WO2022238398A1 - Bremssteuersystem für ein fahrzeug sowie system und fahrzeug damit und verfahren zum betreiben eines bremssteuersystems - Google Patents
Bremssteuersystem für ein fahrzeug sowie system und fahrzeug damit und verfahren zum betreiben eines bremssteuersystems Download PDFInfo
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- WO2022238398A1 WO2022238398A1 PCT/EP2022/062632 EP2022062632W WO2022238398A1 WO 2022238398 A1 WO2022238398 A1 WO 2022238398A1 EP 2022062632 W EP2022062632 W EP 2022062632W WO 2022238398 A1 WO2022238398 A1 WO 2022238398A1
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000001419 dependent effect Effects 0.000 claims abstract description 5
- 230000006399 behavior Effects 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 13
- 238000007726 management method Methods 0.000 description 20
- 230000004913 activation Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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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
- 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
- B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
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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
- 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
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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
- 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
- B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
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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
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
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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
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
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- 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
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/02—Vehicle mass
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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- 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
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- 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
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
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- 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
Definitions
- Brake control system for a vehicle, and system and vehicle therewith, and method of operating a brake control system
- the invention relates to vehicles with a brake control system for controlling brake actuators, vehicles relating to the invention additionally having an autonomous vehicle system which is designed to carry out an autonomous dynamic driving task.
- the invention also relates to a brake control system for such vehicles and a method.
- Autonomous vehicle systems are becoming increasingly well-known and are designed to control one or more actuators of a vehicle in such a way that a driving task of the vehicle is carried out autonomously without the intervention of a driver. Autonomous vehicle systems of this type therefore also regulate the acceleration of vehicles partially or completely independently of a human user.
- different sensors are required to record the environment and comprehensive computing power to evaluate the sensor data.
- the autonomous vehicle system determines a trajectory for the vehicle's driving task. As the vehicle follows the trajectory, the autonomous vehicle also monitors the environment and modifies the trajectory if necessary.
- controller of the autonomous vehicle system first determines a control signal for brake actuators and this control signal is adjusted, i.e. manipulated, by the internal controller of the brake control system.
- a manipulated variable at the output of a controller of the autonomous driving system thus serves as a reference variable for a controller of a brake control system.
- the brake actuators are controlled by the brake control system in normal ferry operation and by the autonomous vehicle system in autonomous operation.
- safety devices established in the brake control system in particular are overridden and intervention by the auto- 3 nomen vehicle system in an emergency during autonomous operation leads to a comparatively poor behavior of the vehicle.
- an autonomous vehicle system should be able to be integrated into an existing vehicle with a braking system in such a way that non-deterministic controller states of the controllers acting on the brake actuators are avoided and brake assistance or emergency systems can still intervene.
- an alternative to the prior art should be found.
- the invention relates to a brake control system according to claim 1.
- a brake control system for a vehicle which has an internal controller.
- the internal controller is preferably a delay controller.
- the internal controller is used to output an internal manipulated variable for at least one brake actuator.
- the brake control system includes an interface for receiving an external manipulated variable for the at least one brake actuator from an external controller.
- This external controller is in particular an external delay controller, particularly preferably an autonomous vehicle system.
- the brake controller includes a decision circuit that has at least two inputs to receive the internal manipulated variable and the external manipulated variable.
- the external manipulated variable is accordingly routed past the internal controller and is not supplied to the internal controller but to the decision-making circuit as an input.
- the decision circuit also includes an output for outputting a control signal for the at least one brake actuator.
- the control signal depends on the internal manipulated variable and/or the external manipulated variable.
- the decision circuit is therefore set up, for example, to 4 nal depending on the supplied internal manipulated variable and/or the external manipulated variable.
- a decision circuit which is part of the brake control system and decides whether the internal manipulated variable, the external manipulated variable or both manipulated variables are used in order to generate a control signal for the brake actuator in the decision circuit.
- the decision-making circuit can determine that the external manipulated variable for controlling the brake actuator is to be used as a control signal and the brake actuator can be controlled via the external controller.
