WO2016078654A1 - Method for adapting the handling of a vehicle - Google Patents
Method for adapting the handling of a vehicle Download PDFInfo
- Publication number
- WO2016078654A1 WO2016078654A1 PCT/DE2015/200487 DE2015200487W WO2016078654A1 WO 2016078654 A1 WO2016078654 A1 WO 2016078654A1 DE 2015200487 W DE2015200487 W DE 2015200487W WO 2016078654 A1 WO2016078654 A1 WO 2016078654A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- road condition
- condition data
- movement path
- processing unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 54
- 238000012545 processing Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 9
- 230000003044 adaptive effect Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method 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
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
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- G—PHYSICS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
- G08G1/096822—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the segments of the route are transmitted to the vehicle at different locations and times
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/14—Rough roads, bad roads, gravel roads
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
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- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/06—Active Suspension System
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
-
- 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
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
-
- 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
Definitions
- the invention relates to a method for adjusting the
- Landing gears can be equipped with sensors for capturing the
- Road surface be equipped to detect the nature of the road near the vehicle. Usually, unevenness in the road is measured and the adaptive suspension adjusted accordingly. in the
- optical sensors such as stereo cameras or laser measuring devices are used, but also acoustic or
- DE 10 2012 208 254 AI describes a method for creating a current situation image of the vehicle environment, with which a database is updated, which
- DE 10 2009 017 731 A1 describes a device for creating and storing a digital map for a
- a first vehicle determines the nature of the Road surface with corresponding sensors.
- the vehicle is equipped with a laser scanner, a
- Ultrasound scanner a Radarabtast originated from a source of sound
- a camera device such as a
- Stereo camera device equipped.
- roadway condition data for example, the waviness of the road with its bumps, or potholes, bumps, Fräskanten, transverse grooves, longitudinal grooves, thresholds or large radii of curvature of the surface in longitudinal or
- a determination of a movement path takes place on the basis of the road condition data.
- Movement path is thus as a course of the respective desired locations of the vehicle on the road in dependence of
- Be road lane mark It may be the goal of the determination of the movement path to be as smooth as possible
- Driving behavior as described above so influenced that it depends on the determined movement path.
- the determined motion path can be transmitted as a default for a lane keeping assistant.
- the Lane Keeping Assist tracks the detected motion path. This also includes one by way of example
- One aspect of the invention is adjusting the direction of travel of the second vehicle based on the information of the first vehicle.
- This arithmetic unit can be a central computer - also called server - which serves as a database and transmitting computers. It may be beneficial to the detected
- the detected roadway condition data is transmitted from the central processing unit to the second vehicle.
- One advantage for example, is that only the data from the central computer to the client, so a second Vehicle to be transferred, each of which belongs to the immediate vicinity of the vehicle. Thus, the amount of data to be transmitted can be reduced and a respective current record for
- computing unit can also exist in addition to this network, for example, to coordinate the data exchange among the vehicles or to act as a redundant data source.
- the second vehicle may determine the movement path if, as described above, the road condition data determined by the first vehicle has been transferred to the second vehicle.
- the central processing unit can determine the movement path.
- the determination of the movement path can be done retrospectively. That is, the data is captured and cached in the first vehicle, and after collection of a record, the motion path is determined.
- this method may differ from a real-time or quasi-real-time calculation of a path by not using the current data stream of the currently detected road condition but the data will be used only after caching.
- the movement path can then be transmitted from the first vehicle to the central processing unit.
- the movement path is transmitted from the central processing unit to the second vehicle.
- the movement path is transmitted from the first vehicle directly to the second vehicle.
- the first vehicle detects the road condition data during a trip.
- the second vehicle sends its planned route
- Destination point is calculated by a navigation system, to the central processing unit or the local processing unit to determine a movement path on the entire planned route.
- the road condition for example, in this step for the entire planned route the road condition
- Such areas may, for example, be areas with little or no mobile reception.
- Movement path is transmitted.
- the second vehicle executes a form of the method as shown in the description, but combines the method with the road condition data, which are detected with its own sensors.
- An advantage may be, short-term current
- Computing unit receives and uses for the determination of the movement path, as well as road condition data recorded with its own vehicle sensor and additionally used for the determination of the movement path. Especially with time lapse quickly changeable road condition data this can
- the central processing unit does not have up-to-date road condition data.
- the second vehicle also detect the road condition and the central
- Computing unit or other vehicles can transmit. This means that, for example, a centrally stored map with road condition data of a plurality of vehicles is kept up to date, this centrally stored map being the source for
- the second vehicle supports its own position determination with information of the environment detected by the sensors installed in the vehicle. This can be done for example via a camera and image processing algorithms, the algorithms the detected environment with stored environment data
- Potholes are detected, used.
- Position determination is carried out by a position determination based on terrestrial markers.
- Position detection the method can be carried out more effectively, i. in particular that of
- Movement path and corresponding steering movements of a vehicle can be more precisely matched.
