GB2495612A - Device and process for increasing functional safety of parking system - Google Patents
Device and process for increasing functional safety of parking system Download PDFInfo
- Publication number
- GB2495612A GB2495612A GB1217952.9A GB201217952A GB2495612A GB 2495612 A GB2495612 A GB 2495612A GB 201217952 A GB201217952 A GB 201217952A GB 2495612 A GB2495612 A GB 2495612A
- Authority
- GB
- United Kingdom
- Prior art keywords
- vehicle
- text
- steering
- parking system
- turn
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012806 monitoring device Methods 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000005096 rolling process Methods 0.000 claims 2
- 241000428533 Rhis Species 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A parking system is provided for a vehicle 1, comprising a control device, which outputs a steering-angle preset to the vehicle, and a monitoring device for monitoring the motion 3, 4 of the vehicle. The control device has further been set up to detect whether the motion 3, 4 of the vehicle detected by the monitoring device is consistent with the preset steering angle. For example, when a travelling direction 3 is forwards and a preset steering direction is to the right, an error is present if the rate of turn 4 is to the left. The invention may result in an automatic steering procedure being terminated for safety reasons.
Description
Device and process for increasing the functional safety of parkiñg system State of the Art The present invehtion relates to a parking system fOr vehicles, preferably motor vehicles. Within the scope of ISO 26262, functions of motdr vehicles are to beassessed with regad to their functional safety. In the case àf extensive functions a decomposition is carried out, i.e partial aspects of the overall function are distributed in such a way that the number of partial functions with high safety classification is rninimised. This concept is applied advantageously, in particular, in the case of parking systems.
The overall system of a conventional self-steering parking function (e.g. consisting of the steps constituted by finding a parking space, calculating a parking path, controlling the steering wheel, so that upon actuation of the propulsion system by the driver the vehicle drives into the parking space) has a high safety classification.
However, if this overall system is, for example, split up into the subsystems constituted by steering override and parking assistance, then merely a.high safety classification for the steering system results, whereas the parking assistance (finding aparking space, calculating a parking path) has a low safety classification.
By reason of the safety classifications, diverse safety rules have to be cOmplied with. For instance, it holds for steering systems that, according to EcE R7 (Economic Commission for Europe, Rule 79), these may only undertake a steering override when the speed of the vehicle does not exceed 10 km/h.
As another point, it is to be ensured that the steering ystem steers in the right direction. For such an examination no conclusive secure concept has been available hitherto; since steering in the right direction" means that sign errors of the presetting of a steering angle that has been translated into action are detected correctly.
However, by reason of the absence df an external reference such a sign error cannot be detected, so the safety objective "steering in the right direction" cannot be fully complied with.
Printed publication DE 103 42 228 Al presents a method for determining the direction of travel of a vehicle, which is an important precondition for the safe operation of a stability control system (vehicle dynamics control). The direction of travel in this case is determined by using diverse yaw-rates, for example the yaw-rate of the front axle, or the yaw-rate that is generated by the steering-wheel angle and the forward speed.. However, the technical teaching of this printed publication provides for calculating the direction of travel also without known steering-wheel angle.
Disclosure of.the Invention
The device according to the invention and the process according to the invention may likewise establish without known steering-wheel angle, whether the vehicle has been steered in the desired direction. This is done by the motion of the vehicle being monitored by means of diverse sensors in such a way that it is possible to examine whether the preset steering direction is consistent with the motion of the vehicle. The independent Claim 1 therefore discloses aparking system that, in addition to the control device for presetTting the steering angle, also has a monitoring device. The control device has preferably been contigured in such a manner that it evaluates the signals of the monitoring device, compares them with the preset steering angle, and takes measures where appropriate.
Furthermore, the independent Claim 7 discloses a process in order to park a vehicle by means of a self-steering system.
In this case the motion of the vehicle is monitored, in order to establish whether the preset steering angle is consistent with the direction of travel of the vehicle.
This monitoring is preferably effected continuously.
The dependent claims present preferred further developments * of the invention.
-It is advantageous if the monitoring device of the vehicle has been set up to determine a rate-of-turn signal. -With such a signal it can be established whether the vehicle is moving on a circular path. In this connection it is irrelevant for the invention whether it is a question of one rate-of-turn sensor or whether the rate-o-turn signal is calculated on the basis of the output signals of several sensors. -In addition, it is advantageous if the monitoring device has been set up to determines rolling-direction signal.
Such a signal can be usedin order to establish whether a vehicle is moving forwards or backwards. Here too, it is irrelevant for the invention whether this signal is determined on the basis of the output signals of one or more sensors.
In advantageous manner the monitoring device has recourse to the signals of a vehicle dynamics control which is resentin the vehicle. rhis has several advantages. On the one hand, recourse may be had to already existing infrasttucture, so that no further components have to be useth On Lhe other hand, a vehicle dynamics control has a high safety classification, sc-it can be assumed that the signals provided are reliable.
