WO2022171323A1 - Procédé de réglage d'une vitesse cible pour un régulateur de vitesse hors route, et régulateur de vitesse hors route - Google Patents

Procédé de réglage d'une vitesse cible pour un régulateur de vitesse hors route, et régulateur de vitesse hors route Download PDF

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Publication number
WO2022171323A1
WO2022171323A1 PCT/EP2021/082592 EP2021082592W WO2022171323A1 WO 2022171323 A1 WO2022171323 A1 WO 2022171323A1 EP 2021082592 W EP2021082592 W EP 2021082592W WO 2022171323 A1 WO2022171323 A1 WO 2022171323A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
target speed
cruise control
speed
driver
Prior art date
Application number
PCT/EP2021/082592
Other languages
German (de)
English (en)
Inventor
Armin Glock
Robin Welz
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 WO2022171323A1 publication Critical patent/WO2022171323A1/fr

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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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W2050/009—Priority selection
    • B60W2050/0091—Priority selection of control inputs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • 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

  • the invention relates to a method for setting a target speed for an off-road cruise control of a vehicle and a corresponding off-road cruise control.
  • a cruise control of a vehicle can regulate a speed of a vehicle to a target speed.
  • the cruise control can control a drive system of the vehicle and request a drive torque at which the speed corresponds as closely as possible to the target speed.
  • Cruise control may also control a vehicle's braking system and request braking torque to reduce the speed to the target speed.
  • the cruise control can be operated by a driver of the vehicle using the vehicle controls provided for this purpose.
  • the cruise control can be operated via a steering column stalk and/or several steering wheel switches.
  • the cruise control can be activated and deactivated and the target speed can be set using the controls.
  • Cruise control can also be deactivated if the driver presses the vehicle's brake pedal.
  • the target speed can be increased using a plus button and decreased using a minus button.
  • a set button can be used instantaneous speed of the vehicle can be adopted as the target speed.
  • the set button can also activate the cruise control.
  • a Res button can be used to reactivate the cruise control after it has been deactivated in order to adjust the vehicle's speed to a previously set target speed.
  • the approach presented here presents a method for setting a target speed for an off-road cruise control of a vehicle and a corresponding off-road cruise control, and finally a corresponding computer program product and a machine-readable storage medium according to the independent claims.
  • embodiments of the present invention can make it possible to set a target speed of an off-road cruise control of the vehicle in an off-road vehicle via pedals of the vehicle. As a result, a driver of the vehicle can focus his attention on a driving task and not be distracted by operating controls.
  • a method for setting a target speed for an off-road cruise control of a vehicle is proposed, the target speed being increased if a driver of the vehicle increases a vehicle speed of the vehicle above a previously set target speed using an accelerator pedal of the vehicle with the off-road cruise control activated.
  • An off-road cruise control can be provided in particular in a vehicle which is used for unpaved roads and paths or also pathless terrain suitable is.
  • the vehicle can in particular be a four-wheel drive vehicle.
  • the off-road cruise control can be provided primarily for low to medium speeds of the vehicle.
  • the speed of the vehicle can be referred to as vehicle speed.
  • the off-road cruise control can be provided for vehicle speeds of less than 50 km/h, less than 35 km/h or less than 20 km/h, for example. However, the off-road cruise control can also be used for higher vehicle speeds on paved paths and roads.
  • the off-road cruise control regulates a drive torque of the vehicle and a braking torque of the vehicle in order to keep the vehicle speed at a target speed even on uphill and downhill gradients.
  • the target speed can be kept precisely within a tolerance, with a drive of the vehicle being controlled to provide or increase the drive torque and/or a braking system of the vehicle to be controlled to reduce the braking torque in order to reduce the vehicle speed if a lower tolerance limit is not reached to increase, and when an upper tolerance limit is exceeded, the brake system is controlled to increase or generate the braking torque and / or the drive is controlled to provide a drag torque to reduce the vehicle speed.
  • a driver of the vehicle may prefer a low target speed for difficult passages. At the end of a difficult passage, this low target speed can be too low.
  • the driver can increase the target speed by actuating an accelerator pedal of the vehicle until the target speed corresponds to his ideas. The driver can then release the accelerator pedal and the off-road cruise control maintains the set target speed.
  • the accelerator pedal can also be referred to as an accelerator pedal.
