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WO2011088947A1 - Method for assisting lane-keeping in a motor vehicle - Google Patents

Method for assisting lane-keeping in a motor vehicle Download PDF

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Publication number
WO2011088947A1
WO2011088947A1 PCT/EP2010/070395 EP2010070395W WO2011088947A1 WO 2011088947 A1 WO2011088947 A1 WO 2011088947A1 EP 2010070395 W EP2010070395 W EP 2010070395W WO 2011088947 A1 WO2011088947 A1 WO 2011088947A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lane keeping
keeping assistance
torque vectoring
vectoring system
Prior art date
Application number
PCT/EP2010/070395
Other languages
German (de)
French (fr)
Inventor
Andreas Paul
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2011088947A1 publication Critical patent/WO2011088947A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/14—Electronic locking-differential
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
    • B60T2220/02—Driver type; Driving style; Driver adaptive features
    • 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
    • B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
    • B60W10/14—Central differentials for dividing torque between front and rear axles
    • 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
    • B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
    • B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W2540/30—Driving style
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the present invention relates to a method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to the preamble of patent claim 1.
  • Lane keeping systems for motor vehicles are known from the prior art, through which the vehicle steering can be actively influenced;
  • the steering angle which is set via the steering wheel by the driver, an additional steering angle to be superimposed, whereby situation-dependent active intervention in the vehicle dynamics can be realized
  • DE 103 12 513 B4 discloses a system for assisting steering in a vehicle in which the position of the vehicle relative to the lane is determined by means of a position detection device and the determination of a desired steering angle in a lane controller is used.
  • a desired steering torque is determined from the desired steering angle, which is superimposed on a driver steering torque generated by the driver and fed to a steering device acting on the steerable wheels.
  • the lane controller is followed by a separately formed calculation unit, in accordance with an inverse Lenkaktuatorfunktion from the target steering angle of the lane controller, the target steering torque is determined.
  • the invention is therefore an object of the invention to provide a method for tracking assistance for a motor vehicle comprising a torque vectoring system, which allows a simple and cost-effective manner without a direct engagement with the steering or the steering torque safe and dynamic driving.
  • a method for lane keeping assistance is proposed for a motor vehicle, in which the lane keeping assistance is provided by a targeted unbalanced torque distribution by means of a torque vectoring system of the vehicle, resulting in a yaw moment, which serves the lane keeping assistance.
  • the unbalanced torque distribution can be achieved in different ways.
  • the individual drivable wheels of the vehicle can be selectively acted upon with different drive torque, for which, for example, actively controllable differentials with a controllable or adjustable clutch from the prior art can be used. lungs are known. It is also possible in systems with individual wheel drives, in which, for example, each drivable wheel associated with an electric drive machine, to control the wheel drives accordingly.
  • yawing moments can also be produced in a targeted manner by imprinting different braking torques on the wheels on the left and on the right side of the vehicle, for example by applying different degrees of force to the respective braking devices.
  • the assistive yaw moment is calculated in advance as a function of the course of the route, for example as a function of the curve radius and / or of the roadside inclination of a preceding curve, and optionally as a function of the vehicle speed, and "anticipatory" is controlled at the beginning of the curve, which advantageously leads to the vehicle already has the tendency to "corner" at the beginning of a curve ahead.
  • the route route can be detected by means of a vehicle environment sensor system comprising, for example, a camera and / or a digital map in conjunction with a GPS system. Furthermore, it is possible to detect the course of the route by means of specific lane indicators present in the roadway, which are detectable by at least one sensor provided in the vehicle.
  • the degree of lane keeping assistance i. the height of the yawing moment generated by means of the torque vectoring system of the vehicle is selected such that only little support is provided, or that in extreme cases the vehicle automatically follows the course of the road when the driver takes his hands off the steering element.
  • the degree of lane keeping assistance can be preset by the driver according to an embodiment of the invention or automatically depending on The course of the track, the current location of the vehicle inside or outside a closed town, the result of a driver type determination regarding sportiness, for example in the form of a driver's sports counter and / or vehicle speed, the degree of lane keeping assistance or For safety reasons, the height of the yaw moment to be generated can optionally be limited to the top.
