WO2015177037A1 - Vehicle control device - Google Patents

Vehicle control device Download PDF

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Publication number
WO2015177037A1
WO2015177037A1 PCT/EP2015/060693 EP2015060693W WO2015177037A1 WO 2015177037 A1 WO2015177037 A1 WO 2015177037A1 EP 2015060693 W EP2015060693 W EP 2015060693W WO 2015177037 A1 WO2015177037 A1 WO 2015177037A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
control device
vehicle control
driving
vehicle
Prior art date
Application number
PCT/EP2015/060693
Other languages
German (de)
French (fr)
Inventor
Gerhard Dochow
Original Assignee
Continental Automotive 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 Continental Automotive Gmbh filed Critical Continental Automotive Gmbh
Publication of WO2015177037A1 publication Critical patent/WO2015177037A1/en

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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
    • 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
    • B60W40/09—Driving style or behaviour
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • 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
    • B60W2556/10—Historical data

Definitions

  • the invention relates to affy horrvorrichtun for automatically controlling the driving operation of a vehicle according to calculated calculated driving data of a Sollschuls ⁇ path, wherein the automatic control of the driving operation of the vehicle inactive switchable and the vehicle is switched to manually controllable driving operation.
  • the object of the invention is therefore to provide aggy horrvor- device of the type mentioned, which allows a controlled review of driver competence.
  • the vehicle control is available not only to automatically controlling the driving operation but in two ⁇ ter function for controlled verification of driver competence ⁇ . This will allow a very precise and detailed ⁇ profiled and situational analysis of the manual Fah ⁇ proceedings. There is also no dependence on com ⁇ petent inspectors. A test can be carried out at any time and at any location by the driver himself.
  • the vehicle control for automatically controlling the Fahrbe ⁇ drive remains in the manually controllable driving actively and continuously calculates the target driving data of Sollbewe ⁇ supply path and adjusts them stood ⁇ to the actualakizu and the environment information. However, the manual driving operation is not intervened in the control of the vehicle currency ⁇ rend.
  • the vehicle control device can be used not only to maintain but also to acquire the general driving skills. These can range from the vehicle ⁇ control device during the monitored manual drive comments be dispensable that indicate unacceptable deviations in driving behavior, which gained by comparing the Istfahr stylist with the calculated target travel data ⁇ to.
  • the output can be done by a display or by voice output.
  • the vehicle control system can monitor optimum energy consumption and provide the driver with appropriate information.
  • the vehicle control device according to the invention does not interfere with the driving behavior and does not affect any, in particular safety-relevant control devices.
  • the actual driving data and / or the nominal driving data can be memory ⁇ bar to evaluate later at rest.
  • the storage is possible in the vehicle.
  • the target driving data and the recorded actual driving data for example, via Internet connection, are transmitted to a server. There is then a statistical evaluation of the driving behavior by aggregation of data of different drivers and Fahrzeu ⁇ ge possible. This statistical data can z. B. of Versi ⁇ fuses the risk assessment of highly automated argue your ⁇ ten vehicles are used.
  • the target driving data and actual driving data may be steering data and / or drive data and / or driving speed data and / or driving acceleration data and / or position data on the driving path and / or braking data and / or speed limitation data.
  • the Istfahr stylist can be formed from signals from Assistenzsys ⁇ warmth of the vehicle and so do not require special sensors.
  • These assistance systems can, for.
  • ESP electronic brake system ⁇
  • ABS antilock braking system
  • ASR antiskid control system
  • LW lane keeping assistance system
  • ÜAS car-over assistance system
  • Position data and / or track data can be formed from signals ei ⁇ ner database of a navigation system or an electronic ⁇ rule card and so also do not require separate facilities for the position data and / or driving ⁇ route data.
  • the deviations of the Istfahr stylist from the target driving data Kings ⁇ NEN according to predetermined criteria for permissible deviations and unacceptable deviations are evaluated and carried out as a Be ⁇ evaluation of the individual driving data and the entire manual driving operation.
