WO2013068176A1 - Dispositif, procédé et système permettant de faire fonctionner un véhicule, et programme informatique permettant de mettre en œuvre le procédé sur un module de gestion de signaux - Google Patents

Dispositif, procédé et système permettant de faire fonctionner un véhicule, et programme informatique permettant de mettre en œuvre le procédé sur un module de gestion de signaux Download PDF

Info

Publication number
WO2013068176A1
WO2013068176A1 PCT/EP2012/069311 EP2012069311W WO2013068176A1 WO 2013068176 A1 WO2013068176 A1 WO 2013068176A1 EP 2012069311 W EP2012069311 W EP 2012069311W WO 2013068176 A1 WO2013068176 A1 WO 2013068176A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
management module
control
signal management
control signals
Prior art date
Application number
PCT/EP2012/069311
Other languages
German (de)
English (en)
Inventor
Stefan Nordbruch
Wolfgang Stolz
Wolfgang Schroeder
Michael Knoop
Tino Sommer
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2013068176A1 publication Critical patent/WO2013068176A1/fr

Links

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
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0006—Digital architecture hierarchy
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0044—In digital systems
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/009—Priority selection
    • B60W2050/0094—Priority selection of control 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/209—Fuel quantity remaining in tank
    • 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
    • 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
    • B60W2556/65—Data transmitted between vehicles
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power

