WO2005063546A1 - Verfahren zur unterstützung eines fahrzeugführers - Google Patents
Verfahren zur unterstützung eines fahrzeugführers Download PDFInfo
- Publication number
- WO2005063546A1 WO2005063546A1 PCT/EP2004/053565 EP2004053565W WO2005063546A1 WO 2005063546 A1 WO2005063546 A1 WO 2005063546A1 EP 2004053565 W EP2004053565 W EP 2004053565W WO 2005063546 A1 WO2005063546 A1 WO 2005063546A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- steering
- driver
- steering wheel
- vehicle
- Prior art date
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
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
Definitions
- the invention relates to a method for assisting a vehicle driver in his steering activity, in which a steering torque can be impressed on the steering wheel.
- the invention also relates to a steering torque control module for a vehicle.
- the invention also relates to a vehicle with vehicle steering and with a lane guidance system.
- the object of the invention is to provide a method for assisting a driver in his steering work, which ensures that the driver is supported in a comfotable and safe way in keeping a lane, but at the same time controls the vehicle and retains responsibility for the steering activity.
- the object is achieved by the features of the independent claims.
- the object is achieved by a method for assisting the driver in his steering activity, in which a steering torque can be impressed on the steering wheel, which is characterized in that an additional assistance torque M ASS is applied to the steering wheel by means of which the vehicle driver of the vehicle when driving is supported in one lane.
- the method gives the vehicle driver instructions for steering by means of an additional steering torque.
- the vehicle driver is supported in lane guidance in a way that is comfortable for him.
- a current lane in which the vehicle is moving is determined and that the driver is given a steering recommendation by means of the assistance torque M A ss additionally applied to the steering wheel, so that the vehicle driver remains in the current lane ,
- the driver is guided by the additional steering torque applied to the steering wheel, the assist torque M ⁇ SS , to keep a lane when steering.
- the vehicle driver is continuously shown from which point, ie from which specific steering wheel position, he should not turn the steering wheel any further in a certain direction. If the driver follows the instructions for steering, he will not feel any increased resistance in his steering work. In this way, he can keep his vehicle safely and consciously on track. If the driver independently actuates the steering wheel in such a way that the steering process takes place optimally, ie if he steers "correctly" by himself, the moment applied does not change.
- a manual torque M H applied by the vehicle driver to the steering wheel or a quantity dependent thereon is determined and that the assistance torque M AS s additionally applied to the steering wheel can be changed as a function of the manual torque M H.
- the hand moment applied by the vehicle driver to the steering wheel or a variable dependent thereon is determined over a longer period of time, in accordance with the course of time of the hand torque, a driver's steering request is determined, and that the assistance torque M AS s additionally applied to the steering wheel can be changed in accordance with the determined driver's steering request.
- At least one maximum value for the additional assistance torque M ASS (maximum assistance torque M max ) applied to the steering wheel is specified, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that the maximum Assistant torque M max is dynamically adapted to the manual torque M H currently applied by the driver to the steering wheel.
- At least one lower limit value (limit torque M H , L o) is specified for the assistance torque additionally applied to the steering wheel, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that the Driver torque M H applied to the steering wheel is compensated by an additional compensation steering torque if the determined manual torque M H does not exceed the lower limit value (limit torque M H , LOW ).
- a value in a range from 0.7 Nm to 1.2 Nm is preferably specified as the lower limit value (limit torque M H , LO W) for the additional torque applied to the steering wheel.
- a signal of the hand torque M H applied by the vehicle driver to the steering wheel is filtered, preferably by a low-pass filter of the first (1st) order.
- This filter advantageously has a filter time constant of approximately 10 ms.
- at least one lower limit value (limit torque M H , L ow) is specified for the assistance torque additionally applied to the steering wheel, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that a tracking control steering torque , which is necessary for guiding the vehicle in the lane, is at least approximately linearly limited to a maximum value with increasing manual torque M H if the determined manual torque M H exceeds the lower limit value (limit torque M H , L O W).
