WO2022214560A1 - Fahrassistenzsystem und fahrassistenzverfahren zum unterstützen einer querführung eines fahrzeugs - Google Patents
Fahrassistenzsystem und fahrassistenzverfahren zum unterstützen einer querführung eines fahrzeugs Download PDFInfo
- Publication number
- WO2022214560A1 WO2022214560A1 PCT/EP2022/059152 EP2022059152W WO2022214560A1 WO 2022214560 A1 WO2022214560 A1 WO 2022214560A1 EP 2022059152 W EP2022059152 W EP 2022059152W WO 2022214560 A1 WO2022214560 A1 WO 2022214560A1
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- Prior art keywords
- steering
- setting
- driver
- actual
- assistance system
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 18
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000007935 neutral effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 101001050487 Homo sapiens IST1 homolog Proteins 0.000 description 1
- 102100023423 IST1 homolog Human genes 0.000 description 1
- 101100180314 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) IST2 gene Proteins 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- 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
Definitions
- the present disclosure relates to a driving assistance system for supporting lateral guidance of a vehicle, a vehicle having such a driving assistance system, a driving assistance method for supporting lateral guidance of a vehicle, and a storage medium for executing the driving assistance method.
- the present disclosure relates in particular to an adjustment of controller dynamics when a driver makes steering interventions when the driver assistance system is active. State of the art
- An exemplary driver assistance system is the lane departure warning system.
- the Spurhai teaassist uses a camera to check lane markings and compares them with the vehicle's position in the lane. If the vehicle threatens to unintentionally leave its lane, the lane departure warning system warns the driver with an optical, acoustic and/or haptic signal. However, if the driver uses the indicator to change lanes or to turn, the lane departure warning system does not intervene in the steering.
- the active lane departure warning system also uses the camera image and compares it with the position of your own vehicle. If the vehicle falls below a minimum distance from the lane boundary, the lane departure warning system steers the vehicle back to the center of the lane. Since the driver is still responsible when the lane departure warning system is activated, the lane departure warning system constantly measures the driver's hand torque on the steering wheel and checks whether the driver's hands are still on the steering wheel. If this is not the case, the driver is warned about this and the lane departure warning system is deactivated.
- the driver's manual torque is only suitable to a limited extent for recognizing a driver interaction when the lane departure warning system is active, since both external disturbances (e.g. potholes, wind, etc.) and the lane departure warning system itself have an effect on the driver's steering torque.
- the lane departure warning system can react to an alleged driver intervention, although in reality there is no driver intervention.
- a driving assistance system for supporting lateral guidance of a vehicle
- a driving assistance method for supporting lateral guidance of a vehicle
- a storage medium for executing the driving assistance method
- a driver assistance system for supporting lateral guidance of a vehicle, in particular a motor vehicle, is specified.
- the driver assistance system can be a lane departure warning system, for example.
- the driver assistance system includes a steering assistance module that is set up to output a target steering setting; a detection module configured to detect an actual steering setting; and a determination module configured to relate the target steering setting and the actual steering setting to determine a measure of a deviation between the target steering setting and the actual steering setting, wherein the steering assistance module is further configured to adjust a steering torque based on the amount of deviation between the desired steering setting and the actual steering setting.
- the requested steering setting is evaluated in comparison to the real or actual steering setting.
- the steering torque applied by the driver assistance system is selected based on the comparison, in particular according to a measure of the deviation between the requested steering setting and the actual steering setting.
- the driver assistance system may steer more in a curve than is necessary. If the driver now countersteers in order to keep the vehicle in lane, the deviation between the steering setting requested by the driver assistance system and the actual steering setting effected by the driver is large. The driver assistance system can recognize this and reduce the controller dynamics so that the driver does not have to work against the driver assistance system or the steering torque.
- the steering assistance module preferably determines the steering torque based on the extent of the deviation between the target steering setting and the actual steering setting and outputs the determined steering torque to a steering system of the vehicle in order to assist the driver in lateral guidance of the vehicle, for example in relation to a lane .
- the steering torque is what is known as a return torque, which is introduced into the vehicle's steering system or the corresponding actuator so that the vehicle is returned to its lane.
- the at least one actuator can also be set up to provide a support torque that supports the driver when applying a desired (manual) steering torque.