  • the inventive concept instead of a steering correction for lane keeping assistance on a disadvantageous in terms of safety direct intervention on the vehicle steering or on the steering torque an indirect steering assistive steering correction over the targeted unbalanced torque distribution by means of the torque vectoring system of the vehicle realized, thereby
  • a high level of safety is guaranteed, even in a mode in which no full lane keeping, but only a lane keeping assistance is desired, since the driver always has control of the vehicle; the achievable by performing the method according to the invention driving behavior substantially corresponds to driving on a steep curve.
  • the torque vectoring control is supported by the dependence of the yawing moment on the curve radius, on the road side inclination and / or on the vehicle speed and by the control of the yawing moment at the beginning of the curve, which results in an optimization of the control of the regulation process.
  • the method presented here can also be carried out in a vehicle comprising a conventional hydraulic power steering with a mechanical rigid connection between the steering wheel and steered wheels, since the need for a steering wheel actuator or steering actuators is eliminated.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

In a method for assisting lane-keeping in a motor vehicle, comprising a torque-vectoring system, the lane-keeping assistance is carried out by a specific asymmetrical torque distribution by means of the torque-vectoring system of the vehicle, which results in a yawing moment that is used for assisting lane-keeping.

Description

Verfahren zur Spurhalteunterstützunq für ein Kraftfahrzeug  Method for lane keeping assistance for a motor vehicle
Die vorliegende Erfindung bezieht sich auf ein Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System gemäß dem Oberbegriff des Patentanspruchs 1 . The present invention relates to a method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to the preamble of patent claim 1.
Aus dem Stand der Technik sind Spurhaltesysteme für Kraftfahrzeuge bekannt, durch die die Fahrzeuglenkung aktiv beeinflussbar ist; hierbei kann vorgesehen sein, dass die Spurhaltesysteme für Kraftfahrzeuge Einrichtungen zur Streckenverlaufserkennung umfassen, wie beispielsweise GPS - Einrichtungen oder Einrichtungen zur optischen Fahrbahnranderkennung. Hierbei kann dem Lenkwinkel, der über das Lenkrad vom Fahrer eingestellt wird, ein zusätzlicher Lenkwinkel überlagert werden, wodurch situationsabhängig ein aktiver Eingriff in die Fahrdynamik realisiert werden kann Lane keeping systems for motor vehicles are known from the prior art, through which the vehicle steering can be actively influenced; In this case, provision can be made for the lane keeping systems for motor vehicles to include devices for route course recognition, such as, for example, GPS devices or devices for optical lane edge recognition. In this case, the steering angle, which is set via the steering wheel by the driver, an additional steering angle to be superimposed, whereby situation-dependent active intervention in the vehicle dynamics can be realized
Beispielsweise geht aus der DE 103 12 513 B4 ein System zur Spurhaltelenk- unterstützung in einem Fahrzeug hervor, bei dem die Position des Fahrzeugs relativ zur Fahrspur mithilfe einer Lageerkennungseinrichtung ermittelt und der Bestimmung eines Soll-Lenkwinkels in einem Fahrspurregler zugrunde gelegt wird. Hierbei wird aus dem Soll-Lenkwinkel ein Soll-Lenkmoment bestimmt, welches einem vom Fahrer erzeugten Fahrer-Lenkmoment überlagert und einer die lenkbaren Räder beaufschlagenden Lenkvorrichtung zugeführt wird. Beim bekannten System ist zudem vorgesehen, dass dem Fahrspurregler eine separat ausgebildete Berechnungseinheit nachgeschaltet ist, in der gemäß einer inversen Lenkaktuatorfunktion aus dem Soll- Lenkwinkel des Fahrspurreglers das Soll-Lenkmoment bestimmt wird. For example, DE 103 12 513 B4 discloses a system for assisting steering in a vehicle in which the position of the vehicle relative to the lane is determined by means of a position detection device and the determination of a desired steering angle in a lane controller is used. In this case, a desired steering torque is determined from the desired steering angle, which is superimposed on a driver steering torque generated by the driver and fed to a steering device acting on the steerable wheels. In the known system is also provided that the lane controller is followed by a separately formed calculation unit, in accordance with an inverse Lenkaktuatorfunktion from the target steering angle of the lane controller, the target steering torque is determined.