- the decision circuit of the brake control system can easily switch to the internal manipulated variable, i.e. output the internal manipulated variable as a control signal.
- the brake actuator can be controlled depending on the internal manipulated variable via the control signal generated from the internal manipulated variable, and the brake actuator can be controlled via the internal controller. This is possible because the decision circuit itself is part of the braking system, which can be designed to recognize this dangerous situation.
- the decision as to which manipulated variables are used to control the brake actuator and thus which controller is used is shifted to the brake control system itself.
- a flickering switching of several controllers is no longer necessary.
- autonomous ferry operation is possible, while at the same time assistance systems that are already provided for in the brake control system can continue to be used.
- predefined rules can be stored in the decision circuit.
- the decision circuit is set up 5 to decide, depending on these stored rules, whether the internal manipulated variable or the external manipulated variable is to be output as a control signal.
- the decision-making circuit is set up to determine a combined manipulated variable depending on the internal manipulated variable and the external manipulated variable and to decide, depending on the rules, whether the internal manipulated variable, the external manipulated variable or the combined manipulated variable is to be output as a control signal.
- the combined manipulated variable is also particularly preferably generated as a function of the rules. This means that a rule can state that, under predetermined conditions, a predetermined proportion of the internal manipulated variable and a predetermined proportion of the external manipulated variable are included in the combined manipulated variable.
- the decision circuit can thus be configured by specifying predefined rules, and activation of the brake actuator(s) is deterministic by these rules.
- the predefined rules preferably correspond to computer code stored in the brake control system or the decision circuit, which was generated in advance based on experience, verified by tests and stored in the brake control system.
- Predefined rules can include, for example, that as long as a vehicle is in autonomous ferry mode, the manipulated variable is output by the external controller as a control signal. However, if an emergency situation detected by the brake control system occurs, then, according to the rules, a switch is made to an internal manipulated variable that is output as a control signal.
- the combined manipulated variable generated by the decision circuit in the autonomous operation of the vehicle in which, according to the rules, for example, the external manipulated variable is output as a control signal, allows this to be overlaid with a proportion of the internal manipulated variable, i.e. a combined one, according to the rules Manipulated variable is generated when, for example, a driver manually intervenes in the autonomous operation and presses a brake pedal. 6
- the interface is also set up to receive an external reference variable.
- the reference variable is preferably an external target deceleration.
- an internal reference variable can be provided by the internal controller.
- This internal reference variable is preferably an internal target deceleration of the brake control system.
- the command variables, namely the external command variable and the internal command variable of the internal controller correspond to the variables that are provided to the corresponding controllers for generating the manipulated variables.
- the external command variable is an input variable of the external controller
- the external manipulated variable which is generated with the external controller as a function of the external command variable, is an output variable of the external controller.
- the internal reference variable is an input variable of the internal controller, from which the internal controller generates the internal manipulated variable as the output variable of the internal controller.
- the internal reference variable and the external reference variable are routed past the corresponding controllers or looped through the corresponding controllers, so that they are available in the brake control system as input variables for the decision-making circuit.
- the decision circuit is then set up to decide, depending on the internal command variable and the external command variable using the rules, which of the manipulated variables, preferably whether the internal manipulated variable, the external manipulated variable or the combined manipulated variable, is to be output as a control signal .
- a decision dependent on the internal performance indicator and the external performance indicator involves making a decision by applying the rules directly to the internal performance indicator and the external performance indicator.
- a decision dependent on the internal reference variable and the external reference variable also includes that a derived internal reference variable is first derived from the internal reference variable and/or a derived external reference variable from the external reference variable and then the rules 7 the derived internal reference variable and/or the derived external reference variable are used to make a decision.
- Deriving the derived internal reference variable from the internal reference variable and/or the derived external reference variable from the external reference variable can be done, for example, by conversion, such as multiplication by a factor, division by a divisor and/or by addition or subtraction with a variable or constants.
- the reference variables namely the internal reference variable on the one hand and the external reference variable on the other, each correspond, for example, to negative acceleration values whose unit is meters per square second and which thus correspond to a target deceleration.
