Method for operating a vehicle

Abstract

Method for operating a vehicle (50) with multi-actuator control, in which the driving state of the vehicle (50) is monitored and, in the event that a limit situation for the vehicle (50) is detected, feedback (60) is given to the driver.

Description

[0001] The invention relates to a method for operating a vehicle, in particular a motor vehicle, and an arrangement for carrying out the method. State of the art

[0002] A multi-actuator control in a vehicle, in particular a motor vehicle, provides for simultaneous or coordinated control of brakes, steering, both front and rear axle steering, drive train and active chassis in order to increase driving stability and to enhance comfort, energy efficiency and safety.

[0003] A disadvantage of such systems is that the vehicle still drives too “well” even in physical limit areas and an impending loss of control due to exceeding the physical limits may be noticed too late and then occur all the more suddenly and unexpectedly.

[0004] Drivers tend to identify extreme situations too late. This can lead to dangerous situations developing, as corrective driver intervention may occur too late.

[0005] Various control concepts are known for steering, which can, for example, provide the driver with a smooth, comfortable steering feel or provide enhanced road feedback. Combinations of the two concepts, for example, depending on speed, are also known. Disclosure of the invention

[0006] Against this background, a method according to claim 1 and an arrangement according to claim 9 are presented. Embodiments emerge from the dependent claims and from the description.

[0007] The presented method is used to operate a vehicle. The method monitors the vehicle's operating or driving status continuously or at regular intervals. If a critical situation is detected, feedback is provided to the driver. This feedback typically takes into account the type and severity of the detected current or impending critical situation.

[0008] In one embodiment, the feedback is provided by influencing the steering control concept.

[0009] A borderline situation can be considered, for example, a situation in which support or foreseeable support of the driver is detected by driving stabilization measures.

[0010] The method is typically used in vehicles with multi-actuator control for driving dynamics functions.

[0011] Multi-actuator control means that at least two actuators of the vehicle, preferably from different subsystems of the vehicle, such as a steering actuator of a steering system and a brake actuator of a brake, are addressed simultaneously or in a coordinated manner.

[0012] With regard to multi-actuator control, it should be noted that in traditional vehicle architectures, different actuators, such as the steering, brakes, active chassis, or powertrain, are controlled separately. The driver's actuation of an actuator only directly affects that individual actuator. Interactions between the actuators are either not considered at all or only minimally considered.

[0013] Multi-actuator control allows the actions of the various actuators to be coordinated and adapted to the situation. For example, the driver's request to change direction, triggered by a steering wheel movement, can be implemented not only by controlling the steering actuator(s), but also by additional braking intervention on individual wheels. This enables a multitude of new functions that, among other things, improve driving dynamics in extreme situations, increase driving comfort, or support economical driving. The multi-actuator control can be implemented centrally or distributed or decentralized.

[0014] In the current state of the art, the behavior of the multi-actuator control depends on a multitude of parameters, such as speed, acceleration or road surface conditions.

[0015] The described method proposes that, with increasing assistance and / or when the need for driver assistance through stability control measures becomes foreseeable, the driving feel is influenced in such a way that the driver receives tangible feedback about the entry or impending entry into the limit range, without having to accept any disadvantages in vehicle handling. In particular, it is proposed to gradually change the steering feel.

[0016] This can be achieved, for example, by switching between different steering control concepts or by combining the weightings of different controllers with changing proportions to form an overall result, typically depending on the strength of the support interventions.

[0017] If, for example, the multi-actuator control unit determines that the current driving situation requires vehicle dynamics control intervention, this can be indicated to the driver by increasing the weighting for a steering controller focused on road feedback compared to a steering controller focused on comfort perception. The severity of the required vehicle dynamics control intervention can be transmitted to the steering system, providing graduated feedback to the driver. Furthermore, other tuning parameters for steering feel can be enhanced to provide the driver with feedback about the impending limit situation.

[0018] Predictive feedback can be provided, for example, by evaluating the current speed, the current road conditions, and the expected trajectory. The expected trajectory can be captured by a camera, e.g., an upcoming curve, and specified in the navigation system via a programmed route, e.g., an upcoming fork.

[0019] If it is detected that a borderline situation exists and / or that the current speed will lead to a borderline situation given the road conditions and trajectory, this can be communicated to the driver as feedback, e.g. by: Adjusting the steering controller as described above, Display of visual or acoustic warnings, e.g. via head-up display (HUD), Feedback via an accelerator pedal, e.g. through vibration.

[0020] Furthermore, feedback to the driver can be provided in the following ways: Feedback can be provided, for example, by an active chassis or semi-active suspension. When the vehicle dynamics controller intervenes, these may be activated anyway to improve driving stability. Additionally, the chassis or suspension can be optimized to provide the driver with better or stronger feedback about the road surface, thus sensitizing them to the ongoing or impending controller intervention. For example, other frequencies can be specifically influenced than those required solely for reasons of driving stability. This allows frequencies that would be regulated for comfort reasons during normal driving to be permitted.

[0021] Feedback can also be provided by activating a reversible belt tensioner. Some systems currently in use already pre-tension the belt as a precautionary measure, for example, during sudden acceleration or braking. This can be supplemented by situations in which vehicle dynamics control intervention is in progress or imminent.