- the speed of the second vehicle can be reduced as a function of the road condition, for example heavy road surface damage.
- Fig. 1 shows a schematic representation of a first
- Vehicle a second vehicle and a central one
- Arithmetic unit which is a method according to a
- FIG. 2 shows a vehicle having a local computing unit, a road condition detection unit and a vehicle
- FIG. 3 shows a schematic flowchart of a method according to an embodiment of the invention. Detailed description of embodiments
- FIG. 1 shows a possible structure of a first vehicle 101, a second vehicle 102 and a central one
- the movement path can be transmitted 8 from the first vehicle 101 to the central processing unit 200, and / or the detected road condition data
- From the central processing unit 200 may be detected to the second vehicle 102
- Vehicle 101 to the second vehicle 102 immediately detected road condition data transmitted 4, and / or the
- FIG. 2 shows an example of a first vehicle 101 with a local computing unit 300, a
- Road condition detection unit 400 and a Data transmission unit 500 wherein the local processing unit 300, for example, the movement path from the detected
- the local computing unit 300 may also issue steering recommendations or transmit steering commands to an automatic or semi-automatic steering unit. This road condition data is provided by the local computing unit 300 .
- Data transmission unit 500 can in particular the
- Road condition detecting unit 400 as shown in Fig. 2 done.
- the acquired data can either be stored locally for further use, or transmitted to a central processing unit, or also transmitted to a second vehicle 102.
- Road condition data This can be done, for example, by the local arithmetic unit 300 as shown in Fig. 2;
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Atmospheric Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Disclosed is a method for adapting the handling of a vehicle, said method having the following steps: detection (S1) of roadway condition data by a first vehicle (101); determination (S2) of a motion path on the basis of the roadway condition data; adaptation (S3) of the handling of the second vehicle (102) to the motion path.
Description
Beschreibung description
Verfahren zum Anpassen des Fahrverhaltens eines Fahrzeugs Method for adjusting the driving behavior of a vehicle
Gebiet der Erfindung Field of the invention
Die Erfindung betrifft ein Verfahren zum Anpassen des The invention relates to a method for adjusting the
Fahrverhaltens eines Fahrzeugs. Driving behavior of a vehicle.
Hintergrund der Erfindung Background of the invention
Fahrzeuge mit Fahrerassistenzsystemen oder adaptiven Vehicles with driver assistance systems or adaptive
Fahrwerken können mit Sensoren für die Erfassung der Landing gears can be equipped with sensors for capturing the
Fahrbahnoberfläche ausgestattet sein, um die Beschaffenheit der Fahrbahn in der Nähe des Fahrzeugs zu erfassen. Dabei werden üblicherweise Unebenheiten in der Fahrbahn gemessen und das adaptive Fahrwerk dementsprechend angepasst. Im Road surface be equipped to detect the nature of the road near the vehicle. Usually, unevenness in the road is measured and the adaptive suspension adjusted accordingly. in the
Wesentlichen werden optische Sensoren wie Stereokameras oder Lasermessgeräte verwendet, aber auch akustische oder In essence, optical sensors such as stereo cameras or laser measuring devices are used, but also acoustic or
elektromagnetische Messeinrichtungen sind möglich. Die electromagnetic measuring devices are possible. The
Benutzung eines solchen adaptiven Fahrwerks verbraucht aber einen deutlichen Teil der verfügbaren Motorleistung. Zudem ist die Reichweite der Sensoren zum Erfassen der Schlaglöcher und Bodenwellen naturgemäß auf die nähere Umgebung des Fahrzeugs begrenzt . However, using such an adaptive suspension consumes a significant portion of the available engine power. In addition, the range of the sensors for detecting the potholes and bumps is naturally limited to the immediate vicinity of the vehicle.
DE 10 2012 208 254 AI beschreibt ein Verfahren zur Erstellung eines aktuellen Situationsabbilds des Fahrzeugumfelds, mit welchem eine Datenbank aktualisiert wird, welche DE 10 2012 208 254 AI describes a method for creating a current situation image of the vehicle environment, with which a database is updated, which
Situationsabbilder von mehreren Fahrzeugen speichert.
DE 10 2009 017 731 AI beschreibt eine Vorrichtung zum Erstellen und Speichern einer digitalen Karte für ein Saves situation images of multiple vehicles. DE 10 2009 017 731 A1 describes a device for creating and storing a digital map for a
Transportmittel . Zusammenfassung der Erfindung Mode of Transport . Summary of the invention
Es kann als Aufgabe der Erfindung betrachtet werden, den Fahrkomfort in einem Fahrzeug bei niedrigem Materialverschleiß und niedrigem Leistungsaufwand zu erhöhen . It can be considered an object of the invention to increase the ride comfort in a vehicle with low material wear and low power consumption.
Diese Aufgabe wird gelöst durch den Gegenstand des This problem is solved by the subject matter of
unabhängigen Anspruchs. Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen und aus der folgenden Beschreibung . independent claim. Further developments of the invention will become apparent from the dependent claims and from the following description.