Moreover, it is advantageous to configure the control device in such a manner that it determines, from the signs of the signals of the monitoring device, from the rate-of-turn signal ahd from the rolling-direction signal, the sign of a steering angle that has to preva.jl for the current state of motion. This real steering direction can be compared with the steering direction that was preset to the vehicle by the control system.
In advantageous manner, in the case of forward travel the direction of turn of the vehicle can be assumed as the real steering direction, and in the case of reverse travel the direction contrary to the direction of turn of the vehicle.
Hence the real steering angle is determined in a straightforward manner from the signals of the monitoring device.
Brief Description of the Drawing
An exemplary embodiment of the invention will be described in detail in the following with referetce to the accompanying drawing. In the drawing: Figure 1 is a chematic overview of a vehicle during a steering procedure.
Embodiment of the Inventipn For the following description of the preferred embodiment bf. the invention, reference will be made to the schematic -representation in Figure 1.
A conventional motor Vehicle 1 which has two steerable wheels 2a and two rigid wheels 2b will be regarded as the vehicle. A monitoring device determines the direction of.
travel 3 and the rate of turn 4 of the centre of gravity 5 of the motor vehicle 1. A certain but unknown steering angle 6 is applied to the steerable wheels -2a.
The monitoring device in this case has recourse to the signals of the vehicle dynamics control which is additionally present in the vehicle, since these signals are very reliable by reason of the high safety classification of a vehicle dynamics control. This makes possible a secure examination of the direction of travel of the vehicle.
For the further action, preferably' only the directions are -needed in which the vehicle is turning and in which the vehicle is travelling. It is consequently sufficient, for example, to use merely the signs of the signals that have been determined (travel and turn.) . From these data it can be calculated in which direct ion'.the steering wheel has to be turned. This direction can be compared with the preset steering direction, in order to establish whether a sign error is present in the controller.
The following examples are intended to serve tot * illustrating the previous paragraph: 1) The measured direction of travel is forwards, the preset steering direction is to the rig, and the measured rate of turn is to the right; consequently all the directions are consitent, and the system is working correctly.
2) The measured direction of travel is forwards, the preset steering direction is to the right, and the rueasured rate of turn is to the left; consequently the directions do not tally, and a sign error must be present in the parking system.
Now if this, deviation persists over a period that is too long (for example, over more than one metre of travelled distance), the parking system may, where appropriate, take measures such as, for example, the terminating of the autpmatic steering procedure. In this manner the safety objective "steering in the correct direction" cafi be examined for compliance therewith. . *
Claims (1)
- <claim-text>Claims 1. A parking system for a vehicle, comprising a control device which outputs a steering-angle preset to the yehicle; and a monitoring device for monitoring the motion. of the vehicle, characterised in that the control device has further been set up tá detect whether the motion of the vehicle detected by means of the monitoring device is consistent with the preset steering angle.</claim-text> <claim-text>2. The parking system according to Claim 1, wherein the monitdring device has been set up to determine a rate-of-turn signal.</claim-text> <claim-text>3. The parking system according to one of the preceding claims, wherein the monitoring device has been set up to determine a rolling-direction signal and/or a longitudinal-acceleration signal.</claim-text> <claim-text>4. The parking system according to one of the preceding ólaims, wherein the monitoring device include sensors of a vehicle dynamics control of the vehicle.</claim-text> <claim-text>5. The parking system according to one of the preceding claims, wherein the! control device has been set up to determine a real steering direction from a rolling-direction signal and from a rate-of-turn signal of the vehicle, and to determine whether the real steering direction and the preset steering direction tally.</claim-text> <claim-text>6. The parking system according to one of the preceding claims, wherein the contol device has been set up, thatthe real steering direction is determined in such a manner that in the case of.forward travel the turn direction, and in the case of reverse travel the direction contrary to the turn direction, of the vehicle is assumed as real steering direction.</claim-text> <claim-text>7. A prdcessfoic parking a vehicle by means of a parking system, cothprising the following.steps outputtirig a steeririg-aflgJ.e preset; monitoring the motion of the vehicle; and comparing the motion of the vehicle with the steering-angle preset, in order to estab1ih the consistency thereof.</claim-text> <claim-text>B. The process according to Claim 7, wherein for the purpose of monitoring the motion of the vehicle use is made of a turn direction and a rolling direction of the vehicle.</claim-text> <claim-text>9. The process according to Claim B, wherein, a real steering direction of the vehicle is determined from the turn direction and from the rolling direction of the vehicle, said steering direction being compared with the preset steering direction.</claim-text> <claim-text>10. The process according to Claim B, wherein the real steering direction is determined by said direction being regarded as the turn direction in the case of forward travel, and as the direction contrary to the turn ditection of the vehicle in the case of revere travel. . 11. A parking system for a vehicle as herein described, with reference to the accompanying drawing.12. A process for parking a vehicle by means of a parking system as herein described, with reference tO the accompanying drawing.</claim-text>