- At least one upper limit value (limit torque M H , HIGH ) is specified for the assistance torque additionally applied to the steering wheel, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that a desired Steering torque, which corresponds to a driver's request for a steering intervention, is set when the determined manual torque.MH exceeds the upper limit value (limit torque M H , HIGH ).
- a value in a range from 1.8 Nm to 2.2 Nm is preferably specified as the upper limit value (limit torque M H , HIGH ) for the assistance torque additionally applied to the steering wheel.
- the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, that a steering control steering torque, which is necessary for guiding the vehicle in the lane, is adjusted, that at least an upper limit value (limit torque M H , HIGH ) is specified for the additional assistance torque applied to the steering wheel, and that the tracking steering torque is reduced to, preferably, according to a predetermined function, preferably a time-controlled ramp function Value zero.
- a linearly decreasing function with a gradient in a range from 2.5 Nm to 3.0 Nm is preferably specified as the time-controlled ramp function.
- a steering torque control module which is provided in particular for carrying out the method according to the invention and which is characterized in that an additional assistance torque M AS s is applied to a hand steering wheel of the vehicle, by means of which the vehicle driver of the vehicle when driving in a lane is supported.
- the object is also achieved by a vehicle with a vehicle steering system and with a lane guidance system which has a steering torque control module according to the invention.
- FIG. 1 shows a diagram of a hand torque-dependent torque limitation of the additional assistance torque according to the invention.
- a vehicle is equipped with a driver assistance system for "automatic" lane guidance (lane guidance system) equipped of the invention.
- the lane guidance system has a system component for the detection of the driver's request, which recognizes the driver's wish when the "automatic" lane guidance is active and controls the lane guidance system in accordance with this request in such a way that it is complied with in a convenient manner.
- the driver assistance system uses a steering angle setpoint or a steering torque setpoint (assistance torque) to give a steering control system to the driver, depending on the system parameterization, a more or less pronounced steering recommendation.
- a steering angle setpoint or a steering torque setpoint assistant torque
- further steering movements arise due to the feedback of disturbances from the road and from the driver himself.
- the system has to compensate for these disturbances, on the other hand, it must not force the driver against his request because he is driving may have to react to an impending danger or want to change lanes.
- the torque applied by the driver on the steering wheel is observed by a torque sensor. If the driver follows the steering recommendation of the assistance system, the hand torque is approximately zero or at least very small. A deviation of the vehicle driver from the specification of the automatic lane guidance leads to a significant increase in the manual torque, since in this case the vehicle driver works against the assistance system.
- a basic idea of the invention is to detect and interpret the wish of the vehicle driver on the basis of the course of the hand torque and a comfortable mutual To achieve vehicle driver and system takeover by dynamically adapting the maximum specifiable assistance torque M AS s to the manual torque M H applied by the driver.
- FIG. 1 shows a plot of the manual torque curve M H with a lower limit torque M H , O and with an upper limit torque M H , H I G H against the curve of the assist torque M AS s-
- the manual torque remains below a first threshold value (lower limit torque M H , L o) during a journey with active automatic tracking, it is regarded as a malfunction and compensated by the controller of the tracking system (left horizontal straight line I in FIG. 1).
- the assistance torque M ⁇ SS is increased up to an upper limit value M AS s, max.
- at least the upper limit value M ASS , m a ⁇ of the assistance torque M ASS can be dynamically adapted to the manual torque M H currently applied by the driver to the steering wheel. This is shown by the dashed lines IV, V, VI in Fig. 1.
- the signal of the hand torque is processed by suitable filters so that brief peaks in the signal curve, in particular due to the inertia of the steering column and the steering wheel in connection with disturbances from the road (such as potholes), no output signal above M H , OW create.