Gemäß einem Aspekt der Erfindung ist ein Verfahren zum According to one aspect of the invention, a method for the
Anpassen des Fahrverhaltens eines Fahrzeugs gegeben, Adjusting the driving behavior of a vehicle given,
aufweisend die folgenden Schritte: having the following steps:
Erfassen von Fahrbahnzustandsdaten durch ein erstes Fahrzeug; Ermitteln eines Bewegungspfads auf Grundlage der Detecting road condition data by a first vehicle; Determine a motion path based on the
Fahrbahnzustandsdaten; Road condition data;
Anpassen des Fahrverhaltens des zweiten Fahrzeugs an den Bewegungspfad . Dabei wird im Rahmen dieser Beschreibung unter Fahrverhalten insbesondere die Richtungsgebung bzw. Anpassung der Adjusting the handling of the second vehicle to the movement path. It is in the context of this description under driving behavior in particular the direction or adaptation of the
Fahrtrichtung verstanden, also die Lenkbewegungen zum Direction understood, so the steering movements for
Positionieren des Fahrzeugs relativ zu den Rändern der jeweiligen Fahrspur, auf der sich das Fahrzeug momentan befindet. Positioning the vehicle relative to the edges of the respective lane on which the vehicle is currently located.
Im ersten Schritt, dem Erfassen von Fahrbahnzustandsdaten, ermittelt ein erstes Fahrzeug die Beschaffenheit der
Fahrbahnoberflache mit entsprechender Sensorik. Beispielsweise ist das Fahrzeug mit einer Laserabtasteinrichtung, einer In the first step, the detection of road condition data, a first vehicle determines the nature of the Road surface with corresponding sensors. For example, the vehicle is equipped with a laser scanner, a
Ultraschallabtasteinrichtung, einer Radarabtasteinrichtung, oder einer Kameraeinrichtung, beispielsweise einer Ultrasound scanner, a Radarabtasteinrichtung, or a camera device, such as a
Stereokameraeinrichtung, ausgestattet. Stereo camera device, equipped.
Bei Fahrbahnzustandsdaten können beispielsweise die Welligkeit der Fahrbahn mit ihren Unebenheiten, oder auch Schlaglöcher, Bodenwellen, Fräskanten, Querrillen, Längsrillen, Schwellen oder große Krümmungsradien der Oberfläche in Längs oder In roadway condition data, for example, the waviness of the road with its bumps, or potholes, bumps, Fräskanten, transverse grooves, longitudinal grooves, thresholds or large radii of curvature of the surface in longitudinal or
Querrichtung von Interesse sein. Transverse direction of interest.
Im zweiten Schritt findet ein Ermitteln eines Bewegungspfads auf Grundlage der Fahrbahnzustandsdaten statt. In the second step, a determination of a movement path takes place on the basis of the road condition data.
Unter Bewegungspfad versteht man im Rahmen der Beschreibung die Bahnkurve des Fahrzeugs relativ zur Fahrbahn. Der Under movement path is understood in the context of the description of the trajectory of the vehicle relative to the road. Of the
Bewegungspfad ist also als Verlauf der jeweiligen gewünschten Orte des Fahrzeugs auf der Fahrbahn in Abhängigkeit des Movement path is thus as a course of the respective desired locations of the vehicle on the road in dependence of
Fortbewegungsverlaufs auf der Fahrbahn zu verstehen. Das kann beispielsweise ein Abstand zur linken oder rechten Understand progress on the road. This can for example be a distance to the left or right
Fahrbahnbegrenzungsmarkierung sein. Es mag Ziel der Ermittlung des Bewegungspfades sein, einen möglichst glatten Be road lane mark. It may be the goal of the determination of the movement path to be as smooth as possible
Bewegungspfad zu ermitteln, wobei „glatt" als Minimierung von Änderungen der Lenkbewegungen zu verstehen sein kann. Der Bewegungspfad wird auf Grundlage der erfassten Motion path, where "smooth" may be understood as minimizing changes in steering movements
Fahrbahnzustandsdaten ermittelt. Es mag von Interesse sein, den Bewegungspfad derart vorzugeben, dass beispielshalber Schlaglöcher weitestgehend vermieden werden oder in Road condition data determined. It may be of interest to specify the path of movement in such a way that, for example, potholes are largely avoided or avoided
Längsrillen nicht eingefahren wird. Beispielshalber kann auch ein Bewegungspfad ermittelt werden, der Änderungen der Longitudinal grooves are not retracted. By way of example, a movement path can also be determined which changes the
Querbeschleunigungen minimiert, oder auch das Maximum der Querbeschleunigungen unter einer Grenze zu halten versucht.
Im anschließenden Schritt, dem Anpassen des Fahrverhaltens eines zweiten Fahrzeugs an den Bewegungspfad, wird das Transverse accelerations minimized, or even trying to keep the maximum of the lateral accelerations below a limit. In the subsequent step, adjusting the driving behavior of a second vehicle to the movement path, the
Fahrverhalten wie oben beschrieben, so beeinflusst, dass es sich nach dem ermittelten Bewegungspfad richtet. Driving behavior as described above, so influenced that it depends on the determined movement path.
