CN106564530B - Method and device for assisting a driver of a motor vehicle in driving dynamics - Google Patents
Method and device for assisting a driver of a motor vehicle in driving dynamics Download PDFInfo
- Publication number
- CN106564530B CN106564530B CN201610879450.1A CN201610879450A CN106564530B CN 106564530 B CN106564530 B CN 106564530B CN 201610879450 A CN201610879450 A CN 201610879450A CN 106564530 B CN106564530 B CN 106564530B
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- motor vehicle
- steering
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- driving
- light source
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000000087 stabilizing 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
- 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
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- 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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a method for assisting a driver of a motor vehicle in driving dynamics boundary conditions, wherein a steering torque is applied to a steering device for steering the motor vehicle by means of a steering assistance device in driving dynamics boundary conditions. The steering torque is applied in such a way that the driver can recognize the direction in which he has to steer in order to be able to hold the motor vehicle in a controlled manner under the driving dynamics critical boundary conditions. The invention also relates to a device for carrying out the method for assisting a driver of a motor vehicle in driving dynamic boundary conditions.
Description
Technical Field
The invention relates to a method for assisting a driver of a motor vehicle in driving dynamic boundary conditions. The invention also relates to a device for assisting a driver of a motor vehicle in driving dynamic boundary conditions.
Background
Driving dynamics control such as, for example, ESP (electronic stability program) improves the controllability of the motor vehicle under boundary conditions such as, for example, oversteering when passing a curve. The term driving dynamics control is understood in the following as meaning all systems which actively intervene in the driving operation of the vehicle by activating actuators. This is included in particular systems such as, for example, ABS (anti-lock braking system), TCS (traction control system), ESP or AFS (active steering system). Known driving dynamics controls use in particular brakes, engine management or steering regulators as actuators for the control.
Furthermore, motor vehicle steering devices equipped with suitable support and assistance systems are well known. Steering devices configured as power assisted steering are typically hydraulically operated, where they are primarily used for pure steering power assist. On the other hand, newer systems have power steering with an electric drive motor. Electrically operated or power assisted steering devices offer a simple possibility to combine with other auxiliary systems. Such a driving state detected by the assistance system can be informed, for example, to a driver driving the vehicle, for example, by a haptic confirmation on a steering device, for example, the steering wheel of the motor vehicle itself. Besides electro-hydraulic actuation (also referred to as "electro-hydraulic power steering", EHPS), purely electromechanical actuation of the steering system (also referred to as "electric power steering", EPAS) is also known.
From DE 10354662B 4, for example, a method for assisting a driver of a motor vehicle in driving dynamics boundary conditions for steering the vehicle is known. In order to re-stabilize an oversteered motor vehicle as quickly and comfortably as possible, a steering torque is applied to the steering wheel in the direction in which the motor vehicle is stable, which indicates to the driver the direction in which he must turn in order to regain control of the oversteered vehicle and thus stabilize the vehicle as quickly as possible.
Disclosure of Invention
Against this background, the invention provides a method and a device for assisting a driver of a motor vehicle in driving dynamics boundary conditions, by means of which the driving dynamics boundary conditions can be controlled in a controllable manner. Furthermore, the driver of the motor vehicle must be assisted in the greatest possible manner in his driving task. Furthermore, the method and device should be cost-effective to implement and therefore require as few additional components as possible, compared to the prior art of conventionally equipped motor vehicles.
This object is solved by a method and a device having the features described below. The following further discloses particularly advantageous embodiments of the invention.
It should be noted that the features listed in the following description may be combined with each other in any technically meaningful way and represent further embodiments of the invention.