Definitions

  • the invention relates to a device and a method for operating a
  • the invention further relates to a system for operating a vehicle and to a computer program.
  • Driver assistance systems as such are known. They usually include an environment sensor, which can sensory detect a vehicle environment. Based on the corresponding surroundings sensor data, the driver assistance systems form control signals which are sent directly to a control unit for a control system of the
  • Signal line connected to the control unit of the control system.
  • an apparatus for operating a vehicle comprises a signal management module which has a plurality of sensor interfaces.
  • environment sensors can be connected or coupled to the sensor interfaces. These environmental sensors are preferably designed for sensory detection of a vehicle environment.
  • the signal management module comprises a plurality of actuator interfaces to which control devices of parking systems of the vehicle can be connected or coupled.
  • the signal management module is in particular designed to send control signals to the control units as a function of sensor signals from the environment sensors.
  • a method of operating a vehicle is provided.
  • sensor signals from environment sensors for sensory detection of a vehicle environment are received by means of a signal management module.
  • the signal management module sends control signals to control devices of control systems of the vehicle.
  • a system for operating a vehicle comprises the device for operating a vehicle, wherein in each case one sensor, in particular a plurality of sensors, are coupled to the sensor interfaces, and in each case one control device, in particular a plurality of control devices, of an actuating system are connected or connected to the actuator interfaces.
  • a computer program comprising program code for executing the method of operating a vehicle when the computer program is executed on a computer, preferably a signal management module.
  • the invention thus encompasses the idea of interposing a signal management module between the environmental sensors of driver assistance systems of a vehicle and control devices of the vehicle's control systems. so that means in particular, that the environmental sensors are no longer directly connected to the control units of the control systems, but instead with the signal management module. This then receives as a central instance the sensor signals of the environment sensors. Depending on the sensor signals, control signals are sent to the control units.
  • the signal management module advantageously manages the sensor signals provided to it and can forward or send them, for example, according to predetermined rules to the control devices of the positioning systems analogously to a router.
  • Control devices are connected, an appropriate networking is advantageously simplified and less complex, insofar as now only a data line or signal line between the signal management module and the control unit is required compared to several signal lines according to the prior art between the environment sensors of the various driver assistance systems and respectively a control unit of the control system.
  • An actuating system in the sense of the present invention designates in particular a system which can intervene in a vehicle operation and / or a vehicle guidance.
  • An adjusting system can be, for example, a steering system, in particular an electric power steering system.
  • An actuating system can for example also be a drive train system.
  • a control system may preferably be a vehicle dynamics control system, also known as an Electronic Stability Program (ESP).
  • ESP Electronic Stability Program
  • An adjusting system may, for example, also be an anti-lock braking system or a traction control system.
  • An adjustment system may be, for example, a brake system or a drive system of the vehicle.
  • a positioning system thus particularly designates a system which implements directed requirements for a vehicle movement such as acceleration, braking and / or steering in order to guide the vehicle accordingly.
  • a control device may also be referred to as a controller and may be embodied in particular in hardware and / or in software.
  • Such controls in particular control the parking systems of the vehicle which are connected to them, this control in particular in response to the control signals of the signal management module.
  • Sensor signals of the environmental sensors in the sense of the present invention include, in particular, environmental sensor data which corresponds to the sensory vehicle environment.
  • environment sensor data can also be referred to as vehicle environment data in particular and in particular include information about the vehicle environment.
  • information may, for example, relate to physical objects.
  • a physical object may be, for example, another vehicle, a pedestrian, a traffic sign, a signal system or
  • the vehicle surroundings data include physical characteristics of the road such as a road width, a road width, curve radii and / or departures.
  • the respective position and dimensions are also stored in the vehicle environment data.
  • Vehicle environment data may in particular also include information about current conditions, such as, for example, that there is a construction site with changed road characteristics at the corresponding position.
  • vehicle surroundings data may also include lane data which includes, for example, the information about a lane line color.
  • Vehicle environment data in the sense of the present invention include in particular images and / or videos.
  • a corresponding position is assigned to the vehicle environment data, which can be determined, in particular, by means of a global positioning system (GPS) sensor.
  • GPS global positioning system
  • Environment sensors in the sense of the present invention may include, for example, radar sensors, video sensors, in particular video sensors of a stereo camera or an environment camera system for image capturing a 360 ° environment of the vehicle, or ultrasound sensors.
  • Environmental sensors may include, for example, lidar sensors, time-of-flight sensors and / or a photo-mixing detector, also known as photonic mixing device (PMD) sensors.
  • PMD photonic mixing device
  • a PMD sensor may be used as an image sensor in TOF cameras, where TOF stands for "time of flight", and is based on the light-time-of-flight method.
  • a communication interface for a communication system is provided.
  • the communication system is adapted to receive environmental sensor data corresponding to a vehicle environment and transmitted externally from the vehicle.