  • a warning signal can be triggered, which may be different for admissible ⁇ gen and impermissible deviations and makes the driver while driving already aware of these deviations ⁇ gen.
  • the permissible deviations and / or the illegal deviate ⁇ tions can be evaluated in quality levels where from the quality levels of the overall target path of a Ge ⁇ yak beforehands slaughter can be formed. So that the current Trai ⁇ beginnings condition of the driver can be classified.
  • the optimum point in time and the optimum route for the next manual journey can be calculated so that the driving competence of the driver is always maintained at a high level.
  • impermissible speed rewriting ⁇ obligations on the desired path of movement can be graphically and / or visually displayed.
  • a non-traffic-oriented slow driving on the desired movement path can be determined by comparison with the calculated target ⁇ driving data and graphically and / or visually ⁇ be adjustable.
  • FIG. 1 An embodiment of the invention is illustrated in the drawing and will be described in more detail below.
  • the ⁇ single figure of the drawing shows a schematic diagram of a vehicle control device.
  • a Fahrtrainings- and control unit 1 is provided, which are calculated by a target driving data unit 2 target driving data for a before ⁇ entered desired movement path and forwarded.
  • the driving training and control unit 1 receives from a navigation system 3 information about criteria of the desired movement path, such. As fixed speed limits and overtaking bans fed.
  • a passing-through assistance system 4 detects when a dangerous overtaking operation has been performed by the driver and forwards this information to the driving training and control unit 1.
  • a lane keeping assistance system 5 detects the lane keeping or a lane change and forwards corresponding signals to the driving ⁇ training and -kontrolliki 1 to.
  • An electronic braking system 6 and an anti-lock braking system 7 send signals its activation also to the driving Trai ⁇ nings- and -kontrollmaschine 1. If the driver 8, the vehicle control device connected on manually controllable driving operation that automatically steu ⁇ newable driving operation is inactive. The entry of the actual driving data However, the aforementioned sensors and assistance systems remain active and supply the driving training and control unit 1 with the corresponding actual driving data. This compares this Istfahr stylist with the data unit from the Sollfahr- 2 supplied desired drive data, the deviations ⁇ deviate from one another determines and evaluates them according to predetermined criteria to acceptable and unacceptable deviations. If impermissible deviations are detected, the
  • Fahrtrainings- and control unit 1 triggers a warning ⁇ triggers.

Abstract

The invention relates to a vehicle control device for automatically controlling vehicle operation in accordance with calculated theoretical driving data of a theoretical movement path. The automatic vehicle operation control mode can be deactivated and the vehicle can be switched to manually controllable operation. During manually controllable vehicle operation, the actual driving data of the manually controllable vehicle operation mode can be acquired and compared to the theoretical driving data of the automatically controllable vehicle operation mode that continue to be calculated.

Description

Beschreibung description
Fahrzeugsteuervorrichtung Vehicle control device
Die Erfindung bezieht sich auf eine Fahrzeugsteuervorrichtun zum automatischen Steuern des Fahrbetriebs eines Fahrzeugs entsprechend berechneter Sollfahrdaten eines Sollbewegungs¬ pfades, wobei das automatische Steuern des Fahrbetriebs des Fahrzeugs inaktiv schaltbar und das Fahrzeug auf manuell steuerbaren Fahrbetrieb schaltbar ist. The invention relates to a Fahrzeugsteuervorrichtun for automatically controlling the driving operation of a vehicle according to calculated calculated driving data of a Sollbewegungs ¬ path, wherein the automatic control of the driving operation of the vehicle inactive switchable and the vehicle is switched to manually controllable driving operation.
