aid of the data processing unit 510, which runs the program stored in the memory 560 or in the read/write memory 550.
  • the arrangement 500 runs the program, the method described here is executed.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un procédé d'adaptation de la vitesse d'un véhicule lors de la prise d'une courbe. Le procédé comprend l'étape de régulation (S1) de la vitesse du véhicule en fonction de l'angle du volant de direction du véhicule correspondant à un rayon de braquage déterminé de façon à ce qu'une accélération latérale prédéterminée ne soit pas dépassée. La présente invention concerne aussi un système d'adaptation de la vitesse d'un véhicule lors de la prise d'une courbe. La présente invention concerne aussi un véhicule à moteur. La présente invention concerne aussi un programme informatique et un produit programme informatique.
EP15796651.6A 2014-05-21 2015-05-20 Procédé et système d'adaptation de la vitesse d'un véhicule lors de la prise d'une courbe Withdrawn EP3145765A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1450605A SE539938C2 (sv) 2014-05-21 2014-05-21 Förfarande och system för anpassning av ett fordons momentana hastighet i förhållande till en rattvinkels vinkelhastighet
PCT/SE2015/050576 WO2015178845A1 (fr) 2014-05-21 2015-05-20 Procédé et système d'adaptation de la vitesse d'un véhicule lors de la prise d'une courbe

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EP3145765A1 true EP3145765A1 (fr) 2017-03-29
EP3145765A4 EP3145765A4 (fr) 2018-03-21

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EP (1) EP3145765A4 (fr)
KR (1) KR20170005068A (fr)
BR (1) BR112016024869A2 (fr)
SE (1) SE539938C2 (fr)
WO (1) WO2015178845A1 (fr)

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AU2016309710B2 (en) 2015-08-14 2020-12-24 Crown Equipment Corporation Model based diagnostics based on steering model
US9868445B2 (en) 2015-08-14 2018-01-16 Crown Equipment Corporation Diagnostic supervisor to determine if a traction system is in a fault condition
AU2017393175B2 (en) 2017-01-13 2023-08-31 Crown Equipment Corporation Traction speed recovery based on steer wheel dynamic
CA3041343A1 (fr) 2017-01-13 2018-07-19 Crown Equipment Corporation Desensibilisation de rotoculteur en ligne droite a grande vitesse
CN111032467B (zh) * 2017-08-24 2021-04-20 日产自动车株式会社 驾驶辅助车辆的行驶控制方法以及行驶控制装置
JP2022025384A (ja) * 2020-07-29 2022-02-10 株式会社小松製作所 無人車両の制御システム、無人車両、及び無人車両の制御方法
CN112092818A (zh) * 2020-08-24 2020-12-18 奇瑞新能源汽车股份有限公司 盲区监测系统的道路曲率半径计算方法、装置及车辆
CN112693470A (zh) * 2021-01-14 2021-04-23 北京国联视讯信息技术股份有限公司 一种避免车辆转弯风险的方法和装置

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DE10128357A1 (de) * 2001-06-13 2003-03-06 Continental Teves Ag & Co Ohg Verfahren zur Regelung der Fahrstabilität
DE102007031542A1 (de) * 2007-07-06 2009-01-08 Bayerische Motoren Werke Aktiengesellschaft Geschwindigkeitsregler für Kraftfahrzeuge
CN102036868B (zh) * 2008-05-19 2015-01-07 日产自动车株式会社 车辆转弯运行状况控制设备/方法
EP2674387B8 (fr) * 2012-06-12 2015-07-15 UniCarriers Europe AB Camion industriel avec contrôle d'angle amélioré

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SE1450605A1 (sv) 2015-11-22
BR112016024869A2 (pt) 2017-08-15
SE539938C2 (sv) 2018-01-30
KR20170005068A (ko) 2017-01-11
WO2015178845A1 (fr) 2015-11-26
EP3145765A4 (fr) 2018-03-21

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