  • Such environmental sensor data may be referred to in particular as external environmental sensor data.
  • the environmental sensor data which are formed by means of the environmental sensors of the vehicle itself, can be referred to as internal environmental sensor data.
  • the statements made in connection with the internal environment sensor data apply analogously to the external environment sensor data.
  • the signal management module is in particular designed to form the control signals as a function of the external environment sensor data and to send them to the control devices.
  • the provision of such a communication interface thus advantageously makes it possible to connect or couple a communication system to the signal management module, so that further external environmental sensor data can be used for the formation and calculation of the control signals.
  • Such external environment sensor data can be formed for example by means of external environment sensors of other vehicles.
  • a communication between the vehicle and the other vehicles can be carried out in particular by means of the Car2Car communication method.
  • the external surroundings sensor data are formed by means of environmental sensors which are arranged on a fixed infrastructure such as a building or a traffic sign or a bridge.
  • a corresponding communication can then be carried out, for example, by means of the Car2l communication method.
  • the "I" stands for the English term "infrastructure".
  • the communication system receives, in addition to or in addition to the external environment sensor data, other data relevant to a calculation of a vehicle guidance strategy.
  • data may include, for example, navigation data or traffic data, such as traffic data.
  • an energy management interface is provided, to which a power management module can be connected or coupled.
  • a power management module is in particular designed to manage an energy available for vehicle operation.
  • the energy management module is preferably set up to form further control signals for the control devices as a function of the available energy.
  • the signal management module is preferably designed to form the control signals as a function of the further control signals and to send them to the control units.
  • an energy management module By providing the power management interface, it is thus advantageously possible to connect an energy management module to the signal management module, so that the energy available for vehicle operation can be taken into account in the calculation and formation of the control signals for the control systems.
  • energy is meant in particular an electrical energy.
  • an available energy may correspond to a quantity of fuel.
  • control systems are operated only limited or not at all, if the energy available for vehicle operation, so for example if a charge state of a battery is too low and / or if, for example, a fuel quantity is insufficient, for example, at the same time still to reach a predetermined vehicle target is less than a predetermined value.
  • a power for a propulsion system or for other control systems with a high energy requirement can be limited.
  • the signal management module is designed to override or override the restrictions imposed by the energy management module on operating the control systems in a critical driving situation.
  • a critical driving situation can be, for example, emergency braking for accident prevention or accident severity reduction.
  • An accident avoidance, an accident severity reduction and a stabilization of the vehicle may preferably have a higher priority than a power management.
  • the other control signals of the power management module with be given a lower priority compared to the control signals of the signal management module.
  • the control signals of the signal management module are thus preferably sent to the control units.
  • the control signals of the signal management module are preferably sent to the control units in an emergency.
  • the signal management module comprises a vehicle environment module for providing a vehicle environment model.
  • the signal management module in particular comprises a vehicle movement module for providing the control signals as a function of the vehicle environment model. That means in particular that an architectural separation between a vehicle environment module, which calculates a vehicle environment model and correspondingly provides, and a vehicle motion module, which calculates and provides the control signals based on the vehicle environment model, may be provided. This separation has the particular advantage that such a signal management module can be checked and maintained particularly easily.
  • such a signal management module can also be used in a plurality of different vehicles insofar as the vehicle surroundings module can provide a universal, vehicle-independent, vehicle environment model, whereas the vehicle and position-dependent properties are implemented or encapsulated in the vehicle-dependent vehicle movement module.
  • the vehicle surroundings module can be integrated in an environment sensor control unit.
  • the vehicle movement module can be integrated in an ESP control unit.
  • the signal management module is integrated in a control unit or a control of the vehicle.
  • a control unit may be, for example, an environment sensor control unit.
  • the controller may be a radar controller, a video controller, or an ESP controller.
  • the vehicle environment model is assigned the several sensor interfaces.
  • the vehicle motion module is assigned the multiple actuator interfaces. That means that special, that the vehicle environment module receives the sensor signals of the environment sensors. Based on the received sensor signals, the vehicle surroundings module calculates a vehicle environment and provides it to the vehicle motion module.
  • the vehicle surroundings module and the vehicle movement module in particular have suitable interfaces, by means of which the corresponding data can be transmitted in accordance with the vehicle environment model.
  • the control units of the parking systems are connected to the vehicle movement module by means of the controller interfaces. This therefore means in particular that the vehicle movement module forms control signals based on the provided vehicle environment model and specific requirements for a vehicle movement or a vehicle guidance and sends them to the control devices of the positioning systems.
  • the controllers return a status message to the signal management module after the controllers have received the control signals.