- the derived reference variables, namely on the one hand the derived internal reference variable and on the other hand the derived external reference variable each correspond, for example, to a speed whose unit is meters per second and which thus correspond to a setpoint speed.
- a decision dependent on the internal indicator and the external indicator also includes combinations in which the rules are applied to the derived internal indicator and the external indicator or the internal indicator and the derived external indicator to make a decision.
- the decision-making circuit By supplying these reference variables to the decision-making circuit, it can decide, using the rules, which of the manipulated variables is to be output as the control signal. For example, if one of the reference variables is significantly higher than the other, based on the rules, this can be seen as an indication by the decision-making circuit, for example, that the larger reference variable corresponds to a braking request that is to be given priority, for example emergency braking, which is also present is to be carried out with priority. Accordingly, provision can then be made for the manipulated variable assigned to this command variable to be output as a control signal. Accordingly, the reference variables are only supplied to the decision-making circuit for the decision as to which of the manipulated variables is to be output.
- the reference variables in the decision circuit are not further processed to generate the control signal itself, but the control signal is only 8 generated depending on the manipulated variables. This ensures that no unexpected additional control is applied to an already controlled variable, namely the internal manipulated variable or the external manipulated variable, by the decision-making circuit, thereby avoiding unexpected or non-deterministic behavior.
- the brake control system includes a distribution circuit.
- the control signal corresponds to a total braking force for the vehicle, which describes, for example, a force that is to be applied to the vehicle against the direction of travel of the vehicle.
- the distribution circuit is set up to distribute the total braking force to at least two wheels, at least two axles and/or at least two braking devices, ie to distribute braking force.
- the braking devices preferably include at least friction brakes.
- the distribution circuit is also set up, in addition to friction brakes, to control an engine brake, retarder or other braking system of the vehicle in order to generate the overall braking force.
- the distributor circuit is therefore preferably used to distribute the total braking force to all the wheels of a vehicle or combination.
- the distribution circuit is thus preferably set up not only to distribute the total braking force to the wheels of a vehicle of the combination that is a towing vehicle and that is pulling a trailer of the combination, but also to allocate portions of the total braking force to the brake actuators of the trailer.
- the distributor circuit preferably uses a sensed state and/or a known behavior of the individual brake actuators.
- a sensed state can be supplied to the distribution circuit by sensors of the individual brake actuators and a behavior of the brake actuators can be stored in the distribution circuit. This behavior is predefined, for example, by programming and/or has been learned from previous braking maneuvers in the distributor circuit by means of learning algorithms.
- the external controller advantageously also uses the distribution circuit already established in a brake control system. It is therefore not necessary to redundantly provide a further distributor circuit for controlling the individual brake actuators or brake systems of a vehicle in an autonomous vehicle system. Rather, a distribution circuit present in the brake control system can also be shared by the external controller of an autonomous vehicle system.
- the decision-making circuit is set up to always, ie always, under predefined conditions, output the external manipulated variable independently of the rules.
- these prerequisites are met when an external reference variable with a value that corresponds to a predefined value or that lies outside or within a predefined value range is received from the external controller.
- these requirements are met when a switching signal is received from the external controller.
- the decision-making circuit is designed in such a way that the decision-making circuit uses the input of the internal reference variable and the external reference variable to decide whether the internal manipulated variable, the external manipulated variable or the combined manipulated variable is to be output as a control signal, it is provided that in the event that the external reference variable assumes a value that is outside of a predefined range, that is within a predefined range, or that corresponds to a certain predefined value, in the decision-maker circuit the switch is made to the external manipulated variable by default and the external manipulated variable is output as a control signal.
- a fixed, predefined value or a signal can indicate that the command variable is not available, and so on 10 to enable correct activation of the brake actuators by the external controller.
- the brake control system includes a mass estimation module.
