EP3687874A1 - Procédé et dispositif pour générer un profil de vitesse dynamique d'un véhicule automobile - Google Patents

Procédé et dispositif pour générer un profil de vitesse dynamique d'un véhicule automobile

Info

Publication number
EP3687874A1
EP3687874A1 EP18785246.2A EP18785246A EP3687874A1 EP 3687874 A1 EP3687874 A1 EP 3687874A1 EP 18785246 A EP18785246 A EP 18785246A EP 3687874 A1 EP3687874 A1 EP 3687874A1
Authority
EP
European Patent Office
Prior art keywords
speed
profile
distance
route
velocity profile
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
EP18785246.2A
Other languages
German (de)
English (en)
Inventor
Tobias DÜSER
Sascha Bauer
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.)
AVL List GmbH
Original Assignee
AVL List GmbH
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 AVL List GmbH filed Critical AVL List GmbH
Publication of EP3687874A1 publication Critical patent/EP3687874A1/fr
Pending 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked 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
    • 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
    • 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, 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
    • B60W30/18072—Coasting
    • 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
    • B60W40/08—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 drivers or passengers
    • 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
    • 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0666—Engine power
    • 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
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2520/10—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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/043—Identity of occupants
    • 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
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0644—Engine 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
    • B60W2720/103—Speed profile
    • 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
    • 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
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18066—Coasting

Definitions

  • the invention relates to a method and a device for generating a dynamic speed profile of a motor vehicle, which is suitable for simulating a, in particular real, driving on a route.
  • Test bench tests are reproducible and influences or parameters can be kept constant as required. In this way effects of influences and their modifications become transparent. In addition, bench tests can be carried out with more complex measurement technology, which leads to more meaningful measurement results. However, the test cycles worn on a test bench lead to the above-mentioned known discrepancies between the homologation of motor vehicles and the emission values later achieved in real road traffic.
  • test cycle also called driving cycle
  • speed profile that is, a temporal speed sequence
  • a raw data set determined in this way is processed in further working steps in such a way that different boundary conditions or parameters relating to the motor vehicle, the respective driver and / or other occupants, the road conditions of the route, the respective weather conditions etc., be restricted.
  • test operation on test benches or model-based is made possible, which at least substantially corresponds to an operation in real road traffic.
  • the discrepancies between test operation and later real operation at the customer are at least reduced.
  • a number of development tasks may be postponed to the development process earlier or at an earlier stage of development.
  • this is a great advantage.
  • the duration of real tests can be shortened considerably and thus ensure a time and cost-saving development process.
  • the defined acceleration value depends on the performance map of the motor vehicle. For this purpose, preferably the respective operating point of the drive of the motor vehicle is determined and determines the possible retrievable power.
  • the defined acceleration value within a tolerance band is reduced by the dynamized velocity profile to a matching acceleration, which depends on the applied velocity in the respective time step. This takes into account that drivers generally, even before they reach a target speed slowly reduce the acceleration.
  • the maximum target acceleration is driver-specific.
  • a slope and / or a loading of the motor vehicle and / or an acceleration sensation of a driver on the mountain are taken into account for the maximum target acceleration.
  • a maximum curve speed is calculated on the basis of the curve radius for the distance-based speed profile.
  • human behavior when cornering, in particular driver-specific is preferably taken into account.
  • a maximum lateral acceleration is first calculated as an intermediate step. It is preferably taken into account that people accept higher lateral forces at low speeds than at high speeds.
  • a distance-based dynamic velocity profile resolved into route segments is determined, which is output.
  • the generated Speed profile particularly good for setting target speeds for driver assistance systems, in particular for predictive driving functions, since each route segment can be assigned a target speed.
  • Fig. 5 shows a dynamic velocity profile in comparison with a measured one
  • Fig. 7 shows an embodiment of an inventive device for generating a dynamic velocity profile.
  • Fig. 1 shows a flowchart of a method according to the first aspect of the invention.
  • the speed in the dynamized speed profile is preferably provided with a sinusoidal oscillation course in order to give this speed preset in the speed profile a certain driving dynamics.
  • a performance or the performance map of the respectively parameterized motor vehicle, in particular by means of a motor vehicle model, and the respectively parameterized driver type, in particular by means of a driver model, are taken into account in a calculation or simulation.
  • driver model it is preferably considered in the driver model that some driver types reduce the acceleration on inclines. For this purpose, first of all the downgrade force in the respective route segment corresponding to the time step is calculated, and the resulting downhill acceleration is deducted from the standard target acceleration predetermined by the driver model. However, this is preferably applied only at applied speeds outside the tolerance band.
  • such a switching logic is dependent on predetermined minimum speeds and maximum speeds and the available engine torque in the current operation. If these limits are exceeded, if available, in the corresponding next higher or next lower gear is switched.
  • the dynamic velocity profile is preferably output in a further working step 105, preferably at a data interface and / or a user interface.

Abstract

L'invention concerne un procédé pour générer un profil de vitesse dynamique d'un véhicule automobile, lequel est adapté pour la simulation d'un mode de conduite, notamment réel, sur un itinéraire, comprenant les étapes suivantes : détermination d'un profil de vitesse statique basé sur le trajet pour l'itinéraire, résolu en segments d'itinéraire, en s'appuyant sur des informations issues d'une carte numérique; détermination, à partir du profil de vitesse statique basé sur le trajet, d'un profil de vitesse dynamisé basé sur le trajet, lequel tient compte d'un ralentissement de consigne maximal défini pour atteindre les minima de vitesse obligatoires du profil de vitesse; détermination, à partir du profil de vitesse dynamisé basé sur le trajet, d'un profil de vitesse dynamique basé sur le temps résolu en paliers de temps, une accélération appliquée étant définie dans chaque palier de temps en se basant sur la vitesse dans un segment d'itinéraire, qui correspond au palier de temps, prédéfinie par le profil de vitesse ainsi que sur la vitesse appliquée dans le palier de temps; et délivrance en sortie du profil de vitesse dynamique basé sur le temps.
EP18785246.2A 2017-09-26 2018-09-26 Procédé et dispositif pour générer un profil de vitesse dynamique d'un véhicule automobile Pending EP3687874A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50822/2017A AT520320B1 (de) 2017-09-26 2017-09-26 Verfahren und eine Vorrichtung zum Erzeugen eines dynamischen Geschwindigkeitsprofils eines Kraftfahrzeugs
PCT/AT2018/060225 WO2019060938A1 (fr) 2017-09-26 2018-09-26 Procédé et dispositif pour générer un profil de vitesse dynamique d'un véhicule automobile

Publications (1)

Publication Number Publication Date
EP3687874A1 true EP3687874A1 (fr) 2020-08-05

Family

ID=63832157

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18785246.2A Pending EP3687874A1 (fr) 2017-09-26 2018-09-26 Procédé et dispositif pour générer un profil de vitesse dynamique d'un véhicule automobile

Country Status (7)

Country Link
US (1) US11897494B2 (fr)
EP (1) EP3687874A1 (fr)
JP (1) JP2020535061A (fr)
KR (1) KR20200061385A (fr)
CN (1) CN111491844B (fr)
AT (1) AT520320B1 (fr)
WO (1) WO2019060938A1 (fr)

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US11897494B2 (en) 2024-02-13
CN111491844A (zh) 2020-08-04
AT520320A4 (de) 2019-03-15
US20200346659A1 (en) 2020-11-05
AT520320B1 (de) 2019-03-15
KR20200061385A (ko) 2020-06-02
CN111491844B (zh) 2024-03-08
WO2019060938A1 (fr) 2019-04-04

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