Zudem ist aus dem Stand der Technik bekannt, über Torque-Vectoring, nämlich über die Verschiebung von Antriebsmoment von einem Rad einer angetriebenen Achse auf das andere Rad aktiv ein auf das Fahrzeug wirkendes Giermoment zu erzeugen. Derartige Torque-Vectoring-Systeme ermöglichen durch die variable Verteilung von Antriebskräften zu kurveninneren bzw. kurvenäußeren Rädern die Erzeugung von ausdrehenden bzw. eindrehenden Giermomenten um die Hochachse des Fahrzeugs und können somit zur Vermeidung von Schleuderunfällen und zur Verbesserung der Fahrzeugstabilität eingesetzt werden. In addition, it is known from the prior art to actively generate a yaw moment acting on the vehicle via torque vectoring, namely via the displacement of drive torque from one wheel of a driven axle to the other wheel. Such torque vectoring systems make it possible, by means of the variable distribution of drive forces to inside or outside wheels on the outside, to generate yawing moments about the vertical axis of the engine Vehicles and can thus be used to prevent slipping accidents and to improve vehicle stability.
Ferner sind Systeme bekannt, die es ermöglichen, ein Fahrzeug durch gezielte Bremseingriffe bei Ausfall der Lenkung sicher zum Stilltand zu bringen. Furthermore, systems are known which make it possible to bring a vehicle safely by targeted braking interventions in case of failure of the steering to nursing land.
Bei aus dem Stand der Technik bekannten Systemen, bei denen der korrigierende Lenkeingriff direkt auf die Lenkung, bzw. über einen Lenkradaktuator auf das Lenkradmoment erfolgt, ist es teilweise problematisch und sehr aufwändig, in jeder Fahrsituation ein sicheres Verhalten zu gewährleisten, da einerseits in die Lenkung aktiv eingegriffen werden muss, anderseits aber dem Fahrer gerade in kritischen Situationen die Kontrolle über das Fahrzeug nicht entzogen werden darf. In systems known from the prior art, in which the corrective steering intervention takes place directly on the steering, or via a steering wheel actuator on the steering wheel torque, it is sometimes problematic and very expensive to ensure a safe behavior in any driving situation, on the one hand in the Steering must be actively intervened, but on the other hand, the driver may not be deprived of control of the vehicle, especially in critical situations.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System anzugeben, welches auf einfache und kostengünstige Weise ohne einen direkten Eingriff auf die Lenkung oder das Lenkmoment ein sicheres und dynamisches Fahrverhalten ermöglicht. The invention is therefore an object of the invention to provide a method for tracking assistance for a motor vehicle comprising a torque vectoring system, which allows a simple and cost-effective manner without a direct engagement with the steering or the steering torque safe and dynamic driving.
Diese Aufgabe wird durch die Merkmale des Patentanspruchs 1 gelöst. Weitere erfindungsgemäße Ausgestaltungen und Vorteile gehen aus den Unteransprüchen hervor. This object is solved by the features of patent claim 1. Further embodiments and advantages of the invention will become apparent from the dependent claims.
Demnach wird ein Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug vorgeschlagen, im Rahmen dessen die Spurhalteunterstützung durch eine gezielte unsymmetrische Momentenverteilung mittels eines Torque-Vectoring-Systems des Fahrzeugs erfolgt, die in einem Giermoment resultiert, welches der Spurhalteunterstützung dient. Die unsymmetrische Momentenverteilung kann dabei auf verschiedenen Wegen erzielt werden. Accordingly, a method for lane keeping assistance is proposed for a motor vehicle, in which the lane keeping assistance is provided by a targeted unbalanced torque distribution by means of a torque vectoring system of the vehicle, resulting in a yaw moment, which serves the lane keeping assistance. The unbalanced torque distribution can be achieved in different ways.
