Computer-implemented method for dynamically compensating for the influence of a lateral disturbance force during an overtaking maneuver

Abstract

The invention relates to a computer-implemented method (100) for the dynamic compensation of the influence of a lateral disturbance force on an ego vehicle during an overtaking maneuver, comprising the following steps: detection of the ego vehicle's surroundings with an environmental sensor system (101), determination of a relative speed, a relative position and / or a relative acceleration between the ego vehicle and a third vehicle in the vehicle's surroundings using the sensor data acquired by the environmental sensor system (102), detection of an impending overtaking maneuver of the ego vehicle by a third vehicle or of a third vehicle by the ego vehicle (103), in the case of a detected impending overtaking maneuver, determination of a lateral disturbance force acting on the ego vehicle during the overtaking maneuver (104), and generation of a preventive measure by which the influence of the determined lateral disturbance force can be at least partially compensated (105).

Description

[0001] The invention relates to a computer-implemented method for dynamically compensating for the influence of a lateral disturbing force on an ego vehicle during an overtaking maneuver. The method comprises: detecting the surroundings of the ego vehicle using an environmental sensor system; determining a relative speed and a relative acceleration between the ego vehicle and a third vehicle in the vehicle's surroundings using the sensor data detected by the environmental sensor system; determining an impending overtaking maneuver of the ego vehicle by a third vehicle or of a third vehicle by the ego vehicle; and determining, upon a detected impending overtaking maneuver, a lateral disturbing force acting on the ego vehicle during the overtaking maneuver. The invention further relates to a control device, a vehicle having the control device, and a computer program.

[0002] When driving, vehicle dynamics are influenced not only by the road geometry but also by various external disturbances from the environment. For example, during overtaking maneuvers, changes in air pressure can have a significant impact on a vehicle's handling. This can result in effects ranging from uncomfortable handling to uncontrollable destabilization of the vehicle due to dynamic lateral influences in the steering system.

[0003] Against this background, the present invention is based on the object of providing a computer-implemented method and a control device which prevents or at least reduces the influence of lateral disturbing forces on the lateral guidance of the vehicle during overtaking maneuvers.

[0004] The above object is achieved by the entire teaching of claim 1 and the subordinate claims. Advantageous embodiments of the invention are claimed in the subclaims.

[0005] According to a first aspect of the present invention, the object underlying the invention is achieved by a computer-implemented method for dynamically compensating for the influence of a lateral disturbance force on an ego vehicle during an overtaking maneuver. The ego vehicle can be the vehicle being overtaken or, alternatively, the overtaking vehicle. In both cases, a lateral disturbance force can act on the ego vehicle due to the change in air pressure. The method comprises the following steps: The environment of the ego vehicle is detected using an environmental sensor system. In an advantageous embodiment, the environmental sensor system of the ego vehicle comprises a camera, and / or a radar sensor, and / or a lidar sensor, and / or an ultrasonic sensor, and / or a communication interface for wirelessly receiving data, in particular current environmental data. The environmental sensor system can in particular also comprise one or more cameras, and / or one or more radar sensors, and / or one or more lidar sensors, and / or one or more ultrasonic sensors, and / or one or more such communication interfaces.

[0006] In a next step, a relative speed, in particular a longitudinal relative speed and / or a relative acceleration, in particular a longitudinal relative acceleration, between the ego vehicle and a third vehicle in the vehicle environment is determined using the sensor data on the vehicle environment recorded by the environment sensor system.

[0007] An impending overtaking maneuver of the ego vehicle by a third vehicle and / or of a third vehicle by the ego vehicle is determined. In a preferred embodiment, the impending overtaking maneuver is determined using the longitudinal relative position and / or the longitudinal relative speed and / or the longitudinal relative acceleration. Alternatively or optionally additionally, the impending overtaking maneuver is determined using a determined longitudinal distance between the ego vehicle and the third vehicle. In order to reliably identify an impending overtaking maneuver, for example, the longitudinal relative position over time and / or the longitudinal relative speed over time and / or the longitudinal relative acceleration over time are considered.In addition, the lateral distance between the ego vehicle and the third vehicle is preferably taken into account in order to be able to evaluate the lane in which the third vehicle is located relative to the ego vehicle.