According to the invention, a method is provided for assisting a driver of a motor vehicle under driving dynamics boundary conditions, wherein a steering torque is applied to a steering device, for example a steering wheel for steering the motor vehicle, by means of a steering assistance device under driving dynamics critical boundary conditions, such as, for example, when the motor vehicle is oversteered. The steering torque is applied to this in such a way that the driver can recognize the direction in which he has to steer in order to be able to hold the vehicle in a controlled manner under driving dynamics critical boundary conditions, such as, for example, during oversteer. This may therefore make it easier for the driver of the motor vehicle to control the motor vehicle during driving, in particular during predetermined driving in an unstable region, i.e. in a critical boundary region of the driving dynamics, such as, for example, oversteer.
Detailed Description
The preferred unstable driving state, i.e. driving in the critical driving dynamics boundary region, is detected by ESP systems which are currently widely available in motor vehicles. For this purpose, the ESP system preferably comprises a sensor for detecting the instantaneous driving state of the motor vehicle, for example, yaw rate, lateral acceleration, steering angle, steering angular velocity, rotational speed of the wheels, vehicle speed, etc. In addition, the critical driving state can also be detected additionally using one or more video sensors, for example a camera or a plurality of cameras.
The application of the steering torque by the steering assistance device to the steering device of the motor vehicle is preferably effected by means of an electrically operated or power assisted steering system, for example an EHPS or EPAS system, wherein the combination of the method according to the invention with the EPAS system is particularly preferred, since this system is widely used on account of its comparatively inexpensive construction and its economical operability and enables particularly precise controllability.
The method according to the invention now allows, for example, when a motor vehicle is deliberately oversteered to perform a so-called drift and to keep the vehicle in the drift in a controlled manner. During drift, many fast steering corrections are typically required. Racing drivers perform these steering movements in a relaxed manner due to their experience. However, inexperienced drivers cannot keep the vehicle in drift in a controlled manner or at least have to cope with a large amount of steering effort. In addition to the basic direction specification of the driver, the method according to the invention can now assist the driver in the additionally required rapid corrective action of keeping the vehicle in drift in a controlled manner.
Another essential advantage of the method according to the invention is that motor vehicles which are already usually equipped with an ESP system and an EHPS or EPAS system do not require additional structural components to carry out or implement the method, since the method can be implemented as pure software using components already present in the motor vehicle, such as, for example, sensors for detecting the instantaneous driving state of the motor vehicle, steering torque controllers for applying a steering torque to a steering device or the like.
According to an advantageous embodiment of the invention, a steering torque is applied to the steering device for a time interval that is earlier than required for the instantaneous driving state of the motor vehicle in order to be able to hold the vehicle during driving dynamics critical boundary conditions, such as oversteer. In other words, according to the present embodiment, the steering torque applied to the steering device by the steering assist device is supplied to the steering device in advance. In this way it can be considered, for example, that the driver of the motor vehicle reacts only to a steering torque applied to the steering device with a certain delay. The specific time interval thus advantageously corresponds to the average response time of the driver of the motor vehicle in response to the steering torque applied by the steering assist device to the steering device.
According to a further advantageous embodiment, the steering torque is applied by the steering assistance device only after the function of the Electronic Stability Program (ESP) of the motor vehicle has been manually deactivated, in the driving dynamics critical boundary condition, for example, oversteering, in order to hold the motor vehicle in the driving dynamics critical boundary condition. In this way, it is ensured that the driver of the motor vehicle receives only the steering assistance according to the invention for maintaining the vehicle under the driving dynamics critical boundary conditions, in which case, by deactivating the ESP, he indicates that he wants to deliberately control the vehicle in person under the driving dynamics critical boundary conditions, in particular during oversteering, without the ESP needing to intervene in a stable manner in the conventional manner and thus to end the driving dynamics critical boundary conditions of the motor vehicle as soon as possible. When the ESP is activated, on the other hand, the ESP can perform control interventions in the conventional manner in the sense of stabilizing the motor vehicle in critical boundary conditions of driving dynamics.
In addition, the steering torque is applied by the steering assistance device to hold the motor vehicle under the driving dynamics critical boundary conditions, for example, by means of a special actuating device, for example, an actuating switch for turning on and off the motor vehicle's movement behaviour, only after the function of the motor vehicle's movement driving behaviour has been manually turned on. In this way too, it is possible to clearly recognize the intention of the driver to control the motor vehicle in a critical driving situation, for example oversteer.