Beispielshalber kann zu einem Spurhalteassistenten der ermittelte Bewegungspfad als Vorgabe übermittelt werden. In diesem Fall verfolgt der Spurhalteassistent den ermittelten Bewegungspfad. Das schließt beispielshalber auch einen By way of example, the determined motion path can be transmitted as a default for a lane keeping assistant. In this case, the Lane Keeping Assist tracks the detected motion path. This also includes one by way of example
Spurwechsel mit ein. Lane change with one.
Ein Aspekt der Erfindung ist das Anpassen der Fahrtrichtung des zweiten Fahrzeugs basierend auf der Information des ersten Fahrzeugs . One aspect of the invention is adjusting the direction of travel of the second vehicle based on the information of the first vehicle.
Gemäß einer Ausführungsform der Erfindung findet ein According to one embodiment of the invention finds
Übertragen der erfassten Fahrbahnzustandsdaten von dem ersten Fahrzeug an eine zentrale, von dem ersten Fahrzeug räumlich getrennte Recheneinheit statt. Transmission of the detected road condition data from the first vehicle to a central, spatially separated from the first vehicle computing unit instead.
Diese Recheneinheit kann ein zentraler Rechner - auch genannt Server - sein, der als Datenbank und übermittelnder Rechner dient. Es mag vorteilhaft sein, die erfassten This arithmetic unit can be a central computer - also called server - which serves as a database and transmitting computers. It may be beneficial to the detected
Fahrbahnzustandsdaten auf einem zentralen Rechner zu sammeln, um sie von diesem entweder zu verteilen oder am gleichen Ort zu verarbeiten. Collect road condition data on a central computer to either distribute it or process it in the same location.
Gemäß einer weiteren Ausführungsform der Erfindung findet ein Übertragen der erfassten Fahrbahnzustandsdaten von der zentralen Recheneinheit an das zweite Fahrzeug statt. In accordance with a further embodiment of the invention, the detected roadway condition data is transmitted from the central processing unit to the second vehicle.
Dabei kann ein Vorteil z.B. darin bestehen, dass nur die Daten vom zentralen Rechner auf den Klienten, also ein zweites
Fahrzeug übertragen werden, die jeweils zum näheren Umfeld des Fahrzeugs gehören. So kann die zu übertragende Datenmenge reduziert werden und ein jeweils aktueller Datensatz zur One advantage, for example, is that only the data from the central computer to the client, so a second Vehicle to be transferred, each of which belongs to the immediate vicinity of the vehicle. Thus, the amount of data to be transmitted can be reduced and a respective current record for
Verfügung stehen. To be available.
Gemäß einer weiteren Ausführungsform der Erfindung ist auch ein Übertragen der erfassten Fahrbahnzustandsdaten von dem ersten Fahrzeug unmittelbar an das zweite Fahrzeug möglich. Dies kann ein in einem Netzwerk der Fahrzeuge erfolgen, die ohne zentrale Recheneinheit auskommt. Eine zentrale According to a further embodiment of the invention, it is also possible to transmit the detected roadway condition data from the first vehicle directly to the second vehicle. This can be done in a network of vehicles that does not require a central processing unit. A central
Recheneinheit kann aber auch neben diesem Netzwerk existieren, beispielshalber um den Datenaustausch unter den Fahrzeugen zu koordinieren oder auch um als redundante Datenquelle zu fungieren . But computing unit can also exist in addition to this network, for example, to coordinate the data exchange among the vehicles or to act as a redundant data source.
Gemäß einer weiteren Ausführungsform der Erfindung According to a further embodiment of the invention
kann das zweite Fahrzeug den Bewegungspfad ermitteln, wenn wie oben beschrieben die Fahrbahnzustandsdaten, ermittelt vom ersten Fahrzeug, auf das zweite Fahrzeug übertragen wurden. For example, the second vehicle may determine the movement path if, as described above, the road condition data determined by the first vehicle has been transferred to the second vehicle.
Gemäß einer weiteren Ausführungsform der Erfindung kann die zentrale Recheneinheit den Bewegungspfad ermitteln. According to a further embodiment of the invention, the central processing unit can determine the movement path.
Auch ist es möglich, dass das erste Fahrzeug selbst den It is also possible that the first vehicle itself the
Bewegungspfad ermittelt. Motion path determined.