[0008] Optionally, map information from a digital map can be evaluated to assess an impending overtaking maneuver. Map information includes, for example, road class, lane width, number of lanes, and the road layout, which, in conjunction with the longitudinal relative position, longitudinal relative speed, longitudinal relative acceleration, and lateral relative position, reliably infer an overtaking maneuver by the ego vehicle. For example, knowing the lane width can be used to more accurately predict the lateral distance at the time of the overtaking maneuver.

[0009] If an impending overtaking maneuver has been detected, a lateral disturbance force acting on the ego vehicle during the overtaking maneuver, in particular an air pressure and / or a change in air pressure, is determined. For example, the lateral disturbance force is determined over time. As an exemplary alternative, the lateral disturbance force is determined as a function of the longitudinal and / or lateral relative position between the vehicles.

[0010] According to the invention, a preventive measure is generated that at least partially compensates for the influence of the determined lateral disturbing force. In the context of the invention, the preventive measure is a preparatory measure that counteracts the disturbance expected at the steering wheel. This reduces disturbing movements and consequently improves steering stability.

[0011] In an advantageous embodiment, vehicle-specific parameters of the ego vehicle and / or the third vehicle are estimated to determine the lateral disturbance force acting during the overtaking maneuver. The vehicle-specific parameters to be determined, in particular the vehicle dimensions, which can form aerodynamic influencing variables of the lateral disturbance force, include, for example, the vehicle mass, the vehicle speed, the vehicle width, the vehicle length, the vehicle height, the cross-sectional area perpendicular to the direction of travel, and / or the frontal area of ​​the ego vehicle and / or the third vehicle. Furthermore, to determine the lateral disturbance force acting during the overtaking maneuver, the lateral distance between the own vehicle and the third vehicle is preferably estimated during the overtaking maneuver.This is possible, for example, by evaluating the relative position between the own vehicle and the third vehicle in regular measurement cycles, by determining the steering angle, and / or by determining the trajectory of the ego vehicle and / or the third vehicle. Another key influencing factor is the longitudinal distance between the two vehicles, because the closer the overtaking vehicle approaches the vehicle being overtaken, the more pronounced the aerodynamic effect becomes, depending on the speed difference between the two vehicles.

[0012] For example, the lateral disturbance force acting during the overtaking maneuver is determined using a physical equation and / or a flow model.

[0013] Particularly preferably, the lateral disturbance force acting during the overtaking maneuver is determined using a neural network. The neural network is, for example, a fully connected neural network or a transformer network. Preferably, the neural network is already trained to determine the lateral disturbance force acting during the overtaking maneuver. The training can be carried out in a variety of ways known from the state of the art, in particular adapted to the respective type of neural network used for a specific application. In particular, the neural network determines the lateral disturbance force acting on the ego vehicle during the overtaking maneuver based on input data for a definable number of future time steps.Input data preferably consists, at least in part, of the aforementioned vehicle-specific parameters of the ego vehicle and / or third vehicle, as well as the relative speed, the longitudinal distance, and / or a predicted lateral distance between the two vehicles. Transformer networks, in particular, advantageously enable sequential data to be derived from sequential data. Accordingly, it is possible to encode the measured input data of the last time steps and sequentially decode the lateral disturbance force for the next time steps.

[0014] According to a further preferred embodiment, the lateral disturbance force acting during the overtaking maneuver is estimated by means of a flow model, which can be implemented, for example, via a lookup table or an online calculation.

[0015] In a preferred embodiment, the crosswinds and in particular the wind speed are also determined, since these can have an increasing influence on the steering stability.

[0016] According to a preferred embodiment, the ego vehicle comprises a plurality of vehicle modes with different vehicle dynamics, wherein, depending on the determined lateral disturbance force, a driving mode is set from the plurality of driving modes which counteracts the lateral disturbance force during the overtaking maneuver. In particular, based on the determined lateral disturbance force, it is determined whether a driving mode with higher driving dynamics should be set. The driving modes are, for example, an eco driving mode, a comfort driving mode, and a sport driving mode, wherein the eco driving mode has lower driving dynamics than the comfort driving mode and the comfort driving mode has lower driving dynamics than the sport driving mode. Particularly preferably, switching to sport mode occurs when a lateral disturbance variable predicted in the steering system during the overtaking maneuver has been determined.Sport mode, for example, is activated if the predicted lateral disturbance exceeds a specified threshold. By setting a driving mode with increased driving dynamics as a preventative measure, a lateral disturbance force is compensated for as much as possible before a corresponding disturbance is transmitted to the steering wheel. Setting a suitable driving mode represents a particularly simple design of the control algorithm for executing the preventative measure.