Bei derartigen Fahrzeugsteuervorrichtungen insbesondere für Kraftfahrzeuge wird das Fahrzeugt vollständig ohne Zutun des Fahrers auf einem der Fahrzeugsteuervorrichtung vorgegebenen Sollbewegungspfad im Straßenverkehr gefahren. Nur in Ausnah¬ mesituationen wird dem Fahrer die Verantwortung für das Füh¬ ren des Fahrzeugs zurückgegeben und auf manuelle Steuerung umgeschaltet. Dabei entsteht das Problem, dass der Fahrer im mer weniger selbständig fährt und folglich seine Fahrkompe¬ tenz nach und nach verliert, weil diese nicht mehr trainiert wird. Verschärft wird diese Situation, wenn das manuelle Fah ren nur noch in Extremsituationen auftritt, die häufig mit gefährlichen oder unübersichtlichen Situationen einhergehen, welche besondere Anforderungen an die Fahrkompetenz stellen und folglich einen unzureichend trainierten Fahrer überfor¬ dern . In such vehicle control devices, in particular for motor vehicles, the vehicle is driven completely without the driver's intervention on a vehicle control device predetermined desired movement path in the road. Only in exceptional ¬ situations the driver is given the responsibility for the Füh ¬ Ren of the vehicle and switched to manual control. This creates the problem that the driver drives less independent in number and thus gradually loses its Fahrkompe ¬ tence, because this is no longer practiced. Exacerbated this situation, when the manual Fah ren only occurs in extreme situations that are often accompanied by dangerous or confusing situations which make special demands on driving skills and thus an insufficiently trained drivers überfor ¬ countries.
Es gibt regelmäßige Fahrtrainings unter menschlicher Anlei¬ tung und Überwachung, die die Fahrkompetenz sicherstellen sollen . There are regular driver training under human Anlei ¬ processing and monitoring, to ensure the driving competence.
Aufgabe der Erfindung ist es daher, eine Fahrzeugsteuervor- richtung der eingangs genannten Art zu schaffen, die eine kontrollierte Überprüfung der Fahrerkompetenz ermöglicht. The object of the invention is therefore to provide a Fahrzeugsteuervor- device of the type mentioned, which allows a controlled review of driver competence.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei manuell steuerbarem Fahrbetrieb die Istfahrdaten des manuel- len steuerbaren Fahrbetriebs erfassbar und mit den weiterhin berechneten Sollfahrdaten des automatisch steuerbaren Fahrbe¬ triebs vergleichbar sind. This object is achieved according to the invention in that the actual driving data of the manuel len controllable driving operation can be detected and with the calculated further driving data of the automatically controllable Fahrbe ¬ drive are comparable.
Durch diese Ausbildung ist die Fahrzeugsteuerung nicht nur zu einem automatischen Steuern des Fahrbetriebs sondern in zwei¬ ter Funktion auch zur kontrollierten Überprüfung der Fahrer¬ kompetenz nutzbar. Damit wird eine sehr genaue und detail¬ lierte sowie situationsgerechte Auswertung des manuellen Fah¬ rens ermöglicht. Es besteht auch keine Abhängigkeit von kom¬ petenten Prüfern. Eine Prüfung kann jederzeit und an jedem Ort von dem Fahrer selbst durchgeführt werden. Through this design, the vehicle control is available not only to automatically controlling the driving operation but in two ¬ ter function for controlled verification of driver competence ¬. This will allow a very precise and detailed ¬ profiled and situational analysis of the manual Fah ¬ proceedings. There is also no dependence on com ¬ petent inspectors. A test can be carried out at any time and at any location by the driver himself.
Die Fahrzeugsteuerung zum automatischen Steuern des Fahrbe¬ triebs bleibt auch bei dem manuell steuerbaren Fahrbetrieb aktiv und berechnet ständig die Sollfahrdaten des Sollbewe¬ gungspfades und passt diese an den tatsächlichen Fahrzeugzu¬ stand und die Umgebungsinformationen an. Allerdings wird wäh¬ rend des manuellen Fahrbetriebs nicht in die Steuerung des Fahrzeugs eingegriffen. The vehicle control for automatically controlling the Fahrbe ¬ drive remains in the manually controllable driving actively and continuously calculates the target driving data of Sollbewe ¬ supply path and adjusts them stood ¬ to the actual Fahrzeugzu and the environment information. However, the manual driving operation is not intervened in the control of the vehicle currency ¬ rend.