  • a status message may include, for example, an actuator availability and / or a parking reserve.
  • the signal management module can thus advantageously form the control signals based on the status of the positioning systems and, in this case, take into account, in particular, an actuator availability and / or a parking reserve.
  • FIG. 1 shows a device for operating a vehicle
  • Fig. 4 shows another system for operating a vehicle
  • Fig. 5 shows another system for operating a vehicle.
  • like reference numerals are used for like features.
  • Fig. 1 shows an apparatus 101 for operating a vehicle (not shown).
  • the device 101 comprises a signal management module 103, which comprises a plurality of sensor interfaces 105.
  • a signal management module 103 which comprises a plurality of sensor interfaces 105.
  • environmental sensors for sensory detection of a vehicle environment can be connected or coupled. This means, in particular, that it is possible by means of the sensor interfaces 105 to make the sensor signals provided by the environmental sensors available to the signal management module 103.
  • the signal management module 103 further includes a plurality of controller interfaces 107 for controllers (not shown) of parking systems (not shown) of the vehicle. This means, in particular, that the control devices or controls of the parking systems of the vehicle can be connected or coupled to the actuator interfaces 107.
  • control signals which are formed by means of the signal management module 103, can be sent to the individual control devices of the positioning systems in an advantageous manner.
  • the signal management module 103 is designed in particular to form the control signals in particular depending on the sensor signals and to send them to the control devices.
  • the signal management module 103 has four sensor interfaces 105 and four controller interfaces 107. In an exemplary embodiment that is not shown, more or less than four sensor interfaces 105 or four actuator interfaces 107 may also be provided.
  • a signal management module is interposed as a parent instance, eliminating the need between each environment sensor to form a separate data or signal line to the control units of the control systems.
  • a networking of environmental sensors and control devices of actuating systems is simplified in an advantageous manner, and thus in particular less prone to error.
  • 2 shows a flowchart of a method for operating a vehicle.
  • sensor signals are received from environmental sensors for sensory detection of a vehicle environment by means of a signal management module.
  • the signal management module sends control signals to control devices of control systems of the vehicle as a function of the sensor signals.
  • the sensor signals of the environmental sensors are not routed directly to the control devices of the control systems, but are first sent to a signal management module.
  • This signal management module is connected between the environmental sensors and the control units. Depending on the sensor signals then sends the signal management module according to control signals to the individual control units. It can preferably be provided that the sensor signals are forwarded directly to the control units. In particular, it can be provided that, in the case of a plurality of sensor signals, these signals are forwarded or sent to the control devices analogously to a router in accordance with predetermined rules.
  • FIG. 3 shows a system 301 for operating a vehicle (not shown).
  • the system 301 includes a device 303 for operating a vehicle.
  • the device 303 has a signal management module 305 comprising a plurality of sensor interfaces 307 and a plurality of actuator interfaces 309.
  • An environmental sensor 31 1 is coupled or connected to the sensor interfaces 307.
  • a control unit 313 of an actuating system of the vehicle is coupled or connected.
  • the environmental sensors 31 1 detect a vehicle environment and send corresponding sensor signals or environment sensor data via the sensor interface 307 to the signal management module 305.
  • the signal management module 305 forms corresponding control signals for the control units 313. These control signals are sent to the control units 313 via the control interfaces 309. In accordance with the control signals, the control units 313 then control the corresponding positioning systems.
  • 4 shows another system 401 for operating a vehicle (not shown).
  • the system 401 includes a device 403 for operating a vehicle having a signal management module 405.
  • the signal management module 405 is similar to the management module 103 in FIG.
  • the signal management module 405 includes a communication interface 407 to which a communication system 409 is coupled.
  • a communication system 409 By means of the communication system 409, it is possible in particular to receive external environment sensor data or generally external data from other vehicles and / or from an infrastructure.
  • the signal management module 405 further has a navigation interface 411, to which a navigation system 413 is coupled, which in particular comprises a digital map.
  • the corresponding navigation data of the navigation system 413 can thus also advantageously be made available to the signal management module 405.
  • the signal management module 405 further includes a power management interface 415 to which a power management module 417 is coupled.
  • the energy management module 417 in particular receives navigation data of the navigation system 413 and can form further control signals for the control devices 313 of the positioning systems based on energy available for driving the vehicle and the navigation data. These further control signals are provided to the signal management module 405 via the power management interface 415 and are not directly provided to the controllers 313.
  • the signal management module 305 thus receives surrounding sensor data or sensor signals of the environment sensors 311, external environment sensor data from others
  • Vehicles and / or infrastructure navigation data of the navigation system 413 and other control signals of the power management module 417.
  • the signal management module 405 forms and calculates corresponding control signals, which are sent to the control units 313 by means of the
  • These then control the individual parking systems of the vehicle in accordance with the control signals.
  • Fig. 5 shows another system 501 for operating a vehicle.
  • the system 501 includes a device 503 for operating a vehicle.
  • the device 503 includes a signal management module 505.