[0017] It is also advantageous to switch to the originally selected driving mode after overtaking, provided no further impending lateral disturbance has been detected, in order to comply with the original driver setting. This ensures that the driver's wishes, driving comfort, and safety are equally considered.

[0018] According to an advantageous embodiment of the invention, an estimated angle and / or torque curve is applied as a pre-control component to an active steering system of the vehicle, which counteracts the lateral disturbance force to be compensated. Preferably, the angle or torque curve is estimated based on vehicle-specific parameters of the ego vehicle and / or the third vehicle that influence the lateral disturbance, as well as based on the determined relative speed and the determined lateral distance between the two vehicles during the overtaking maneuver, and is applied as an additional steering torque or as a steering angle offset. Thus, as a preventive measure, an auxiliary force is initiated that counteracts the disturbance at the steering wheel corresponding to the first output signal.The predictive feedforward control enables the lateral position of the ego vehicle to be adjusted as optimally as possible even if the approach flow situation changes during the overtaking maneuver.

[0019] With predictive feedforward control, the active steering system can, for example, support a manually initiated steering command by comparing a steering angle with a resulting yaw rate and, based on this, correcting any possible deviation. According to another preferred embodiment, the active steering system is a lane keeping assistance system that steers the ego vehicle along the center of the lane being driven. In another advantageous embodiment, the active steering system is a fully automated guidance system that steers the vehicle along the planned trajectory. For this purpose, a drive and / or braking unit and / or a steering system of the vehicle is controlled in such a way that the ego vehicle adheres to a planned driving maneuver.

[0020] According to a preferred development, in the event of a control deviation from a setpoint curve, in particular a deviation from a lane center or a planned trajectory during an overtaking maneuver, a control variable component is generated by a controller, which can be added to an additive control variable component to set a summed control variable. In this way, the ego vehicle is controlled as precisely as possible along the desired lane center or trajectory. Remaining transverse vibrations of the ego vehicle can be reliably compensated by this feedback control.

[0021] According to an advantageous embodiment of the invention, an estimated time-dependent stiffness curve is applied to the vehicle's active shock absorbers as a pilot control signal, depending on the determined lateral disturbing force. This curve counteracts the lateral disturbing force to be compensated. Active shock absorbers are adjustable shock absorbers for vibration damping and can be hydraulically stiffened via controllable valves. Adjusting the stiffness of the active shock absorbers achieves improved handling in the presence of lateral disturbing forces and is therefore a reliable preventative measure for dynamic compensation of lateral forces and the resulting rolling movements.

[0022] In an advantageous embodiment, in the event of a detected lateral disturbance acting on the steering system, the precipitation intensity and / or the rolling resistance coefficient of the ego vehicle are determined, which could negatively impact the vehicle's stability. Taking the precipitation intensity and / or the rolling resistance coefficient into account allows for the initiation of preventive measures that further safeguard vehicle stability.

[0023] A further subject matter of the invention relates to a control device, in particular a control unit, which is designed to dynamically compensate for the influence of a lateral disturbing force on an ego vehicle during an overtaking maneuver, to carry out the computer-implemented method according to the preceding description.

