WO2019011766A1 - Method and device for operating and automatically steered motor vehicle - Google Patents

Method and device for operating and automatically steered motor vehicle Download PDF

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Publication number
WO2019011766A1
WO2019011766A1 PCT/EP2018/068198 EP2018068198W WO2019011766A1 WO 2019011766 A1 WO2019011766 A1 WO 2019011766A1 EP 2018068198 W EP2018068198 W EP 2018068198W WO 2019011766 A1 WO2019011766 A1 WO 2019011766A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
driving
trajectory
normal
curve
Prior art date
Application number
PCT/EP2018/068198
Other languages
German (de)
French (fr)
Inventor
Thomas Nierobisch
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 WO2019011766A1 publication Critical patent/WO2019011766A1/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
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension 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
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W30/02—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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • 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
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode

Definitions

  • the invention relates to a method for operating a motor vehicle, wherein a driver can choose between different driving modes, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a
  • the invention relates to a device for operating a motor vehicle with a control unit, which is designed to perform such a method and a corresponding motor vehicle.
  • EPS Power steering
  • Switch position "Normal" reduces the support characteristic, so that the driver has to apply a higher manual torque for steering by means of a steering wheel, while at the same time the driver feels a higher roadway feedback
  • Switch position "Comfort” is in comparison to the switch position "Normal” the Support characteristic increases, so that the driver has to apply for steering by means of steering wheel a lower hand moment. At the same time, the driver also feels a lesser road feedback.
  • the inventive method with the features of claim 1 has the advantage that even with an automatic / autonomous steering of
  • Driving style can be adjusted. According to the invention this is achieved in that a driver can choose between different driving styles, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a
  • Gear shift characteristic and / or a suspension setting to be changed being in a partially or fully automated driving, in which the
  • Motor vehicle is automatically steered to follow a desired trajectory, depending on the selected driving the target trajectory is changed.
  • changing the desired trajectory can be the real
  • At least one sporty, normal or comfortable desired trajectory is set.
  • the driver can choose in an advantageous manner in the automatic steering of the motor vehicle between the different driving styles, which he has available in the manual steering via a steering wheel and whose properties he knows.
  • a sporty desired trajectory for driving through a curve is predetermined such that the motor vehicle is directed closer to a vertex of the curve than in a normal target trajectory.
  • a close Vorbeilenken the motor vehicle at a vertex of a curve has the advantage that this simple change of the trajectory leads to a sportier driving feel with high dynamics.
  • the sporty desired trajectory has more steering movements than the normal desired trajectory.
  • the sporty desired trajectory has larger steering angles than the normal desired trajectory. More steering movements and / or larger steering angles also lead to an advantageous manner
  • a comfortable desired trajectory for driving through the curve is predetermined in such a way that the motor vehicle is steered further away from the vertex of the curve than in the case of the normal trajectory.
  • a Vorbeilenken the motor vehicle at a further distance from the vertex of a curve has the advantage that this simple change of the trajectory leads to a more comfortable driving experience.
  • the comfortable desired trajectory has fewer steering movements than the normal desired trajectory.
  • the comfortable desired trajectory has smaller steering angles than the normal desired trajectory. Less steering movements and / or smaller steering angle also lead advantageously to a more comfortable ride.
  • the respective desired trajectory is predefined as a function of a current traffic situation, a currently maximum possible static friction between the wheels and the roadway, their travel speed and / or the course of the road to be traveled.
  • safe driving can be ensured in an advantageous manner, regardless of the selected driving style and the selected desired trajectory, even in unfavorable external conditions, such as rain.
  • the inventive device according to claim 8 is for operating a motor vehicle that is partially or fully automated operable and a
  • Selection device for selecting a different driving style, provided.
  • the device is characterized by a specially prepared control device, which is designed to perform the inventive method when used as intended. This results in the already mentioned advantages.
  • the motor vehicle according to the invention according to claim 9, is adapted to be partially or fully automated to drive and is equipped with a selector for
  • the motor vehicle is characterized by the device according to the invention with the control unit, which is designed, when used as intended, the
  • Figure 1 shows the route of a motor vehicle according to the invention in one
  • Figure 3 shows the route of a motor vehicle according to the invention in one
  • the motor vehicle 1 shows an inventive motor vehicle 1.