Die erfindungsgemäße Fahrzeugsteuervorrichtung kann nicht nur zur Aufrechterhaltung sondern auch zum Erwerb der Allgemeinen Fahrkompetenz verwendet werden. Dazu können von der Fahrzeug¬ steuervorrichtung während der überwachten manuellen Fahrt Kommentare ausgebbar sein, die auf unzulässige Abweichungen im Fahrverhalten hinweisen, welche durch den Vergleich der Istfahrdaten mit den berechneten Sollfahrdaten gewonnen wer¬ den. Die Ausgabe kann dabei durch ein Display oder durch Sprachausgabe erfolgen. The vehicle control device according to the invention can be used not only to maintain but also to acquire the general driving skills. These can range from the vehicle ¬ control device during the monitored manual drive comments be dispensable that indicate unacceptable deviations in driving behavior, which gained by comparing the Istfahrdaten with the calculated target travel data ¬ to. The output can be done by a display or by voice output.
Zusätzlich kann die Fahrzeugsteuerung einen optimalen Ener- gieverbrauch überwachen und dem Fahrer entsprechende Hinweise geben . Die erfindungsgemäße Fahrzeugsteuervorrichtung greift nicht in das Fahrverhalten ein und beeinflusst keine, insbesondere sicherheitsrelevanten Steuergeräte . Die Istfahrdaten und/oder die Sollfahrdaten können speicher¬ bar sein, um sie später in Ruhe auszuwerten. Die Speicherung ist im Fahrzeug möglich. Es ist aber auch möglich, dass die Sollfahrdaten und die erfassten Istfahrdaten, beispielsweise per Internetverbindung, an einen Server übermittelt werden. Dort ist dann eine statistische Auswertung des Fahrverhaltens durch Aggregation von Daten verschiedener Fahrer und Fahrzeu¬ ge möglich. Diese statistischen Daten können z. B. von Versi¬ cherungen zur Risikobewertung von hochautomatisiert gesteuer¬ ten Fahrzeugen herangezogen werden. In addition, the vehicle control system can monitor optimum energy consumption and provide the driver with appropriate information. The vehicle control device according to the invention does not interfere with the driving behavior and does not affect any, in particular safety-relevant control devices. The actual driving data and / or the nominal driving data can be memory ¬ bar to evaluate later at rest. The storage is possible in the vehicle. But it is also possible that the target driving data and the recorded actual driving data, for example, via Internet connection, are transmitted to a server. There is then a statistical evaluation of the driving behavior by aggregation of data of different drivers and Fahrzeu ¬ ge possible. This statistical data can z. B. of Versi ¬ fuses the risk assessment of highly automated confess your ¬ ten vehicles are used.
Die Sollfahrdaten und Istfahrdaten können Lenkungsdaten und/oder Antriebsdaten und/oder Fahrgeschwindigkeitsdaten und/oder Fahrbeschleunigungsdaten und/oder Positionsdaten auf dem Fahrweg und/oder Bremsdaten und/oder Geschwindigkeitsbeg- renzungsdaten sein. The target driving data and actual driving data may be steering data and / or drive data and / or driving speed data and / or driving acceleration data and / or position data on the driving path and / or braking data and / or speed limitation data.
Dabei können die Istfahrdaten aus Signalen von Assistenzsys¬ temen des Fahrzeugs gebildet werden und benötigen so keine besondere Sensorik. The Istfahrdaten can be formed from signals from Assistenzsys ¬ temen of the vehicle and so do not require special sensors.
Diese Assistenzsysteme können z. B. ein elektronisches Brems¬ system (ESP) und/oder ein Antiblockiersystem (ABS) und/oder ein Antischlupfregelsystem /ASR) und/oder ein Spurhalteassis- tenzsystem (LDW) und/oder ein Überholassistenzsystem (ÜAS) sein. These assistance systems can, for. As an electronic brake system ¬ (ESP) and / or an antilock braking system (ABS) and / or an antiskid control system / ASR) and / or a lane keeping assistance system (LDW) and / or a car-over assistance system (ÜAS).
