SE1751283A1 - Method and control arrangement for lateral vehicle displacement - Google Patents

Method and control arrangement for lateral vehicle displacement

Info

Publication number
SE1751283A1
SE1751283A1 SE1751283A SE1751283A SE1751283A1 SE 1751283 A1 SE1751283 A1 SE 1751283A1 SE 1751283 A SE1751283 A SE 1751283A SE 1751283 A SE1751283 A SE 1751283A SE 1751283 A1 SE1751283 A1 SE 1751283A1
Authority
SE
Sweden
Prior art keywords
vehicle
curve
lateral displacement
control arrangement
trailer
Prior art date
Application number
SE1751283A
Other languages
Swedish (sv)
Other versions
SE542273C2 (en
Inventor
Jenny Eriksson
Johannes Slettengren
Jonny Andersson
Joseph Ah-King
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
Priority to SE1751283A priority Critical patent/SE542273C2/en
Priority to DE102018007580.0A priority patent/DE102018007580A1/en
Priority to BR102018069679-3A priority patent/BR102018069679A2/en
Publication of SE1751283A1 publication Critical patent/SE1751283A1/en
Publication of SE542273C2 publication Critical patent/SE542273C2/en

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
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W30/18145—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
    • 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
    • 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
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • 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
    • B60W2300/14—Trailers, e.g. full trailers, caravans
    • B60W2300/147—
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel
    • 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
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains

Abstract

SUMMARYMethod (400) and control arrangement (310) in a vehicle (100) for lateral displacement (240) of a vehicle combination (100) comprising a vehicle (101 ) and a trailer (102), during passage of a curve (200). The method (400) comprises: detecting (401) the curve (200) ahead of the vehicle combination (100); determining (402) a critical passage of the curve (200); determining (403) width (230) of a driving lane (110) at the curve (200); predicting (404) angular movement of the trailer (102) relative the vehicle (101) during passage of the curve (200), based on a mathematical model; determining (406) the lateral displacement (240) of the vehicle (101) when entering the curve (200), based on the predicted (404) angular movement of the trailer (102), in order to keep the vehicle combination (100) within the driving lane (110); and adjusting (407) the lateral displacement (240) of the vehicle (101), according to the lateral displacement (240).SUMMARYMethod (400) and control arrangement (310) in a vehicle (100) for lateral displacement (240) of a vehicle combination (100) comprising a vehicle (101) and a trailer (102), during passage of a curve (200) . The method (400) comprises: detecting (401) the curve (200) ahead of the vehicle combination (100); determining (402) a critical passage of the curve (200); determining (403) width (230) of a driving lane (110) at the curve (200); predicting (404) angular movement of the trailer (102) relative the vehicle (101) during passage of the curve (200), based on a mathematical model; determining (406) the lateral displacement (240) of the vehicle (101) when entering the curve (200), based on the predicted (404) angular movement of the trailer (102), in order to keep the vehicle combination (100) within the driving lane (110); and adjusting (407) the lateral displacement (240) of the vehicle (101), according to the lateral displacement (240).

SE1751283A 2017-10-16 2017-10-16 Method and control arrangement for lateral vehicle displacement SE542273C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE1751283A SE542273C2 (en) 2017-10-16 2017-10-16 Method and control arrangement for lateral vehicle displacement
DE102018007580.0A DE102018007580A1 (en) 2017-10-16 2018-09-25 Method and control arrangement for lateral vehicle displacement
BR102018069679-3A BR102018069679A2 (en) 2017-10-16 2018-09-26 METHOD AND CONTROL ARRANGEMENT FOR VEHICLE SIDE SHIFTING

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1751283A SE542273C2 (en) 2017-10-16 2017-10-16 Method and control arrangement for lateral vehicle displacement

Publications (2)

Publication Number Publication Date
SE1751283A1 true SE1751283A1 (en) 2019-04-17
SE542273C2 SE542273C2 (en) 2020-03-31

