Device for operating a motor vehicle and motor vehicle

Abstract

The invention relates to a device for operating a motor vehicle, comprising: a model-predictive driving operation module which is designed to generate a driving signal for the motor vehicle in a model-predictive manner as a function of a first driving reservation, a second driving reservation and a motor vehicle reservation, the first driving reservation is a speed reservation of the driver, the second driving reservation is a speed bandwidth reservation of the driver, and the motor vehicle reservation is a speed deviation reservation; and a control module configured to control the motor vehicle based on the generated driving signal.

Description

Technical Field

[0001] The present disclosure relates to a device for operating a motor vehicle and a motor vehicle having such a device. Background Art

[0002] Current driving operation modules mainly generate driving signals for operating a motor vehicle based on rules. Summary of the Invention

[0003] Therefore, the object of the present invention is to provide an improved device for operating a motor vehicle.

[0004] This object is solved by the subject matter of the independent claims. The improvements are specified in the dependent claims.

[0005] According to a first aspect, a device for operating a motor vehicle is provided.

[0006] The device here includes: a model predictive driving operation module configured to generate driving signals for the motor vehicle in a model predictive manner depending on a first driving preset, a second driving preset, and a motor vehicle preset, wherein the first driving preset is a speed preset of the driver, wherein the second driving preset is a speed bandwidth preset of the driver, and wherein the motor vehicle preset is a speed deviation preset; and a control module configured to control the motor vehicle based on the generated driving signals.

[0007] The device particularly uses the speed preset and the speed bandwidth preset of the driver to generate driving signals for operating the motor vehicle in a model predictive manner.

[0008] The modules of the device described in more detail below are particularly based on software construction and are implemented, for example, by a computing unit executing specific program data.

[0009] For this purpose, the device has a model predictive driving operation module configured to generate driving signals for the motor vehicle in a model predictive manner depending on a first driving preset, a second driving preset, and a motor vehicle preset, wherein the first driving preset is a speed preset of the driver, wherein the second driving preset is a speed bandwidth preset of the driver, and wherein the motor vehicle preset is a speed deviation preset.

[0010] The driving operation module is a module that performs or supports a specific driving function of the motor vehicle, particularly a longitudinal control function.

[0011] The driving function is, for example, a constant speed function, which can also be referred to as cruise control (or in English: cruise control). This constant speed function adheres to a specific speed here, and the driver does not need to actively operate the drive or brakes.

[0012] Another example of the driving function is a distance keeping function, which can also be called distance control (English: distance control). This distance keeping function maintains a specific distance from the vehicle in front here, and the driver does not need to actively operate the drive or brakes.

[0013] Another example of the driving function is a curve keeping function, which can also be called curve assistance. This curve keeping function follows the curve or the road alignment here and matches the speed to the curve radius, and the driver does not need to actively operate the drive or brakes for this.

[0014] These driving functions can also be generally referred to by the terms "adaptive speed regulation function" or adaptive cruise control (English: adaptive cruise control, abbreviated as ACC), where the driving operation module performs at least one or more sub-functions.

[0015] The driving preset includes here first the preset of the driver, namely the speed preset and the speed bandwidth preset. The speed is the speed that the constant speed function should maintain. The speed bandwidth preset is a speed bandwidth within which the speed is allowed to fluctuate. The speed preset is, for example, a speed of 100 km / h, and the speed bandwidth preset is a bandwidth of ±10 km / h. This means that a driving signal for the motor vehicle is generated within the range of 100 km / h ± 10 km / h or operation within this range is enabled.

[0016] In addition to the driving preset, a motor vehicle preset is also taken into account, which relates to the speed deviation preset. In particular, this motor vehicle preset can be independent of the driver and is preset by the motor vehicle manufacturer as to how much deviation from the speed preset is allowed within the speed bandwidth in the respective driving mode, where this deviation especially only occurs within the speed bandwidth.

[0017] The speed deviation preset thus especially depends on the speed preset and the driving mode, both of which are selected by the driver, however, where the deviation itself cannot be set by the driver but is pre-set. For example, a greater deviation from the speed is allowed or achieved at a greater speed preset than at a smaller speed preset.

[0018] In addition, other presets can also be taken into account, such as legal presets, which, for example, preset the prescribed minimum distance that the distance keeping function should follow.

[0019] Model prediction currently particularly includes, based on a model, describing the future behavior of a system, here a motor vehicle, based on constraints and / or goals to be achieved. In particular, model prediction currently does not mean rule-based. Model prediction (or model predictive control, English: model predictive control, abbreviated as MPC) particularly includes model-based and optimization-based regulation here. In particular, it involves solving dynamic optimization problems with an objective function and constraints, which are solved, for example, by an optimizer, especially gradient-based.

[0020] For this purpose, the model predictive driving operation module utilizes one or more sensors and / or one or more pieces of information stored in a memory.

[0021] The driving operation module can, for example, utilize one or more environmental sensors, one or more map information, and / or one or more driving operation sensors.