Positionsdaten und/oder Fahrwegdaten können aus Signalen ei¬ ner Datenbasis eines Navigationssystems oder einer elektroni¬ schen Karte gebildet werden und benötigen so ebenfalls keine separaten Einrichtungen für die Positionsdaten und/oder Fahr¬ wegdaten . Die Abweichungen der Istfahrdaten von den Sollfahrdaten kön¬ nen nach vorgegebenen Kriterien auf zulässige Abweichungen und unzulässige Abweichungen bewertet werden und so eine Be¬ wertung der einzelnen Fahrdaten sowie des gesamten manuellen Fahrbetriebs erfolgen. Position data and / or track data can be formed from signals ei ¬ ner database of a navigation system or an electronic ¬ rule card and so also do not require separate facilities for the position data and / or driving ¬ route data. The deviations of the Istfahrdaten from the target driving data Kings ¬ NEN according to predetermined criteria for permissible deviations and unacceptable deviations are evaluated and carried out as a Be ¬ evaluation of the individual driving data and the entire manual driving operation.
Bei zulässigen Abweichungen und/oder bei unzulässigen Abwei¬ chungen kann ein Warnsignal auslösbar sein, das bei zulässi¬ gen und unzulässigen Abweichungen unterschiedlich sein kann und den Fahrer während der Fahrt bereits auf diese Abweichun¬ gen aufmerksam macht. For permissible deviations and / or impermissible deviations deviate ¬ a warning signal can be triggered, which may be different for admissible ¬ gen and impermissible deviations and makes the driver while driving already aware of these deviations ¬ gen.
Die zulässigen Abweichungen und/oder die unzulässigen Abwei¬ chungen können in Qualitätsstufen bewertbar sein wobei aus den Qualitätsstufen über den Gesamtsollbewegungspfad ein Ge¬ samtqualitätsmaß bildbar ist. Damit kann der aktuelle Trai¬ ningszustand des Fahrers eingestuft werden. The permissible deviations and / or the illegal deviate ¬ tions can be evaluated in quality levels where from the quality levels of the overall target path of a Ge ¬ samtqualitätsmaß can be formed. So that the current Trai ¬ beginnings condition of the driver can be classified.
Veränderungen des Trainingszustandes sind in Abhängigkeit von der Zeit und der Anzahl/Umfang der manuellen Fahrten voraus¬ sagbar . Changes in the physical condition ahead ¬ speakable depending on the time and the number / amount of detailed adjustments rides.
Auch kann abhängig von dem Gesamtqualitätsmaß der optimale Zeitpunkt und die optimale Fahrstrecke für die nächste manu- eile Fahrt errechnet werden, so dass die Fahrkompetenz des Fahrers immer auf hohem Niveau gehalten wird. Also, depending on the overall quality measure, the optimum point in time and the optimum route for the next manual journey can be calculated so that the driving competence of the driver is always maintained at a high level.
Zu einer guten Erfassbarkeit durch den Fahrer kann der manu¬ elle Fahrbetrieb auf dem Gesamtsollbewegungspfad mit Darstel- lung der unzulässigen Abweichungen grafisch und/oder optisch als Gesamtqualitätsmaß darstellbar sein. To a good detectability by the driver of the manu ¬ elle driving on the total desired movement path can with representation of inadmissible deviations lung graphically and / or optically be represented as Gesamtqualitätsmaß.
Insbesondere können unzulässige Geschwindigkeitsüberschrei¬ tungen auf dem Sollbewegungspfad grafisch und/oder optisch darstellbar sein. Auch kann ein nicht verkehrsgerechtes Langsamfahren auf dem Sollbewegungspfad durch Vergleich mit den errechneten Soll¬ fahrdaten feststellbar und grafisch und/oder optisch dar¬ stellbar sein. In particular, impermissible speed rewriting ¬ obligations on the desired path of movement can be graphically and / or visually displayed. Also, a non-traffic-oriented slow driving on the desired movement path can be determined by comparison with the calculated target ¬ driving data and graphically and / or visually ¬ be adjustable.