[0022] Another possibility is to make targeted changes to the ventilation system, with cold air in particular being directed more towards the driver, for example towards the face and upper body.

[0023] Additionally, if media playback is in progress, this can be achieved by reducing the volume during media playback. The strength of the effect can be adjusted depending on the degree of intervention of the control.

[0024] For all of the feedback contributions mentioned above, it is possible or advisable to adjust the strength of the effect depending on the degree of intervention of the driving dynamics controller. A gradual blending is possible depending on the degree of driving dynamics intervention, which should increase the perceived comfort. However, it is also possible to provide sharper gradations that are more clearly perceptible. It is possible to provide the driver with a selection or adjustment option for the type and strength of the feedback elements, as well as the phasing in and out behavior.

[0025] The individual measures or individual contributions listed above can be combined in any way or can be carried out step by step or in a complementary manner in the sense of an escalation with increasing intervention strength of the vehicle dynamics controller.

[0026] By using the presented method, it is possible to prevent inexperienced drivers, in particular, from being lulled into a false sense of security by advanced assistance systems such as multi-actuator vehicle dynamics control, which would lead them to unknowingly approach physical limits. This makes the use of multi-actuator vehicle dynamics control more manageable and safer for the end user, thus reducing the risk of accidents.

[0027] Of particular note is that the steering feel and other feedback options, such as pedals, HUD, etc., are dynamically adjusted depending on ongoing or upcoming vehicle dynamics control interventions in order to give the driver feedback on the driving situation.

[0028] The method can, in principle, be used in all vehicles with multi-actuator control systems for vehicle dynamics control. To a certain extent, it could also be used in conventional vehicle dynamics control systems.

[0029] The presented arrangement is configured to carry out a method of the type described herein and, for this purpose, typically has an evaluation unit, which in turn is designed to detect a limiting situation, whether it exists, is present, or is imminent, by evaluating data or information describing the driving state. The arrangement or the evaluation unit can then determine and trigger suitable feedback to the driver by regularly determining and outputting at least one control signal for at least one actuator and / or a human-machine interface, such as a loudspeaker or a display.

[0030] The arrangement can also be implemented in hardware and / or software and further integrated in a control unit of the vehicle or designed as such a control unit.

[0031] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

[0032] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention. Short description of the drawings Fig. 1 shows a flow chart of a possible sequence of the presented procedure. Fig. 2 shows a schematic, highly simplified representation of a vehicle with an embodiment of the described arrangement for carrying out the presented method. Embodiments of the invention

[0033] The invention is illustrated schematically in the drawings using embodiments and is described in detail below with reference to the drawings.

[0034] Fig. Figure 1 shows a flowchart of a possible sequence of the proposed method. In a first step 10, a vehicle begins its journey, and its driving status is monitored either intermittently or continuously. Whether continuous monitoring or interval monitoring is performed, as well as the time interval between monitoring sessions, can be specified by the driver and / or depend on external circumstances or conditions.

[0035] In the next step 12, it is recognized that a critical situation is imminent, and in a subsequent step 14, a measure is initiated that provides feedback to the driver. This feedback can be provided through one or more feedback measures.

[0036] Fig. Figure 2 shows a schematic, highly simplified representation of a vehicle, designated overall by reference numeral 50. Furthermore, the illustration shows an arrangement 52 for carrying out the described method, in which an evaluation unit 54 is provided.

[0037] The vehicle 50 is designed for multi-actuator operation; therefore, several actuators 56 are provided, via which the operation of the vehicle 50 can be influenced. Information or data regarding the driving state is acquired and evaluated by the arrangement 52 or the evaluation unit 54 within the arrangement. If a condition critical to operation is detected, which may be present or imminent, the arrangement 52 or the evaluation unit 54 triggers or initiates a feedback signal 60 to the driver of the vehicle 50.

Claims

[1] Method for operating a vehicle (50) with multi-actuator control, in which the driving condition of the vehicle (50) is monitored and in the event that a limit situation for the vehicle (50) is detected, feedback (60) is given to the driver. [2] Method according to claim 1, wherein the feedback (60) is taken by influencing the steering control concept of the vehicle (50). [3] Method according to claim 1 or 2, wherein the feedback (60) is given upon detection of an impending limit situation. [4] Method according to claim 1 or 2, wherein the feedback (60) is given upon detection of an existing limit situation. [5] Method according to one of claims 1 to 4, in which support or foreseeable support of the driver by driving stabilizing measures is recognized as a limit situation. [6] Method according to one of claims 1 to 5, wherein the feedback (60) is selected from a group of feedback measures consisting of: controlling an active chassis, controlling a semi-active suspension, controlling a reversible belt tensioner, controlling a ventilation system, influencing the volume of a media playback, displaying on a display. [7] Method according to claim 6, wherein the feedback measures are given additionally and / or consecutively as feedback (60). [8] Method according to claim 6, wherein the feedback measures are given step by step in succession and / or in addition as feedback. [9] Arrangement for operating a vehicle (50), with an evaluation unit (54) which is designed to carry out a method according to one of claims 1 to 8. [10] Arrangement according to claim 9, which is designed for use in a vehicle (50) with multi-actuator control.

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