[0022] The driving operation module can particularly utilize one or more camera devices, one or more lidar devices, and / or one or more radar devices, which are arranged at or in the motor vehicle. These sensors can also be summarized under the term "perception sensor" (English: perception sensor). The driving operation module particularly also utilizes one or more storage devices in which map information is stored and which are arranged at or in the motor vehicle. The driving operation module particularly also utilizes one or more driving operation sensors, such as one or more speed sensors and / or acceleration sensors.

[0023] The driving signal can include indications or information by means of which a control mechanism or control module can control the motor vehicle. The driving signal particularly includes such signals that indicate acceleration and / or one or more torques or from which acceleration and / or one or more torques can be derived.

[0024] The torque signal can include a braking torque signal, i.e., a specific braking torque to be achieved, and / or a driving torque signal, i.e., a specific driving torque to be achieved. The driving torque can also be referred to as the traction torque. The driving signal can particularly include multiple driving torque signals, for example, a driving torque signal for an internal combustion engine and a driving torque signal for an electric motor. The driving torque signal can also take a negative value here, which is then interpreted as a regeneration signal for the electric motor. The resulting driving signal thus includes, for example, multiple signals in the form of a driving signal vector.

[0025] The device also has a control module that is configured to control the motor vehicle based on the generated driving signal.

[0026] To this end, the control module can activate one or more actuators of the motor vehicle, in particular one or more acceleration actuators and / or braking actuators, which contribute to the acceleration maneuver and / or braking maneuver of the motor vehicle.

[0027] The device enables the anticipatory generation of driving signals for the operation of the motor vehicle. In particular, the device can generate driving signals not only according to a speed preset but also additionally according to a speed bandwidth preset, thereby achieving a particularly comfortable drive.

[0028] According to an improvement, the model predictive driving operation module is also configured to generate an acceleration signal based on a third driving preset, wherein the third driving preset is a driving mode preset of the driver.

[0029] The driver's driving mode preset is a preset related to the driving mode or operation mode of the motor vehicle. The motor vehicle in particular has a plurality of pre-set driving modes, and the driver can select one of the driving modes.

[0030] The motor vehicle has, for example, a sporty driving mode and an energy-efficient driving mode. In the sporty driving mode, the travel time of the motor vehicle is particularly optimized, and in the energy-efficient driving mode, energy conservation is particularly optimized.

[0031] Optionally, there are also provided driving modes such as a balanced driving mode that balances travel time and energy conservation.

[0032] This improvement enables the driver to operate the motor vehicle in different driving modes. Thereby, a particularly user-friendly operation is achieved.

[0033] According to an improvement, the model predictive driving operation module is configured to generate driving signals based on terrain information.

[0034] As described at the beginning of this article, the driving operation module can activate one or more sensors and / or one or more information.

[0035] The information can in particular have map information, which includes, for example, bend information and especially terrain information. The terrain information in particular includes information about the surface or topography along the driving path of the motor vehicle. The terrain information in particular includes information about uphill and / or downhill sections along the driving path.

[0036] Here, the model predictive driving operation module is configured to also generate driving signals based on this terrain information. The model predictive driving operation module can of course use or evaluate other information and sensor data in order to generate driving signals.

[0037] This improvement achieves particularly anticipatory driving signal generation.

[0038] According to an improved scheme, the model prediction-based driving operation module minimizes the cost function.

[0039] In particular, the driving operation module solves the cost function taking into account the driver's speed preset and speed bandwidth preset. The cost function will be explained in more detail in a further process.

[0040] By means of this improved scheme, a particularly forward-looking driving signal generation is achieved.

[0041] According to an improved scheme, the cost function takes into account the energy present in the energy storage of the motor vehicle, the deviation from the speed preset and / or the elapsed time.

[0042] Here, the cost function can assign different weights to the energy present in the energy storage of the motor vehicle, the deviation from the speed preset and / or the elapsed time.

[0043] In particular, the cost function is defined as follows:

[0044]

[0045] Here, is the energy present in the energy storage of the motor vehicle, is the deviation from the speed preset and is the elapsed time. The subordinate weights are 、 and , which reflect or take into account the driving mode preset. Here, the factor is a value that depends on both the driving mode and the speed preset, or has different weight values for different driving modes and different speed presets. Other factors represented by are also weights.

[0046] The subscript k describes the state or adjustment parameter at the position k along the horizontal line. The vector-valued variable x describes the state of the dynamic system. That is:

[0047]

[0048] Therefore, in particular, an expression regarding the position is selected at present, that is, the position along the horizontal line is a free variable and the time t becomes a state.

[0049] Here, the deviation from the speed preset is defined as follows:

[0050]

[0051] Here, is the speed setpoint and is the actual or detected speed of the motor vehicle.