- the steering torque is adjusted, for example, in such a way that the strength of the steering torque is determined by the steering assistance module and is output as a command or instruction to the steering system of the vehicle.
- the expression “strength of the steering torque” relates to a size (or an amount or an intensity) of the force corresponding to the steering torque, which is provided, for example, by the at least one actuator of the steering system.
- the strength of the steering torque or the return torque indicates, in particular, how strongly the steering action is influenced by the driver assistance system.
- the strength of the steering torque or the return torque indicates, in particular, an intensity of the intervention of the driver assistance system on the steering system or the steering wheel.
- the amount of the return torque can be designed such that the vehicle is not kept in the lane against the will of the driver and the driver is able to override the driver assistance system.
- the driver applies a correspondingly large manual torque to the steering wheel, so that a limit value is exceeded, which leads to the driver assistance system being deactivated.
- the driver assistance system preferably includes at least one detection unit that is set up to detect at least one lane. Based on the detection data of the at least one detection unit, the driver assistance system supports the driver in guiding the vehicle laterally in relation to the at least one lane.
- the at least one detection unit preferably includes (or is) at least one camera that is set up to detect the at least one lane.
- the at least one camera may be a CMOS camera mounted behind a windshield. From the captured images, the driver assistance system recognizes lane markings and determines an optimal steering angle to keep the vehicle in the middle of the lane. When the vehicle threatens to leave the center of the detected lane, the feedback torque is applied to the steering wheel.
- the target steering setting is preferably a target steering angle or indicates a target steering angle.
- the actual steering setting can be an actual steering angle or indicate an actual steering angle.
- the target steering angle and the actual steering angle can, for example, relate to a front axle of the vehicle and indicate an adjustment angle of the steering in relation to a neutral position, i.e. driving straight ahead.
- the detection module is preferably set up to detect the actual steering angle.
- the detection module can include at least one sensor or be connected to at least one sensor that is set up to determine the steering angle on the front axle of the vehicle.
- the present disclosure is not limited to steering angle and other means of indicating steering adjustment may be used.
- the steering adjustment can be a position of the steering wheel.
- the setpoint steering setting is a steering angle that is determined by the driver assistance system and requested by the steering system.
- the actual steering setting such as the actual steering angle, is an actual or real steering angle set by the steering system.
- the target steering setting can deviate from the actual steering setting as a result of the driver's intervention or a manual torque that the driver applies to the steering wheel. In other words, the driver can intervene in the driver assistance system.
- the embodiments of the present disclosure relate to an active driver assistance system.
- the determination module is preferably also set up to recognize a steering situation based on the extent of the deviation between the setpoint steering setting and the actual steering setting.
- the term “steering situation” relates to the driver steering in relation to an action of the driver assistance system. This means that the two variables "target Steering setting” and “actual steering setting” in relation to each other so that a statement can be made about what the driver is currently doing or what his steering intention is.
- the steering situation can be selected from the group that includes or consists of the driver co-steering, the driver oversteering and the driver countersteering.
- the co-steering can specify a slight steering in the same direction as the driver assistance system.
- Oversteering may indicate heavy steering in the same direction as the driver assistance system, but at a greater steering angle than co-steering.
- the countersteering may indicate steering in the opposite direction as the driver assistance system.
- the determination module is also set up to recognize the driver's co-steering if an amount of a difference between the target steering setting and the actual steering setting is equal to or smaller than a first threshold.
- the first threshold can separate the steering situation “co-steer” from the steering situation “over-steer” or distinguish them.
- the determination module can also be set up to detect the oversteering of the driver when the absolute value of the difference between the target steering setting and the actual steering setting is equal to or greater than the first threshold.
- the driver assistance system can control the steering without being influenced by the driver's intervention, i.e. there is no change in the steering torque caused by the driver's manual torque.
- the setting of the steering torque thus corresponds to the case without driver intervention.
- the determination module can be set up to detect oversteering by the driver when a difference between the setpoint steering setting and the actual steering setting is negative.
- oversteering by the driver is detected when the actual steering setting is greater than the target steering setting, ie when the driver steers more in the same direction as the driver assistance system.