Die Ermittlung des Bewegungspfades kann dabei rückschauend erfolgen. Das heißt, dass die Daten erfasst und im ersten Fahrzeug zwischengespeichert werden, und nach Sammlung eines Datensatzes der Bewegungspfad bestimmt wird. Damit kann sich dieses Verfahren unterscheiden von einer Echtzeit oder Quasi- Echtzeit Berechnung eines Pfades, indem nicht der aktuelle Datenstrom des aktuell erfassten Fahrbahnzustands verwendet
wird, sondern die Daten erst nach Zwischenspeicherung verwendet werden. The determination of the movement path can be done retrospectively. That is, the data is captured and cached in the first vehicle, and after collection of a record, the motion path is determined. Thus, this method may differ from a real-time or quasi-real-time calculation of a path by not using the current data stream of the currently detected road condition but the data will be used only after caching.
Gemäß einer weiteren Ausführungsform der Erfindung kann dann der Bewegungspfad von dem ersten Fahrzeug an die zentrale Recheneinheit übertragen werden. According to a further embodiment of the invention, the movement path can then be transmitted from the first vehicle to the central processing unit.
Gemäß einer weiteren Ausführungsform der Erfindung wird der Bewegungspfad von der zentralen Recheneinheit an das zweite Fahrzeug übertragen. According to a further embodiment of the invention, the movement path is transmitted from the central processing unit to the second vehicle.
Auch ist es denkbar, dass der Bewegungspfad von dem ersten Fahrzeug unmittelbar an das zweite Fahrzeug übertragen wird. It is also conceivable that the movement path is transmitted from the first vehicle directly to the second vehicle.
Gemäß einer weiteren Ausführungsform der Erfindung erfasst das erste Fahrzeug die Fahrbahnzustandsdaten während einer Fahrt. According to another embodiment of the invention, the first vehicle detects the road condition data during a trip.
In einem weiteren möglichen Ausführungsbeispiel sendet das zweite Fahrzeug seine geplante Fahrtstrecke, die In a further possible embodiment, the second vehicle sends its planned route, the
beispielshalber aus Angabe des gewünschten Start- und by way of example from indication of the desired starting and
Zielpunkts von einem Navigationssystem berechnet wird, an die zentrale Recheneinheit oder die lokale Recheneinheit, um einen Bewegungspfad auf der gesamten geplanten Fahrtstrecke zu ermitteln. Dabei können beispielsweise in diesem Schritt für die gesamte geplante Fahrtstrecke der Fahrbahnzustand Destination point is calculated by a navigation system, to the central processing unit or the local processing unit to determine a movement path on the entire planned route. In this case, for example, in this step for the entire planned route the road condition
ermittelt werden und lokale Bewegungspfadänderungen vorgegeben werden, wo es der Fahrbahnzustand erforderlich macht, weil z.B. Schlaglöcher oder Fahrbahnunebenheiten auf der Fahrbahn vorkommen. Durch ein solches Verfahren werden beispielsweise die für eine Fahrt erforderlichen Daten betreffend den are determined and local motion path changes are given, where the road condition requires, because e.g. Potholes or road bumps occur on the road. By such a method, for example, the data required for a trip regarding the
Fahrbahnzustand vor Beginn einer Fahrt von der zentralen Road condition before starting a drive from the central
Recheneinheit für die Ermittlung des Bewegungspfads Arithmetic unit for determining the movement path
berücksichtigt. So kann beispielsweise auf eine
Datenübertragung während der Fahrt verzichtet werden, z.B. wenn die Fahrt durch nicht hinreichend mit considered. For example, on a Data transfer while driving are omitted, for example, if the ride by not sufficiently with
Kommunikationsverbindungen ausgestattete Gebiete führt. Solche Gebiete können beispielsweise Gebiete mit geringem oder nicht vorhandenem Mobilfunkempfang sein. Communication links equipped areas leads. Such areas may, for example, be areas with little or no mobile reception.
Es ist außerdem möglich, dass der gewünschte Startpunkt und der gewünschte Zielpunkt an die zentrale Recheneinheit It is also possible that the desired starting point and the desired destination to the central processing unit
übertragen werden und die geplante Fahrtstrecke von der zentralen Recheneinheit ermittelt und an das Fahrzeug zusammen mit dem in der zentralen Recheneinheit ermittelten be transmitted and determined the planned route from the central processing unit and to the vehicle together with the determined in the central processing unit
Bewegungspfad übertragen wird. Movement path is transmitted.
Auch ist es denkbar, dass das zweite Fahrzeug eine Form des Verfahrens, wie in der Beschreibung gezeigt, ausführt, jedoch das Verfahren mit den Fahrbahnzustandsdaten, welche mit seiner eigener Sensorik erfasst werden, kombiniert. Ein Vorteil mag dabei darin bestehen, kurzfristig aktuelle It is also conceivable that the second vehicle executes a form of the method as shown in the description, but combines the method with the road condition data, which are detected with its own sensors. An advantage may be, short-term current
Fahrbahnzustandsdaten in das Verfahren mit aufnehmen zu können. In anderen Worten bedeutet dies, dass das zweite Road condition data to be included in the process. In other words, this means that the second
Fahrzeug sowohl Fahrbahnzustandsdaten von der zentralen Vehicle both road condition data from the central
Recheneinheit erhält und für die Ermittlung des Bewegungspfads heranzieht, als auch Fahrbahnzustandsdaten mit einer eigenen Fahrzeugsensorik erfasst und zusätzlich für die Ermittlung des Bewegungspfads heranzieht. Insbesondere bei im Zeitablauf rasch veränderlichen Fahrbahnzustandsdaten kann dies Computing unit receives and uses for the determination of the movement path, as well as road condition data recorded with its own vehicle sensor and additionally used for the determination of the movement path. Especially with time lapse quickly changeable road condition data this can
vorteilhaft sein, wenn z.B. die zentrale Recheneinheit nicht über aktuelle Fahrbahnzustandsdaten verfügt. be advantageous when e.g. the central processing unit does not have up-to-date road condition data.