  • the target speed can be lowered if the driver reduces the vehicle speed below a previously set target speed via a brake pedal of the vehicle while the off-road cruise control is activated. Unlike normal cruise control, off-road cruise control can remain activated when the brake pedal is pressed. The driver can Press the brake pedal until the target speed corresponds to your expectations. The driver can then release the brake pedal and the off-road cruise control maintains the set target speed.
  • the target speed can be set to the vehicle speed reached when a brake pressure applied via the brake pedal is less than a pressure limit value.
  • the target speed can be set to the vehicle speed reached if the brake pressure remains below 60 bar. Below the pressure limit, stepping on the brake pedal can be used as an input since the driver then has a high probability of only wanting to decrease the vehicle speed slightly.
  • the off-road cruise control can be deactivated if the brake pressure applied via the brake pedal is greater than the pressure limit. If the brake pressure exceeds the pressure limit, the driver has identified a high probability of an obstacle and wants to bring the vehicle to a standstill. Then an unintentional rolling of the vehicle can be prevented by discarding the off-road cruise control. Unintentional rolling can be prevented by a holding function of the braking system.
  • the target speed can be set to the vehicle speed reached.
  • the target speed can be set within a maximum speed limit and a minimum speed limit.
  • the target speed can be set to the vehicle speed reached, no matter how hard the driver pushes.
  • the target speed can be increased at a predefined rate of increase.
  • the rate of increase can be independent of an accelerator pedal position. For example, the driver may have detected an obstacle and may want to momentarily drive the vehicle over the obstacle. An unintentionally large increase in the target speed can then be prevented by increasing the target speed only slowly. The slow increase in the target speed can be shown to the driver on a display.
  • the accelerator pedal can be prioritized over another control element of the off-road cruise control.
  • setting the target speed via the brake pedal compared to the Operation via controls are prioritized.
  • the driver can intuitively use the accelerator and brake pedals correctly.
  • an input via the operating element can also be incorrect or unintentional.
  • the driver can hit the wrong control element because the current driving task requires his full concentration.
  • the driver can operate the pedals without being distracted.
  • the method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.
  • the approach presented here also creates an off-road cruise control that is designed to carry out, control or implement the steps of a variant of the method presented here in corresponding devices.
  • the off-road cruise control can be an electrical device with at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, and at least one interface and/or one communication interface for reading in or outputting data embedded in a communication protocol are, be.
  • the computing unit can be, for example, a signal processor, a so-called system ASIC, or a microcontroller for processing sensor signals and outputting data signals as a function of the sensor signals.
  • the storage unit can be, for example, a flash memory, an EPROM or a magnetic storage unit.
  • the interface can be designed as a sensor interface for reading in the sensor signals from a sensor and/or as an actuator interface for outputting the data signals and/or control signals to an actuator.
  • the communication interface can be designed to read in or output the data in a wireless and/or wired manner.
  • the interfaces can also be software modules that are present, for example, on a microcontroller alongside other software modules.
  • a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and/or controlling the steps of the method according to one of the above, is also advantageous described embodiments is used, in particular when the program product or program is executed on a computer or device.
  • FIG. 1 shows an illustration of a vehicle with an off-road cruise control according to an exemplary embodiment
  • FIG. 2 shows an illustration of a sequence of a method for setting a target speed according to an embodiment.
  • Off-road cruise control 102 includes logic 104 and controller 106 .
  • the logic 104 outputs a target speed 108 for the vehicle 100 depending on inputs 110 from a driver 112 of the vehicle 100 .
  • the controller 106 is designed to a vehicle speed 114 of the vehicle 100 by engine interventions 116 and To keep braking interventions 118 within a tolerance range of the target speed 108.
  • the logic 104 reads in as inputs 110 signals 120 from operating elements 122 of the off-road cruise control 102, an accelerator pedal angle 126 pressed by the driver 112 on an accelerator pedal 124 of the vehicle 100 and a brake pressure 130 pressed by the driver 112 on a brake pedal 128 of the vehicle 100 .
  • the operating elements 122 are provided for the manual operation of the off-road cruise control 102 .
  • the operating elements 122 are arranged within a reach of the driver 112 .
  • the operating elements 122 can be arranged, for example, on a steering column arm of the vehicle 100 .