- driver oversteer may be determined when (i) the difference between the desired steering setting and the actual steering setting is negative, (ii) a magnitude of the difference between the desired steering setting and the actual steering setting equals or is greater than the first threshold, and (iii) the actual steering adjustment is outside the first tolerance range around the desired steering adjustment.
- the difference between the desired steering setting and the actual steering setting may be negative, and the actual steering setting may be outside of the first tolerance range around the desired steering setting. If the amount of the difference between the target steering setting and the actual steering setting is equal to or greater than the first threshold, the oversteering can be determined. However, if the magnitude of the difference between the target steering setting and the actual steering setting is less than the first threshold, co-steering can be determined.
- the first threshold is provided to separate or distinguish co-steering from oversteering.
- the first tolerance range and the second tolerance range are provided in order to define the deviation from the setpoint steering setting from which the controller dynamics are reduced. If the deviation from the target steering setting is within the tolerance range, the controller dynamics are not reduced.
- controller dynamics as used within the scope of the present disclosure describes a desired time behavior of the control.
- a high level of dynamics corresponds to the requirement to reach the target value quickly, or to use large values for the manipulated variable (in this case, for example, a large steering torque).
- a low level of dynamics corresponds to the requirement that the target value be reached slowly, or the use of small values of the manipulated variable (in this case, e.g. small steering torque).
- the first threshold may be a fixed steering angle value, such as 2° or 5°.
- the first tolerance range can be defined as a percentage value of the target steering setting, such as 10% or 20%.
- the determination module can also be set up to detect countersteering by the driver if there is a difference between the target steering setting and the actual steering adjustment is positive.
- countersteering by the driver is detected when the setpoint steering setting is greater than the actual steering setting, ie when the driver steers in the opposite direction to the driver assistance system.
- the determination module can be set up to detect countersteering by the driver when the actual steering setting (or the measure of the deviation between the target steering setting and the actual steering setting) is outside a second tolerance range around the target steering setting.
- a tolerance range of 20% can be defined around the target steering setting.
- driver counter-steering may be determined when (i) the difference between the desired steering setting and the actual steering setting is positive, and (ii) the actual steering setting is outside of the second tolerance range around the desired steering setting .
- the first tolerance range and the second tolerance range may be identical (e.g., 20%) in some embodiments. In other embodiments, the first tolerance range and the second tolerance range can be different.
- the steering angle can be suitably defined in order to fulfill the above-mentioned conditions in accordance with their meaning or in order to depict the steering situations accordingly.
- the signs of the steering angle for the left and right positions can be suitably selected and/or amounts of the target steering angle and the actual steering angle can be used and/or a suitable angle scale can be used between the maximum left position (e.g. +a) and the maximum right position (e.g. +a). also +a, where 0° indicates a neutral steering setting or driving straight ahead).
- the steering assistance module is preferably also set up to change the steering torque only when oversteering or countersteering is detected. If steering is detected, this can be interpreted as "no driver intervention" and there is no change in the control dynamics.
- a measure can be determined of how severely the driver oversteers.
- the amount of oversteer can be determined, for example, as a percentage. For example, 0% indicates no oversteer.
- the actual steering setting here corresponds to the target steering setting or is within the first tolerance range around the target steering setting. 100%, on the other hand, indicates maximum oversteer.
- the actual steering setting deviates at most from the target steering setting.
- the maximum deviation can be specified as a value. For example, maximum oversteering is reached if there is a deviation of 10° between the actual steering angle and the setpoint steering angle.
- a measure of how much the driver is counter-steering can be determined.
- the degree of countersteering can be determined, for example, as a percentage value. For example, 0% indicates no countersteering.
- the actual steering setting here corresponds to the target steering setting or is within the second tolerance range around the target steering setting.
- 100% indicates maximum countersteering.
- the actual steering setting deviates here from the target steering setting at most.
- the maximum deviation can be specified as a value.
- the maximum countersteering is reached with a deviation of 10° between the actual steering angle and the target steering angle.
- the steering assistance module is preferably also set up to reduce the steering torque based on the extent of the deviation between the target steering setting and the actual steering setting.
- the controller dynamics can be reduced when there is a large deviation, so that the driver does not have to work against the driver assistance system or the applied steering torque.