  • the signal management module 505 comprises a vehicle movement module 507 and a vehicle surroundings module 509.
  • the vehicle surroundings module 509 receives sensor signals or surroundings sensor data from environment sensors 511. For the sake of clarity, these surroundings sensor data are indicated symbolically in FIG. 5 by a rectangle with the reference symbol 511.
  • an energy management module 513 is formed, which is coupled or connected to the vehicle movement module 507 via a corresponding energy management interface (not shown here).
  • the power management module 513 receives data from a vehicle surroundings calculator 515, which in turn receives data from a navigation system 517 comprising a digital map.
  • the vehicle surroundings calculation unit 515 calculates a vehicle environment based on the navigation data provided by the navigation system 517.
  • the vehicle surroundings calculation device 515 still receives data from other environment sensors of other vehicles or an infrastructure. This data is provided to the power management module 513, which accordingly forms further control signals and makes them available to the vehicle movement module 507 by means of the power management interface (not shown here).
  • the vehicle surroundings calculation device 515 can also be referred to as an electronic horizon, since in particular it calculates a far field, for example from about 300 m in relation to the vehicle, of the vehicle surroundings.
  • the vehicle surroundings calculation device 515 is in particular configured to calculate a vehicle route based on the data provided to it.
  • the vehicle surroundings calculation unit 515 also makes the correspondingly calculated vehicle environment available to the vehicle surroundings module 509. Based on the sensor signals and the calculated vehicle environment, the vehicle surroundings module 509 then calculates a vehicle environment model, which may also be referred to herein as an enhanced vehicle environment model.
  • This advanced model is made available via suitable interfaces to the vehicle movement module 507, which forms corresponding control signals and outputs to control devices of parking systems of the vehicle.
  • the multiple control devices are here symbolically marked by a rectangle with the reference numeral 519.
  • the energy management module 513 transmits information about an energy balance, in particular about available energy, of the vehicle to the vehicle surroundings calculation device 515, so that it advantageously displays an instantaneous vehicle route or navigation route of the vehicle. fits and / or optimizes.
  • the vehicle surroundings calculation device 515 preferably transmits digital maps, for example topology data, GPS data, data from external vehicles and / or external infrastructures, to the energy management module 513, so that the latter can advantageously take this information into account in a coverage calculation.
  • the energy management module 513 transmits limitations and / or parking reserves to the vehicle movement module 507 via the power management interface.
  • parking reserves may include, for example, parking reserves when recuperating and / or limiting a vehicle speed.
  • the energy management module 513 outputs information about an energy budget and / or driving instructions and / or driving recommendations for a vehicle control or vehicle guidance to a driver via a human-machine interface, for example by means of a screen.
  • the interfaces to the environment sensors can be formed either at the feature level, for example detected edges in the case of video, or object plane, for example the detected vehicle in the case of radar or video.
  • the following influencing variables can preferably be provided for a vehicle movement.
  • a longitudinal force F x can be provided for orders or requests for accelerating or decelerating as an influencing variable.
  • a motor drive system and / or transmission system is controlled as a control system.
  • an ESP and / or a motor drive system and / or transmission system is controlled as a control system via a corresponding engine drag torque and / or a Rekuperationsbremsung in electric vehicles.
  • a yaw moment M z for orders or requests for changing the direction of travel can also be provided as influencing variable as influencing variable.
  • one-sided braking interventions can be carried out via the ESP.
  • Called EPS via an electronic power steering system the required yaw moment can be converted into a steering torque request via a downstream steering torque controller.
  • the corresponding calculations in the individual components of the system 501 are carried out internally in the respective component itself.
  • the corresponding calculations are carried out externally by the vehicle, for example by means of an external server.
  • a combination of internal and external calculation, ie both in the system 501 and in the external server may be provided.
  • a corresponding communication between the vehicle and the external server can be carried out, for example, by means of the WLAN communication method and / or the long term evolution (Ite) communication method.
  • the signal management module it is possible by means of the signal management module according to the invention to provide a standardized structure adapted to different system configurations (environmental sensors, actuators) in which the variant diversity of an increasing number of driver assistance functions can be controlled in an advantageous manner.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif (303) permettant de faire fonctionner un véhicule, comprenant un module de gestion de signaux (305) doté de plusieurs interfaces de capteur (307) destinées à des capteurs d'environnement (311) détectant les zones situées autour du véhicule, et de plusieurs interfaces d'actionneurs (309) destinées à des appareils de commande (313) de systèmes d'actionnement du véhicule, le module de gestion de signaux (305) étant conçu pour envoyer des signaux de commande aux appareils de commande (313) en fonction des signaux des capteurs d'environnement (311). L'invention concerne en outre un procédé et un système (301) permettant de faire fonctionner un véhicule, ainsi qu'un programme informatique.
PCT/EP2012/069311 2011-11-09 2012-10-01 Dispositif, procédé et système permettant de faire fonctionner un véhicule, et programme informatique permettant de mettre en œuvre le procédé sur un module de gestion de signaux WO2013068176A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011085976.4 2011-11-09
DE102011085976A DE102011085976A1 (de) 2011-11-09 2011-11-09 Vorrichtung und verfahren zum betreiben eines fahrzeugs