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im Folgenden näher beschrieben. Die ein¬ zige Figur der Zeichnung zeigt eine Prinzipdarstellung einer Fahrzeugsteuervorrichtung . An embodiment of the invention is illustrated in the drawing and will be described in more detail below. The ¬ single figure of the drawing shows a schematic diagram of a vehicle control device.
Bei der in der Figur dargestellten Fahrzeugsteuervorrichtung ist eine Fahrtrainings- und -kontrolleinheit 1 vorhanden, der von einer Sollfahrdateneinheit 2 Sollfahrdaten für einen vor¬ her eingegeben Sollbewegungspfad berechnet und zugeleitet werden. In the vehicle control device shown in the figure, a Fahrtrainings- and control unit 1 is provided, which are calculated by a target driving data unit 2 target driving data for a before ¬ entered desired movement path and forwarded.
Weiterhin erhält die Fahrtrainings- und -kontrolleinheit 1 von einem Navigationssystem 3 Informationen über Kriterien des Sollbewegungspfades, wie z. B. feste Geschwindigkeitsbe- grenzungen und Überholverbote, zugeführt. Furthermore, the driving training and control unit 1 receives from a navigation system 3 information about criteria of the desired movement path, such. As fixed speed limits and overtaking bans fed.
Ein Überholassistenzsystem 4 stellt fest, wenn von dem Fahrer ein gefährlicher Überholvorgang durchgeführt wurde und leitet diese Information an die Fahrtrainings- und -kontrolleinheit 1 weiter. A passing-through assistance system 4 detects when a dangerous overtaking operation has been performed by the driver and forwards this information to the driving training and control unit 1.
Ein Spurhalteassistenzsystem 5 erfasst das Spurhalten bzw. einen Spurwechsel und leitet entsprechende Signale der Fahr¬ trainings- und -kontrolleinheit 1 zu. A lane keeping assistance system 5 detects the lane keeping or a lane change and forwards corresponding signals to the driving ¬ training and -kontrolleinheit 1 to.
Ein elektronisches Bremssystem 6 und ein Antiblockiersystem 7 senden Signale ihrer Aktivierung ebenfalls an die Fahrtrai¬ nings- und -kontrolleinheit 1. Hat der Fahrer 8 die Fahrzeugsteuervorrichtung auf manuell steuerbaren Fahrbetrieb geschaltet, ist der automatisch steu¬ erbare Fahrbetrieb inaktiv. Die Erfassung der Istfahrdaten durch die o.g. Sensoriken und Assistenzsysteme bleibt aber aktiv und versorgt die Fahrtrainings- und -kontrolleinheit 1 mit den entsprechenden Istfahrdaten. Diese vergleicht diese Istfahrdaten mit den von der Sollfahr- dateneinheit 2 zugeführten Sollfahrdaten, stellt die Abwei¬ chungen voneinander fest und bewertet diese nach vorgegebenen Kriterien auf zulässige und unzulässige Abweichungen. Bei festgestellten unzulässigen Abweichungen wird von derAn electronic braking system 6 and an anti-lock braking system 7 send signals its activation also to the driving Trai ¬ nings- and -kontrolleinheit 1. If the driver 8, the vehicle control device connected on manually controllable driving operation that automatically steu ¬ newable driving operation is inactive. The entry of the actual driving data However, the aforementioned sensors and assistance systems remain active and supply the driving training and control unit 1 with the corresponding actual driving data. This compares this Istfahrdaten with the data unit from the Sollfahr- 2 supplied desired drive data, the deviations ¬ deviate from one another determines and evaluates them according to predetermined criteria to acceptable and unacceptable deviations. If impermissible deviations are detected, the
Fahrtrainings- und -kontrolleinheit 1 ein Warnsignal ausge¬ löst . Fahrtrainings- and control unit 1 triggers a warning ¬ triggers.