- the mass estimation module is used to estimate the mass of a vehicle or a combination, which includes, for example, a total mass of the vehicle or the combination or individual axle loads of the vehicle or the combination. This estimation of the mass of the vehicle or the trailer is carried out in the mass estimation module using sensor values and/or learned behavior, namely, for example, an actual deceleration of the vehicle or the trailer as a function of applied braking forces, which are monitored and from their monitoring the behavior and thus the crowd can be learned.
- the estimated mass can be stored in a memory of the brake control system.
- the brake control system includes a further interface to output the stored estimated mass of the vehicle or trailer to the external controller. Alternatively or additionally, the further interface is also set up to receive a mass of the vehicle determined by the external controller.
- a more extensive integration of an autonomous vehicle system is thus possible, since this can also access the masses of the vehicle stored or learned in the brake control system via the further interface.
- brake control systems are particularly suitable and usually designed to determine very precisely the dimensions of the vehicle in which the brake control system is integrated.
- the external controller of the autonomous vehicle system is thus also enabled to take this mass into account in the regulation. Regulation of the autonomous vehicle system is thus improved.
- the exchange of the masses determined, on the one hand, in the external controller and, on the other hand, in the mass estimation module is preferably used to compare the masses used for the two controllers.
- the external controller 11 determined mass are also preferably used for consideration in the estimation in the mass estimation module.
- the brake control system includes a brake management circuit.
- the brake management circuit is configured to provide the internal command.
- this internal reference variable is supplied to the internal controller for regulation, in order to determine the internal manipulated variable as a function of the internal reference variable and a likewise supplied actual value, which includes, for example, a current vehicle speed or an actual deceleration.
- this reference variable is also supplied to the decision circuit.
- the brake management circuit preferably includes a plurality of input signals in order to generate the command variable in the brake management circuit as a function of one or more of these input signals.
- the brake management circuit is set up to determine the internal reference variable as a function of a driver's request and/or a safety system of the brake control system. Accordingly, several input signals are fed to the brake management circuit, as a function of which the internal command variable is generated.
- An input signal of the brake management circuit is, for example, a signal from a brake pedal with which a driver's request, namely a driver's braking request, can be signaled.
- various outputs from safety systems are supplied as input signals with the brake management circuit.
- safety systems include, for example, an emergency brake assistant, which is also called Advanced Emergency Braking System (AEBS), stability control systems, such as a so-called Roll Stability Control (RSC) and/or an anti-lock braking system (ABS) and the like.
- AEBS Advanced Emergency Braking System
- RSC Roll Stability Control
- ABS anti-lock braking system
- the brake management circuit therefore has, in addition to an input for the signal from a brake pedal, at least one input for an external brake request signal, which is also referred to as an XBR (Extended Brake Request) signal. 12 on.
- an XBR Extended Brake Request
- the AEBS uses this input for the XBR signal.
- the XBR signal, the input signals of other safety systems and also the brake pedal are therefore to be regarded as reference variables for the internal controller, ie as input signals of the internal controller. This means that these variables differ in particular from the external manipulated variable and the external reference variable, which bypass the internal controller and are only fed to the decision-making circuit for further processing.
- the brake management circuit is preferably set up in such a way, for example, to provide the driver's request as a reference variable for the internal controller during normal ferry operation of the vehicle, whereas in an emergency situation the internal reference variable is specified by the safety system.
- the brake management circuit thus takes over the switching between a driver's request as a basis for generating the internal Füh tion variable on output signals of a corresponding safety system, which may intervene in normal ferry operation.
- a dedicated module is therefore provided, at least in the case of normal, non-autonomous ferry operation, to prioritize various systems that require access to the brake actuators to generate the internal command variable. This is preferably done on the basis of other rules that are also stored in the brake management circuit.
- the internal controller is an iteratively learning controller or includes an iteratively learning controller.
- the internal controller is thus set up to optimize its control quality in a continuous learning process.
- the decision-making circuit is set up to pause this learning process with a signal that is transmitted from the decision-making circuit to the internal controller.
