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
  • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
  • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
  • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
  • 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
  • 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
  • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
• • 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
  • B60W2050/0001—Details of the control system
  • B60W2050/0002—Automatic control, details of type of controller or control system architecture
• • 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
  • B60W2050/0001—Details of the control system
  • B60W2050/0002—Automatic control, details of type of controller or control system architecture
  • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
• • 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
  • B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
• • 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
  • B60W2720/40—Torque distribution

Definitions

• the invention relates to a system according to the preamble of claim 1.
• a system has become known from DE102017102605A1 or US2017253241 A1, which comprises a data processing device with a processor and a memory.
• the system may be part of an Interactive Model Predictive Control (MPC).
• MPC Interactive Model Predictive Control
• This is a control methodology that can be used to control autonomous vehicles, such as at least two autonomous vehicles that form a multi-vehicle system accordingly.
• the multi-vehicle system could align the control targets of the first vehicle with the control targets of the second vehicle using each individual MPC controller. For example, if the first vehicle needs to exit a road by passing second vehicles, the second vehicles to the right of the first vehicle may need to slow down or continue to operate in quasi-steady states to avoid sudden changes in motion that could cause disruption to the first vehicle who intends to get off the road.
• a vehicle with a system which is an improved, in particular adapted to ensure, at least approximately, optimal performance, efficiency and stability of the vehicle in which it is implemented.
• this object is achieved by a vehicle having the characterizing features of claim 1.
• the controller being arranged to execute a control algorithm that manages all actuators, in particular the brake actuator device, drive actuator device and/or steering actuator device, in order to achieve optimal performance, efficiency and stability.
• the controller comprises a data processing device with a processor and a memory.
• the controller comprises a data processing device with a processor and a memory
• the trajectory device includes in particular a trajectory data output
• the cost function device includes in particular an input and/or a kinematic reference model data output
• the dynamic model device includes in particular an input and/or or comprises a vehicle force data reference output
• the summing device comprises in particular a + input, a - input, and/or an output
• the controller comprises in particular a first input, a second input, a brake actuator output, a drive actuator output and/or a steering actuator output includes, and / or the brake actuator device in particular an input, a torque data output and / or includes a status data output
• the drive actuator device includes in particular an input, a torque data output and/or a status data output
• the steering actuator device includes in particular an input, a torque data output and/or a status data output
• the multiplexer includes in particular a first input, a comprises a second input, a third input
• the trajectory data output of the reference trajectory device is preferably connected to the input of the cost function device, and/or the kinematic reference model data output of the cost function device is preferably connected to the input of the dynamic model device, and /or the vehicle force data reference output of the dynamic model device is preferably connected to the + input of the summing device, and/or the output of the summing device is preferably connected to the first input of the controller, and/or the brake actuator output of the controller is preferably connected to the input of the brake actuator device is connected, and/or the drive actuator output of the controller is preferably connected to the input of the drive actuator device, and/or the steering actuator output of the controller is preferably connected to the input of the steering unit actuator device is connected, and/or the status data output of the brake actuator device is preferably connected to the first input of the multiplexer, and/or the status data output of the drive actuator device is connected to the second input of the multiplexer, and/or the status data output of the steering actuator
• a reference trajectory calculated in particular from the driver's inputs or from an external source, with a time and position horizon, is available in the system, in particular in the reference trajectory device 1 is.
• a cost function is available in the system, in particular in the cost function device, in particular a reference vehicle state under the reference trajectory, preferably as a series of kinematic states, vehicle speed profile, yaw profile, acceleration profile and/or jerk profile, etc ., which is determined in particular by passenger comfort and/or traffic regulations, etc.
• the system in particular the controller, is set up to check the availability of the actuators, in particular which actuators are available and which actuator has restrictions, for example when the drive system is in fallback mode.
• Vehicle forces in particular based on a dynamic model for realizing the cost function, is set up.
• the system in particular the controller, for determining the desired
• Torque distribution between steering, drive and brake actuators is set up taking into account the actuator limitations to generate the desired vehicle forces based on the dynamic model.
• the system, in particular the controller is set up for torque actuation.
• the system, in particular the controller is set up to estimate/measure the actuator and vehicle state and to provide feedback on the points mentioned above.
