WO2015048959A1 - Verfahren und vorrichtung für einen automatischen lenkeingriff - Google Patents
Verfahren und vorrichtung für einen automatischen lenkeingriff Download PDFInfo
- Publication number
- WO2015048959A1 WO2015048959A1 PCT/DE2014/200465 DE2014200465W WO2015048959A1 WO 2015048959 A1 WO2015048959 A1 WO 2015048959A1 DE 2014200465 W DE2014200465 W DE 2014200465W WO 2015048959 A1 WO2015048959 A1 WO 2015048959A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering wheel
- driver
- steering
- intervention
- engagement strength
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1124—Determining motor skills
- A61B5/1125—Grasping motions of hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6893—Cars
-
- 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
- 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
- B62D15/0265—Automatic obstacle avoidance by steering
-
- 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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
-
- 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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0247—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/04—Arrangements of multiple sensors of the same type
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
Definitions
- the invention relates to the technical field of driver assistance systems which provide an automated steering intervention to assist a driver.
- Driver assistance systems are known in the art, e.g. Lane Departure Prevention Systems or Emergency Steering Systems that provide automated steering intervention to assist a driver.
- a steering wheel with optoelectronic sensor is disclosed in DE196 31 502 C1.
- the steering wheel is equipped with a fiber optic sensor that responds to the pressure of the hands of a driver on the steering wheel.
- the sensor signal varies with the magnitude of the pressure.
- a plurality of pressure sensors applied to the steering wheel wherein at least one pressure sensor in the right area and a pressure sensor in the left area of the steering wheel is arranged, it can be determined whether the driver holds the steering wheel with one or two hands. It is state of the art with a plurality of pressure sensors different pressure points on a steering wheel, e.g. Evaluate the rear left, right or front independently, in particular to close a driver's intention or driver attention or a number of hands on the steering wheel.
- DE 10 2004 057 262 A1 discloses a method and a device for deactivating a driver assistance system influencing the steering of a vehicle as a function of a driver's steering variable, in particular if the driver's steering variable exceeds a threshold value. This principle is known to all driver assistance systems as a driver overriding the assistance system.
- the claimed in DE 10 2007 052 258 A1 driver assistance system provides that when the driver brings at least one hand to the previously untouched steering wheel, the automatic lateral control of the vehicle from the activated in the deactivated Condition changes and when removing the hand from the steering wheel, the automatic traverse control is reactivated.
- a mechanical steering system or an electronically amplified steering system (power steering) or electronic steering system (steer-by-wire) in a vehicle converts a steering angle on the steering wheel of a vehicle into cornering of the vehicle.
- driver assistance systems with an automated steering intervention such as e.g. a driver assistance system for tracking (lane keeping system) or an emergency steering system or a parking system known or implemented in today's production vehicles.
- the automated steering intervention is recognizable by a deflection of the steering wheel for the driver.
- the automated steering intervention in the sense of the invention claimed here always relates to an activated driver assistance system for an automated steering intervention such as, for example, an automated steering intervention. a driver assistance system for tracking or an emergency steering system or a parking system.
- the core idea of the invention to provide a method for determining an engagement strength of an automatic steering intervention for a vehicle, in which the engagement strength is determined in dependence on how firmly a driver holds the steering wheel or with how many hands he holds the steering wheel. Furthermore, it is a core idea of the invention that a threshold value for a maximum allowable engagement strength is determined depending on how firmly a driver holds the steering wheel or with how many hands he holds the steering wheel. In this embodiment of the invention, the idea of safety is in the foreground. By the specified dependence of the threshold can be ensured that the vehicle remains manageable for the driver during the autonomous steering operation. This applies in particular to an embodiment of the invention in which the threshold value is increased with an increasing pressure applied by the driver to the steering wheel or with an increasing number of hands on the steering wheel.
- the effectiveness of the automatic steering intervention is thus estimated in advance and included in the selected engagement strength or it is ensured that the vehicle remains manageable even during the autonomous steering movement for the driver.
- the intervention strength is additionally increased, if it requires the surrounding situation and the driver holds the steering wheel firmly and / or with two hands, so that he could outvote the assistance system with a high probability, even at an increased intervention strength.
- the engagement strength is determined as a function of a driver's manual torque or a pressure force applied by the driver to the steering wheel.
- the pressure force on the steering wheel is indicative of the number of hands on the steering wheel, especially when a plurality of pressure sensors are provided at different locations on the steering wheel.
- the engagement strength is increased with an increasing driver's hand moment.
- a maximum allowable engagement strength is limited by an upper threshold. This threshold is selected depending on how tightly a driver holds the steering wheel or with how many hands he holds the steering wheel. If the steering wheel increasingly solid, especially with an increasing applied by the driver to the steering wheel pressure force, or held with an increasing number of hands on the steering wheel, the threshold is increased.
- the engagement strength is varied by varying a torque applied to the steering wheel and / or a duration of a torque applied to the steering wheel.
- the engagement strength is increased by increasing the torque and / or increasing the duration of the torque.
- the engagement strength is determined as a function of a speed of the vehicle. As the speed increases, the intervention intensity becomes smaller, in particular because the intervention, but also the incorrect intervention, has a greater effect on the driving behavior and the driving situation.
- the engagement strength is also determined as a function of a driver's attention recognition.