- the internal controller is set up to adapt the learning process as a function of the external command variable, the external manipulated variable and/or a resulting vehicle behavior, namely based on the monitoring of supplied actual values. The pausing or adaptation of the learning process takes place in the case in which 13 the decision-making circuit decides to output the external manipulated variable or the combined manipulated variable as a control signal.
- the invention includes a system with a brake control system according to one of the aforementioned embodiments and an external controller, which is particularly preferably an external controller of an autonomous vehicle system.
- the autonomous vehicle system is also referred to as a Virtual Driver (VD).
- VD Virtual Driver
- the invention also includes a vehicle with an embodiment of the aforementioned system.
- the invention also includes a method for operating a brake control system.
- the brake control system is preferably a brake control system according to one of the aforementioned embodiments, a brake control system of the aforementioned system or the aforementioned vehicle.
- the method encompasses the output of an internal manipulated variable from an internal controller of the brake control system for at least one brake actuator and the reception of an external manipulated variable via an interface of the brake control system for the at least one brake actuator from an external controller.
- the method includes outputting a control signal for the 14 at least one brake actuator depending on the internal manipulated variable and/or the external manipulated variable with a decision circuit of the brake control system.
- the outputting of the control signal includes deciding, depending on predefined rules stored in the brake control system, whether the internal manipulated variable or the external manipulated variable is to be output as a control signal and, depending on the decision, the internal manipulated variable or the external manipulated variable as Control signal output ben.
- the method includes determining a combined manipulated variable as a function of the internal manipulated variable and the external manipulated variable.
- the method according to the alternative includes deciding, depending on the predefined rules, whether the internal manipulated variable, the external manipulated variable or the combined manipulated variable is to be output as a control signal. Depending on the decision, the internal manipulated variable, the external manipulated variable or the combined manipulated variable is then output as a control signal.
- an external reference variable is additionally received via the interface and an internal reference variable is provided.
- the decision-making circuit uses the rules to decide whether the internal manipulated variable, the external manipulated variable or the combined manipulated variable is output as a control signal.
- the delay controller includes an iteratively learning controller.
- the iteratively learning controller carries out a continuous learning process with which the control quality is optimized.
- the decision-making circuit pauses the learning process by means of a signal, or the learning process is adapted as a function of the external reference variable, the external manipulated variable and/or a resulting vehicle behavior. This is carried out when the decision-making circuit decides to output the external manipulated variable or the combined manipulated variable as the drive signal.
- FIG. 1 shows a system with a brake control system according to an exemplary embodiment
- Figure 2 shows a vehicle with a brake control system
- FIG. 3 shows the steps of the method according to an exemplary embodiment.
- FIG. 1 shows a system 8 with a brake control system 10 according to an exemplary embodiment.
- the brake control system 10 includes an internal controller 12 which outputs an internal manipulated variable 14 .
- the brake control system 10 includes an interface 16 with which an external manipulated variable 18 can be received.
- the internal manipulated variable 14 and the external manipulated variable 18 are used to control brake actuators 20.
- the external controller 22 is part of an autonomous vehicle system 23.
- the external controller 22 receives specifications, for example from a trajectory planning module 15, in which direction and how a vehicle should accelerate.
- a control core 17 determines from these specifications for a speed controller 19 and a distance controller 21 .
- Various manipulated variables, such as the external manipulated variable 18 for controlling corresponding actuators are then output with an output module 29 .
- a decision circuit 24 which outputs a control signal 26 for the brake actuators 20 at an output 35 .
- the control signal 26 is output in the decision circuit 24 as a function of the internal manipulated variable 14, which is supplied to the decision circuit 24 at an input 33a, and/or the external manipulated variable 18, which is supplied to the decision circuit 24 at a further input 33b - 16 given.
- the decision circuit 24 also has a module 25 with which a combined manipulated variable 27 can be generated based on the internal manipulated variable 14 and the external manipulated variable 18 .
- Predefined rules 28 are stored in the decision circuit 24 in order to decide which manipulated variable of the internal manipulated variable 14, the external manipulated variable 18 or the combined manipulated variable 27 is output as the control signal 26.
