WO1998034814A1 - Procede et dispositif pour la regulation de la dynamique longitudinale d'un vehicule - Google Patents

Procede et dispositif pour la regulation de la dynamique longitudinale d'un vehicule Download PDF

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Publication number
WO1998034814A1
WO1998034814A1 PCT/EP1998/000600 EP9800600W WO9834814A1 WO 1998034814 A1 WO1998034814 A1 WO 1998034814A1 EP 9800600 W EP9800600 W EP 9800600W WO 9834814 A1 WO9834814 A1 WO 9834814A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
turn signal
actuation
target
speed
Prior art date
Application number
PCT/EP1998/000600
Other languages
German (de)
English (en)
Inventor
Alfred Eckert
Jürgen DIEBOLD
Thomas Berthold
Original Assignee
Itt Manufacturing Enterprises, Inc.
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 Itt Manufacturing Enterprises, Inc. filed Critical Itt Manufacturing Enterprises, Inc.
Priority to AU63944/98A priority Critical patent/AU6394498A/en
Publication of WO1998034814A1 publication Critical patent/WO1998034814A1/fr

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
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on 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
    • 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
    • B60W2050/0042—Transfer function lag; delays
    • 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
    • B60W2540/20—Direction indicator values
    • 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
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • the present invention relates to a method and a device for regulating the longitudinal dynamics of a vehicle according to the preambles of the independent claims.
  • ICC systems record internal and external conditions around a vehicle and determine target values for regulating the longitudinal dynamics of a vehicle in accordance with these recorded conditions.
  • Longitudinal dynamics are understood to mean the speed and / or the acceleration or braking of the vehicle as well as variables which are related to the variables mentioned.
  • the above-mentioned earlier, but not prepublished application by the same applicant describes, for example, a system in which various components specify target accelerations. In accordance with these target accelerations, a target vehicle acceleration is determined, which is used to control the engine.
  • Examples of internal and external operating states of a vehicle are: the distance to a vehicle in front, the relative speed to a vehicle in front, the absolute speed of your own vehicle, the driver's request (speed, Acceleration, deceleration) etc.
  • Examples of components that can influence the longitudinal dynamics control are: cruise control, vehicle sequence control (setting a certain relative speed or a certain distance to the vehicle in front), cornering speed control (control of the driving speed according to the lateral acceleration), accelerator pedal, etc
  • the object of the invention is to provide a method and a device for regulating the longitudinal dynamics of a vehicle, with which situations such as are given by changing lanes, turning or overtaking can be dealt with in an appropriate manner.
  • the turn signal when regulating the longitudinal dynamics and in particular when determining target values for regulating the longitudinal vehicle dynamics.
  • a device is provided with which the turn signal actuation can be detected and which generates a specific signal upon detection.
  • the setpoint is then determined taking into account the turn signal.
  • the actuation of the turn signals indicates certain driver requests. These can be integrated into the ICC regulation in a suitable manner.
  • Fig. 1 shows a first basic embodiment of the
  • Fig. 2 shows a concrete structure of an inventive
  • Fig. 1 shows in principle the structure of a control according to the invention.
  • Reference numeral 17 denotes a device for determining at least one target value for regulating the longitudinal dynamics of the vehicle.
  • Output variables of this device 17 can be a target distance and / or a target speed and / or a target relative speed and / or a target acceleration.
  • These setpoints are input to a downstream control device 18 with which the vehicle engine 19 is controlled.
  • the setpoint value determining device 17 receives input signals from various sensors.
  • a distance sensor 11, a speed sensor 12, a pedal position sensor 13 and an image recording device 14 with associated evaluation device 15 are shown as examples.
  • a turn signal actuation detection device 10 which generates a specific signal when the turn signal is confirmed and converts this signal into the setpoint values. Determining device 17 enters.
  • the turn signal actuation detection device 10 is an on / off switch which only qualitatively determines the turn signal actuation.
  • a detection device 10 which outputs a signal which also shows the direction of the turn signal actuation.
  • the signal of the turn signal actuation detection device 10 would then identify three states, namely "turn signal off", “turn signal right” and "turn signal left".
  • Such a signal can be supplied via one or more lines, analog or digital, to the setpoint value determining device 17.
  • the turn signal actuation detection device can either query the turn signal lever on the steering wheel or the pulsing blink signal generated in response to the turn signal actuation. It can either forward one of these signals unchanged or in a processed form.
  • turn signal left If a turn signal actuation to the left is detected (“turn signal left"), then if the vehicle sequence control is activated, the target distance to a vehicle ahead Vehicle is reduced and / or the relative speed to a preceding vehicle is increased or the target acceleration is increased. Overtaking is initiated by one or more of these measures.