Es sei darauf hingewiesen, dass das zweite Fahrzeug ebenfalls den Fahrbahnzustand erfassen und an die zentralen It should be noted that the second vehicle also detect the road condition and the central
Recheneinheit oder andere Fahrzeuge übertragen kann. Dies bedeutet, dass beispielsweise eine zentral vorgehaltene Karte mit Fahrbahnzustandsdaten einer Vielzahl von Fahrzeugen auf
einem aktuellen Stand gehalten wird, wobei diese zentral vorgehaltene Karte als Quelle für die Ermittlung des Computing unit or other vehicles can transmit. This means that, for example, a centrally stored map with road condition data of a plurality of vehicles is kept up to date, this centrally stored map being the source for
Bewegungspfads für die gleiche Vielzahl von Fahrzeugen dient. In einem weiteren möglichen Ausführungsbeispiel unterstützt das zweite Fahrzeug seine eigene Positionsbestimmung mit durch die im Fahrzeug verbaute Sensorik erfassten Informationen der Umgebung. Dies kann beispielsweise über eine Kamera und bildverarbeitende Algorithmen geschehen, wobei die Algorithmen die erfasste Umgebung mit gespeicherten Umgebungsdaten Motion paths for the same variety of vehicles serves. In a further possible exemplary embodiment, the second vehicle supports its own position determination with information of the environment detected by the sensors installed in the vehicle. This can be done for example via a camera and image processing algorithms, the algorithms the detected environment with stored environment data
vergleichen und so die Position des Fahrzeugs sehr genau bestimmen können. Oder zusätzlich können alle zum Erfassen des Fahrbahnzustandes und/oder zum Erfassen der Fahrszene compare and thus determine the position of the vehicle very accurately. Or additionally, all may be for detecting the road condition and / or detecting the driving scene
relevanten Sensoren verwendet werden - z. B. können relevant sensors are used - z. B. can
Fahrwerkssensoren, die das Überfahren von Schwellen und Suspension sensors that are driving over and out of sleepers
Schlaglöchern detektieren, verwendet werden. In anderen Worten bedeutet dies, dass die Positionsbestimmung eines Fahrzeugs in Ergänzung zu beispielsweise satellitenbasierter Potholes are detected, used. In other words, this means that the position determination of a vehicle in addition to, for example, satellite-based
Positionsbestimmung durch eine Positionsbestimmung basierend auf terrestrischen Markern erfolgt. Durch eine genauere Position determination is carried out by a position determination based on terrestrial markers. By a more accurate
Positionserfassung bzw. Positionsbestimmung kann das Verfahren effektiver ausgeführt werden, d.h. insbesondere dass der Position detection, the method can be carried out more effectively, i. in particular that of
Bewegungspfad und entsprechende Lenkbewegungen eines Fahrzeugs genauer aufeinander abgestimmt werden können. Movement path and corresponding steering movements of a vehicle can be more precisely matched.
In einer weiteren möglichen Ausführungsform wird zusätzlich zu dem Bewegungspfad des zweiten Fahrzeugs auch die In a further possible embodiment, in addition to the movement path of the second vehicle and the
Geschwindigkeit des zweiten Fahrzeugs entsprechend der Speed of the second vehicle according to the
Fahrbahnzustandsdaten oder des Bewegungspfads angepasst. Adapted to road condition data or the movement path.
Insbesondere kann die Geschwindigkeit des zweiten Fahrzeugs in Abhängigkeit des Fahrbahnzustands, beispielsweise starker Fahrbahnoberflächenschäden, reduziert werden.
Kurze Beschreibung der Figuren In particular, the speed of the second vehicle can be reduced as a function of the road condition, for example heavy road surface damage. Brief description of the figures
Fig. 1 zeigt eine schematische Darstellung eines ersten Fig. 1 shows a schematic representation of a first
Fahrzeugs, eines zweiten Fahrzeugs und einer zentralen Vehicle, a second vehicle and a central one
Recheneinheit, welche ein Verfahren gemäß einer Arithmetic unit, which is a method according to a
Ausführungsform der Erfindung ausführen. Execute embodiment of the invention.
Fig. 2 zeigt ein Fahrzeug mit einer lokalen Recheneinheit, einer Fahrbahnzustandserfassungseinheit und einer FIG. 2 shows a vehicle having a local computing unit, a road condition detection unit and a vehicle
Datenübermittlungseinheit. Data communication unit.