  • the motor vehicle 1 is located in a partially or fully automated driving operation, in which the motor vehicle 1 is automatically directed into a curve 2.
  • the motor vehicle 1 can for semi or fully automated driving on a
  • the setpoint trajectory is changed by means of a specially prepared control unit In Figure 1, the driver selected a normal driving mode controls the vehicle 1 in a corresponding normal target trajectory 3 through the curve 2. In this case, the vehicle 1 passes through the curve 2 at a certain distance from the vertex 4 of the curve. 2
  • the desired trajectory can also be determined by the control unit by other parameters, in particular external parameters, such as the current traffic situation, the current friction coefficients on the tires, which are influenced by the weather conditions and the
  • the corresponding desired trajectory is selected by the control device.
  • the dynamics of a higher-level trajectory controller and a subordinate EPS rack position control can be adjusted by the control unit.
  • Figure 2 shows the motor vehicle 1 according to the invention again in a partially or fully automated driving operation, in which the motor vehicle 1 is automatically directed into the curve 2.
  • the control unit controls the vehicle 1 in a corresponding desired sporting trajectory 5 through the curve 2.
  • the vehicle 1 is deflected by a distance closer to the vertex 4 of the curve 2 than in a normal desired trajectory.
  • the sporty desired trajectory 5 larger steering angle and optionally also more steering movements than the normal target trajectory.
  • FIG. 3 shows the motor vehicle 1 according to the invention again in a partially or fully automated driving mode, in which the motor vehicle 1 is automatically steered into the curve 2.
  • the driver was a comfortable
  • the control unit controls the vehicle 1 in one
  • the vehicle 1 is further deflected by a distance at the vertex 4 of the curve 2 as in a normal target trajectory.
  • the comfortable desired trajectory 5 smaller steering angle and optionally less steering movements than the normal target trajectory, so that the vehicle 1 drives in a large, gentle arc around the curve 2.

Abstract

The invention relates to a method for operating a motor vehicle (1), wherein a vehicle driver can select between different driving styles, and wherein operating parameters of the motor vehicle (1), in particular an engine torque characteristic curve, a transmission shift characteristic curve and/or a chassis setting, are changed as a function of the selected driving style. There is provision that the target trajectory (3, 5, 6) is changed as a function of the selected driving style in a partially or fully automated driving mode in which the motor vehicle (1) is steered automatically in order to follow a target trajectory (3, 5, 6).

Description

Beschreibung Titel  Description title
Verfahren und Vorrichtung zum Betreiben eines automatisch gelenkten  Method and device for operating an automatically steered
Kraftfahrzeugs motor vehicle
Die Erfindung betrifft ein Verfahren zum Betreiben eines Kraftfahrzeugs, wobei ein Fahrzeugführer zwischen unterschiedlichen Fahrweisen wählen kann, und wobei in Abhängigkeit von der gewählten Fahrweise Betriebsparameter des Kraftfahrzeugs, insbesondere eine Motormomenten-Kennlinie, eine The invention relates to a method for operating a motor vehicle, wherein a driver can choose between different driving modes, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a
Getriebeschalt-Kennlinie und/oder eine Fahrwerkseinstellung, verändert werden. Gear shift characteristic and / or a suspension setting to be changed.
Ferner betrifft die Erfindung eine Vorrichtung zum Betreiben eines Kraftfahrzeugs mit einem Steuergerät, das dazu ausgebildet ist, ein derartiges Verfahren durchzuführen sowie ein entsprechendes Kraftfahrzeug. Furthermore, the invention relates to a device for operating a motor vehicle with a control unit, which is designed to perform such a method and a corresponding motor vehicle.