- Lane guidance system is limited in such a way that the torque required for guiding the vehicle in the lane is linearly limited to a maximum value with increasing manual torque (falling straight line II in FIG. 1).
- the torque that is necessary for guiding the vehicle in the lane is additionally regulated by a time-controlled ramp.
- the compensation value determined and already limited at the time the upper threshold value is reached is adjusted to the value 0 (ZERO).
- ZERO the value 0
- the output value M ASS , max left straight line VII in FIGS. 2 and 3
- the driver again has a "normal" steering feel, so that he, as if by the Known driving without automatic lane guidance, can change lanes or avoid maneuvers. The driver has been taken over.
- the "outer" compensation limitation is opened.
- the initial value for the linear limitation dependent on the manual torque is controlled to a maximum value (horizontal straight line X in FIGS. 2 and 3) via a time-controlled ramp (straight line IX increasing in time in FIGS. 2 and 3).
- Guide variables for a controller of the guidance system are determined beforehand, the initially calculated steering angle corresponding to the steering angle currently set by the vehicle driver. During the time of the system takeover, these command variables are controlled by time ramps to the value 0 (ZERO). If these command variables have become 0 (NULL), the system has been adopted.
- the method can be implemented in parts or combined with known methods. In addition to the described methods, this also includes possible optical or acoustic or other haptic information (such as via the accelerator pedal) for the driver to keep lane.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112004002450T DE112004002450D2 (de) | 2003-12-24 | 2004-12-17 | Verfahren zur Unterstützung eines Fahrzeugführers |
EP04804908A EP1699674A1 (de) | 2003-12-24 | 2004-12-17 | Verfahren zur unterstützung eines fahrzeugführers |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10361239.4 | 2003-12-24 | ||
DE10361239 | 2003-12-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005063546A1 true WO2005063546A1 (de) | 2005-07-14 |
Family
ID=34716206
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/053565 WO2005063546A1 (de) | 2003-12-24 | 2004-12-17 | Verfahren zur unterstützung eines fahrzeugführers |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1699674A1 (de) |
DE (1) | DE112004002450D2 (de) |
WO (1) | WO2005063546A1 (de) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1950115A2 (de) * | 2007-01-26 | 2008-07-30 | Delphi Technologies, Inc. | Systeme, Verfahren und Computerprogrammprodukte zur Erkennung von Spurwechseln und zur Handhabung von Spurhaltungsdrehmomenten |
EP2591983A1 (de) * | 2011-11-11 | 2013-05-15 | Volvo Car Corporation | Verfahren und System zur Anpassung der Lenkraddrehmomentüberlagerung eines Fahrspurbefolgunghilfssystems |
DE102013006685A1 (de) * | 2013-04-18 | 2014-10-23 | Audi Ag | Kraftfahrzeug |
US9527527B2 (en) | 2014-11-04 | 2016-12-27 | Volvo Car Corporation | Method and system for intelligent scaling of torque overlay intervention for semi-autonomous road vehicle steering systems |
DE102018208863A1 (de) | 2018-06-06 | 2019-12-12 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs mit einem Lenkmittel |
CN114620122A (zh) * | 2022-03-28 | 2022-06-14 | 智己汽车科技有限公司 | 一种驾驶手力调节方法及设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0771714A2 (de) * | 1995-11-02 | 1997-05-07 | Honda Giken Kogyo Kabushiki Kaisha | Lenkwinkel-Korrektursystem in einem Fahrzeug |