[0024] The control device has, in particular, an information input, an information processing unit, and an information output. The control device according to the invention is designed to receive and process sensor data relating to the environment of the ego vehicle provided by the environment sensor system. The control device can be connected or can be connected, in particular, to at least one environment sensor, such as at least one camera, a lidar, a radar sensor, or an ultrasonic sensor of the ego vehicle. The control device is designed, in particular, to predict lateral disturbances relating to impending overtaking maneuvers of the ego vehicle or by the ego vehicle and to counteract these in a preventive manner.For this purpose, the control device is particularly designed to determine at least one relative speed and / or one relative acceleration between the ego vehicle and a third vehicle in the vicinity of the ego vehicle, determined using the sensor data. Based on the relative speed, the relative acceleration, the relative position, the lane course, and / or the trajectory planning of the ego vehicle, an impending overtaking maneuver is evaluated. In the case of an evaluated impending overtaking maneuver, the control device is particularly designed to determine a lateral disruptive force acting on the ego vehicle during the overtaking maneuver. Depending on the determined lateral disruptive force, a preventive measure is generated that at least approximately compensates for the influence of the lateral disruptive force on the ego vehicle.In this way, vehicle vibrations can be reduced or prevented, resulting in optimized, comfortable driving behavior.

[0025] The control device may in particular comprise a microcontroller or processor, a central processing unit (CPU), a graphics processor (GPU), a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) and the like, as well as software for carrying out the corresponding method steps.

[0026] The present invention can thus be implemented in digital electronic circuits, computer hardware, firmware or software.

[0027] Furthermore, the present invention also encompasses a computer program with instructions which, when executed by a computer, cause the computer to execute the computer-implemented method according to the invention as described above. The computer program according to the invention can, in particular, be stored on a non-transient data carrier or can be accessed and / or downloaded by a control unit of the vehicle via a communication connection, for example, the Internet.

[0028] A further subject of the invention relates to a vehicle comprising a control device according to the preceding description.

[0029] The advantages and preferred embodiments described for the method according to the invention also apply accordingly to the control device according to the invention, the vehicle according to the invention and the computer program according to the invention and vice versa.

[0030] An exemplary embodiment of the invention is explained in more detail below with reference to a drawing. The single figure shows a flowchart of a computer-implemented method 100 for dynamically compensating for the influence of a lateral disturbance force on an ego vehicle during an overtaking maneuver.

[0031] In a first step, the environment of the ego vehicle is recorded using an environment sensor system 101. By evaluating the sensor data recorded by the environment sensor system, it is possible to predict a potential overtaking maneuver of the ego vehicle by a third vehicle and vice versa.

[0032] In order to evaluate an overtaking maneuver, a relative speed and a relative acceleration between the ego vehicle and a third vehicle in the vehicle's surroundings are recorded 102 using the sensor data acquired by the environmental sensors. The relative speed and acceleration are characteristic features for evaluating an overtaking maneuver, which allow conclusions to be drawn about the movement sequence of the vehicles relative to one another, particularly over a time course. Accordingly, an impending overtaking maneuver of the ego vehicle by a third vehicle or an impending overtaking maneuver of a third vehicle by the ego vehicle is determined 103 based on the determined relative speed and acceleration. Optionally, the position and / or yaw angle and / or yaw rate of the ego vehicle and the third vehicle are additionally determined, which enable a precise determination of the movement sequence of the vehicles relative to one another.Furthermore, map information, provided, for example, via sensor data or a digital map, is preferably taken into account to determine an overtaking maneuver. Examples of map information include road class, number of lanes, road gradient, intersections, a speed limit, or a no-overtaking zone, which, in conjunction with the relative speed, acceleration, and / or relative position of the two vehicles, allow conclusions to be drawn about an impending overtaking maneuver.

[0033] Overtaking maneuvers, particularly at high relative speeds, can at least impair driving comfort due to the changing flow pattern, but can also cause driving instability due to vibrational behavior. Against this background, for an identified impending overtaking maneuver, a lateral disturbance force acting on the ego vehicle during the overtaking maneuver, caused by the changes in air pressure between the two vehicles during the overtaking maneuver, is determined 104. Optionally, a prevailing crosswind and its wind direction are also determined, which can have an additional influence on the vehicle stability of the ego vehicle.

[0034] For evaluation, particularly for estimating the lateral disturbance force acting on the ego vehicle during the overtaking maneuver, the vehicle mass, the drag coefficient, and the cross-sectional area perpendicular to the direction of travel of the ego vehicle and the third vehicle are determined. These factors influencing the lateral disturbance force can be estimated, for example, by analyzing image data. However, it is also possible that vehicle-specific data, in particular, is stored in a database of the ego vehicle and can be accessed by a third vehicle in the immediate vicinity, or that a third vehicle in the immediate vicinity transmits its vehicle-specific data to the ego vehicle via V2X communication.