Stand der Technik State of the art
Verfahren, Vorrichtungen und Fahrzeuge in der eingangs genannten Art sind aus dem Stand der Technik bekannt. Beim Betrieb von Kraftfahrzeugen, die in herkömmlicher Weise über ein Lenkrad handgesteuert sind, kann vorgesehen sein, die Fahrzeugabstimmung an die vom Fahrer gewünschte Fahrweise anzupassen. Beispielsweise kann bei einer elektrisch angetriebenen Methods, devices and vehicles in the aforementioned type are known from the prior art. In the operation of motor vehicles, which are manually controlled in a conventional manner via a steering wheel, it may be provided to adapt the vehicle tuning to the driver's desired driving style. For example, in an electrically driven
Servolenkung (EPS) mittels eines Schalters als Auswahlvorrichtung eine der drei Einstellungen„Normal",„Sport" und„Komfort" ausgewählt werden, wodurch das Unterstützungsniveau der Servolenkung an die gewünschte Fahrweise angepasst wird. In der Schalterstellung„Sport" wird im Vergleich zur Power steering (EPS) is selected by means of a switch as selector one of the three settings "Normal", "Sport" and "Comfort", whereby the support level of the power steering is adapted to the desired driving style
Schalterstellung„Normal" die Unterstützungskennlinie reduziert, so dass der Fahrer zum Lenken mittels Lenkrad ein höheres Handmoment aufbringen muss. Gleichzeitig spürt der Fahrer eine höhere Fahrbahnrückmeldung. In der Switch position "Normal" reduces the support characteristic, so that the driver has to apply a higher manual torque for steering by means of a steering wheel, while at the same time the driver feels a higher roadway feedback
Schalterstellung„Komfort" wird im Vergleich zur Schalterstellung„Normal" die Unterstützungskennlinie erhöht, so dass der Fahrer zum Lenken mittels Lenkrad ein geringeres Handmoment aufbringen muss. Gleichzeitig spürt der Fahrer auch eine geringere Fahrbahnrückmeldung. Switch position "Comfort" is in comparison to the switch position "Normal" the Support characteristic increases, so that the driver has to apply for steering by means of steering wheel a lower hand moment. At the same time, the driver also feels a lesser road feedback.
Es werden inzwischen aber auch Lenksysteme entwickelt und erprobt, die neben der herkömmlichen händischen Lenkung über ein Lenkrad C.Hands on" Modus) zusätzlich oder alternativ eine autonome Lenkung erlauben, bei der kein händischer Eingriff des Fahrers nötig ist C.Hands off" Modus). In the meantime, however, steering systems have also been developed and tested which, in addition to the conventional manual steering via a steering wheel C.Hands on "mode, additionally or alternatively allow autonomous steering, in which no manual intervention by the driver is necessary C.Hands off" mode) ,
Offenbarung der Erfindung Disclosure of the invention
Das erfindungsgemäße Verfahren mit den Merkmalen des Anspruchs 1 hat den Vorteil, dass auch bei einer automatischen/autonomen Lenkung des The inventive method with the features of claim 1 has the advantage that even with an automatic / autonomous steering of
Kraftfahrzeugs die Fahrzeugabstimmung an die vom Fahrer gewünschte Motor vehicle tuning the vehicle to the desired by the driver
Fahrweise angepasst werden kann. Erfindungsgemäß wird dies dadurch erreicht, dass ein Fahrzeugführer zwischen unterschiedlichen Fahrweisen wählen kann, und wobei in Abhängigkeit von der gewählten Fahrweise Betriebsparameter des Kraftfahrzeugs, insbesondere eine Motormomenten-Kennlinie, eine Driving style can be adjusted. According to the invention this is achieved in that a driver can choose between different driving styles, and depending on the selected driving mode operating parameters of the motor vehicle, in particular an engine torque characteristic, a
Getriebeschalt-Kennlinie und/oder eine Fahrwerkseinstellung, verändert werden, wobei in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Gear shift characteristic and / or a suspension setting to be changed, being in a partially or fully automated driving, in which the
Kraftfahrzeug automatisch gelenkt wird, um einer Soll-Trajektorie zu folgen, in Abhängigkeit der gewählten Fahrweise die Soll-Trajektorie verändert wird. Durch die Veränderung der Soll-Trajektorie kann in vorteilhafter Weise die reale Motor vehicle is automatically steered to follow a desired trajectory, depending on the selected driving the target trajectory is changed. By changing the desired trajectory can be the real
Fahrweise des Kraftfahrzeugs an die vom Fahrer gewünschte Fahrweise auch in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug automatisch gelenkt wird, angepasst werden. Driving the motor vehicle to the desired by the driver driving even in a partially or fully automated driving, in which the motor vehicle is automatically controlled, are adjusted.