Weiterhin ist der Vergleich der Istfahrdaten mit den Soll- fahrdaten in der Fahrtrainings- und -kontrolleinheit 1 spei¬ cherbar und zu einem späteren Zeitpunkt abrufbar und z. B. ausdruckbar . Furthermore, the comparison of the Istfahrdaten with the debit is driving data retrieved and z in the Fahrtrainings- and -kontrolleinheit 1 spei ¬ in dams and at a later time. B. printable.

Claims

Fahrzeugsteuervorrichtung zum automatischen Steuern des Fahrbetriebs eines Fahrzeugs entsprechend berechneter Sollfahrdaten eines Sollbewegungspfades, wobei das auto matische Steuern des Fahrbetriebs des Fahrzeugs inaktiv schaltbar und das Fahrzeug auf manuell steuerbaren Fahr betrieb schaltbar ist, d a d u r c h g e k e n n ¬ z e i c h n e t , dass bei manuell steuerbarem Fahrbe¬ trieb die Istfahrdaten des manuellen steuerbaren Fahrbe triebs erfassbar und mit den weiterhin berechneten Soll fahrdaten des automatisch steuerbaren Fahrbetriebs ver¬ gleichbar sind. Vehicle control device for automatically controlling the driving operation of a vehicle according to calculated target driving data of a desired movement path, wherein the auto matically controlling the driving of the vehicle inactive switchable and the vehicle is switched to manually controllable driving operation, dadurchgekenn ¬ records that in manually controllable Fahrbe ¬ drove the actual driving data of Manual controllable Fahrbe drive detected and with the further calculated target driving data of the automatically controllable driving ver ¬ comparable.
Fahrzeugsteuervorrichtung nach Anspruch 1, d a ¬ d u r c h g e k e n n z e i c h n e t , dass die Vehicle control device according to claim 1, since ¬ characterized in that the
Istfahrdaten und/oder die Sollfahrdaten speicherbar sind . Actual driving data and / or the target driving data can be stored.
Fahrzeugsteuervorrichtung nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die Sollfahrdaten und Istfahrdaten Lenkungsdaten und/oder Antriebsdaten und/oder Fahrgeschwindigkeitsda¬ ten und/oder Fahrbeschleunigungsdaten und/oder Positi¬ onsdaten auf dem Fahrweg und/oder Bremsdaten und/oder Geschwindigkeitsbegrenzungsdaten sind . Vehicle control device according to one of the preceding claims, characterized in that the desired driving data and actual driving data are steering data and / or driving data and / or Fahrgeschwindigkeitsda ¬ th and / or driving acceleration data and / or Positi ¬ onsdaten on the track and / or braking data and / or speed limit data.
Fahrzeugsteuervorrichtung nach Anspruch 3, d a ¬ d u r c h g e k e n n z e i c h n e t , dass die Vehicle control device according to claim 3, since ¬ characterized in that the
Istfahrdaten aus Signalen von Assistenzsystemen des Fahrzeugs gebildet werden. Actual driving data from signals from assistance systems of the vehicle are formed.
Fahrzeugsteuervorrichtung nach Anspruch 4, d a ¬ d u r c h g e k e n n z e i c h n e t , dass die Assis¬ tenzsysteme ein elektronisches Bremssystem (ESP) (6) und/oder ein Antiblockiersystem (ABS) (7) und/oder ein Antischlupfregelsystem /ASR) und/oder ein Spurhalteas- sistenzsystem (LDW) (5) und/oder ein Überholassistenz¬ system (ÜAS) (4) sind. Vehicle control device according to claim 4, characterized ¬ characterized in that the Assis ¬ tenzsysteme an electronic braking system (ESP) (6) and / or an anti-lock braking system (ABS) (7) and / or an anti-slip control system / ASR) and / or a lane departure sistenzsystem (LDW) (5) and / or a Überholassistenz ¬ system (UEAs) (4).