- These rules 28 preferably correspond to a computer code that is stored in the decision circuit 24 . Based on these rules 28, an external command variable 30 generated for the external controller 22 and also received, and an internal command variable 32, which is generated for the internal controller 12 of the brake control system 10, the decision circuit 24 decides which of the manipulated variables 14, 18, 27 is to be output as a control signal 26 .
- the control signal 26 is supplied to a distributor circuit 34 and corresponds to a total braking force 36 for a vehicle or a combination, which is distributed in the distributor circuit 34 to various brake systems and further to the brake actuators 20 .
- Brake actuators 20 include, on the one hand, system brakes that act, for example, on a plurality of wheels on an axle, and are controlled via a system brake control module 38 .
- system brakes include an engine brake 40 and a retarder 42, such as a retarder in example.
- the brake actuators 20 also include friction brakes that are controlled via a friction brake control 44 .
- the friction brakes of a towing vehicle 46 and the friction brakes of a trailer vehicle 48 are activated.
- the Reg ler 12 is supplied with the internal reference variable 32, which is also fed to the decision-making circuit 28.
- the internal manipulated variable 14 is determined on the basis of this internal command variable 32, which corresponds to a target deceleration 50 and an actual value 52, which corresponds, for example, to the vehicle speed 54 or an actual deceleration 55. 17
- a mass estimation module 56 is provided in order to use an estimated mass 58 in the internal controller 12, which preferably includes a total mass 60 or an axle load 62 of the vehicle or a combination, to improve the control.
- This mass 58 is estimated by sensor values 57 or by behavior 59 learned by the brake control system 10 which is fed to the mass estimation module 56 and then stored in a memory 63 .
- the estimated mass 58 is also fed via a further interface 64 to a further mass estimation module 66 of the autonomous vehicle system 23 . In this way, the estimated mass of the vehicle 58 can also be used for the external controller 22 .
- the additional interface 64 is also set up to receive a mass 61 of the vehicle determined by the external controller 22 . This received mass 61 can be used in the mass estimation module 56 to improve the estimate of the estimated mass 58 or to compare it with the estimated mass 58, for example.
- the internal reference variable 32 which corresponds to an internal desired deceleration 50, is generated by a brake management circuit 68.
- the brake management circuit 68 receives a plurality of input signals, such as a driver's request 70 and signals from safety systems 72, such as from an RSC 74 or an AEBS system, which is supplied as an XBR signal 76.
- the safety systems 72 are shown here as part of the brake control system 10, but can also be external systems according to another exemplary embodiment not shown here.
- the brake management circuit 68 decides whether, for example during normal driving, the driver's request 70 is used to generate the internal setpoint delay 50 or whether an emergency situation is present and one of the safety systems for generating the internal setpoint delay 50, namely the internal reference variable 32, is used.
- a signal 78 is also provided, which is generated by the decision circuit 24 when it outputs the external manipulated variable 18 or the combined manipulated variable 27 as a control signal 26 based on the rules 28 .
- This signal 78 18 is supplied to the internal controller 12, which comprises at least one iteratively learning controller 80.
- the iteratively learning controller 80 interrupts its learning process 81 to improve a control quality 82, since the actual values 52 received from the internal controller 12 are not based on the output internal manipulated variables 14, but on the or at least partially on the external manipulated variables 18 .
- a switching signal 83 is provided, which can be supplied to the decision circuit 24 by the external controller 22 . If this switchover signal 83 is sent by the external controller 22 and received by the decision circuit 24, then the decision circuit 24 always outputs the external manipulated variable 18 as a control signal 26, regardless of the predefined rules 28.
- the switching signal is sent, for example, to indicate that no external reference variable 30 or only an external reference variable with non-evaluable values can be provided by the external controller 22 due to the current driving situation.
- the switching signal 83 is shown, it being possible for this switching signal 83 to be dispensed with in accordance with a further advantageous exemplary embodiment which is not shown separately here.
- predefined values 84 and/or a predefined value range 85 are stored in the decision circuit. If a value 86 of the external reference variable 30 now corresponds to the predefined value 84 or if the value 86 is outside or within the predefined value range 85, the external manipulated variable 18 is always used as the Control signal 26 output.