Gemäß einer vorteilhaften Weiterbildung der Erfindung ist vorgesehen, dass in Abhängigkeit der gewählten Fahrweise zumindest eine sportliche, eine normale oder eine komfortable Soll-Trajektorie eingestellt wird. Somit kann der Fahrer in vorteilhafter Weise auch bei der automatischen Lenkung des Kraftfahrzeugs zwischen den unterschiedlichen Fahrweisen wählen, die er bei der händischen Lenkung über ein Lenkrad zur Verfügung hat und deren Eigenschaften er kennt. Alternativ oder zusätzlich ist vorgesehen, dass eine sportliche Soll-Trajektorie zum Durchfahren einer Kurve derart vorgegeben wird, dass das Kraftfahrzeug näher an einem Scheitelpunkt der Kurve vorbeigelenkt wird als bei einer normalen Soll-Trajektorie. Ein nahes Vorbeilenken des Kraftfahrzeugs an einem Scheitelpunkt einer Kurve hat den Vorteil, dass diese einfache Änderung der Trajektorie zu einem sportlicheren Fahrgefühl mit hoher Dynamik führt. According to an advantageous development of the invention, it is provided that, depending on the selected driving style, at least one sporty, normal or comfortable desired trajectory is set. Thus, the driver can choose in an advantageous manner in the automatic steering of the motor vehicle between the different driving styles, which he has available in the manual steering via a steering wheel and whose properties he knows. Alternatively or additionally, it is provided that a sporty desired trajectory for driving through a curve is predetermined such that the motor vehicle is directed closer to a vertex of the curve than in a normal target trajectory. A close Vorbeilenken the motor vehicle at a vertex of a curve has the advantage that this simple change of the trajectory leads to a sportier driving feel with high dynamics.
Weiterhin ist bevorzugt vorgesehen, dass die sportliche Soll-Trajektorie mehr Lenkbewegungen aufweist als die normale Soll-Trajektorie. Alternativ oder zusätzlich ist vorgesehen, dass die sportliche Soll-Trajektorie größere Lenkwinkel aufweist als die normale Soll-Trajektorie. Mehr Lenkbewegungen und/oder größere Lenkwinkel führen ebenfalls in vorteilhafter Weise zu einem Furthermore, it is preferably provided that the sporty desired trajectory has more steering movements than the normal desired trajectory. Alternatively or additionally, it is provided that the sporty desired trajectory has larger steering angles than the normal desired trajectory. More steering movements and / or larger steering angles also lead to an advantageous manner
sportlicheren Fahrgefühl. sportier ride.
Alternativ oder zusätzlich kann auch vorgesehen sein, dass eine komfortable Soll-Trajektorie zum Durchfahren der Kurve derart vorgegeben wird, dass das Kraftfahrzeug weiter von dem Scheitelpunkt der Kurve entfernt vorbeigelenkt wird als bei der Normal-Trajektorie. Ein Vorbeilenken des Kraftfahrzeugs in einer weiteren Entfernung von dem Scheitelpunkt einer Kurve hat den Vorteil, dass diese einfache Änderung der Trajektorie zu einem komfortableren Fahrgefühl führt. Alternatively or additionally, it may also be provided that a comfortable desired trajectory for driving through the curve is predetermined in such a way that the motor vehicle is steered further away from the vertex of the curve than in the case of the normal trajectory. A Vorbeilenken the motor vehicle at a further distance from the vertex of a curve has the advantage that this simple change of the trajectory leads to a more comfortable driving experience.
