WO2016156013A1 - Procédé et dispositif servant à réguler une grandeur décrivant la dynamique longitudinale de véhicule d'un véhicule automobile se trouvant dans un état de sous-virage dans un virage - Google Patents

Procédé et dispositif servant à réguler une grandeur décrivant la dynamique longitudinale de véhicule d'un véhicule automobile se trouvant dans un état de sous-virage dans un virage Download PDF

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Publication number
WO2016156013A1
WO2016156013A1 PCT/EP2016/055247 EP2016055247W WO2016156013A1 WO 2016156013 A1 WO2016156013 A1 WO 2016156013A1 EP 2016055247 W EP2016055247 W EP 2016055247W WO 2016156013 A1 WO2016156013 A1 WO 2016156013A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
radius
determined
curve
trajectory
Prior art date
Application number
PCT/EP2016/055247
Other languages
German (de)
English (en)
Inventor
Benjamin Baust
Patrick Lott
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2016156013A1 publication Critical patent/WO2016156013A1/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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • B60W30/18—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
    • 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
    • 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 of positioning data, e.g. GPS [Global Positioning System] data
    • 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

Definitions

  • Video cameras or radar which can detect obstacles and road edges with appropriate algorithms.
  • the invention relates to a method for controlling a the
  • An advantageous embodiment of the invention is characterized in that the curve radius is determined on the basis of a detection of the lane markings. This embodiment offers the advantage that the lane markings may possibly be detected by other security systems or can be used.
  • AR ⁇ ⁇ Av x - Aa y is determined, where v x is the vehicle longitudinal speed, a y the
  • Vehicle lateral acceleration and AR identify the required change in the radius of the vehicle trajectory.
  • An advantageous embodiment of the invention is characterized in that the curve radius lying in front of the vehicle and the setpoint radius are determined continuously.
  • An advantageous embodiment of the invention is characterized in that it is determined whether oncoming traffic is on the opposite lane and that in the case of oncoming traffic, the target radius is determined such that the
  • Vehicle trajectory does not touch or overlap the oncoming lane.
  • the invention comprises a device comprising means suitable for
  • Program code for performing the method according to the invention is deposited.
  • FIG. 1 shows a representation of the radius change of the trajectory as a function of the vehicle deceleration.
  • Figure 2 shows a comparison between the possible cornering behavior of a vehicle without adaptive inclusion of the actual curve radius and with adaptive inclusion of the actual curve radius of the lane course.
  • v x is the vehicle longitudinal speed and a y the
  • AR ⁇ ⁇ Av x - 'Aa y
  • Fig. 1 is in the abscissa the longitudinal acceleration a x and in
  • a driver-independent longitudinal deceleration in a curve should be as weak as possible and at the same time the deceleration should be selected such that a desired radius change of the vehicle trajectory is achieved, but not exceeded.
  • the lane markings can be used to determine the present radius of the curve.
  • the curve radius can also be taken from a map stored in a vehicle-internal or vehicle-external database.
  • the radius change of the vehicle trajectory can adaptively be adapted to the current curve radius and thus be prevented from leaving the roadway.
  • a vehicle 200 is considered, which is located in the marked lane of the curve pointing to the top right. In the above case that would be through
  • the picture below shows a vehicle with excessive deceleration by a control system. Without adaptive control or adaptation of the curve radius and the road edge, the vehicle would leave the curve on the inside, while it keeps the lane with adaptive control.
  • Oncoming traffic is located on the opposite lane.
  • the setpoint curve radius can be laid out at the centerline or, in the absence of oncoming traffic, at the actual lane boundary. If it is no longer possible to avoid leaving the roadway due to excessive speed, then recognized obstacles off the roadway, eg a tree, can be included in the determination of the control parameters.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé servant à réguler une grandeur décrivant la dynamique longitudinale de véhicule d'un véhicule automobile se trouvant dans un état de sous-virage dans un virage. Le rayon de virage du virage concerné est détecté au moyen d'un système de détection des environs détectant l'environnement du véhicule ou au moyen d'un plan enregistré dans une base de données. Un rayon théorique pour la trajectoire du véhicule est déterminé à l'aide du rayon de virage déterminé. La présence d'un état de conduite en sous-virage est détectée et si un état de conduite en sous-virage est présent, un ralentissement ou une accélération du véhicule ne dépendant pas du conducteur est effectué(e) de telle manière que le rayon de la trajectoire du véhicule corresponde au rayon théorique.
PCT/EP2016/055247 2015-03-27 2016-03-11 Procédé et dispositif servant à réguler une grandeur décrivant la dynamique longitudinale de véhicule d'un véhicule automobile se trouvant dans un état de sous-virage dans un virage WO2016156013A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015205650.3 2015-03-27
DE102015205650.3A DE102015205650A1 (de) 2015-03-27 2015-03-27 Verfahren und Vorrichtung zur Regelung einer die Fahrzeuglängsdynamik eines sich in einem Untersteuerzustandes befindenden Kraftfahrzeugs beschreibenden Größe während einer Kurvenfahrt

Publications (1)

Publication Number Publication Date
WO2016156013A1 true WO2016156013A1 (fr) 2016-10-06

Family

ID=55642404

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/055247 WO2016156013A1 (fr) 2015-03-27 2016-03-11 Procédé et dispositif servant à réguler une grandeur décrivant la dynamique longitudinale de véhicule d'un véhicule automobile se trouvant dans un état de sous-virage dans un virage

Country Status (2)

Country Link
DE (1) DE102015205650A1 (fr)
WO (1) WO2016156013A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113625724A (zh) * 2021-08-31 2021-11-09 东风柳州汽车有限公司 无人驾驶车路径规划方法、装置、设备及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6067497A (en) * 1996-11-12 2000-05-23 Honda Giken Kogyo Kabushiki Kaisha Vehicle control system for controlling vehicle based on road shape
US20040236490A1 (en) * 2003-03-13 2004-11-25 Honda Motor Co., Ltd. Motion control apparatus for vehicle
US20080059037A1 (en) * 2006-09-04 2008-03-06 Denso Corporation Vehicle control system
DE102008022606A1 (de) * 2008-05-08 2009-11-12 Man Nutzfahrzeuge Aktiengesellschaft Spurführungssystem
DE102013200435A1 (de) * 2013-01-14 2014-07-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung des Fahrers eines Zweirades beim Anfahren von Kurven

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6067497A (en) * 1996-11-12 2000-05-23 Honda Giken Kogyo Kabushiki Kaisha Vehicle control system for controlling vehicle based on road shape
US20040236490A1 (en) * 2003-03-13 2004-11-25 Honda Motor Co., Ltd. Motion control apparatus for vehicle
US20080059037A1 (en) * 2006-09-04 2008-03-06 Denso Corporation Vehicle control system
DE102008022606A1 (de) * 2008-05-08 2009-11-12 Man Nutzfahrzeuge Aktiengesellschaft Spurführungssystem
DE102013200435A1 (de) * 2013-01-14 2014-07-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung des Fahrers eines Zweirades beim Anfahren von Kurven

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113625724A (zh) * 2021-08-31 2021-11-09 东风柳州汽车有限公司 无人驾驶车路径规划方法、装置、设备及存储介质
CN113625724B (zh) * 2021-08-31 2023-07-21 东风柳州汽车有限公司 无人驾驶车路径规划方法、装置、设备及存储介质

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