- FIG. 2 shows a combination 88 that has a vehicle 90 with the system 8 .
- the system 8 includes a brake control system 10 and an autonomous vehicle system 23.
- the brake control system 10 is connected to a brake pedal 92 in order to receive a driver request 70.
- several sensors 94 are connected to the brake control system 10 in order to determine vehicle states, in particular a vehicle speed 54 as an actual value 52 .
- brake actuators 20 on each wheel 96 of axles 97 19 of the vehicle 90 are provided, which are friction brakes 46, for example.
- a trailer vehicle 98 is provided, which also has wheels 96 with brake actuators 20 to parent.
- the vehicle 90 corresponds here to a towing vehicle 99.
- the trailer vehicle 98 also includes a trailer brake control system 100, which is connected to the brake control system 10 and receives control signals for controlling the brake actuators 20 of the trailer vehicle 98 and converts them.
- FIG. 3 shows the steps of the method according to an embodiment.
- a specification is used to determine whether a vehicle 90 is in an autonomous operating mode 110 or in a normal operating mode 112.
- a braking request 70 is transferred to a brake management circuit 68 in step S2 when the brake pedal is actuated.
- the brake management circuit 68 generates an internal command variable 32 from this braking request 70, which is fed to an internal controller 12.
- the controller receives an actual value 52, which corresponds to a vehicle speed 54, in addition to the reference variable 32, which represents a target deceleration 50. Based on the actual value 52 and the internal reference variable 32, the internal controller 12 generates an internal manipulated variable in step S5.
- This internal manipulated variable 14 is then fed to a decision circuit 28 .
- the decision-making circuit 28 notices that no external manipulated variable 18 is provided by an external controller 22 or that this manipulated variable has a value of zero.
- decision-making circuit 24 decides in step S6 that internal manipulated variable 14 is output as control signal 26.
- the control signal 26 is distributed to different brake systems in a distribution circuit 34 in step S7 and the corresponding brake actuators are controlled in step S8. The steps are repeated as long as there is a braking request.
- an external controller 22 provides an external manipulated variable 18 in step S10, which 20 nomen vehicle system 23 signals.
- the external manipulated variable 18 is supplied to the decision circuit 24, which, based on a rule 28 in step S11, decides, for example, that the external manipulated variable is to be output as a control signal 26, since no internal manipulated variable or an internal manipulated variable with a predefined value of zero is supplied to the decision circuit 24 becomes.
- the external manipulated variable 18 is given as a control signal 26.
- the brake actuators are controlled accordingly in step S14.
- step S15 If an emergency situation is now recognized by a safety system 72 in step S15, one of the safety systems 72 sends a braking request to the brake management circuit 68, which in step S16 generates an internal reference variable 32 depending on the braking request and feeds it to the internal controller 12.
- step S17 the internal controller generates an internal manipulated variable 14 and feeds it to the decision-making circuit 28.
- the decision-making circuit 24 detects in step S18 that an internal manipulated variable 14 is now present in addition to the external manipulated variable 18, which, for example, signals a greater delay, since an emergency situation is involved. In this case, the decision-making circuit switches over from the external manipulated variable 18 to the internal manipulated variable 14 in step S19 and outputs this as a control signal 26 .
- the brake actuators 20 are then controlled with the internal manipulated variable 14 in step S21 after distribution in the distributor circuit 34 in step 20 .