A further advantageous embodiment of the invention provides, however, that the steering torque is applied by the steering assistance device to hold the motor vehicle under a driving dynamics critical boundary condition, for example oversteer, only after the driving behavior of the motor vehicle driver in motion has been automatically determined by the driving style detection device of the motor vehicle. Such detection may be based, for example, on an evaluation of the lateral acceleration of the vehicle over a certain time interval, wherein a sporty driving mode of the driver may be assumed when substantially higher lateral acceleration values occur relative to a conventional driving mode in which the driver wishes to control the vehicle in person under driving dynamics critical boundary conditions, for example during oversteer.
Preferably, the steering assistance provided by the steering assistance device can be oversteered by the driver of the motor vehicle at any time, so that the motor vehicle still remains controllable by the driver of the motor vehicle at any time. The driver of the motor vehicle is therefore also able to carry out driving maneuvers, in particular oversteers, at any time under driving dynamics critical boundary conditions independently of the steering assistance provided by the steering device.
According to a further aspect of the invention, a device for assisting a driver of a motor vehicle in a critical driving dynamics boundary condition is provided, wherein a steering assistance device is provided which applies a steering torque to a steering device for steering the motor vehicle in the critical driving dynamics boundary condition, for example during oversteering of the motor vehicle. In this case, the steering assistance device applies the steering torque in such a way that the driver can recognize the direction in which he has to steer in order to be able to hold the motor vehicle in a controlled manner under critical boundary conditions of driving dynamics, for example during oversteer. Thus, it is easier for the vehicle driver to control the motor vehicle during driving, in particular during driving deliberately in an unstable region, i.e. in a driving dynamics critical boundary region, for example during oversteer.
The device according to the invention preferably comprises an ESP system for detecting an unstable driving situation, i.e. a driving situation of the motor vehicle in the critical boundary region of the driving dynamics. For this purpose, the ESP system accordingly preferably comprises sensors for detecting the instantaneous driving state of the motor vehicle, for example yaw rate, lateral acceleration, steering angle, steering angular velocity, wheel speed, vehicle speed, etc. In addition, the critical driving state can additionally also be detected using one or more video sensors, for example a camera or a plurality of cameras.
Furthermore, the device preferably comprises an electrically operated or electrically assisted steering system as steering assistance device, for example an EHPS or EPAS system for applying a steering torque to a steering device of a motor vehicle. An EPAS system is particularly preferred here, since it is widely used owing to its comparatively inexpensive construction and its economical operability, and because of the particularly precise controllability that can be achieved.
The device according to the invention now allows, for example, to enable a motor vehicle to be deliberately oversteered to carry out a drift and to keep the vehicle in the drift in a controlled manner. In addition to the basic direction specification of the driver, the device according to the invention is now able to assist the driver in the additionally required rapid corrective action of maintaining the vehicle in drift in a controlled manner.
Another essential advantage of the device according to the invention is that motor vehicles which are already usually equipped with an ESP system and an EHPS or EPAS system do not require additional structural components, since the device can use all components already present in the motor vehicle, such as, for example, sensors for detecting the instantaneous driving state of the motor vehicle, steering torque regulators for applying a steering torque to the steering device, etc.
For further advantageous embodiments of the device according to the invention, reference is made to the advantageous embodiments described herein, which are combined with the method according to the invention obtained here, which can likewise be used on the device.
In a preferred embodiment, the device according to the invention is used in a motor vehicle.
