WO2005063546A1 - Procede pour assister un conducteur de vehicule - Google Patents

Procede pour assister un conducteur de vehicule Download PDF

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Publication number
WO2005063546A1
WO2005063546A1 PCT/EP2004/053565 EP2004053565W WO2005063546A1 WO 2005063546 A1 WO2005063546 A1 WO 2005063546A1 EP 2004053565 W EP2004053565 W EP 2004053565W WO 2005063546 A1 WO2005063546 A1 WO 2005063546A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque
steering
driver
steering wheel
vehicle
Prior art date
Application number
PCT/EP2004/053565
Other languages
German (de)
English (en)
Inventor
Jürgen Böhm
Dirk Rohleder
Original Assignee
Continental Teves Ag & Co.Ohg
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 Continental Teves Ag & Co.Ohg filed Critical Continental Teves Ag & Co.Ohg
Priority to DE112004002450T priority Critical patent/DE112004002450D2/de
Priority to EP04804908A priority patent/EP1699674A1/fr
Publication of WO2005063546A1 publication Critical patent/WO2005063546A1/fr

Links

Classifications

    • 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
    • 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
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation

Definitions

  • the invention relates to a method for assisting a vehicle driver in his steering activity, in which a steering torque can be impressed on the steering wheel.
  • the invention also relates to a steering torque control module for a vehicle.
  • the invention also relates to a vehicle with vehicle steering and with a lane guidance system.
  • the object of the invention is to provide a method for assisting a driver in his steering work, which ensures that the driver is supported in a comfotable and safe way in keeping a lane, but at the same time controls the vehicle and retains responsibility for the steering activity.
  • the object is achieved by the features of the independent claims.
  • the object is achieved by a method for assisting the driver in his steering activity, in which a steering torque can be impressed on the steering wheel, which is characterized in that an additional assistance torque M ASS is applied to the steering wheel by means of which the vehicle driver of the vehicle when driving is supported in one lane.
  • the method gives the vehicle driver instructions for steering by means of an additional steering torque.
  • the vehicle driver is supported in lane guidance in a way that is comfortable for him.
  • a current lane in which the vehicle is moving is determined and that the driver is given a steering recommendation by means of the assistance torque M A ss additionally applied to the steering wheel, so that the vehicle driver remains in the current lane ,
  • the driver is guided by the additional steering torque applied to the steering wheel, the assist torque M ⁇ SS , to keep a lane when steering.
  • the vehicle driver is continuously shown from which point, ie from which specific steering wheel position, he should not turn the steering wheel any further in a certain direction. If the driver follows the instructions for steering, he will not feel any increased resistance in his steering work. In this way, he can keep his vehicle safely and consciously on track. If the driver independently actuates the steering wheel in such a way that the steering process takes place optimally, ie if he steers "correctly" by himself, the moment applied does not change.
  • a manual torque M H applied by the vehicle driver to the steering wheel or a quantity dependent thereon is determined and that the assistance torque M AS s additionally applied to the steering wheel can be changed as a function of the manual torque M H.
  • the hand moment applied by the vehicle driver to the steering wheel or a variable dependent thereon is determined over a longer period of time, in accordance with the course of time of the hand torque, a driver's steering request is determined, and that the assistance torque M AS s additionally applied to the steering wheel can be changed in accordance with the determined driver's steering request.
  • At least one maximum value for the additional assistance torque M ASS (maximum assistance torque M max ) applied to the steering wheel is specified, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that the maximum Assistant torque M max is dynamically adapted to the manual torque M H currently applied by the driver to the steering wheel.
  • At least one lower limit value (limit torque M H , L o) is specified for the assistance torque additionally applied to the steering wheel, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that the Driver torque M H applied to the steering wheel is compensated by an additional compensation steering torque if the determined manual torque M H does not exceed the lower limit value (limit torque M H , LOW ).
  • a value in a range from 0.7 Nm to 1.2 Nm is preferably specified as the lower limit value (limit torque M H , LO W) for the additional torque applied to the steering wheel.
  • a signal of the hand torque M H applied by the vehicle driver to the steering wheel is filtered, preferably by a low-pass filter of the first (1st) order.
  • This filter advantageously has a filter time constant of approximately 10 ms.
  • at least one lower limit value (limit torque M H , L ow) is specified for the assistance torque additionally applied to the steering wheel, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that a tracking control steering torque , which is necessary for guiding the vehicle in the lane, is at least approximately linearly limited to a maximum value with increasing manual torque M H if the determined manual torque M H exceeds the lower limit value (limit torque M H , L O W).
  • At least one upper limit value (limit torque M H , HIGH ) is specified for the assistance torque additionally applied to the steering wheel, that the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, and that a desired Steering torque, which corresponds to a driver's request for a steering intervention, is set when the determined manual torque.MH exceeds the upper limit value (limit torque M H , HIGH ).
  • a value in a range from 1.8 Nm to 2.2 Nm is preferably specified as the upper limit value (limit torque M H , HIGH ) for the assistance torque additionally applied to the steering wheel.