- the driver's attention may e.g. be detected with an interior camera that receives the driver's line of sight.
- the driver's activity may be evaluated, e.g. if the driver performs an operation of the accelerator or brake pedal or the steering wheel, it can be closed to an attentive driver. If the driver is now attentive and has two hands on the steering wheel and / or the steering wheel firmly in his hand, a higher level of engagement can be selected than if the driver were inattentive.
- the invention also provides a device for an automatic steering intervention, which includes a sensor system for detecting an environmental situation.
- the sensor system recognizes the need for automatic steering intervention, e.g. when the vehicle leaves the lane or is about to leave.
- an automatic steering intervention at risk of collision can be performed to avoid a potential collision object.
- the device also comprises a memory on which a method as described above is deposited and a processor for carrying out a method.
- a device for outputting a torque to a steering wheel of a vehicle is provided, wherein strength and / or duration of the torque are derived from the engagement strength.
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Biomedical Technology (AREA)
- Surgery (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/913,080 US9889873B2 (en) | 2013-10-01 | 2014-09-10 | Method and device for an automatic steering intervention |
DE112014000172.4T DE112014000172B4 (de) | 2013-10-01 | 2014-09-10 | Verfahren und Vorrichtung für einen automatischen Lenkeingriff |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013219867.1 | 2013-10-01 | ||
DE102013219867 | 2013-10-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015048959A1 true WO2015048959A1 (de) | 2015-04-09 |
Family
ID=51865957
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2014/200465 WO2015048959A1 (de) | 2013-10-01 | 2014-09-10 | Verfahren und vorrichtung für einen automatischen lenkeingriff |
Country Status (3)
Country | Link |
---|---|
US (1) | US9889873B2 (de) |
DE (1) | DE112014000172B4 (de) |
WO (1) | WO2015048959A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019162032A1 (de) * | 2018-02-23 | 2019-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung und verfahren zum betreiben eines zumindest teilweise automatisiert fahrbaren fahrzeugs |
US11535296B2 (en) | 2018-02-23 | 2022-12-27 | Bayerische Motoren Werke Aktiengesellschaft | Device and method for operating a vehicle which can be driven in an automated manner comprising a steering wheel which can be operated by the driver |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112014000172B4 (de) * | 2013-10-01 | 2024-06-13 | Continental Autonomous Mobility Germany GmbH | Verfahren und Vorrichtung für einen automatischen Lenkeingriff |
JP2017024520A (ja) * | 2015-07-21 | 2017-02-02 | 株式会社デンソー | ステアリング制御装置 |
DE102016217772A1 (de) * | 2016-09-16 | 2018-03-22 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung, Betriebsverfahren und elektronische Steuereinheit zur Steuerung eines zumindest teilweise automatisiert fahrbaren Fahrzeugs |
US10538268B2 (en) | 2017-02-07 | 2020-01-21 | Ford Global Technologies, Llc | Steering-wheel control mechanism for autonomous vehicle |
US10259496B2 (en) | 2017-02-07 | 2019-04-16 | Ford Global Technologies, Llc | Steering-wheel feedback mechanism |
DE112017004634B4 (de) | 2017-03-07 | 2022-03-17 | Continental Automotive Gmbh | Vorrichtung und verfahren zur detektion einer handführung eines lenkrades |
US10543850B2 (en) * | 2017-08-29 | 2020-01-28 | Ford Global Technologies, Llc | Reactivation of driver assist mode |
CN109591880B (zh) * | 2017-09-30 | 2022-05-13 | 比亚迪股份有限公司 | 车辆转向助力的控制方法和装置、存储介质和车辆 |
US11027764B2 (en) | 2018-06-27 | 2021-06-08 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vehicle driving mode safety system |
CN110123346B (zh) * | 2019-05-27 | 2020-12-25 | 山东大学 | 基于多向扰动力矩控制的多指功能性抓握分析装置及方法 |
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2014
- 2014-09-10 DE DE112014000172.4T patent/DE112014000172B4/de active Active
- 2014-09-10 WO PCT/DE2014/200465 patent/WO2015048959A1/de active Application Filing
- 2014-09-10 US US14/913,080 patent/US9889873B2/en active Active
Patent Citations (10)
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DE19631502C1 (de) | 1996-08-03 | 1998-01-22 | Bosch Gmbh Robert | Lenkrad mit optoelektronischem Sensor |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019162032A1 (de) * | 2018-02-23 | 2019-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung und verfahren zum betreiben eines zumindest teilweise automatisiert fahrbaren fahrzeugs |
US11535296B2 (en) | 2018-02-23 | 2022-12-27 | Bayerische Motoren Werke Aktiengesellschaft | Device and method for operating a vehicle which can be driven in an automated manner comprising a steering wheel which can be operated by the driver |
US11904962B2 (en) | 2018-02-23 | 2024-02-20 | Bayerische Motoren Werke Aktiengesellschaft | Device and method for operating a vehicle which can be driven in an at least partly automated manner |
Also Published As
Publication number | Publication date |
---|---|
US9889873B2 (en) | 2018-02-13 |
DE112014000172B4 (de) | 2024-06-13 |
US20160200348A1 (en) | 2016-07-14 |
DE112014000172A5 (de) | 2015-06-18 |
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