EP3619094A4 - Procédé et système de commande de direction d'un véhicule - Google Patents

Procédé et système de commande de direction d'un véhicule 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)
English (en)
Other versions
EP3619094A1 (fr
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/fr
Publication of EP3619094A4 publication Critical patent/EP3619094A4/fr
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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
EP18794785.8A 2017-05-04 2018-04-17 Procédé et système de commande de direction d'un véhicule Pending EP3619094A4 (fr)

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 (fr) 2017-05-04 2018-04-17 Procédé et système de commande de direction d'un véhicule

Publications (2)

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

Family

ID=64016520

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18794785.8A Pending EP3619094A4 (fr) 2017-05-04 2018-04-17 Procédé et système de commande de direction d'un véhicule

Country Status (5)

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

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0678439A1 (fr) * 1994-04-18 1995-10-25 Mercedes-Benz Ag Véhicule non guidée avec direction avant à commande arbitraire et direction arrière indépendante
US5799259A (en) * 1993-12-07 1998-08-25 Zf Friedrichshafen Ag Vehicle with steerable front and rear wheels
DE102004007850A1 (de) * 2003-02-17 2004-09-02 Daimlerchrysler Ag Verfahren und Einrichtung zur automatischen Haltestellenanfahrt und/oder Haltestellenausfahrt für ein Fahrzeug
US20040181338A1 (en) * 2001-05-08 2004-09-16 Guenter Dobler Collision prevention system for vehicles
DE102004030997A1 (de) * 2004-06-26 2006-01-19 Bayerische Motoren Werke Ag Fahrerassistenzsystem für Hochgeschwindigkeitsfahrten
EP1785336B1 (fr) * 1999-08-12 2008-03-26 Kabushiki Kaisha Toyota Jidoshokki Appareil de direction assistée
DE102007032720A1 (de) * 2007-07-13 2009-01-15 Daimler Ag Verfahren zur Unterstützung des Fahrers eines Fahrzeugs beim Rangieren und/oder Einparken
US7783426B2 (en) * 2005-04-15 2010-08-24 Denso Corporation Driving support system
DE102010056175A1 (de) * 2010-12-24 2011-08-25 Daimler AG, 70327 Elektronische Rangierhilfe
DE102011113610A1 (de) * 2011-09-16 2013-03-21 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Verfahren zum Betreiben eines selbstlenkenden Parkassistenzsystems sowie Parkassistenzsystem
US20130211720A1 (en) * 2012-02-09 2013-08-15 Volker NIEMZ Driver-assistance method and driver-assistance system for snow-covered roads
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
DE102015005464A1 (de) * 2014-05-06 2015-11-12 Scania Cv Ab System und Verfahren zum Lenken eines Fahrzeugs
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 (de) * 2014-06-13 2015-12-17 Scania Cv Ab Verfahren und System zum Fahren eines Kraftfahrzeugs an Niveauunterschieden für dieses Fahrzeug auf der Fahrstrecke dieses Fahrzeugs

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 (ja) * 1982-08-02 1984-02-10 Honda Motor Co Ltd 車両の操舵装置
JPS59220459A (ja) * 1983-05-27 1984-12-11 Mazda Motor Corp ４輪操舵の操舵角表示装置
SE502269C2 (sv) 1994-01-31 1995-09-25 Dynapac Heavy Equipment Ab Styrsystem för vägvältar
JP4231910B2 (ja) * 2000-04-25 2009-03-04 日産自動車株式会社 車線維持装置
ATE459061T1 (de) * 2006-11-21 2010-03-15 Harman Becker Automotive Sys Darstellung von videobildern einer fahrzeugumgebung
FR2916721B1 (fr) * 2007-06-04 2009-07-31 Renault Sas Vehicule motorise a quatre roues comportant deux roues arrieres directrices.
JP4661917B2 (ja) * 2008-07-25 2011-03-30 日産自動車株式会社 駐車支援装置および駐車支援方法
JP2012501916A (ja) * 2008-09-10 2012-01-26 コンチネンタル・テーヴエス・アクチエンゲゼルシヤフト・ウント・コンパニー・オツフエネハンデルスゲゼルシヤフト 非常操縦の際かじ取りを援助する方法
WO2011128999A1 (fr) * 2010-04-14 2011-10-20 トヨタ自動車株式会社 Dispositif de commande de véhicule
US9014915B2 (en) * 2011-07-25 2015-04-21 GM Global Technology Operations LLC Active safety control for vehicles
JP5862532B2 (ja) * 2012-09-26 2016-02-16 アイシン精機株式会社 車両運転支援装置

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 (fr) * 1994-04-18 1995-10-25 Mercedes-Benz Ag Véhicule non guidée avec direction avant à commande arbitraire et direction arrière indépendante
EP1785336B1 (fr) * 1999-08-12 2008-03-26 Kabushiki Kaisha Toyota Jidoshokki Appareil de direction assistée
US20040181338A1 (en) * 2001-05-08 2004-09-16 Guenter Dobler Collision prevention system for vehicles
DE102004007850A1 (de) * 2003-02-17 2004-09-02 Daimlerchrysler Ag Verfahren und Einrichtung zur automatischen Haltestellenanfahrt und/oder Haltestellenausfahrt für ein Fahrzeug
DE102004030997A1 (de) * 2004-06-26 2006-01-19 Bayerische Motoren Werke Ag Fahrerassistenzsystem für Hochgeschwindigkeitsfahrten
US7783426B2 (en) * 2005-04-15 2010-08-24 Denso Corporation Driving support system
DE102007032720A1 (de) * 2007-07-13 2009-01-15 Daimler Ag Verfahren zur Unterstützung des Fahrers eines Fahrzeugs beim Rangieren und/oder Einparken
DE102010056175A1 (de) * 2010-12-24 2011-08-25 Daimler AG, 70327 Elektronische Rangierhilfe
DE102011113610A1 (de) * 2011-09-16 2013-03-21 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Verfahren zum Betreiben eines selbstlenkenden Parkassistenzsystems sowie Parkassistenzsystem
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 (de) * 2014-05-06 2015-11-12 Scania Cv Ab System und Verfahren zum Lenken eines Fahrzeugs
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 (de) * 2014-06-13 2015-12-17 Scania Cv Ab Verfahren und System zum Fahren eines Kraftfahrzeugs an Niveauunterschieden für dieses Fahrzeug auf der Fahrstrecke dieses Fahrzeugs

Also Published As

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

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