  • the operating elements 122 can be arranged on a steering wheel of the vehicle 100 .
  • the target speed 108 is increased if the driver 112 increases the vehicle speed 114 via the accelerator pedal 124 over a previously set target speed 108 when the off-road cruise control 102 is activated.
  • the target speed 108 is set to the maximum vehicle speed 114 achieved if the vehicle speed 114 achieved is less than a limit value 132 .
  • the driver 112 can thus directly increase the target speed 108 by slightly accelerating.
  • the target speed 108 is increased at a predefined rate of increase 134 .
  • Vehicle speed 114 may be greater than target speed 108 during this time.
  • Target speed 108 is displayed to driver 112 in parallel with vehicle speed 114 .
  • the driver 112 takes his foot off the accelerator pedal 124, the vehicle 100 slows down again until it reaches the set target speed 108.
  • the target speed 108 is reduced if the driver 112 reduces the vehicle speed 114 below the previously set target speed 108 via the brake pedal 128 with the off-road cruise control 102 activated. In one exemplary embodiment, the target speed 108 is set to the vehicle speed 114 reached during braking if the maximum applied brake pressure 130 is less than a pressure limit value 136 . The driver 112 can thus reduce the target speed 108 directly by braking lightly.
  • off-road cruise control 102 is deactivated if maximum applied brake pressure 130 is greater than pressure limit value 136 .
  • a holding function can be activated via a braking system of the vehicle.
  • the accelerator pedal 124 or the brake pedal 128 is prioritized over the operating elements 122 for setting the target speed 108 . In this case, inputs 110 via the operating elements 122 are ignored if conflicting inputs 110 are read in via the accelerator pedal 124 or the brake pedal 128 .
  • target speed 108 is determined as a function of signals 120 , accelerator pedal angle 126 and brake pressure 130 .
  • FIG. 2 shows an illustration of a sequence of a method for setting a target speed 108 according to an exemplary embodiment.
  • the method can be carried out, for example, on the off-road cruise control from FIG. 1 .
  • the method is described on the basis of vehicle 100 driving over a slope 200 down a steep incline 202 to a lower level 204 .
  • Signal curves of the target speed 108, the vehicle speed 114, the brake pressure 130 and the accelerator pedal angle 126 are shown below the course of the terrain driven on.
  • the procedure can be divided into several phases 1,2,3,4,5.
  • the off-road cruise control keeps the vehicle speed 114 at the set target speed 108.
  • the driver 112 detects the steep slope 200 or the gradient 202.
  • the driver decides that the vehicle speed 114 is too high for the gradient 202.
  • the driver 112 presses the brake pedal lightly and the brake pressure 130 increases. Vehicle 100 is decelerated below target speed 108 . The driver 112 steps on the brakes until the Vehicle speed 114 is as low as desired. In this case, target speed 108 tracks vehicle speed 114 directly. The driver 112 then takes his foot off the brake.
  • the vehicle 100 reaches the edge of the slope 200 and the off-road cruise control keeps the low target speed 108 set by the driver 112 via the brake pedal down the incline 202 .
  • the slope 202 transitions to the low level 204.
  • the driver 112 steps on the accelerator pedal lightly and the accelerator pedal angle 126 increases until the vehicle 100 accelerates above the target speed 108 .
  • the driver 112 steps on the accelerator pedal until the vehicle speed 114 is again as high as desired.
  • Target speed 108 tracks vehicle speed 114 .
  • the driver 112 then takes his foot off the accelerator.
  • the vehicle 100 is driving at the low level 204 and the off-road cruise control keeps the vehicle speed 114 at the target speed 108.
  • CCO Chip Control Offroad
  • CCO is an off-road cruise control that regulates a target speed through braking and engine intervention.
  • CCO includes the functionalities CCO and HDC.
  • HDC High Decent Control
  • HDC is a downhill assistant and uses the brakes to maintain the selected target speed. HDC only allows brake torque to be requested for speed control for the downhill case, while CCO can also request motor torque for speed control for both uphill and downhill.
  • the driver can use the conventional button on the steering wheel to vary the target speed and activate or deactivate the function.
  • the function is primarily designed for off-road applications to support the driver in rough terrain. This allows the driver to concentrate on steering interventions while the brake and engine actuation is taken over by the controller. Conventionally, the Function either switched to passive for the duration of the accelerator pedal actuation or deactivated. The old target speed then applies again.
  • the target speed can be varied by the driver using a button.
  • the speed can also be modified by actuating the brake and accelerator pedals.
  • This adjustment of the target speed with the pedals is more intuitive for the driver than pressing buttons and thus distracts less from the driving situation. This is particularly advantageous when the driver recognizes, for example, an extreme change in the gradient of the road or also extreme conditions of the ground before driving on the same and wants to react predictively to it.