• FIG. 1 shows a schematic representation of the system according to the invention.
• a system according to the invention comprises in particular a reference trajectory device 1, a cost function device 2, a dynamic model device 3, a summing device 4, a controller 5, a brake actuator device 6, a drive actuator device 7, a steering actuator device 8, a multiplexer 9 and a vehicle 10, in particular a motor vehicle.
• the trajectory device 1 includes, in particular, a trajectory data output 11.
• the cost function device 2 includes in particular an input 21 and/or a kinematic reference model data output 22.
• the dynamic model device 3 comprises in particular an input 31 and/or a vehicle force data reference output 32.
• the summing device 4 comprises in particular a + input 41, a - input 42 and/or an output 43.
• the controller 5 includes in particular a first input 51, a second input 52, a brake actuator output 53, a drive actuator output 54 and/or a steering actuator output 55.
• the controller includes in particular a data processing device with a processor 56 and a memory 57.
• Brake actuator device 6 includes, in particular, an input 61, a torque data output 62 and/or a status data output 63.
• the drive actuator device 7 comprises in particular an input 71, a torque data output 72 and/or a status data output 73.
• the steering actuator device 8 comprises in particular an input 81, a torque data output 82 and/or a status data output 83.
• the multiplexer 9 comprises in particular a first input 91, a second input 92, a third input 93 and/or an output 94.
• the vehicle 10 includes in particular a first input 101, a second input 102, a third input 103 and/or a vehicle status data output 104.
• a first input 101 a second input 102, a third input 103 and/or a vehicle status data output 104.
• the following data or information streams preferably result between the aforementioned components.
• the trajectory data output 11 of the reference trajectory device 1 is preferably connected to the input 21 of the cost function device 2 .
• the kinematic reference model data output 22 of the cost function device 2 is preferably connected to the input 31 of the dynamic model device 3 .
• the vehicle force data reference output 32 of the dynamic model device 3 is preferably connected to the + input 41 of the summing device 4 .
• the output 43 of the summing device 4 is preferably connected to the first input 51 of the controller 5 .
• the brake actuator output 53 of the controller 5 is preferably connected to the input 61 of the brake actuator device 6 .
• the drive actuator output 54 of the controller 5 is preferably connected to the input 71 of the drive actuator device 7 .
• the steering actuator output 55 of the controller 5 is preferably connected to the input 81 of the steering actuator device 8 .
• the status data output 63 of the brake actuator device 6 is preferably connected to the first input 91 of the multiplexer 9 .
• the status data output 73 of the drive actuator device 7 is preferably connected to the second input 92 of the multiplexer 9 .
• the status data output 83 of the steering actuator device 8 is preferably connected to the third input 93 of the multiplexer 9 .
• the output 94 of the multiplexer 9 is preferably connected to the second input 52 of the controller 5 .
• Torque data output 62 of brake actuator device 6 is preferably connected to first input 101 of vehicle 10 .
• the torque data output 72 of the drive actuator device 7 is preferably connected to the second input 102 of the vehicle 10 .
• the torque data output 82 of the steering actuator device 8 is preferably connected to the third input 103 of the vehicle 10 .
• the vehicle status data output 104 of the vehicle 10 is preferably connected to the input 42 of the summing device 4 .
• the controller is set up to execute a control algorithm that controls all actuators, in particular the brake actuator device 6, drive actuator device 7 and/or
• control inputs preferably all vehicle-dynamic actuators, in particular input 61 of brake actuator device 6, input 71 of drive actuator device 7 and/or input 81 of steering actuator device 8, are calculated in such a way that each actuator can work in its optimal range in order to achieve maximum performance, efficiency and To achieve stability at the vehicle level.
• a cost function is available in the system, in particular in the cost function device 2, in particular a reference vehicle state under the reference trajectory, preferably as a series of kinematic states, vehicle speed profile, yaw profile,
• Acceleration profile and/or jerk profile, etc. which is determined in particular by passenger comfort and/or traffic regulations, etc.
• the system, in particular the controller 5 is set up to check the availability of the actuators, in particular which actuators are available and which actuator has restrictions, for example when the drive system is in fallback mode. Furthermore, it is preferably provided that the system, in particular the controller 5, is set up to determine the required vehicle forces, in particular based on a dynamic model for realizing the cost function.
• the system in particular the controller 5, is set up to determine the desired torque distribution between the steering, drive and brake actuators, taking into account the actuator limitations for generating the desired vehicle forces on the basis of the dynamic model.
• the system in particular the controller 5, is set up for torque actuation.
• the system in particular the controller 5, is set up to estimate/measure the actuator and vehicle state and to provide feedback on the points mentioned above.

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

Applications Claiming Priority (2)

Publications (1)

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ID=80735949

Family Applications (1)

Country Status (5)

Family Cites Families (3)

• 2021
  • 2021-03-10 DE DE102021202301.0A patent/DE102021202301A1/de active Pending
• 2022
  • 2022-03-01 CN CN202280019533.7A patent/CN116997498A/zh active Pending
  • 2022-03-01 EP EP22709707.8A patent/EP4304909A1/de active Pending
  • 2022-03-01 US US18/281,066 patent/US20240149889A1/en active Pending
  • 2022-03-01 WO PCT/EP2022/055132 patent/WO2022189209A1/de active Application Filing

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