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011084100A DE102011084100A1 (en) | 2011-10-06 | 2011-10-06 | Device and method for increasing the functional safety of a parking system |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201217952D0 GB201217952D0 (en) | 2012-11-21 |
| GB2495612A true GB2495612A (en) | 2013-04-17 |
| GB2495612B GB2495612B (en) | 2018-02-21 |
Family
ID=47294400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1217952.9A Active GB2495612B (en) | 2011-10-06 | 2012-10-05 | Device and process for increasing the functional safety of a parking system |
Country Status (3)
| Country | Link |
|---|---|
| DE (1) | DE102011084100A1 (en) |
| FR (1) | FR2981035B1 (en) |
| GB (1) | GB2495612B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11198840A (en) * | 1998-01-14 | 1999-07-27 | Honda Motor Co Ltd | Automatic steering device of vehicle |
| DE102005017361A1 (en) * | 2004-04-16 | 2005-11-17 | Volkswagen Ag | Parking assisting system undertakes safety check of relevant functions and/or system parameters, whereby steering input demand is not carried out or interrupted if one these conditions is not fulfilled |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6577948B1 (en) | 2002-09-18 | 2003-06-10 | Continental Teves, Inc. | Algorithm for determining travel direction for automobiles |
| JP2006142982A (en) * | 2004-11-19 | 2006-06-08 | Denso Corp | Vehicle body behavior informing system |
| US8538631B2 (en) * | 2007-01-23 | 2013-09-17 | GM Global Technology Operations LLC | Method and system for vehicle parking assistance |
| DE102007061811A1 (en) * | 2007-12-20 | 2009-06-25 | Valeo Schalter Und Sensoren Gmbh | Method and device for detecting the direction of travel of a vehicle |
| US8880288B2 (en) * | 2009-06-16 | 2014-11-04 | Robert Bosch Gmbh | Determining low-speed driving direction in a vehicle |
-
2011
- 2011-10-06 DE DE102011084100A patent/DE102011084100A1/en active Pending
-
2012
- 2012-10-04 FR FR1259429A patent/FR2981035B1/en active Active
- 2012-10-05 GB GB1217952.9A patent/GB2495612B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11198840A (en) * | 1998-01-14 | 1999-07-27 | Honda Motor Co Ltd | Automatic steering device of vehicle |
| DE102005017361A1 (en) * | 2004-04-16 | 2005-11-17 | Volkswagen Ag | Parking assisting system undertakes safety check of relevant functions and/or system parameters, whereby steering input demand is not carried out or interrupted if one these conditions is not fulfilled |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2981035A1 (en) | 2013-04-12 |
| GB201217952D0 (en) | 2012-11-21 |
| GB2495612B (en) | 2018-02-21 |
| FR2981035B1 (en) | 2015-12-04 |
| DE102011084100A1 (en) | 2013-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103029703B (en) | The lane changing aid system of vehicle and method thereof | |
| US10046743B2 (en) | Secondary steering system unit, secondary steering system, vehicle and a method for secondary steering | |
| RU2698603C2 (en) | Vehicle parking assistance system and parking method | |
| US9174674B2 (en) | Parking assisting apparatus | |
| CN105283370B (en) | Method and the EPS of vehicle for the torque of the EPS that controls vehicle | |
| US9037348B2 (en) | Lane-keeping assistance method for a motor vehicle | |
| CN102897169B (en) | By the collision free system and method for differential braking | |
| CN101537853B (en) | Automobile four-wheel active steering control system | |
| KR102464484B1 (en) | Assistant system and assistant method for backward driving of vehicle | |
| CN102765386A (en) | Lane centering fail-safe control using differential braking | |
| KR100851120B1 (en) | Lane keeping assist/support system combined electronic stability program in vehicle and controlling method thereof | |
| JP6530131B2 (en) | Method for steering a motor vehicle at least semi-autonomously by position correction, driver assistance system, and motor vehicle | |
| US11639195B2 (en) | Lane change assistant | |
| CN106945663B (en) | Anti-collision method for turning vehicle | |
| US10549777B2 (en) | Control system for steering a tractor vehicle with a trailer | |
| US11897452B2 (en) | Automotive electronic lateral dynamics control system for a self-driving motor vehicle | |
| US20190161086A1 (en) | Method and mechanism for assisted performance of a reverse-turning maneuver of a vehicle | |
| JP2019206258A (en) | Vehicle control system | |
| CN104554214A (en) | System and method for controlling running of electric vehicles according to states of traffic lights | |
| CN112477848A (en) | Method and system for assisting vehicle steering, vehicle comprising system and medium | |
| KR20200068098A (en) | Autonomous drivning-based trailing vehicle driving apparatus and method using driving information of preceding vehicle | |
| KR20140100324A (en) | Steering system | |
| US20180370562A1 (en) | Method for active steering support in a stuck vehicle and control unit | |
| SE1250978A1 (en) | Method for detecting faults on the steering and a system for detecting faults on a vehicle's steering system | |
| TW201719047A (en) | Process and device to perform an emergent procedure of a single-track vehicle |