Publications (1)

Publication Number Publication Date
WO2013068176A1 true WO2013068176A1 (fr) 2013-05-16

Family

ID=46970279

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/069311 WO2013068176A1 (fr) 2011-11-09 2012-10-01 Dispositif, procédé et système permettant de faire fonctionner un véhicule, et programme informatique permettant de mettre en œuvre le procédé sur un module de gestion de signaux

Country Status (2)

Country Link
DE (1) DE102011085976A1 (fr)
WO (1) WO2013068176A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016087117A1 (fr) * 2014-12-02 2016-06-09 Robert Bosch Gmbh Dispositif d'aide à la conduite, véhicule automobile, procédé de fonctionnement d'un dispositif d'aide à la conduite d'un véhicule automobile
EP2594446A3 (fr) * 2011-11-15 2018-05-09 Robert Bosch Gmbh Dispositif et procédé de fonctionnement d'un véhicule automobile

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013016702A1 (de) 2013-10-08 2015-04-09 Audi Ag Crasherkennung bei stillstehendem Kraftfahrzeug
US10509407B2 (en) * 2016-07-01 2019-12-17 Samsung Electronics Co., Ltd. Apparatus and method for a vehicle platform
US11155267B2 (en) 2016-10-11 2021-10-26 Samsung Electronics Co., Ltd. Mobile sensor platform

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070142987A1 (en) * 2003-12-26 2007-06-21 Toyota Jidosha Kabushiki Kaisha Vehicle integrated control system
US20100256856A1 (en) * 2007-11-01 2010-10-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
DE102009050504A1 (de) * 2009-05-08 2010-11-25 GM Global Technology Operations, Inc., Detroit Verfahren zum Detektieren eines freien Pfads durch eine Analyse einer topografischen Veränderung
US20110249118A1 (en) * 2010-04-13 2011-10-13 Becker Research And Development (Proprietary) Limited Apparatus, a system and a method for collission avoidance

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070142987A1 (en) * 2003-12-26 2007-06-21 Toyota Jidosha Kabushiki Kaisha Vehicle integrated control system
US20100256856A1 (en) * 2007-11-01 2010-10-07 Toyota Jidosha Kabushiki Kaisha Travel trace generation method and travel trace generation device
DE102009050504A1 (de) * 2009-05-08 2010-11-25 GM Global Technology Operations, Inc., Detroit Verfahren zum Detektieren eines freien Pfads durch eine Analyse einer topografischen Veränderung
US20110249118A1 (en) * 2010-04-13 2011-10-13 Becker Research And Development (Proprietary) Limited Apparatus, a system and a method for collission avoidance

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
NAAB, KARL: "Automatisierung bei der Fahrzeugführung im Strassenverkehr", AT - AUTOMATISIERUNGSTECHNIK, vol. 48, no. 5, 2 May 2000 (2000-05-02), Oldenbourg-Verlag, München DE, pages 211 - 223, XP009165774, ISSN: 0178-2312 *
SKUTEK, M.; LINZMEIER, D.: "Fusion von Sensordaten am Beispiel von Sicherheitsanwendungen in der Automobiltechnik", AT - AUTOMATISIERUNGSTECHNIK, vol. 53, no. 7, 1 July 2005 (2005-07-01), Oldenbourg-Verlag, München DE, pages 295 - 305, XP009165775, ISSN: 0178-2312 *
WINNER ET AL: "Adaptive Cruise Control System Aspects and Development Trends", SAE TRANSACTIONS, SOCIETY OF AUTOMOTIVE ENGINEERS, INC., WARRENDALE, PA, US, vol. 105, no. 961010, 1 January 1996 (1996-01-01), pages 1412 - 1421, XP002124577, ISSN: 0096-736X *
ZANTEN VAN A ET AL: "FDR - DIE FAHRDYNAMIK-REGELUNG VON BOSCH", ATZ AUTOMOBILTECHNISCHE ZEITSCHRIFT, VIEWEG PUBLISHING, WIESBADEN, DE, vol. 96, no. 11, 1 November 1994 (1994-11-01), pages 674 - 689, XP000478694, ISSN: 0001-2785 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2594446A3 (fr) * 2011-11-15 2018-05-09 Robert Bosch Gmbh Dispositif et procédé de fonctionnement d'un véhicule automobile
WO2016087117A1 (fr) * 2014-12-02 2016-06-09 Robert Bosch Gmbh Dispositif d'aide à la conduite, véhicule automobile, procédé de fonctionnement d'un dispositif d'aide à la conduite d'un véhicule automobile
CN107000758A (zh) * 2014-12-02 2017-08-01 罗伯特·博世有限公司 驾驶员辅助控制设备、机动车、用于运行机动车的驾驶员辅助控制设备的方法
CN107000758B (zh) * 2014-12-02 2020-01-07 罗伯特·博世有限公司 驾驶员辅助控制设备、机动车、用于运行机动车的驾驶员辅助控制设备的方法