DE19830548A1 (de) * | 1997-07-09 | 1999-02-25 | Toyota Motor Co Ltd | Fahrzeuglenksteuervorrichtung zur Unterstützung einer Lenkbetätigung zum Bewegen eines Fahrzeugs entlang einer durch einen Fahrer gewünschten Linie |
US6178365B1 (en) * | 1997-09-13 | 2001-01-23 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for vehicle |
US6212453B1 (en) * | 1998-09-11 | 2001-04-03 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
US20010054519A1 (en) * | 2000-06-27 | 2001-12-27 | Takeshi Nishiwaki | Automotive vehicle steering control device |
EP1291227A2 (de) * | 2001-09-04 | 2003-03-12 | Honda Giken Kogyo Kabushiki Kaisha | Fahrwegsteuerungsvorrichtung für Kraftfahrzeug |
-
2004
- 2004-12-17 WO PCT/EP2004/053565 patent/WO2005063546A1/de not_active Application Discontinuation
- 2004-12-17 EP EP04804908A patent/EP1699674A1/de not_active Withdrawn
- 2004-12-17 DE DE112004002450T patent/DE112004002450D2/de not_active Withdrawn - After Issue
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0771714A2 (de) * | 1995-11-02 | 1997-05-07 | Honda Giken Kogyo Kabushiki Kaisha | Lenkwinkel-Korrektursystem in einem Fahrzeug |
DE19830548A1 (de) * | 1997-07-09 | 1999-02-25 | Toyota Motor Co Ltd | Fahrzeuglenksteuervorrichtung zur Unterstützung einer Lenkbetätigung zum Bewegen eines Fahrzeugs entlang einer durch einen Fahrer gewünschten Linie |
US6178365B1 (en) * | 1997-09-13 | 2001-01-23 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for vehicle |
US6212453B1 (en) * | 1998-09-11 | 2001-04-03 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
US20010054519A1 (en) * | 2000-06-27 | 2001-12-27 | Takeshi Nishiwaki | Automotive vehicle steering control device |
EP1291227A2 (de) * | 2001-09-04 | 2003-03-12 | Honda Giken Kogyo Kabushiki Kaisha | Fahrwegsteuerungsvorrichtung für Kraftfahrzeug |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1950115A2 (de) * | 2007-01-26 | 2008-07-30 | Delphi Technologies, Inc. | Systeme, Verfahren und Computerprogrammprodukte zur Erkennung von Spurwechseln und zur Handhabung von Spurhaltungsdrehmomenten |
EP1950115A3 (de) * | 2007-01-26 | 2009-12-16 | Delphi Technologies, Inc. | Systeme, Verfahren und Computerprogrammprodukte zur Erkennung von Spurwechseln und zur Handhabung von Spurhaltungsdrehmomenten |
US7885730B2 (en) | 2007-01-26 | 2011-02-08 | Nexteer (Beijing) Technology Co., Ltd. | Systems, methods and computer program products for lane change detection and handling of lane keeping torque |
EP2591983A1 (de) * | 2011-11-11 | 2013-05-15 | Volvo Car Corporation | Verfahren und System zur Anpassung der Lenkraddrehmomentüberlagerung eines Fahrspurbefolgunghilfssystems |
US8849516B2 (en) | 2011-11-11 | 2014-09-30 | Volvo Car Corporation | Method and system for adaptation of a steering wheel torque overlay of a lane keeping aid system |
DE102013006685A1 (de) * | 2013-04-18 | 2014-10-23 | Audi Ag | Kraftfahrzeug |
DE102013006685B4 (de) * | 2013-04-18 | 2016-11-17 | Audi Ag | Kraftfahrzeug und Verfahren zur Querführung eines Kraftfahrzeugs |
US9527527B2 (en) | 2014-11-04 | 2016-12-27 | Volvo Car Corporation | Method and system for intelligent scaling of torque overlay intervention for semi-autonomous road vehicle steering systems |
DE102018208863A1 (de) | 2018-06-06 | 2019-12-12 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs mit einem Lenkmittel |
CN114620122A (zh) * | 2022-03-28 | 2022-06-14 | 智己汽车科技有限公司 | 一种驾驶手力调节方法及设备 |
Also Published As
Publication number | Publication date |
---|---|
DE112004002450D2 (de) | 2006-11-16 |
EP1699674A1 (de) | 2006-09-13 |
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