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- Physics & Mathematics (AREA)
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Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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EP22730068.8A EP4337502A1 (de) | 2021-05-11 | 2022-05-10 | Bremssteuersystem für ein fahrzeug sowie system und fahrzeug damit und verfahren zum betreiben eines bremssteuersystems |
CN202280031857.2A CN117222557A (zh) | 2021-05-11 | 2022-05-10 | 车辆的制动控制***及具有该制动控制***的车辆和***和用于运行制动控制***的方法 |
US18/507,803 US20240075913A1 (en) | 2021-05-11 | 2023-11-13 | Brake control system for a vehicle, and system and vehicle therewith, and method for operating a brake control system |
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DE102021112207.4A DE102021112207A1 (de) | 2021-05-11 | 2021-05-11 | Bremssteuersystem für ein Fahrzeug sowie System und Fahrzeug damit und Verfahren zum Betreiben eines Bremssteuersystems |
DE102021112207.4 | 2021-05-11 |
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US18/507,803 Continuation US20240075913A1 (en) | 2021-05-11 | 2023-11-13 | Brake control system for a vehicle, and system and vehicle therewith, and method for operating a brake control system |
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PCT/EP2022/062632 WO2022238398A1 (de) | 2021-05-11 | 2022-05-10 | Bremssteuersystem für ein fahrzeug sowie system und fahrzeug damit und verfahren zum betreiben eines bremssteuersystems |
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US (1) | US20240075913A1 (de) |
EP (1) | EP4337502A1 (de) |
CN (1) | CN117222557A (de) |
DE (1) | DE102021112207A1 (de) |
WO (1) | WO2022238398A1 (de) |
Citations (6)
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DE19728867A1 (de) * | 1997-07-05 | 1999-01-07 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ermittlung der Fahrzeugmasse |
DE102005041070A1 (de) * | 2005-08-30 | 2007-03-08 | Lucas Automotive Gmbh | System zur Kontrolle der Bergabfahrt eines Kraftfahrzeuges |
WO2018050785A1 (de) * | 2016-09-16 | 2018-03-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren und vorrichtung zum steuern einer bewegung eines fahrzeugs und fahrzeugbewegungssteuersystem |
DE102016219594A1 (de) * | 2016-10-10 | 2018-04-12 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Fahrdynamikregelung für ein Kraftfahrzeug |
DE102018112846A1 (de) * | 2018-05-29 | 2019-12-05 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Steuereinrichtung und Verfahren für die Ansteuerung eines Aktuators zur Betätigung von Bremsmitteln eines Fahrzeuges, insbesondere eines Schienenfahrzeuges |
DE102019214931A1 (de) * | 2019-09-27 | 2021-04-01 | Zf Friedrichshafen Ag | Steuerung eines Fahrzeugs |
-
2021
- 2021-05-11 DE DE102021112207.4A patent/DE102021112207A1/de active Pending
-
2022
- 2022-05-10 WO PCT/EP2022/062632 patent/WO2022238398A1/de active Application Filing
- 2022-05-10 EP EP22730068.8A patent/EP4337502A1/de active Pending
- 2022-05-10 CN CN202280031857.2A patent/CN117222557A/zh active Pending
-
2023
- 2023-11-13 US US18/507,803 patent/US20240075913A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19728867A1 (de) * | 1997-07-05 | 1999-01-07 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Ermittlung der Fahrzeugmasse |
DE102005041070A1 (de) * | 2005-08-30 | 2007-03-08 | Lucas Automotive Gmbh | System zur Kontrolle der Bergabfahrt eines Kraftfahrzeuges |
WO2018050785A1 (de) * | 2016-09-16 | 2018-03-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren und vorrichtung zum steuern einer bewegung eines fahrzeugs und fahrzeugbewegungssteuersystem |
DE102016219594A1 (de) * | 2016-10-10 | 2018-04-12 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Fahrdynamikregelung für ein Kraftfahrzeug |
DE102018112846A1 (de) * | 2018-05-29 | 2019-12-05 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Steuereinrichtung und Verfahren für die Ansteuerung eines Aktuators zur Betätigung von Bremsmitteln eines Fahrzeuges, insbesondere eines Schienenfahrzeuges |
DE102019214931A1 (de) * | 2019-09-27 | 2021-04-01 | Zf Friedrichshafen Ag | Steuerung eines Fahrzeugs |
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DE102021112207A1 (de) | 2022-11-17 |
US20240075913A1 (en) | 2024-03-07 |
EP4337502A1 (de) | 2024-03-20 |
CN117222557A (zh) | 2023-12-12 |
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