- the steering assistance module can be set up to set the steering torque smaller the greater the degree of deviation between the setpoint steering setting and the actual steering setting.
- a vehicle in particular a motor vehicle, is specified.
- the vehicle includes the driver assistance system for supporting lateral guidance of the vehicle according to the embodiments of the present disclosure.
- vehicle includes cars, trucks, buses, mobile homes, motorcycles, etc., which are used to transport people, goods, etc.
- the term includes motor vehicles for passenger transport.
- a driver assistance method for supporting lateral guidance of a vehicle in particular a motor vehicle, is specified.
- the driver assistance method includes outputting a target steering setting; detecting an actual steering setting; determining an amount of deviation between the desired steering setting and the actual steering setting; and adjusting a steering torque based on the amount of deviation between the desired steering setting and the actual steering setting.
- the driver assistance method can implement the aspects of the driver assistance system described in this document.
- SW software program
- the SW program can be set up to be executed on one or more processors and thereby to execute the driver assistance method for supporting lateral guidance of a vehicle described in this document.
- a storage medium can include a software program which is set up to be executed on one or more processors and to thereby execute the driver assistance method for supporting lateral guidance of a vehicle described in this document.
- software with program code for carrying out the driver assistance method for supporting lateral guidance of a vehicle is to be executed when the software runs on one or more software-controlled devices.
- Figure 1 schematically shows a vehicle with a driver assistance system for supporting lateral guidance of a vehicle according to embodiments of the present disclosure
- FIG. 2 schematically shows co-steering, oversteering and countersteering in relation to a target steering setting according to embodiments of the present disclosure
- FIG. 3 schematically shows oversteering in relation to a target steering setting according to embodiments of the present disclosure
- FIG. 4 shows a schematic of countersteering in relation to a target steering setting according to embodiments of the present disclosure
- FIG. 5 shows a flow chart of a driver assistance method for supporting lateral guidance of a vehicle according to embodiments of the present disclosure.
- FIG. 1 schematically shows a vehicle 10 with a driver assistance system 100 for supporting lateral guidance according to embodiments of the present disclosure.
- the driver assistance system 100 can be a lane departure warning system, for example.
- Driver assistance system 100 supports the driver in lateral guidance of vehicle 10.
- driver assistance system 100 controls steering 26 via intermediate units (not shown).
- driver assistance system 100 can also be set up for automatic longitudinal guidance of vehicle 10 .
- driver assistance system 100 controls drive 20, transmission 22 and hydraulic service brake 24 via intermediate units (not shown).
- environmental information from an environmental sensor system that monitors the vehicle environment is received by driver assistance system 100 .
- the vehicle can include at least one surroundings sensor 12 which is set up to record surroundings data which indicate the surroundings of the vehicle.
- the at least one environment sensor 12 can include, for example, one or more LiD AR systems, one or more radar systems and/or one or more cameras.
- the environment sensors can be used for lane detection.
- the driver assistance system 100 includes a steering assistance module 110 which is set up to output a target steering setting; a detection module 120 configured to detect an actual steering setting; and a determination module 130 configured to relate the target steering setting and the actual steering setting to determine a measure of a deviation between the target steering setting and the actual steering setting, wherein the steering assistance module 110 is further configured to adjust a steering torque based on the amount of deviation between the desired steering setting and the actual steering setting.
- the requested steering setting is thus evaluated in comparison to the real or actual steering setting.
- the steering torque applied by driver assistance system 100 is selected based on the comparison, in particular according to a measure of the deviation between the requested steering setting and the actual steering setting. For example, in the event of faulty lane detection, driver assistance system 100 may steer more in a curve than is necessary. If the driver now countersteers in order to keep vehicle 10 in lane, the deviation between the steering setting requested by driver assistance system 100 and the actual steering setting effected by the driver is large. Driver assistance system 100 can recognize this and reduce the controller dynamics, so that the driver does not have to work against driver assistance system 100 or the applied steering torque.
- the target steering setting is a target steering angle or indicates a target steering angle.
- the actual steering setting can be an actual steering angle or indicate an actual steering angle.
- the target steering angle and the actual steering angle can, for example, relate to a front axle of the vehicle 10 and can specify an adjustment angle of the steering in relation to a zero position, ie driving straight ahead.