Weiterhin ist bevorzugt vorgesehen, dass die komfortable Soll-Trajektorie weniger Lenkbewegungen aufweist als die normale Soll-Trajektorie. Alternativ oder zusätzlich ist vorgesehen, dass die komfortable Soll-Trajektorie kleinere Lenkwinkel aufweist als die normale Soll-Trajektorie. Weniger Lenkbewegungen und/oder kleinere Lenkwinkel führen ebenfalls in vorteilhafter Weise zu einem komfortableren Fahrgefühl. Furthermore, it is preferably provided that the comfortable desired trajectory has fewer steering movements than the normal desired trajectory. Alternatively or additionally, it is provided that the comfortable desired trajectory has smaller steering angles than the normal desired trajectory. Less steering movements and / or smaller steering angle also lead advantageously to a more comfortable ride.
Gemäß einer bevorzugten Weiterbildung der Erfindung ist vorgesehen, dass die jeweilige Soll-Trajektorie in Abhängigkeit einer aktuellen Verkehrssituation, einer aktuell maximal möglichen Haftreibung zwischen den Rädern und der Fahrbahn, deren Fahrgeschwindigkeit und/oder des Verlaufs der zu befahrenden Straße vorgegeben wird. Durch diese Weiterbildung kann in vorteilhafter Weise unabhängig von der gewählten Fahrweise und der gewählten Soll-Trajektorie auch bei ungünstigen Außenbedingungen wie Regen eine sichere Fahrweise gewährleistet werden. Die erfindungsgemäße Vorrichtung nach Anspruch 8 ist zum Betreiben eines Kraftfahrzeugs, das teil- oder vollautomatisiert betreibbar ist und eine According to a preferred development of the invention, it is provided that the respective desired trajectory is predefined as a function of a current traffic situation, a currently maximum possible static friction between the wheels and the roadway, their travel speed and / or the course of the road to be traveled. As a result of this development, safe driving can be ensured in an advantageous manner, regardless of the selected driving style and the selected desired trajectory, even in unfavorable external conditions, such as rain. The inventive device according to claim 8 is for operating a motor vehicle that is partially or fully automated operable and a
Auswahleinrichtung zum Auswählen einer anderen Fahrweise aufweist, vorgesehen. Die Vorrichtung zeichnet sich durch ein speziell hergerichtetes Steuergerät aus, das dazu ausgebildet ist, bei bestimmungsgemäßem Gebrauch das erfindungsgemäße Verfahren durchzuführen. Es ergeben sich hierdurch die bereits genannten Vorteile. Selection device for selecting a different driving style, provided. The device is characterized by a specially prepared control device, which is designed to perform the inventive method when used as intended. This results in the already mentioned advantages.
Das erfindungsgemäße Kraftfahrzeug nach Anspruch 9, ist dazu ausgebildet, teil- oder vollautomatisiert zu fahren und ist mit einer Auswahleinrichtung zum The motor vehicle according to the invention according to claim 9, is adapted to be partially or fully automated to drive and is equipped with a selector for
Auswählen einer von mehreren Fahrweisen ausgestattet. Das Kraftfahrzeug zeichnet sich durch die erfindungsgemäße Vorrichtung mit dem Steuergerät aus, das dazu ausgebildet ist, bei bestimmungsgemäßem Gebrauch das Choose one of several driving styles. The motor vehicle is characterized by the device according to the invention with the control unit, which is designed, when used as intended, the
erfindungsgemäße Verfahren durchzuführen. perform inventive method.
Weitere Vorteile und bevorzugte Merkmale und Merkmalskombinationen ergeben sich insbesondere aus dem zuvor beschriebenen sowie aus den Ansprüchen. Further advantages and preferred features and combinations of features emerge in particular from the previously described and from the claims.
Im Folgenden soll die Erfindung anhand der Figuren näher erläutert werden. Dazu zeigen In the following, the invention will be explained in more detail with reference to FIGS. Show this
Figur 1 den Wegverlauf eines erfindungsgemäßen Kraftfahrzeugs in einer Figure 1 shows the route of a motor vehicle according to the invention in one
Kurvenfahrt bei normaler Soll-Trajektorie,  Cornering at normal nominal trajectory,
Figur 2 den Wegverlauf eines erfindungsgemäßen Kraftfahrzeugs in einer 2 shows the route of a motor vehicle according to the invention in one
Kurvenfahrt bei sportlicher Soll-Trajektorie,  Cornering with sporty target trajectory,
Figur 3 den Wegverlauf eines erfindungsgemäßen Kraftfahrzeugs in einer Figure 3 shows the route of a motor vehicle according to the invention in one
Kurvenfahrt bei komfortabler Soll-Trajektorie.  Cornering with comfortable target trajectory.