  • the manual torque M H applied by the vehicle driver to the steering wheel is continuously determined, that a steering control steering torque, which is necessary for guiding the vehicle in the lane, is adjusted, that at least an upper limit value (limit torque M H , HIGH ) is specified for the additional assistance torque applied to the steering wheel, and that the tracking steering torque is reduced to, preferably, according to a predetermined function, preferably a time-controlled ramp function Value zero.
  • a linearly decreasing function with a gradient in a range from 2.5 Nm to 3.0 Nm is preferably specified as the time-controlled ramp function.
  • a steering torque control module which is provided in particular for carrying out the method according to the invention and which is characterized in that an additional assistance torque M AS s is applied to a hand steering wheel of the vehicle, by means of which the vehicle driver of the vehicle when driving in a lane is supported.
  • the object is also achieved by a vehicle with a vehicle steering system and with a lane guidance system which has a steering torque control module according to the invention.
  • FIG. 1 shows a diagram of a hand torque-dependent torque limitation of the additional assistance torque according to the invention.
  • a vehicle is equipped with a driver assistance system for "automatic" lane guidance (lane guidance system) equipped of the invention.
  • the lane guidance system has a system component for the detection of the driver's request, which recognizes the driver's wish when the "automatic" lane guidance is active and controls the lane guidance system in accordance with this request in such a way that it is complied with in a convenient manner.
  • the driver assistance system uses a steering angle setpoint or a steering torque setpoint (assistance torque) to give a steering control system to the driver, depending on the system parameterization, a more or less pronounced steering recommendation.
  • a steering angle setpoint or a steering torque setpoint assistant torque
  • further steering movements arise due to the feedback of disturbances from the road and from the driver himself.
  • the system has to compensate for these disturbances, on the other hand, it must not force the driver against his request because he is driving may have to react to an impending danger or want to change lanes.
  • the torque applied by the driver on the steering wheel is observed by a torque sensor. If the driver follows the steering recommendation of the assistance system, the hand torque is approximately zero or at least very small. A deviation of the vehicle driver from the specification of the automatic lane guidance leads to a significant increase in the manual torque, since in this case the vehicle driver works against the assistance system.
  • a basic idea of the invention is to detect and interpret the wish of the vehicle driver on the basis of the course of the hand torque and a comfortable mutual To achieve vehicle driver and system takeover by dynamically adapting the maximum specifiable assistance torque M AS s to the manual torque M H applied by the driver.
  • FIG. 1 shows a plot of the manual torque curve M H with a lower limit torque M H , O and with an upper limit torque M H , H I G H against the curve of the assist torque M AS s-
  • the manual torque remains below a first threshold value (lower limit torque M H , L o) during a journey with active automatic tracking, it is regarded as a malfunction and compensated by the controller of the tracking system (left horizontal straight line I in FIG. 1).
  • the assistance torque M ⁇ SS is increased up to an upper limit value M AS s, max.
  • at least the upper limit value M ASS , m a ⁇ of the assistance torque M ASS can be dynamically adapted to the manual torque M H currently applied by the driver to the steering wheel. This is shown by the dashed lines IV, V, VI in Fig. 1.
  • the signal of the hand torque is processed by suitable filters so that brief peaks in the signal curve, in particular due to the inertia of the steering column and the steering wheel in connection with disturbances from the road (such as potholes), no output signal above M H , OW create.
  • Lane guidance system is limited in such a way that the torque required for guiding the vehicle in the lane is linearly limited to a maximum value with increasing manual torque (falling straight line II in FIG. 1).
  • the torque that is necessary for guiding the vehicle in the lane is additionally regulated by a time-controlled ramp.
  • the compensation value determined and already limited at the time the upper threshold value is reached is adjusted to the value 0 (ZERO).
  • ZERO the value 0
  • the output value M ASS , max left straight line VII in FIGS. 2 and 3
  • the driver again has a "normal" steering feel, so that he, as if by the Known driving without automatic lane guidance, can change lanes or avoid maneuvers. The driver has been taken over.
  • the "outer" compensation limitation is opened.
  • the initial value for the linear limitation dependent on the manual torque is controlled to a maximum value (horizontal straight line X in FIGS. 2 and 3) via a time-controlled ramp (straight line IX increasing in time in FIGS. 2 and 3).
  • Guide variables for a controller of the guidance system are determined beforehand, the initially calculated steering angle corresponding to the steering angle currently set by the vehicle driver. During the time of the system takeover, these command variables are controlled by time ramps to the value 0 (ZERO). If these command variables have become 0 (NULL), the system has been adopted.
  • the method can be implemented in parts or combined with known methods. In addition to the described methods, this also includes possible optical or acoustic or other haptic information (such as via the accelerator pedal) for the driver to keep lane.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour assister un conducteur de véhicule lorsqu'il effectue un braquage, procédé selon lequel un couple de braquage peut être appliqué au volant. L'invention est caractérisée en ce qu'un couple d'assistance supplémentaire MASS, permettant d'assister le conducteur du véhicule lorsqu'il roule sur une voie, est appliqué au volant.
PCT/EP2004/053565 2003-12-24 2004-12-17 Procede pour assister un conducteur de vehicule WO2005063546A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112004002450T DE112004002450D2 (de) 2003-12-24 2004-12-17 Verfahren zur Unterstützung eines Fahrzeugführers
EP04804908A EP1699674A1 (fr) 2003-12-24 2004-12-17 Procede pour assister un conducteur de vehicule