[0035] In a next step, a preventive measure is generated, in particular controlled by a control unit, whereby the influence of the determined lateral disturbance force is at least partially compensated with the controlled preventive measure 105.

[0036] For example, the ego vehicle includes an automated driver assistance system to support the driver in controlling the vehicle, in particular for at least partially automated lateral guidance of the vehicle. As a preventive measure, it is possible, for example, for the driver assistance system to initiate an active countersteering torque in a timely manner to at least partially compensate for the specific lateral disturbance.

[0037] The preventive measure can also involve setting a high driving dynamics mode, such as a sport mode, which counteracts the lateral disruptive force. Setting the driving dynamics mode is particularly advantageous in poor weather conditions, as it avoids unnecessary lateral movements. The set driving mode is preferably returned to the previous driving mode once the overtaking maneuver has been completed and no further impending lateral disruptive force has been detected.

[0038] Furthermore, the preventive measure can be the stiffness adjustment of active shock absorbers by means of a pilot control variable supplied to the controller.

Claims

[1] Computer-implemented method (100) for dynamically compensating an influence of a lateral disturbance force on an ego vehicle during an overtaking maneuver, comprising the following steps: - Detection of the environment of the ego vehicle with an environment sensor (101), - determining a relative speed, relative position and / or a relative acceleration between the ego vehicle and a third vehicle in the vehicle environment by means of the sensor data (102) recorded by the environment sensor system, - Determination of an impending overtaking manoeuvre of the ego vehicle by a third vehicle or of a third vehicle by the ego vehicle (103), - in the case of a determined impending overtaking maneuver, determining a lateral disturbing force (104) acting on the ego vehicle during the overtaking maneuver, and - Generating a preventive measure that can at least partially compensate for the influence of the specific lateral disturbing force (105). [2] Computer-implemented method (100) according to claim 1, characterized by that the determination of the impending overtaking manoeuvre is carried out by means of the determined relative speed and / or the relative acceleration. [3] Computer-implemented method (100) according to claim 1 or 2, characterized by that, in order to determine the lateral disturbing force acting during the overtaking maneuver, vehicle-specific parameters of the ego vehicle and / or the third vehicle are estimated, wherein at least the vehicle mass, the vehicle speed, the vehicle width, the vehicle length, the vehicle height, the cross-sectional area, the frontal area and / or the relative position of the vehicles to one another and / or the lateral distance between the ego vehicle and the third vehicle are estimated during the overtaking maneuver. [4] Computer-implemented method (100) according to one of the preceding claims, characterized by that the lateral disturbance force acting during the overtaking manoeuvre is determined by means of a physical equation, a flow model and / or a neural network. [5] Computer-implemented method (100) according to one of the preceding claims, characterized by that the ego vehicle comprises a plurality of vehicle modes with different driving dynamics, wherein, depending on the determined lateral disturbing force, a driving mode is set from the plurality of driving modes which counteracts the lateral disturbing force during the overtaking maneuver. [6] Computer-implemented method (100) according to one of the preceding claims, characterized by that an angle and / or torque curve is set as a pre-control component on an active steering system of the ego vehicle, which counteracts the lateral disturbance force to be compensated. [7] Computer-implemented method (100) according to claim 6, characterized by that in the event of a control deviation from a setpoint curve during the overtaking maneuver, a manipulated variable component of a controller is generated, which can be added to an additive manipulated variable component in order to set a summed manipulated variable. [8] Computer-implemented method (100) according to one of the preceding claims, characterized by that, depending on the determined lateral disturbance force, a time-dependent stiffness curve is applied as a pilot control signal to active shock absorbers of the vehicle, which counteracts the lateral disturbance force to be compensated. [9] Control device designed for dynamically compensating an influence of a lateral disturbing force on an ego vehicle during an overtaking maneuver, wherein the control device is configured to carry out a computer-implemented method (100) according to one of claims 1 to 7. [10] Vehicle comprising a control device according to claim 9. [11] A computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out the computer-implemented method (100) according to any one of claims 1 to 8.

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