Also Published As

Publication number Publication date
DE102011085976A1 (de) 2013-05-16

Similar Documents

Publication Publication Date Title
EP2594446B1 (fr) Dispositif et procédé de fonctionnement d'un véhicule automobile
EP2780207B1 (fr) Dispositif et procédé permettant de faire fonctionner un véhicule
DE102018111778B4 (de) Verfahren, Vorrichtung und System zur Steuerung eines Fahrzeugs, das eine Kreuzung passiert.
EP3016827B1 (fr) Procédé et dispositif permettant de faire fonctionner un véhicule automobile en mode automatique
DE102016112859B4 (de) Navigationsvorrichtung für ein autonom fahrendes Fahrzeug
DE102018106527A1 (de) Elektronische Steuereinheiten, Fahrzeuge und Verfahren zum Umschalten einer Fahrzeugsteuerung aus einem autonomen Fahrmodus
DE102014213171A1 (de) System zur autonomen Fahrzeugführung und Kraftfahrzeug
DE102016011970A1 (de) Fahrzeugsicherheitssystem
EP3569465B1 (fr) Dispositif et système de fourniture d'une fonction d'automatisation pour un véhicule
EP2771227A1 (fr) Procédé pour conduire un véhicule et système d'assistance au conducteur
DE102013113573A1 (de) Gefahrenreaktionsentscheidung auf Kontextbasis
DE102018203353A1 (de) Steuereinheit und Verfahren zum Betreiben einer Fahrfunktion an einer Signalisierungsanlage
DE102016207421A1 (de) Fahrzeugfahrtsteuervorrichtung
DE102011053855A1 (de) Fahrzeugfahrtregelungsvorrichtung
EP3333049A1 (fr) Procédé de manoeuvre autonome d'un véhicule automobile sur un parking à partir d'un couloir de circulation en fonction d'une carte numérique, dispositif d'infrastructure, systèmes d'aide à la conduite, véhicules automobiles ainsi que systèmes de communication
DE102013221696A1 (de) Verfahren und Vorrichtung zum Ermitteln eines Höhenverlaufes einer vor einem Fahrzeug liegenden Straße
DE102016212326A1 (de) Verfahren zur Verarbeitung von Sensordaten für eine Position und/oder Orientierung eines Fahrzeugs
WO2013068176A1 (fr) Dispositif, procédé et système permettant de faire fonctionner un véhicule, et programme informatique permettant de mettre en œuvre le procédé sur un module de gestion de signaux
DE112016007501T5 (de) Regel-/steuervorrichtung und regel-/steuerverfahren
DE102018219665A1 (de) Verfahren und Steuereinheit zum Betreiben eines autonomen Fahrzeugs
WO2018099740A1 (fr) Procédé de manœuvre autonome d'un véhicule automobile sur une aire de stationnement comprenant la détermination d'un écart de position, dispositif d'infrastructure, systèmes d'aide à la conduite, véhicule automobile ainsi que système de communication
DE112018007201T5 (de) Fahrtsteuervorrichtung, fahrtsteuerverfahren und programm
DE102016226309A1 (de) Vorrichtung und Verfahren zur Fahrzeugführung eines Kraftfahrzeugs
EP3042819B1 (fr) Systeme d'assistance a la conduite et procede de guidage assiste d'un vehicule
WO2014198439A1 (fr) Procédé et dispositif permettant de faire fonctionner un véhicule

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12768791

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 12768791

Country of ref document: EP

Kind code of ref document: A1