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10361239.4 2003-12-24
DE10361239 2003-12-24

Publications (1)

Publication Number Publication Date
WO2005063546A1 true WO2005063546A1 (fr) 2005-07-14

Family

ID=34716206

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/053565 WO2005063546A1 (fr) 2003-12-24 2004-12-17 Procede pour assister un conducteur de vehicule

Country Status (3)

Country Link
EP (1) EP1699674A1 (fr)
DE (1) DE112004002450D2 (fr)
WO (1) WO2005063546A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1950115A2 (fr) * 2007-01-26 2008-07-30 Delphi Technologies, Inc. Systèmes, procédés et produits de programme informatique pour la détection de changement de voie et la manipulation de couple de tenue de route
EP2591983A1 (fr) * 2011-11-11 2013-05-15 Volvo Car Corporation Procédé et système d'adaptation de superposition de couple d'un volant de véhicule dans un système d'aide au maintien de voie
DE102013006685A1 (de) * 2013-04-18 2014-10-23 Audi Ag Kraftfahrzeug
US9527527B2 (en) 2014-11-04 2016-12-27 Volvo Car Corporation Method and system for intelligent scaling of torque overlay intervention for semi-autonomous road vehicle steering systems
DE102018208863A1 (de) 2018-06-06 2019-12-12 Audi Ag Verfahren zum Betrieb eines Kraftfahrzeugs mit einem Lenkmittel
CN114620122A (zh) * 2022-03-28 2022-06-14 智己汽车科技有限公司 一种驾驶手力调节方法及设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0771714A2 (fr) * 1995-11-02 1997-05-07 Honda Giken Kogyo Kabushiki Kaisha Système de correction d'angle de direction dans un véhicule
DE19830548A1 (de) * 1997-07-09 1999-02-25 Toyota Motor Co Ltd Fahrzeuglenksteuervorrichtung zur Unterstützung einer Lenkbetätigung zum Bewegen eines Fahrzeugs entlang einer durch einen Fahrer gewünschten Linie
US6178365B1 (en) * 1997-09-13 2001-01-23 Honda Giken Kogyo Kabushiki Kaisha Steering control system for vehicle
US6212453B1 (en) * 1998-09-11 2001-04-03 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system
US20010054519A1 (en) * 2000-06-27 2001-12-27 Takeshi Nishiwaki Automotive vehicle steering control device
EP1291227A2 (fr) * 2001-09-04 2003-03-12 Honda Giken Kogyo Kabushiki Kaisha Appareil de contrôle de déplacement d'un véhicule