Abstract

La présente invention concerne un procédé de réglage d'une vitesse cible (108) pour un régulateur de vitesse hors route (102) d'un véhicule (100), si le système de régulation de vitesse hors route (102) est activé, la vitesse cible (108) est augmentée si un conducteur (112) du véhicule (100) augmente une vitesse de véhicule (114) du véhicule (100) au-dessus d'une vitesse cible prédéfinie (108) à l'aide d'une pédale d'accélérateur (124) du véhicule (100).
PCT/EP2021/082592 2021-02-10 2021-11-23 Procédé de réglage d'une vitesse cible pour un régulateur de vitesse hors route, et régulateur de vitesse hors route WO2022171323A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021201232.9A DE102021201232A1 (de) 2021-02-10 2021-02-10 Verfahren zum Einstellen einer Zielgeschwindigkeit für einen Offroad-Tempomat und Offroad-Tempomat
DE102021201232.9 2021-02-10

Publications (1)

Publication Number Publication Date
WO2022171323A1 true WO2022171323A1 (fr) 2022-08-18

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PCT/EP2021/082592 WO2022171323A1 (fr) 2021-02-10 2021-11-23 Procédé de réglage d'une vitesse cible pour un régulateur de vitesse hors route, et régulateur de vitesse hors route

Country Status (2)

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DE (1) DE102021201232A1 (fr)
WO (1) WO2022171323A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2885178A1 (fr) * 2012-08-16 2015-06-24 Jaguar Land Rover Limited Système de commande de vitesse de véhicule
EP2885184A1 (fr) * 2012-08-16 2015-06-24 Jaguar Land Rover Limited Système de régulation de vitesse de véhicule
DE102018200985A1 (de) * 2017-08-10 2019-02-14 Volkswagen Aktiengesellschaft Verfahren zum Einstellen einer Fahrgeschwindigkeit eines Kraftfahrzeugs und Kraftfahrzeug mit einer Steuervorrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2885178A1 (fr) * 2012-08-16 2015-06-24 Jaguar Land Rover Limited Système de commande de vitesse de véhicule
EP2885184A1 (fr) * 2012-08-16 2015-06-24 Jaguar Land Rover Limited Système de régulation de vitesse de véhicule
DE102018200985A1 (de) * 2017-08-10 2019-02-14 Volkswagen Aktiengesellschaft Verfahren zum Einstellen einer Fahrgeschwindigkeit eines Kraftfahrzeugs und Kraftfahrzeug mit einer Steuervorrichtung

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DE102021201232A1 (de) 2022-08-11

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