Figur 1 zeigt ein erfindungsgemäßes Kraftfahrzeug 1. Das Kraftfahrzeug 1 befindet sich in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug 1 automatisch in eine Kurve 2 gelenkt wird. Bei dem Kraftfahrzeug 1 kann für den teil- oder vollautomatisierten Fahrbetrieb über eine 1 shows an inventive motor vehicle 1. The motor vehicle 1 is located in a partially or fully automated driving operation, in which the motor vehicle 1 is automatically directed into a curve 2. In the motor vehicle 1 can for semi or fully automated driving on a
Auswahlvorrichtung, beispielsweise über einen Charismaschalter, eine Fahrweise aus den Optionen„normale Fahrweise",„sportliche Fahrweise" und „komfortable Fahrweise" ausgewählt werden. Je nach gewählter Fahrweise wird über ein speziell hergerichtetes Steuergerät die Soll-Trajektorie verändert. In Figur 1 wurde vom Fahrer eine normale Fahrweise gewählt. Das Steuergerät steuert das Fahrzeug 1 in einer entsprechenden normalen Soll-Trajektorie 3 durch die Kurve 2. Bei dieser durchfährt das Fahrzeug 1 die Kurve 2 in einen bestimmten Abstand vom Scheitelpunkt 4 der Kurve 2. Selection device, for example via a charisma switch, a Depending on the selected driving style, the setpoint trajectory is changed by means of a specially prepared control unit In Figure 1, the driver selected a normal driving mode controls the vehicle 1 in a corresponding normal target trajectory 3 through the curve 2. In this case, the vehicle 1 passes through the curve 2 at a certain distance from the vertex 4 of the curve. 2
Neben der gewählten Fahrweise kann die Soll-Trajektorie durch das Steuergerät zusätzlich auch durch andere Parameter bestimmt werden, insbesondere externe Parameter, wie die aktuelle Verkehrssituation, die aktuellen Reibwerte an den Reifen, die durch die Wetterbedingungen beeinflusst werden und den In addition to the selected driving style, the desired trajectory can also be determined by the control unit by other parameters, in particular external parameters, such as the current traffic situation, the current friction coefficients on the tires, which are influenced by the weather conditions and the
Straßenverlauf, aber auch fahrzeuginterne Parameter, wie der allgemeine Fahrzeugzustand und der bekannten Reglerperformance der unterlagerten EPS Zahnstangenpositionsregelung. Road course, but also in-vehicle parameters, such as the general vehicle condition and the known controller performance of the underlying EPS rack position control.
Entsprechend der mit der Auswahlvorrichtung gewählten Fahrweise wird durch das Steuergerät die entsprechende Soll-Trajektorie ausgewählt. Zusätzlich kann durch das Steuergerät die Dynamik eines überlagerten Trajektorienreglers sowie einer unterlagerten EPS -Zahnstangenpositionsregelung angepasst werden. In accordance with the driving mode selected with the selection device, the corresponding desired trajectory is selected by the control device. In addition, the dynamics of a higher-level trajectory controller and a subordinate EPS rack position control can be adjusted by the control unit.
Figur 2 zeigt das erfindungsgemäße Kraftfahrzeug 1 wieder in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug 1 automatisch in die Kurve 2 gelenkt wird. In Figur 2 wurde vom Fahrer eine sportliche Fahrweise gewählt. Das Steuergerät steuert das Fahrzeug 1 in einer entsprechenden sportlichen Soll-Trajektorie 5 durch die Kurve 2. Bei dieser wird das Fahrzeug 1 in einen Abstand näher an dem Scheitelpunkt 4 der Kurve 2 vorbeigelenkt als bei einer normalen Soll-Trajektorie. Weiterhin weist die sportliche Soll-Trajektorie 5 größere Lenkwinkel und optional auch mehr Lenkbewegungen auf als die normale Soll-Trajektorie. Figure 2 shows the motor vehicle 1 according to the invention again in a partially or fully automated driving operation, in which the motor vehicle 1 is automatically directed into the curve 2. In Figure 2 was chosen by the driver a sporty driving style. The control unit controls the vehicle 1 in a corresponding desired sporting trajectory 5 through the curve 2. In this case, the vehicle 1 is deflected by a distance closer to the vertex 4 of the curve 2 than in a normal desired trajectory. Furthermore, the sporty desired trajectory 5 larger steering angle and optionally also more steering movements than the normal target trajectory.