Family

ID=65910307

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1751283A SE542273C2 (en) 2017-10-16 2017-10-16 Method and control arrangement for lateral vehicle displacement

Country Status (3)

Country Link
BR (1) BR102018069679A2 (en)
DE (1) DE102018007580A1 (en)
SE (1) SE542273C2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110525421B (en) * 2019-09-23 2020-07-10 苏州智加科技有限公司 Lane keeping reinforcement learning method and system for vehicle with trailer

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1921591B1 (en) * 2006-11-07 2009-10-07 Robert Bosch Gmbh Driver support system
EP2426034A2 (en) * 2010-09-03 2012-03-07 Scania CV AB Control system and control method for vehicles
WO2013187825A1 (en) * 2012-06-12 2013-12-19 Scania Cv Ab A method and a system for lane keeping assistance for a vehicle
DE102015102889A1 (en) * 2014-03-03 2015-09-03 Ford Global Technologies, Llc Trailer lane departure warning system
EP3031687A2 (en) * 2014-12-11 2016-06-15 Robert Bosch Gmbh Lane assist functions for vehicles with a trailer
US9527528B1 (en) * 2015-09-04 2016-12-27 Continental Automotive Systems, Inc. Trailer radius indication
US20170080928A1 (en) * 2015-09-19 2017-03-23 GM Global Technology Operations LLC Method for assisting a driver of a motor vehicle combination, computer software product, lane departure warning system
KR20170067282A (en) * 2015-12-08 2017-06-16 현대자동차주식회사 Lane keeping assist method for vehicle
US20170247054A1 (en) * 2016-02-26 2017-08-31 GM Global Technology Operations LLC Enhanced vehicle lateral control (lane following/lane keeping/lane changing control) for trailering vehicles
US20170247032A1 (en) * 2016-02-26 2017-08-31 GM Global Technology Operations LLC System and method for providing a corrected lane following path through a curve for trailering vehicles

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2188168B1 (en) 2007-08-15 2012-08-01 Volvo Technology Corporation Operating method and system for supporting lane keeping of a vehicle
DE102013000199A1 (en) 2013-01-08 2014-07-10 Daimler Ag Method for assisting driver of vehicle-trailer combination during driving along curve, involves detecting lane, and predetermining reference lane for drawing vehicle such that tractrix curve lies within lane or centered at lane

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1921591B1 (en) * 2006-11-07 2009-10-07 Robert Bosch Gmbh Driver support system
EP2426034A2 (en) * 2010-09-03 2012-03-07 Scania CV AB Control system and control method for vehicles
WO2013187825A1 (en) * 2012-06-12 2013-12-19 Scania Cv Ab A method and a system for lane keeping assistance for a vehicle
DE102015102889A1 (en) * 2014-03-03 2015-09-03 Ford Global Technologies, Llc Trailer lane departure warning system
EP3031687A2 (en) * 2014-12-11 2016-06-15 Robert Bosch Gmbh Lane assist functions for vehicles with a trailer
US9527528B1 (en) * 2015-09-04 2016-12-27 Continental Automotive Systems, Inc. Trailer radius indication
US20170080928A1 (en) * 2015-09-19 2017-03-23 GM Global Technology Operations LLC Method for assisting a driver of a motor vehicle combination, computer software product, lane departure warning system
KR20170067282A (en) * 2015-12-08 2017-06-16 현대자동차주식회사 Lane keeping assist method for vehicle
US20170247054A1 (en) * 2016-02-26 2017-08-31 GM Global Technology Operations LLC Enhanced vehicle lateral control (lane following/lane keeping/lane changing control) for trailering vehicles
US20170247032A1 (en) * 2016-02-26 2017-08-31 GM Global Technology Operations LLC System and method for providing a corrected lane following path through a curve for trailering vehicles

Also Published As

Publication number Publication date
BR102018069679A2 (en) 2019-05-07
SE542273C2 (en) 2020-03-31
DE102018007580A1 (en) 2019-04-18

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