EP3619094A4 - Method and system for controlling steering of a vehicle - Google Patents

Method and system for controlling steering of a vehicle Download PDF

Info

Publication number
EP3619094A4
EP3619094A4 EP18794785.8A EP18794785A EP3619094A4 EP 3619094 A4 EP3619094 A4 EP 3619094A4 EP 18794785 A EP18794785 A EP 18794785A EP 3619094 A4 EP3619094 A4 EP 3619094A4
Authority
EP
European Patent Office
Prior art keywords
vehicle
controlling steering
steering
controlling
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.)
Pending
Application number
EP18794785.8A
Other languages
German (de)
French (fr)
Other versions
EP3619094A1 (en
Inventor
Emil LUNDGREN
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 EP3619094A1 publication Critical patent/EP3619094A1/en
Publication of EP3619094A4 publication Critical patent/EP3619094A4/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W30/14—Adaptive cruise 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, 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
    • B60W30/181—Preparing for stopping
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
    • B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • 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
    • B60W2300/10—Buses
    • 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
    • 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
    • B60W2520/04—Vehicle stop
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • 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
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18091—Preparing for stopping
EP18794785.8A 2017-05-04 2018-04-17 Method and system for controlling steering of a vehicle Pending EP3619094A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1750541A SE541566C2 (en) 2017-05-04 2017-05-04 Method and system for controlling steering of a vehicle
PCT/SE2018/050385 WO2018203792A1 (en) 2017-05-04 2018-04-17 Method and system for controlling steering of a vehicle

Publications (2)

Publication Number Publication Date
EP3619094A1 EP3619094A1 (en) 2020-03-11
EP3619094A4 true EP3619094A4 (en) 2021-01-20

Family

ID=64016520

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18794785.8A Pending EP3619094A4 (en) 2017-05-04 2018-04-17 Method and system for controlling steering of a vehicle

Country Status (5)

Country Link
EP (1) EP3619094A4 (en)
KR (1) KR20200003392A (en)
CN (1) CN110573409B (en)
SE (1) SE541566C2 (en)
WO (1) WO2018203792A1 (en)

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0678439A1 (en) * 1994-04-18 1995-10-25 Mercedes-Benz Ag Vehicle, not track bound, with arbitrarily operated front wheel steering and self actuating rear wheel steering
US5799259A (en) * 1993-12-07 1998-08-25 Zf Friedrichshafen Ag Vehicle with steerable front and rear wheels
DE102004007850A1 (en) * 2003-02-17 2004-09-02 Daimlerchrysler Ag Vehicle stopping point automatic approach or departure method, whereby trajectories for different types of stopping point are stored in a database and a characteristic trajectory is selected that matches the current stopping point
US20040181338A1 (en) * 2001-05-08 2004-09-16 Guenter Dobler Collision prevention system for vehicles
DE102004030997A1 (en) * 2004-06-26 2006-01-19 Bayerische Motoren Werke Ag Driver assistance system for high speed travel has computation unit for computing optimal turn profile for high speed travel from navigation system data, instruction unit for producing instruction to maintain optimal turn profile
EP1785336B1 (en) * 1999-08-12 2008-03-26 Kabushiki Kaisha Toyota Jidoshokki Steering assist apparatus
DE102007032720A1 (en) * 2007-07-13 2009-01-15 Daimler Ag Driver assisting method for use during shunting or parking of vehicle e.g. vehicle with trailer, involves implementing simulation for determining optimal trajectory or motion sequence of vehicle and displaying trajectory or sequence
US7783426B2 (en) * 2005-04-15 2010-08-24 Denso Corporation Driving support system
DE102010056175A1 (en) * 2010-12-24 2011-08-25 Daimler AG, 70327 Electronic ranking aid for use in speed-indicator of e.g. passenger car, has display unit for displaying references of target and/or target as contours, where reaching of movement to target movement is displayed by filling of contours
DE102011113610A1 (en) * 2011-09-16 2013-03-21 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Method for operating steering park assistance system for motor car, involves outputting instruction for starting vehicle during steering maneuver of steering device against one of end stops of steering of vehicle
US20130211720A1 (en) * 2012-02-09 2013-08-15 Volker NIEMZ Driver-assistance method and driver-assistance system for snow-covered roads
DE102015005464A1 (en) * 2014-05-06 2015-11-12 Scania Cv Ab System and method for steering a vehicle
US20150321699A1 (en) * 2014-05-07 2015-11-12 Honda Research Institute Europe Gmbh Method and system for predictive lane change assistance, program software product and vehicle
US20150353095A1 (en) * 2013-01-14 2015-12-10 Robert Bosch Gmbh Method and device for assisting a driver of a vehicle when driving on uneven terrain
DE102015007358A1 (en) * 2014-06-13 2015-12-17 Scania Cv Ab Method and system for driving a motor vehicle to level differences for this vehicle on the route of this vehicle