Im Sportmodus wird die Kurve 2 also eng am Scheitelpunkt der Kurve In sports mode, curve 2 will be close to the vertex of the curve
angefahren, wodurch eine hohe Dynamik und Präzision eines untergehaltenen EPS Reglers benötigt, um eine geringe Trajektorieabweichung zu garantieren und einen ausreichenden Abstand zu einer Leitplanke zu gewährleisten. Figur 3 zeigt das erfindungsgemäße Kraftfahrzeug 1 wieder in einem teil- oder vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug 1 automatisch in die Kurve 2 gelenkt wird. In Figur 3 wurde vom Fahrer eine komfortable approached, whereby a high dynamic and precision of an interrupted EPS regulator needed to guarantee a small Trajektoriebweichung and to ensure a sufficient distance to a guardrail. FIG. 3 shows the motor vehicle 1 according to the invention again in a partially or fully automated driving mode, in which the motor vehicle 1 is automatically steered into the curve 2. In Figure 3, the driver was a comfortable
Fahrweise gewählt. Das Steuergerät steuert das Fahrzeug 1 in einer Driving style selected. The control unit controls the vehicle 1 in one
entsprechenden komfortablen Soll-Trajektorie 6 durch die Kurve 2. Bei dieser wird das Fahrzeug 1 in einen Abstand weiter an dem Scheitelpunkt 4 der Kurve 2 vorbeigelenkt als bei einer normalen Soll-Trajektorie. Dazu weist die komfortable Soll-Trajektorie 5 kleinere Lenkwinkel und optional weniger Lenkbewegungen auf als die normale Soll-Trajektorie, so dass das Fahrzeug 1 in einem großen, sanften Bogen um die Kurve 2 fährt. corresponding comfortable desired trajectory 6 through the curve 2. In this, the vehicle 1 is further deflected by a distance at the vertex 4 of the curve 2 as in a normal target trajectory. For this purpose, the comfortable desired trajectory 5 smaller steering angle and optionally less steering movements than the normal target trajectory, so that the vehicle 1 drives in a large, gentle arc around the curve 2.

Claims

Ansprüche claims
1. Verfahren zum Betreiben eines Kraftfahrzeugs (1), wobei ein Fahrzeugführer zwischen unterschiedlichen Fahrweisen wählen kann, und wobei in 1. A method for operating a motor vehicle (1), wherein a driver can choose between different driving styles, and wherein in
Abhängigkeit von der gewählten Fahrweise Betriebsparameter des  Depending on the selected driving mode operating parameters of the
Kraftfahrzeugs (1), insbesondere eine Motormomenten- Kennlinie, eine Getriebeschalt-Kennlinie und/oder eine Fahrwerkseinstellung, verändert werden, dadurch gekennzeichnet, dass in einem teil- oder  Motor vehicle (1), in particular an engine torque characteristic, a gear shift characteristic and / or a suspension setting, to be changed, characterized in that in a partial or
vollautomatisierten Fahrbetrieb, in welchem das Kraftfahrzeug (1)  fully automated driving operation, in which the motor vehicle (1)
automatisch gelenkt wird, um einer Soll-Trajektorie (3,5,6) zu folgen, in Abhängigkeit der gewählten Fahrweise die Soll-Trajektorie (3,5,6) verändert wird.  is automatically steered to follow a desired trajectory (3,5,6), depending on the selected driving the target trajectory (3,5,6) is changed.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass in Abhängigkeit der gewählten Fahrweise zumindest eine sportliche (5), eine normale (3) oder eine komfortable (6) Soll-Trajektorie eingestellt wird. 2. The method according to claim 1, characterized in that depending on the selected driving style at least one athletic (5), a normal (3) or a comfortable (6) target trajectory is set.