- the extent of the deviation between the setpoint steering setting and the actual steering setting can be a difference between the setpoint steering angle and the actual steering angle, for example.
- the acquisition module 120 can be set up to acquire the actual steering angle.
- the detection module can be connected to at least one sensor 14 that is set up to detect the steering angle on the front axle of the vehicle.
- the steering assistance module 110 and/or the detection module 120 and/or the determination module 130 can be implemented in a common software and/or hardware module. As an alternative to this, the steering assistance module 110 and/or the detection module 120 and/or the determination module 130 can each be implemented in separate software and/or hardware modules.
- FIG. 2 schematically shows co-steering, oversteering and countersteering in relation to a target steering setting according to embodiments of the present disclosure.
- the steering setting is shown as a steering angle by way of example.
- the angle scale is defined between a maximum left position at +a and a maximum right position also at +a, with 0° indicating a neutral steering setting or driving straight ahead.
- the entire angular scale thus spans an angular range of 2a.
- the target steering angle SOLL shown as an example thus indicates a left turn.
- a first actual steering angle ML indicates a small deviation from the target steering angle SOLL in the same steering direction (ie to the left). With this small deviation, co-steering can be determined based on the first actual steering angle ML. In this case, the controller dynamics cannot be reduced. In other words, the steering torque can be adjusted according to a case without driver intervention.
- a second actual steering angle UL indicates a large deviation from the target steering angle SOLL in the same steering direction (ie to the left). With this large deviation, oversteering can be determined based on the second actual steering angle UL. In this case, the controller dynamics can be reduced so that the driver does not have to work against the steering torque applied by the driver assistance system.
- a third actual steering angle GL indicates a deviation from the target steering angle SOLL in a direction opposite to the steering direction (ie to the right). With this deviation, countersteering can be determined based on the third actual steering angle GL. In this In this case, the controller dynamics can also be reduced, so that the driver does not have to work against the steering torque applied by the driver assistance system.
- FIG. 3 schematically shows oversteering in relation to a target steering setting according to embodiments of the present disclosure.
- FIG. 4 schematically shows countersteering in relation to a target steering setting according to embodiments of the present disclosure.
- a driver with the Spurhai teaassist stent active enters a curve. Due to incorrect interpretation of the lane markings by the camera, the lane departure warning system steers too much (e.g. with a steering angle of 30°) and the driver actively steers against it (e.g. 10° degrees) to prevent leaving the actual lane. In this situation, the controller dynamics are reduced in order not to unnecessarily hinder the driver in correcting the vehicle movement.
- the set steering angle of 10° can be set in relation to the limit of 24° and a percentage value can be determined. This value can be forwarded to the controller function so that the controller dynamics are reduced accordingly by the determined percentage.
- FIG. 5 schematically shows a flowchart of a driver assistance method 500 for supporting lateral guidance of a vehicle according to specific embodiments of the present disclosure.
- the driver assistance method 500 can be implemented by appropriate software that can be executed by one or more processors (e.g. a CPU).
- driver assistance method 500 includes outputting a target steering setting; in block 520, detecting an actual steering setting; in block 530, determining an amount of deviation between the desired steering setting and the actual steering setting; and in block 540, adjusting a steering torque based on the amount of deviation between the desired steering setting and the actual steering setting.
- the requested steering setting is evaluated in comparison to the real or actual steering setting.
- the steering torque applied by the driver assistance system is selected based on the comparison, in particular according to a measure of the deviation between the requested steering setting and the actual steering setting.
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Priority Applications (1)
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CN202280024602.3A CN117062744A (zh) | 2021-04-07 | 2022-04-06 | 用于支持车辆的横向引导的驾驶辅助系统和驾驶辅助方法 |
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DE102021108684.1 | 2021-04-07 | ||
DE102021108684.1A DE102021108684A1 (de) | 2021-04-07 | 2021-04-07 | Fahrassistenzsystem und Fahrassistenzverfahren zum Unterstützen einer Querführung eines Fahrzeugs |
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WO2022214560A1 true WO2022214560A1 (de) | 2022-10-13 |
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- 2022-04-06 CN CN202280024602.3A patent/CN117062744A/zh active Pending
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