  • Consequences can be the reduction of the target speed in order to brake before turning right, or the limitation of the acceleration to a maximum of zero (i.e., no positive acceleration, no speed increase).
  • the vehicle is provided with an image recording device 14 and an evaluation device 15 connected to it.
  • the evaluation device 15 can be designed to recognize the longitudinal direction of the carriageway and / or individual tracks on the carriageway. If the evaluation device 15 then also receives the signal from the turn signal actuation detection device 10, it learns in advance that a lane or lane change is taking place. This can advantageously be included in the recognition logic in that threshold values that have to be exceeded in order to recognize a change of lane or lane can be reduced. This makes it easier to recognize a lane or lane change possible.
  • vehicles in adjacent lanes can also be included in advance in a follow-up order, which is more likely to be avoided when driving on the same lane without indicators.
  • the target value determination device 17 thus modifies target values for the vehicle control in certain operating conditions. This modification can be designed so that it does not happen suddenly, but gradually, in order to obtain a comfortable and jerk-free driving experience.
  • the setpoints can be modified with a specific first time constant.
  • the modification of the setpoints so that they are returned to their original values over time, especially when the indicator is on.
  • the modified nominal values are preferably returned to the original nominal values with a time constant which is longer than the time constant for modifying the nominal values. It is preferably carried out after a certain time after the turn signal has been set or after the modified setpoints have been reached.
  • the modified setpoints can be returned to the original setpoints when the indicator is activated to the right very slowly or not at all, because when turning right, the turning lane can be very slow.
  • Fig. 2 shows an embodiment with which some of the functions mentioned above can be implemented.
  • the implementation can take place analogously or in digital systems.
  • 20a and 20b symbolize values which symbolize “blinker on” (20a) or “blinker off” (20b).
  • a changeover switch 20c and a subsequent evaluation 20d these values are added up in accordance with the blinker actuation in the integrator 20e, 20f with feedback, so that a value is present at the connection 20g which is variable depending on the duration of actuation of the blinker. For example, if the value 20a for "turn signal on” is negative, there is an increasingly negative value at output 20 g when the turn signal is operated continuously.
  • the output 20g is returned to its original value over time and preferably more quickly.
  • the output 20g can, for example, be added directly to the target distance and thus reduce this target distance, for example according to the formula
  • Distance should be new distance should be + output 20g x K.
  • the upper limit of an acceleration restriction can be modified, such as by
  • Output 20g can also be used to address a table.
  • the value of the output 20g can be limited depending on the direction by a limiter 20f.
  • the above-described feedback of setpoints when the turn signal is operated for a long time can be achieved by a device 21, a so-called "memory function".
  • the output 21g of this memory function is added to the output 20g in the adder 22 and forms the output 23 with the evaluated blinker signal.
  • the memory function 21 itself uses a signal which indicates the slope of the integration in the device 20 and which is limited to zero. In the example shown, this signal is generated in the device 24, the formation of the differential being shown here. However, the detection of the different values 20a or 20b is also sufficient.
  • the signal representing the slope is used as the input signal of a first order low pass.
  • this low-pass filter has two time constants, a fast one for detecting the switching on of the turn signal and a slow time constant with which the actual memory loss or the return of the modified setpoints to the original setpoints is achieved when the turn signal is operated for a long time.
  • the device shown in FIG. 2 thus consists of an input switching part 20a to 20d, an integrator 20e to 20g, a slope calculation 24 and one
  • Memory function 21 wherein the outputs of integrator 20e to 20g and memory function 21 can be added to form the total output signal.
  • FIGS. 3 and 4 show individual waveforms.
  • the individual diagrams a, b and c in FIGS. 3 and 4 each show the output 23, the output 21g of the memory function and the output 20g of the integrator.
  • FIG. 3 relates to a memory function that has comparatively short time constants
  • FIG. 4 relates to comparatively long time constants.
  • the curve in figure part a is the product formed in device 22 from the signal curves shown in figure parts b and c.
  • 3c shows the output 20g. It is assumed that the turn signal is set at time 0 s and removed again at time 2 s. There is then initially a negative integration up to a value
  • FIG. 4 shows the case of a "long memory”.
  • FIG. 4c corresponds to FIG. 3c.
  • the memory function from FIG. 4b evaluating the signal from FIG. 4c drops much more slowly than that shown in FIG. 3b.
  • the result of this is that the modification of the setpoints is returned much more slowly.
  • the turn signal is removed after 2 s, the modification is still approximately 80% preserved (point 41 in FIG. 4a). It only disappears after approx. 3 s. Only then will the original setpoints be set again.
  • the duration until the original setpoint values are completely returned depends on the time constant of the memory function and on the value for integrator 20e, 20f specified by 20b.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