Claims (7)
1. A method for assisting a driver of a motor vehicle in driving dynamics-critical boundary conditions, in which steering torques are applied by means of a steering assist device to a steering device for steering the motor vehicle,
wherein,
the steering torque is applied in such a way that the driver can recognize the direction in which he has to steer in order to be able to hold the motor vehicle in a controlled manner under the driving dynamics critical boundary conditions,
the steering torque is applied by the steering assistance device to hold the motor vehicle in the driving dynamics critical boundary condition only after a function of a moving driving behaviour of the motor vehicle has been manually switched on and/or after a moving driving behaviour of the motor vehicle driver has been automatically determined by a driving style detection device of the motor vehicle.
2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of a red light source, a green light source, and a blue light source,
wherein the driving dynamics-critical boundary condition is an oversteer of the motor vehicle.
3. The method according to claim 1 or 2,
wherein,
the steering torque is applied to the steering device for a specific time interval that is earlier than required for the instantaneous driving state of the motor vehicle, so that the motor vehicle can be held under the driving dynamics critical boundary conditions.
4. The method of claim 3, wherein the first and second light sources are selected from the group consisting of a red light source, a green light source, and a blue light source,
wherein,
the specific time interval corresponds to an average response time of the driver of the motor vehicle in response to the steering torque applied to the steering device.
5. The method of claim 1, wherein the first and second light sources are selected from the group consisting of a red light source, a green light source, and a blue light source,
wherein,
the steering torque is applied by the steering assist device to hold the motor vehicle under the driving dynamics critical boundary condition only after a function of an electronic stability program of the motor vehicle has been manually deactivated.
6. The method of claim 1, wherein the first and second light sources are selected from the group consisting of a red light source, a green light source, and a blue light source,
wherein,
the steering torque applied by the steering assist device can be oversteered by the motor vehicle driver at any time.
7. A device adapted to carry out the method of assisting a driver of a motor vehicle under driving dynamics-critical boundary conditions as claimed in any one of the preceding claims, wherein a steering assistance device is provided which, under driving dynamics-critical boundary conditions, applies a steering torque to a steering device which steers the motor vehicle,
wherein,
the steering assist applies the steering torque in such a way that the driver can recognize the direction in which he has to steer in order to be able to hold the motor vehicle in a controlled manner under the driving dynamics critical boundary conditions,
the steering torque is applied by the steering assistance device to hold the motor vehicle in the driving dynamics critical boundary condition only after a function of a moving driving behaviour of the motor vehicle has been manually switched on and/or after a moving driving behaviour of the motor vehicle driver has been automatically determined by a driving style detection device of the motor vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015219675.5 | 2015-10-12 | ||
| DE102015219675 | 2015-10-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106564530A CN106564530A (en) | 2017-04-19 |
| CN106564530B true CN106564530B (en) | 2021-10-01 |
Family
ID=58405610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610879450.1A Active CN106564530B (en) | 2015-10-12 | 2016-10-08 | Method and device for assisting a driver of a motor vehicle in driving dynamics |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106564530B (en) |
| DE (1) | DE102016218414B4 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372020A (en) * | 2001-02-07 | 2002-08-14 | Lucas Industries Ltd | Haptic controller for electrically-assisted power steering in road vehicles |
| DE10354662B4 (en) | 2003-11-22 | 2012-11-15 | Robert Bosch Gmbh | Method and device for assisting the driver of a motor vehicle in driving-dynamic borderline situations |
| DE102011102927A1 (en) * | 2011-05-31 | 2012-12-06 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Method for operating a driver assistance system of a motor vehicle and driver assistance system for a motor vehicle |
| US9168924B2 (en) * | 2012-03-26 | 2015-10-27 | GM Global Technology Operations LLC | System diagnosis in autonomous driving |
| DE202013006196U1 (en) * | 2013-07-09 | 2014-10-13 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Driver assistance system for a motor vehicle and motor vehicle |
-
2016
- 2016-09-26 DE DE102016218414.8A patent/DE102016218414B4/en active Active
- 2016-10-08 CN CN201610879450.1A patent/CN106564530B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106564530A (en) | 2017-04-19 |
| DE102016218414A1 (en) | 2017-04-13 |
| DE102016218414B4 (en) | 2019-02-14 |
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