6. Fahrzeugsteuervorrichtung nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass Positionsdaten und/oder Fahrwegdaten aus Signalen einer Datenbasis eines Navigationssystems (3) oder einer elektronischen Karte gebildet werden. 6. Vehicle control device according to one of the preceding claims, characterized in that position data and / or track data from signals of a database of a navigation system (3) or an electronic map are formed.
7. Fahrzeugsteuervorrichtung nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die Abweichungen der Istfahrdaten von den Sollfahr¬ daten nach vorgegebenen Kriterien auf zulässige Abwei¬ chungen und unzulässige Abweichungen bewertet werden. 7. Vehicle control device according to one of the preceding claims, characterized in that the deviations of the actual driving data from the Sollfahr ¬ data according to predetermined criteria for permissible devia ¬ chungen and impermissible deviations are evaluated.
8. Fahrzeugsteuervorrichtung nach Anspruch 7, d a ¬ d u r c h g e k e n n z e i c h n e t , dass bei zulässi¬ gen Abweichungen und/oder bei unzulässigen Abweichungen ein Warnsignal auslösbar ist. 8. Vehicle control device according to claim 7, ¬ characterized in that at zulässi ¬ gene deviations and / or impermissible deviations a warning signal can be triggered.
9. Fahrzeugsteuervorrichtung nach Anspruch 7, d a ¬ d u r c h g e k e n n z e i c h n e t , dass die zulässi¬ gen Abweichungen und/oder die unzulässigen Abweichungen in Qualitätsstufen bewertbar sind. 9. Vehicle control device according to claim 7, characterized ¬ characterized in that the zulässi ¬ conditions deviations and / or the impermissible deviations in quality levels are evaluable.
10. Fahrzeugsteuervorrichtung nach Anspruch 9, d a ¬ d u r c h g e k e n n z e i c h n e t , dass aus den Qua¬ litätsstufen über den Gesamtsollbewegungspfad ein Ge¬ samtqualitätsmaß bildbar ist. 10. Vehicle control device according to claim 9, characterized ¬ characterized in that from the Qua ¬ litätsstufen on the Gesamtsollbewegungspfad a Ge ¬ samtqualitätsmaß is formed.
11. Fahrzeugsteuervorrichtung nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der manuelle Fahrbetrieb auf dem Gesamtsollbewe- gungspfad mit Darstellung der unzulässigen Abweichungen grafisch und/oder optisch als Gesamtqualitätsmaß dar¬ stellbar ist. 11. Vehicle control device according to one of the preceding claims, characterized in that the manual driving operation on the Gesamttsollbewe- movement path with representation of the impermissible deviations graphically and / or visually as Gesamtqualitätsmaß ¬ is adjustable.
12. Fahrzeugsteuervorrichtung nach Anspruch 11, d a ¬ d u r c h g e k e n n z e i c h n e t , dass unzulässige Geschwindigkeitsüberschreitungen auf dem Sollbewegungs¬ pfad grafisch und/oder optisch darstellbar sind. 12. Vehicle control device according to claim 11, characterized in ¬ that impermissible speed overshoots on the desired movement ¬ path graphically and / or visually representable.
13. Fahrzeugsteuervorrichtung nach Anspruch 11, d a ¬ d u r c h g e k e n n z e i c h n e t , dass nicht ver¬ kehrsgerechtes Langsamfahren auf dem Sollbewegungspfad durch Vergleich mit den errechneten Sollfahrdaten fest¬ stellbar und grafisch und/oder optisch darstellbar ist. 13. The vehicle control apparatus according to claim 11, since through ¬ in that not just ver ¬ periodic low speeds on the desired movement path by comparison with the calculated target travel data and / or is fixed ¬ adjustable and graphically displayed optically.
PCT/EP2015/060693 2014-05-23 2015-05-13 Vehicle control device WO2015177037A1 (en)

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