Fig. 3 zeigt ein schematisches Ablaufdiagram eines Verfahrens gemäß eines Ausführungsbeispiels der Erfindung. Detaillierte Beschreibung von Ausführungsbeispielen 3 shows a schematic flowchart of a method according to an embodiment of the invention. Detailed description of embodiments
Fig. 1 zeigt eine mögliche Struktur aus einem ersten Fahrzeug 101, einem zweiten Fahrzeug 102 und einer zentralen 1 shows a possible structure of a first vehicle 101, a second vehicle 102 and a central one
Recheneinheit 200. Dabei können vom ersten Fahrzeug 101 auf die zentrale Recheneinheit 200 der Bewegungspfad übertragen 8 werden, und/oder die erfassten Fahrbahnzustandsdaten Arithmetic unit 200. In this case, the movement path can be transmitted 8 from the first vehicle 101 to the central processing unit 200, and / or the detected road condition data
übertragen 2 werden. Von der zentralen Recheneinheit 200 können an das zweite Fahrzeug 102 erfasste be transferred 2. From the central processing unit 200 may be detected to the second vehicle 102
Fahrbahnzustandsdaten übertragen 3 werden, und/oder der Road condition data transmitted 3, and / or the
Bewegungspfad übertragen 9 werden. Auch können vom erstenBe transferred motion path 9. Also, from the first
Fahrzeug 101 an das zweite Fahrzeug 102 unmittelbar erfasste Fahrbahnzustandsdaten übertragen 4 werden, und/oder der Vehicle 101 to the second vehicle 102 immediately detected road condition data transmitted 4, and / or the
Bewegungspfad übertragen 10 werden. Fig. 2 zeigt ein Beispiel eines ersten Fahrzeugs 101 mit einer lokalen Recheneinheit 300, einer Moving path transferred 10. FIG. 2 shows an example of a first vehicle 101 with a local computing unit 300, a
Fahrbahnzustandserfassungseinheit 400 und einer
Datenübermittlungseinheit 500, wobei die lokale Recheneinheit 300 beispielsweise den Bewegungspfad aus den erfassten Road condition detection unit 400 and a Data transmission unit 500, wherein the local processing unit 300, for example, the movement path from the detected
Fahrbahnzustandsdaten ermittelt. Die lokale Recheneinheit 300 kann auch Lenkempfehlungen ausgeben oder Lenkkommandos an eine automatische oder teilautomatische Lenkeinheit übermitteln. Diese Fahrbahnzustandsdaten werden von der Road condition data determined. The local computing unit 300 may also issue steering recommendations or transmit steering commands to an automatic or semi-automatic steering unit. This road condition data is provided by the
Fahrbahnzustandserfassungseinheit 400 erfasst. Die Road condition detection unit 400 detected. The
Datenübermittlungseinheit 500 kann insbesondere den Data transmission unit 500 can in particular the
ermittelten Bewegungspfad oder den erfassten Fahrbahnzustand an ein zweites Fahrzeug 102 oder eine zentrale Recheneinheit 200 übermitteln. determined movement path or the detected road condition to a second vehicle 102 or a central processing unit 200 transmit.
Fig. 3 zeigt ein beispielhaftes Ablaufdiagram, umfassend die Schritte : 3 shows an exemplary flow diagram comprising the steps:
- Erfassen Sl von Fahrbahnzustandsdaten durch ein erstes - Detect Sl of road condition data by a first
Fahrzeug 101. Dies kann durch die Vehicle 101. This can be done by the
Fahrbahnzustandserfassungseinheit 400, wie in Fig. 2 gezeigt, geschehen. Die erfassten Daten können entweder lokal zur weiteren Verwendung gespeichert werden, oder an eine zentrale Recheneinheit übermittelt werden, oder auch an ein zweites Fahrzeug 102 übermittelt werden. Road condition detecting unit 400, as shown in Fig. 2 done. The acquired data can either be stored locally for further use, or transmitted to a central processing unit, or also transmitted to a second vehicle 102.
- Ermitteln S2 eines Bewegungspfads auf Grundlage der Determine S2 of a motion path based on the
Fahrbahnzustandsdaten. Dies kann beispielshalber durch die lokale Recheneinheit 300, wie in Fig. 2 gezeigt, geschehen; Road condition data. This can be done, for example, by the local arithmetic unit 300 as shown in Fig. 2;
- Anpassen S3 des Fahrverhaltens eines zweiten Fahrzeugs 102 an den Bewegungspfad. Dies erfolgt durch Lenkbewegungen, die so ausgerichtet sind, dass sie dem ermittelten Adapting S3 of the driving behavior of a second vehicle 102 to the movement path. This is done by steering movements, which are aligned so that they are determined
Bewegungspfad folgen.