Es können die einzelnen antreibbaren Räder des Fahrzeugs gezielt mit unterschiedlichem Antriebsmoment beaufschlagt werden, wofür aus dem Stand der Technik beispielsweise aktiv ansteuerbare Differentiale mit Steuer- bzw. regelbaren Kupp- lungen bekannt sind. Ebenso ist es bei Systemen mit individuellen Radantrieben, bei denen beispielsweise jedem antreibbaren Rad eine E-Antriebs-Maschine zugeordnet ist möglich, die Radantriebe entsprechend anzusteuern. The individual drivable wheels of the vehicle can be selectively acted upon with different drive torque, for which, for example, actively controllable differentials with a controllable or adjustable clutch from the prior art can be used. lungs are known. It is also possible in systems with individual wheel drives, in which, for example, each drivable wheel associated with an electric drive machine, to control the wheel drives accordingly.
Giermomente können aber auch gezielt dadurch hergestellt werden, dass den Rädern an der linken und an der rechten Seite des Fahrzeugs unterschiedliche Bremsmomente aufgeprägt werden, indem beispielsweise die jeweiligen Bremseinrichtungen unterschiedlich stark beaufschlagt werden. Schließlich ist es auch möglich bestimmte Räder mit einem Antriebsmoment zu beaufschlagen, während andere Räder gleichzeitig mit einem Bremsmoment beaufschlagt werden. However, yawing moments can also be produced in a targeted manner by imprinting different braking torques on the wheels on the left and on the right side of the vehicle, for example by applying different degrees of force to the respective braking devices. Finally, it is also possible to apply certain wheels with a drive torque, while other wheels are acted upon at the same time with a braking torque.
Gemäß der Erfindung wird das unterstützende Giermoment in Abhängigkeit des Fahrstreckenverlaufs, beispielsweise in Abhängigkeit vom Kurvenradius und/oder von der Fahrbahnseitenneigung einer vorausliegenden Kurve, und optional in Abhängigkeit der Fahrzeuggeschwindigkeit vorausberechnet und am Kurvenbeginn„vorausschauend" eingesteuert, was in vorteilhafter Weise dazu führt, dass das Fahrzeug bereits am Beginn einer vorausliegenden Kurve die Tendenz hat„in die Kurve zu ziehen". According to the invention, the assistive yaw moment is calculated in advance as a function of the course of the route, for example as a function of the curve radius and / or of the roadside inclination of a preceding curve, and optionally as a function of the vehicle speed, and "anticipatory" is controlled at the beginning of the curve, which advantageously leads to the vehicle already has the tendency to "corner" at the beginning of a curve ahead.
Hierbei kann der Fahrstreckenverlauf mittels einer Fahrzeugumfeldsensorik umfassend beispielsweise eine Kamera und/oder eine digitale Karte in Verbindung mit einem GPS - System erkannt werden. Ferner ist es möglich, den Fahrstreckenverlauf anhand spezieller in der Fahrbahn vorhandener Fahrspurindikatoren, die von zumindest einem im Fahrzeug vorgesehenen Sensor detektierbar sind, zu erkennen. In this case, the route route can be detected by means of a vehicle environment sensor system comprising, for example, a camera and / or a digital map in conjunction with a GPS system. Furthermore, it is possible to detect the course of the route by means of specific lane indicators present in the roadway, which are detectable by at least one sensor provided in the vehicle.
Des weiteren kann erfindungsgemäß vorgesehen sein, dass der Grad der Spurhalteunterstützung, d.h. die Höhe des mittels des Torque-Vectoring-Systems des Fahrzeugs erzeugten Giermomentes derart gewählt wird, dass nur eine geringe Unterstützung erfolgt oder dass das Fahrzeug im Extremfall dem Straßenverlauf automatisch folgt, wenn der Fahrer die Hände vom Lenkorgan nimmt. Furthermore, it can be provided according to the invention that the degree of lane keeping assistance, i. the height of the yawing moment generated by means of the torque vectoring system of the vehicle is selected such that only little support is provided, or that in extreme cases the vehicle automatically follows the course of the road when the driver takes his hands off the steering element.