[0052] The following additional terms of the cost function are defined:

[0053]

[0054] and

[0055]

[0056] The additional terms are used for regularization in the case of jerk (where j is jerk) and for comfort functions or reflect the so-called slip variables in the case of 、 、 and in order to penalize being below or above the lower and upper tolerance boundaries that define the speed bandwidth setpoint and or being below or above the upper acceleration and jerk boundaries as well as the lower acceleration and jerk boundaries 、 and 、 Here, the subscripts lth and uth represent the English lower threshold and upper threshold, respectively.

[0057] For this purpose, the following auxiliary conditions are defined:

[0058]

[0059] The vector-valued variable describes the adjustment parameter composed of the change in traction force and the change in braking force The acceleration submitted to the control module is calculated from these state parameters.

[0060] Thus, through the implementation of the device, it is achieved that different weights effective in different driving behaviors can be used for different speed setpoints for various driving modes.

[0061] Therefore, for the driving mode regarding energy efficiency, the speed setpoint can be corrected downward by a value and for the time-oriented driving mode, it can be corrected upward by a value . Now, starting from this adapted speed setpoint the time weight is selected so as to reach this adapted set speed. Thus, the time weight becomes a function of the adapted speed setpoint and thus becomes .

[0062] weight can likewise be chosen to be extremely small, because by and the system has already sufficiently followed the speed setpoint. can now be used to exhibit a dynamic deviation from the speed setpoint as required.

[0063] Furthermore, these embodiments are independent of the type of drive and can be used both in motor vehicles with an internal combustion engine and in motor vehicles with an electric drive, and also in combinations composed of them.

[0064] According to another aspect, a motor vehicle having an embodiment of the aforementioned device for operating a motor vehicle is described.

[0065] The motor vehicle according to the invention is preferably designed as an automobile, in particular a passenger car or a truck, or as a passenger bus or a motorcycle.

[0066] Regarding the embodiments of the motor vehicle and the associated advantages, reference may be made to the aforementioned embodiments of the device and the related advantages. Description of the Drawings

[0067] Next, embodiments of the device for operating a motor vehicle will be described with reference to the drawings. In the figures:

[0068] Figure 1 A schematic view of an embodiment of the device for operating a motor vehicle is shown.

[0069] In the drawings, the same reference numerals refer to elements having the same function. Detailed Description of the Embodiments

[0070] Figure 1 A schematic view of an embodiment of a device 100 for operating a motor vehicle is shown. The device is particularly included in the motor vehicle.

[0071] The device 100 includes here a model predictive driving operation module 10, which is configured to generate a driving signal for the motor vehicle in a model predictive manner depending on a first driving setpoint, a second driving setpoint, and a motor vehicle setpoint, wherein the first driving setpoint is the speed setpoint of the driver, wherein the second driving setpoint is the speed bandwidth setpoint of the driver, and wherein the motor vehicle setpoint is the speed deviation setpoint.

[0072] The device 100 also includes a control module 20, which is configured to control a motor vehicle based on the generated driving signal.

[0073] The model predictive driving operation module 10 of the device 100 is further configured to generate an acceleration signal based on a third driving schedule, where the third driving schedule is the driving mode schedule of the driver.

[0074] The model predictive driving operation module 10 of the device 100 is also configured to generate a driving signal based on terrain information.

[0075] The model predictive driving operation module 10 includes a cost function 11 here and is configured to minimize this cost function.

[0076] The cost function 11 takes into account the energy present in the energy storage of the motor vehicle, the deviation from the speed schedule, and the elapsed time and assigns different weights to them.

[0077] List of reference numerals

[0078] 10 Model predictive driving operation module

[0079] 11 Cost function

[0080] 20 Control module

[0081] 100 Device

Claims

1. Device (100) for operating a motor vehicle, the device comprising: - A model predictive driving operation module (10), which is configured to generate a driving signal for the motor vehicle in a model predictive manner depending on a first driving schedule, a second driving schedule and a motor vehicle schedule, wherein the first driving schedule is a speed schedule of the driver, wherein the second driving schedule is a speed bandwidth schedule of the driver, and wherein the motor vehicle schedule is a speed deviation schedule; and - A control module (20), which is configured to control the motor vehicle based on the generated driving signal.

2. The device (100) according to claim 1, wherein, The speed deviation schedule depends on the speed schedule.

3. The device (100) according to any one of the preceding claims, wherein, The model predictive driving operation module is further configured to generate an acceleration signal based on a third driving schedule, wherein the third driving schedule is a driving mode schedule of the driver.

4. The device (100) according to any one of the preceding claims, wherein, The model predictive driving operation module is configured to generate the driving signal based on terrain information.

5. The apparatus (100) according to any one of the preceding claims, wherein, The model predictive driving operation module minimizes a cost function (11).

6. The apparatus (100) according to claim 4, wherein, The cost function (11) takes into account the energy present in the energy storage of the motor vehicle, the deviation from the speed schedule and / or the elapsed time.

7. The apparatus (100) according to claim 5, wherein, The cost function (11) assigns different weights to the energy present in the energy storage of the motor vehicle, the deviation from the speed schedule and / or the elapsed time.

8. A motor vehicle, the motor vehicle comprising the device (100) according to any one of the preceding claims.

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