Bezugs zeichenliste Follow the path of movement. Reference sign list
101 Erstes Fahrzeug 101 First vehicle
102 Zweites Fahrzeug 102 second vehicle
200 Zentrale Recheneinheit 200 central processing unit
300 Lokale Recheneinheit 300 local processing unit
400 Fahrbahnzustandserfassungseinheit 400 road condition detection unit
500 Datenübermittlungseinheit 500 data transmission unit
2 Übertragen von Fahrbahnzustandsdaten 2 Transmission of road condition data
3 Übertragen von Fahrbahnzustandsdaten3 Transmission of road condition data
4 Übertragen von Fahrbahnzustandsdaten 8 Übertragen des Bewegungspfads 4 Transmission of road condition data 8 Transmission of the motion path
10 Übertragen von Fahrbahnzustandsdaten 10 Transmission of roadway condition data
51 Erfassen von Fahrbahnzustandsdaten51 Detecting road condition data
52 Ermitteln eines Bewegungspfades52 determining a motion path
53 Anpassen des Fahrverhaltens
53 Adjusting the driving behavior
Claims
1. Verfahren zum Anpassen des Fahrverhaltens eines Fahrzeugs, aufweisend die folgenden Schritte: A method of adjusting the drivability of a vehicle, comprising the following steps:
Erfassen (Sl) von Fahrbahnzustandsdaten durch ein erstes Detecting (Sl) road condition data by a first one
Fahrzeug (101) ; Vehicle (101);
Ermitteln (S2) eines Bewegungspfads auf Grundlage der Fahrbahnzustandsdaten; Determining (S2) a motion path based on the road condition data;
Anpassen (S3) des Fahrverhaltens eines zweiten Fahrzeugs (102) an den Bewegungspfad. Adjusting (S3) the driveability of a second vehicle (102) to the motion path.
2. Verfahren nach Anspruch 1, weiterhin aufweisend den 2. The method of claim 1, further comprising
Schritt : Step:
Übertragen (2) der erfassten Fahrbahnzustandsdaten von dem ersten Fahrzeug (101) an eine zentrale, von dem ersten Transmitting (2) the detected road condition data from the first vehicle (101) to a central one of the first one
Fahrzeug räumlich getrennte Recheneinheit (200). Vehicle spatially separated computing unit (200).
3. Verfahren nach Anspruch 2, weiterhin aufweisend den 3. The method of claim 2, further comprising
Schritt : Step:
Übertragen (3) der erfassten Fahrbahnzustandsdaten von der zentralen Recheneinheit (200) an das zweite Fahrzeug. Transmitting (3) the detected road condition data from the central processing unit (200) to the second vehicle.
4. Verfahren nach einem der vorhergehenden Ansprüche, weiterhin aufweisend den Schritt: 4. The method according to any one of the preceding claims, further comprising the step:
Übertragen (4) der erfassten Fahrbahnzustandsdaten von dem ersten Fahrzeug (101) unmittelbar an das zweite Fahrzeug Transmitting (4) the detected road condition data from the first vehicle (101) directly to the second vehicle
(102) . (102).
5. Verfahren nach einem der Ansprüche 3 oder 4, 5. The method according to any one of claims 3 or 4,
wobei das zweite Fahrzeug (102) den Bewegungspfad wherein the second vehicle (102) is the movement path
ermittelt . determined.
6. Verfahren nach einem der Ansprüche 2 oder 3,
wobei die zentrale Recheneinheit (200) den Bewegungspfad ermittelt . 6. The method according to any one of claims 2 or 3, wherein the central processing unit (200) determines the movement path.
7. Verfahren nach einem der vorhergehenden Ansprüche, 7. The method according to any one of the preceding claims,
wobei das erste Fahrzeug (101) den Bewegungspfad wherein the first vehicle (101) is the movement path
ermittelt . determined.
8. Verfahren nach Anspruch 7, 8. The method according to claim 7,
wobei der Bewegungspfad von dem ersten Fahrzeug an die zentrale Recheneinheit (200) übertragen (8) wird. wherein the movement path from the first vehicle is transmitted to the central processing unit (200) (8).
9. Verfahren nach Anspruch 8, 9. The method according to claim 8,
wobei der Bewegungspfad von der zentralen Recheneinheit an das zweite Fahrzeug (102) übertragen (9) wird. wherein the movement path is transmitted from the central processing unit to the second vehicle (102) (9).
10. Verfahren nach einem der Ansprüche 7 bis 9, 10. The method according to any one of claims 7 to 9,
wobei der Bewegungspfad von dem ersten Fahrzeug (101) unmittelbar an das zweite Fahrzeug (102) übertragen (10) wird. wherein the movement path from the first vehicle (101) is transmitted (10) directly to the second vehicle (102).
11. Verfahren nach einem der vorhergehenden Ansprüche, 11. The method according to any one of the preceding claims,
wobei das erste Fahrzeug (101) die Fahrbahnzustandsdaten während einer Fahrt erfasst.
wherein the first vehicle (101) detects the road condition data during a trip.
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