Der Grad der Spurhalteunterstützung kann gemäß einer Weiterbildung der Erfindung vom Fahrer voreingestellt werden oder automatisch in Abhängigkeit vom Fahrstreckenverlauf, von der Fahrbahnbeschaffenheit, vom aktuellen Ort des Fahrzeugs innerhalb oder außerhalb einer geschlossenen Ortschaft, vom Ergebnis einer Fahrertypermittlung hinsichtlich der Sportlichkeit, beispielsweise in Form eines Sport- lichkeitszählers des Fahrers und/oder von der Fahrzeuggeschwindigkeit variiert werden, wobei der Grad der Spurhalteunterstützung bzw. die Höhe des zu erzeugenden Giermomentes aus Sicherheitsgründen optional nach oben begrenzt werden kann. The degree of lane keeping assistance can be preset by the driver according to an embodiment of the invention or automatically depending on The course of the track, the current location of the vehicle inside or outside a closed town, the result of a driver type determination regarding sportiness, for example in the form of a driver's sports counter and / or vehicle speed, the degree of lane keeping assistance or For safety reasons, the height of the yaw moment to be generated can optionally be limited to the top.
Durch die erfindungsgemäße Konzeption wird anstelle einer Lenkkorrektur zur Spurhalteunterstützung über einen hinsichtlich der Sicherheit nachteiligen direkten Eingriff auf die Fahrzeuglenkung oder auf das Lenkmoment eine indirekte lenkkraft- unterstützende Lenkkorrektur über die gezielte unsymmetrische Momentenverteilung mittels des Torque-Vectoring-Systems des Fahrzeugs realisiert, wobei dadurch zum Einen ein dynamisches Fahrverhalten realisierbar ist und zum Anderen eine hohe Sicherheit, auch in einem Modus, bei dem keine volle Spurhaltung, sondern nur eine Spurhalteunterstützung erwünscht ist, gewährleistet wird, da der Fahrer stets die Kontrolle über das Fahrzeug hat; das durch die Durchführung des erfindungsgemäßen Verfahrens erzielbare Fahrverhalten entspricht im Wesentlichen dem Befahren einer Steilkurve. The inventive concept instead of a steering correction for lane keeping assistance on a disadvantageous in terms of safety direct intervention on the vehicle steering or on the steering torque an indirect steering assistive steering correction over the targeted unbalanced torque distribution by means of the torque vectoring system of the vehicle realized, thereby On the other hand, a high level of safety is guaranteed, even in a mode in which no full lane keeping, but only a lane keeping assistance is desired, since the driver always has control of the vehicle; the achievable by performing the method according to the invention driving behavior substantially corresponds to driving on a steep curve.
Zudem wird durch die Abhängigkeit des Giermomentes vom Kurvenradius, von der Fahrbahnseitenneigung und/oder von der Fahrzeuggeschwindigkeit und durch die Einsteuerung des Giermomentes am Kurvenbeginn die Torque Vectoring Regelung unterstützt, was in einer Optimierung der Beherrschung des Einregelvorgangs resultiert. In addition, the torque vectoring control is supported by the dependence of the yawing moment on the curve radius, on the road side inclination and / or on the vehicle speed and by the control of the yawing moment at the beginning of the curve, which results in an optimization of the control of the regulation process.
In vorteilhafter Weise kann das hier vorgestellte Verfahren auch bei einem Fahrzeug umfassend eine herkömmliche hydraulische Servolenkung mit mechanischer starrer Verbindung zwischen Lenkrad und gelenkten Rädern durchgeführt werden, da die Notwendigkeit eines Lenkradaktuators oder Lenkaktuatoren entfällt. Advantageously, the method presented here can also be carried out in a vehicle comprising a conventional hydraulic power steering with a mechanical rigid connection between the steering wheel and steered wheels, since the need for a steering wheel actuator or steering actuators is eliminated.

Claims

Patentansprüche claims
1 . Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, dadurch gekennzeichnet, dass die Spurhalteunterstützung durch eine gezielte unsymmetrische Momentenverteilung mittels des Torque- Vectoring-Systems des Fahrzeugs erfolgt, welche in einem Giermoment resultiert, welches der Spurhalteunterstützung dient. 1 . A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system, characterized in that the lane keeping assistance by a targeted unbalanced torque distribution by means of the torque vectoring system of the vehicle takes place, resulting in a yaw moment, which serves the lane keeping assistance.
2. Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, nach Anspruch 1 , dadurch gekennzeichnet, dass das Giermoment in Abhängigkeit des Fahrstreckenverlaufs und/oder in Abhängigkeit der Fahrzeuggeschwindigkeit vorausberechnet und am Beginn einer vorausliegenden Kurve eingesteuert wird. 2. A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to claim 1, characterized in that the yaw moment is calculated in advance depending on the course of the route and / or in dependence of the vehicle speed and is controlled at the beginning of a curve ahead.
3. Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, nach Anspruch 2, dadurch gekennzeichnet, dass das Giermoment in Abhängigkeit vom Kurvenradius und/oder von der Fahrbahnseitenneigung einer vorausliegenden Kurve vorausberechnet wird. 3. A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system, according to claim 2, characterized in that the yaw moment is calculated in advance depending on the turning radius and / or of the lane side slope of a leading curve.
4. Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass der Fahrstreckenverlauf mittels einer Fahrzeugumfeldsensorik umfassend eine Kamera und/oder eine digitale Karte in Verbindung mit einem GPS - System oder anhand spezieller in der Fahrbahn vorhandener Fahrspurindikatoren, die von zumindest einem im Fahrzeug vorgesehenen Sensor detektierbar sind, erkannt wird. 4. A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to claim 2 or 3, characterized in that the route course by means of a vehicle surroundings sensor system comprising a camera and / or a digital map in conjunction with a GPS system or more specifically in the lane existing lane indicators, which are detectable by at least one sensor provided in the vehicle, is detected.
5. Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, nach Anspruch 2, 3 oder 4, dadurch gekennzeichnet, dass der Grad der Spurhalteunterstützung, d.h. die Höhe des mittels des Torque- Vectoring-Systems des Fahrzeugs erzeugten Giermomentes abhängig vom Fahrzustand gewählt wird. 5. A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to claim 2, 3 or 4, characterized in that the degree of lane keeping assistance, ie the amount of yaw moment generated by the torque vectoring system of the vehicle depending on Driving condition is selected.
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass die Höhe des Giermomentes derart gewählt wird, dass das Fahrzeug dem Straßenverlauf automatisch folgt, wenn der Fahrer die Hände vom Lenkorgan nimmt. 6. The method according to claim 5, characterized in that the height of the yaw moment is selected such that the vehicle follows the course of the road automatically when the driver takes his hands off the steering member.
7. Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, nach Anspruch 2, 3, 4, 5 oder 6 dadurch gekennzeichnet, dass der Grad der Spurhalteunterstützung, d.h. die Höhe des mittels des Torque- Vectoring-Systems des Fahrzeugs erzeugten Giermomentes vom Fahrer voreingestellt wird oder automatisch in Abhängigkeit vom Fahrstreckenverlauf, von der Fahrbahnbeschaffenheit, vom aktuellen Ort des Fahrzeugs innerhalb oder außerhalb einer geschlossenen Ortschaft, vom Ergebnis einer Fahrertypermittlung hinsichtlich der Sportlichkeit und/oder von der Fahrzeuggeschwindigkeit variiert wird. 7. A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to claim 2, 3, 4, 5 or 6, characterized in that the degree of lane keeping assistance, i. the height of the yawing moment generated by the vehicle's torque vectoring system is preset by the driver or automatically depending on the course of the route, the road condition, the current location of the vehicle inside or outside a closed town, the result of a rider type determination regarding sportiness and / or or is varied by the vehicle speed.
8. Verfahren zur Spurhalteunterstützung für ein Kraftfahrzeug umfassend ein Torque-Vectoring-System, nach Anspruch 2, 3, 4, 5, 6 oder 7, dadurch gekennzeichnet, dass der Grad der Spurhalteunterstützung, d.h. die Höhe des mittels des Tor- que-Vectoring-Systems des Fahrzeugs erzeugten Giermomentes aus Sicherheitsgründen nach oben begrenzt wird. 8. A method for lane keeping assistance for a motor vehicle comprising a torque vectoring system according to claim 2, 3, 4, 5, 6 or 7, characterized in that the degree of lane keeping assistance, i. the height of the yawing moment generated by means of the Torque vectoring system of the vehicle is limited upwards for safety reasons.
PCT/EP2010/070395 2010-01-21 2010-12-21 Method for assisting lane-keeping in a motor vehicle WO2011088947A1 (en)

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