3. Verfahren nach einem der vorhergehenden Ansprüche, dadurch 3. The method according to any one of the preceding claims, characterized
gekennzeichnet, dass eine sportliche Soll-Trajektorie (5) zum Durchfahren einer Kurve (2) derart vorgegeben wird, dass das Kraftfahrzeug (1) näher an einem Scheitelpunkt (4) der Kurve (2) vorbeigelenkt wird als bei einer normalen Soll-Trajektorie (3).  characterized in that a sporty desired trajectory (5) for driving through a curve (2) is specified in such a way that the motor vehicle (1) is steered closer to a vertex (4) of the curve (2) than in a normal desired trajectory ( 3).
4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch 4. The method according to any one of the preceding claims, characterized
gekennzeichnet, dass eine komfortable Soll-Trajektorie (6) zum Durchfahren der Kurve (2) derart vorgegeben wird, dass das Kraftfahrzeug (1) weiter von dem Scheitelpunkt (4) der Kurve (2) entfernt vorbeigelenkt wird als bei der Normal-Trajektorie (3).  in that a comfortable desired trajectory (6) for driving through the curve (2) is predetermined such that the motor vehicle (1) is steered further away from the vertex (4) of the curve (2) than in the normal trajectory ( 3).
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch 5. The method according to any one of the preceding claims, characterized
gekennzeichnet, dass die komfortable Soll-Trajektorie (6) weniger  characterized in that the comfortable target trajectory (6) less
Lenkbewegungen aufweist als die normale Soll-Trajektorie (3) und/oder kleinere Lenkwinkel aufweist als die normale Soll-Trajektorie (3).  Steering movements than the normal target trajectory (3) and / or smaller steering angle than the normal target trajectory (3).
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch 6. The method according to any one of the preceding claims, characterized
gekennzeichnet, dass die sportliche Soll-Trajektorie (5) mehr Lenkbewegungen aufweist als die normale Soll-Trajektorie (3) und/oder größere Lenkwinkel aufweist als die normale Soll-Trajektorie (3). characterized in that the athletic desired trajectory (5) more Steering movements than the normal target trajectory (3) and / or larger steering angle than the normal target trajectory (3).
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch 7. The method according to any one of the preceding claims, characterized
gekennzeichnet, dass die jeweilige Soll-Trajektorie (3,5,6) in Abhängigkeit einer aktuellen Verkehrssituation, einer aktuell maximal möglichen  in that the respective desired trajectory (3, 5, 6) depends on a current traffic situation, which is currently a maximum possible
Haftreibung zwischen den Rädern und der Fahrbahn, deren  Stiction between the wheels and the roadway, whose
Fahrgeschwindigkeit und des Verlaufs der zu befahrenden Straße vorgegeben wird.  Driving speed and the course of the road to be driven is specified.
8. Vorrichtung zum Betreiben eines Kraftfahrzeugs (1), das teil- oder 8. An apparatus for operating a motor vehicle (1), the partial or
vollautomatisiert betreibbar ist und eine Auswahleinrichtung zum Auswählen einer anderen Fahrweise aufweist, gekennzeichnet durch ein speziell hergerichtetes Steuergerät, das dazu ausgebildet ist, bei  is fully automated operable and has a selection device for selecting a different driving style, characterized by a specially prepared control unit, which is adapted to
bestimmungsgemäßem Gebrauch das Verfahren nach einem der Ansprüche 1 bis 7 durchzuführen.  Proper use of the method according to one of claims 1 to 7 perform.
9. Kraftfahrzeug (1), das dazu ausgebildet ist, teil- oder vollautomatisiert zu fahren, mit einer Auswahleinrichtung zum Auswählen einer von mehreren Fahrweisen und mit einer Vorrichtung nach Anspruch 8. 9. motor vehicle (1) which is adapted to drive partially or fully automated, with a selection device for selecting one of a plurality of driving modes and with a device according to claim 8.
PCT/EP2018/068198 2017-07-12 2018-07-05 Method and device for operating and automatically steered motor vehicle WO2019011766A1 (en)

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