L'invention concerne un procédé et un dispositif pour la régulation de la dynamique longitudinale d'un véhicule. Pour la régulation de la dynamique longitudinale d'un véhicule et, en particulier, pour la détermination de la valeur de consigne, on contrôle l'actionnement des feux clignotants du véhicule et on l'inclut, éventuellement, dans la régulation ou la détermination de la valeur de consigne.
PCT/EP1998/000600 1997-02-10 1998-02-04 Procede et dispositif pour la regulation de la dynamique longitudinale d'un vehicule WO1998034814A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU63944/98A AU6394498A (en) 1997-02-10 1998-02-04 Method and device for regulating the longitudinal dynamics of a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19704854A DE19704854A1 (de) 1997-02-10 1997-02-10 Verfahren und Vorrichtung zur Regelung der Längsdynamik eines Fahrzeugs
DE19704854.4 1997-02-10

Publications (1)

Publication Number Publication Date
WO1998034814A1 true WO1998034814A1 (fr) 1998-08-13

Family

ID=7819730

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1998/000600 WO1998034814A1 (fr) 1997-02-10 1998-02-04 Procede et dispositif pour la regulation de la dynamique longitudinale d'un vehicule

Country Status (3)

Country Link
AU (1) AU6394498A (fr)
DE (1) DE19704854A1 (fr)
WO (1) WO1998034814A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2498223B (en) * 2012-01-09 2015-08-26 Jaguar Land Rover Ltd Method and control unit for monitoring traffic

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DE59810811D1 (de) * 1997-12-15 2004-03-25 Volkswagen Ag Verfahren zur regelung von geschwindigkeit und abstand bei überholvorgängen eines kraftfahrzeuges
DE10047749A1 (de) * 2000-09-27 2002-04-11 Bayerische Motoren Werke Ag Verfahren zur Längsregelung eines Fahrzeuges, bei dem Informationen eines Navigationssystems erfasst werden
DE10047751A1 (de) * 2000-09-27 2002-04-11 Bayerische Motoren Werke Ag Verfahren zu Längsregelung eines Fahrzeuges, bei dem Informationen eines Navigationssystems erfasst werden
JP4485193B2 (ja) 2001-07-11 2010-06-16 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 車両減速の自動作動方法及びその装置
DE10205225A1 (de) * 2002-02-08 2003-11-20 Bayerische Motoren Werke Ag ACC-Spurwechselmodus
DE102010004625A1 (de) * 2010-01-14 2011-07-21 Ford Global Technologies, LLC, Mich. Verfahren und Vorrichtung zur Unterstützung eines Fahrers bei einem Überholvorgang
DE102010041620A1 (de) * 2010-09-29 2012-03-29 Ford Global Technologies, Llc Verfahren und Vorrichtung zur Unterstützung eines Fahrers bei einem Überholvorgang
DE102021205600A1 (de) * 2021-06-02 2022-12-08 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Wiedereinscheren auf eine Zielfahrspur nach einem Überholvorgang

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FR2419835A1 (fr) * 1978-03-16 1979-10-12 Toulouse Laurent Regulateur automatique de vitesse d'un vehicule automobile
DE4337163A1 (de) * 1992-11-05 1994-05-11 Volkswagen Ag Steuerungseinrichtung zur selbsttätigen und fahrstreckenabhängigen Schaltung eines Automatikgetriebes
DE19602772A1 (de) * 1995-01-27 1996-08-08 Fuji Heavy Ind Ltd Warnsystem für ein Fahrzeug
DE19654769A1 (de) 1996-12-30 1998-07-02 Teves Gmbh Alfred Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung

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FR2419835A1 (fr) * 1978-03-16 1979-10-12 Toulouse Laurent Regulateur automatique de vitesse d'un vehicule automobile
DE4337163A1 (de) * 1992-11-05 1994-05-11 Volkswagen Ag Steuerungseinrichtung zur selbsttätigen und fahrstreckenabhängigen Schaltung eines Automatikgetriebes
DE19602772A1 (de) * 1995-01-27 1996-08-08 Fuji Heavy Ind Ltd Warnsystem für ein Fahrzeug
DE19654769A1 (de) 1996-12-30 1998-07-02 Teves Gmbh Alfred Verfahren und Vorrichtung zur Fahrzeugsteuerung bzw. -regelung

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Title
HAMBERGER W ET AL: "NAVIGATIONSSYSTEME ALS DATENBASIS FUER EIN ADAPTIVES ANTRIEBSMANAGEMENT", ATZ AUTOMOBILTECHNISCHE ZEITSCHRIFT, vol. 98, no. 4, 1 April 1996 (1996-04-01), pages 218 - 222, XP000582532 *

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Publication number Priority date Publication date Assignee Title
GB2498223B (en) * 2012-01-09 2015-08-26 Jaguar Land Rover Ltd Method and control unit for monitoring traffic

Also Published As

Publication number Publication date
DE19704854A1 (de) 1998-08-13
AU6394498A (en) 1998-08-26

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