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0771714A2 (fr) * 1995-11-02 1997-05-07 Honda Giken Kogyo Kabushiki Kaisha Système de correction d'angle de direction dans un véhicule
DE19830548A1 (de) * 1997-07-09 1999-02-25 Toyota Motor Co Ltd Fahrzeuglenksteuervorrichtung zur Unterstützung einer Lenkbetätigung zum Bewegen eines Fahrzeugs entlang einer durch einen Fahrer gewünschten Linie
US6178365B1 (en) * 1997-09-13 2001-01-23 Honda Giken Kogyo Kabushiki Kaisha Steering control system for vehicle
US6212453B1 (en) * 1998-09-11 2001-04-03 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system
US20010054519A1 (en) * 2000-06-27 2001-12-27 Takeshi Nishiwaki Automotive vehicle steering control device
EP1291227A2 (fr) * 2001-09-04 2003-03-12 Honda Giken Kogyo Kabushiki Kaisha Appareil de contrôle de déplacement d'un véhicule

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1950115A2 (fr) * 2007-01-26 2008-07-30 Delphi Technologies, Inc. Systèmes, procédés et produits de programme informatique pour la détection de changement de voie et la manipulation de couple de tenue de route
EP1950115A3 (fr) * 2007-01-26 2009-12-16 Delphi Technologies, Inc. Systèmes, procédés et produits de programme informatique pour la détection de changement de voie et la manipulation de couple de tenue de route
US7885730B2 (en) 2007-01-26 2011-02-08 Nexteer (Beijing) Technology Co., Ltd. Systems, methods and computer program products for lane change detection and handling of lane keeping torque
EP2591983A1 (fr) * 2011-11-11 2013-05-15 Volvo Car Corporation Procédé et système d'adaptation de superposition de couple d'un volant de véhicule dans un système d'aide au maintien de voie
US8849516B2 (en) 2011-11-11 2014-09-30 Volvo Car Corporation Method and system for adaptation of a steering wheel torque overlay of a lane keeping aid system
DE102013006685A1 (de) * 2013-04-18 2014-10-23 Audi Ag Kraftfahrzeug
DE102013006685B4 (de) * 2013-04-18 2016-11-17 Audi Ag Kraftfahrzeug und Verfahren zur Querführung eines Kraftfahrzeugs
US9527527B2 (en) 2014-11-04 2016-12-27 Volvo Car Corporation Method and system for intelligent scaling of torque overlay intervention for semi-autonomous road vehicle steering systems
DE102018208863A1 (de) 2018-06-06 2019-12-12 Audi Ag Verfahren zum Betrieb eines Kraftfahrzeugs mit einem Lenkmittel
CN114620122A (zh) * 2022-03-28 2022-06-14 智己汽车科技有限公司 一种驾驶手力调节方法及设备

Also Published As

Publication number Publication date
EP1699674A1 (fr) 2006-09-13
DE112004002450D2 (de) 2006-11-16

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