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4175638A (en) 1977-10-21 1979-11-27 J. I. Case Company Electronically controlled four-wheel steering
JPS5926366A (en) * 1982-08-02 1984-02-10 Honda Motor Co Ltd Steering apparatus for car
JPS59220459A (en) * 1983-05-27 1984-12-11 Mazda Motor Corp Steering angle display unit for four-wheel steering
SE502269C2 (en) 1994-01-31 1995-09-25 Dynapac Heavy Equipment Ab Control system for road rollers
JP4231910B2 (en) * 2000-04-25 2009-03-04 日産自動車株式会社 Lane keeping device
DE602006012510D1 (en) * 2006-11-21 2010-04-08 Harman Becker Automotive Sys Presentation of video images of a vehicle environment
FR2916721B1 (en) * 2007-06-04 2009-07-31 Renault Sas MOTORIZED VEHICLE WITH FOUR WHEELS HAVING TWO REAR WHEELS.
JP4661917B2 (en) * 2008-07-25 2011-03-30 日産自動車株式会社 Parking assistance device and parking assistance method
WO2010028629A1 (en) * 2008-09-10 2010-03-18 Continental Teves Ag & Co. Ohg Method for steering assistance during emergency manoeuvres
JP5267731B2 (en) * 2010-04-14 2013-08-21 トヨタ自動車株式会社 Vehicle control device
US9014915B2 (en) * 2011-07-25 2015-04-21 GM Global Technology Operations LLC Active safety control for vehicles
JP5862532B2 (en) * 2012-09-26 2016-02-16 アイシン精機株式会社 Vehicle driving support device

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5799259A (en) * 1993-12-07 1998-08-25 Zf Friedrichshafen Ag Vehicle with steerable front and rear wheels
EP0678439A1 (en) * 1994-04-18 1995-10-25 Mercedes-Benz Ag Vehicle, not track bound, with arbitrarily operated front wheel steering and self actuating rear wheel steering
EP1785336B1 (en) * 1999-08-12 2008-03-26 Kabushiki Kaisha Toyota Jidoshokki Steering assist apparatus
US20040181338A1 (en) * 2001-05-08 2004-09-16 Guenter Dobler Collision prevention system for vehicles
DE102004007850A1 (en) * 2003-02-17 2004-09-02 Daimlerchrysler Ag Vehicle stopping point automatic approach or departure method, whereby trajectories for different types of stopping point are stored in a database and a characteristic trajectory is selected that matches the current stopping point
DE102004030997A1 (en) * 2004-06-26 2006-01-19 Bayerische Motoren Werke Ag Driver assistance system for high speed travel has computation unit for computing optimal turn profile for high speed travel from navigation system data, instruction unit for producing instruction to maintain optimal turn profile
US7783426B2 (en) * 2005-04-15 2010-08-24 Denso Corporation Driving support system
DE102007032720A1 (en) * 2007-07-13 2009-01-15 Daimler Ag Driver assisting method for use during shunting or parking of vehicle e.g. vehicle with trailer, involves implementing simulation for determining optimal trajectory or motion sequence of vehicle and displaying trajectory or sequence
DE102010056175A1 (en) * 2010-12-24 2011-08-25 Daimler AG, 70327 Electronic ranking aid for use in speed-indicator of e.g. passenger car, has display unit for displaying references of target and/or target as contours, where reaching of movement to target movement is displayed by filling of contours
DE102011113610A1 (en) * 2011-09-16 2013-03-21 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Method for operating steering park assistance system for motor car, involves outputting instruction for starting vehicle during steering maneuver of steering device against one of end stops of steering of vehicle
US20130211720A1 (en) * 2012-02-09 2013-08-15 Volker NIEMZ Driver-assistance method and driver-assistance system for snow-covered roads
US20150353095A1 (en) * 2013-01-14 2015-12-10 Robert Bosch Gmbh Method and device for assisting a driver of a vehicle when driving on uneven terrain
DE102015005464A1 (en) * 2014-05-06 2015-11-12 Scania Cv Ab System and method for steering a vehicle
US20150321699A1 (en) * 2014-05-07 2015-11-12 Honda Research Institute Europe Gmbh Method and system for predictive lane change assistance, program software product and vehicle
DE102015007358A1 (en) * 2014-06-13 2015-12-17 Scania Cv Ab Method and system for driving a motor vehicle to level differences for this vehicle on the route of this vehicle

Also Published As

Publication number Publication date
WO2018203792A1 (en) 2018-11-08
CN110573409A (en) 2019-12-13
EP3619094A1 (en) 2020-03-11
CN110573409B (en) 2022-08-02
SE1750541A1 (en) 2018-11-05
SE541566C2 (en) 2019-11-05
KR20200003392A (en) 2020-01-09

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