OPTIMIZATION FOR A CROSS-ORIENTED ASSISTANCE SYSTEM

Description

[0001] The invention relates to a setting unit for determining a target speed for a lateral assistance system of an at least partially assisted motor vehicle, a motor vehicle, a system, a method and a corresponding computer program.

[0002] Lateral driver assistance systems, such as Travel Assist, must now be approved. Lateral driver assistance systems can steer a motor vehicle laterally, for example, through a curve. For example, the UN ECE R79 regulations apply to lateral driver assistance systems. Among other things, this regulation specifies a maximum lateral acceleration that a motor vehicle may not exceed. Real-world driving tests have shown that various factors can influence lateral acceleration. During active control, lateral acceleration occurs when negotiating a curve, which acts on the motor vehicle. The lateral acceleration a depends, among other things, on the speed v of the motor vehicle and the curve radius R and can be calculated using the formula: a = v ^2 / R , so a = v 2 R , are described. Due to regulatory requirements, the permitted lateral acceleration is limited. This means that at higher cornering speeds and at a constant radius, the limit, i.e. the threshold value, of the lateral acceleration would be exceeded, and the lateral control function must ensure that the lateral acceleration is not exceeded.

[0003] The published patent application EP 3 360 744 A1 relates to a method for operating a vehicle, in particular a commercial vehicle, wherein the vehicle has a travel information determination device by means of which at least the current position, in particular together with the currently set travel route, of the moving vehicle is continuously determined as current travel information, wherein a travel strategy determination device is provided by means of which, on the basis of the travel information and on the basis of map data stored in a memory device, it is first detected whether there is a curve, in particular one having a defined curve course, in front of the vehicle in the direction of travel, wherein, if a curve is detected by means of the travel strategy determination device, an optimal,In particular, an energy-efficient driving strategy for negotiating the curve is determined.

[0004] The published patent application DE 10 2010 054 077 A1 relates to a method and a device for providing a driving recommendation, in particular to a driver of a motor vehicle or for automatically operating the motor vehicle. The method comprises the following steps: - retrieving a set of speed profiles for a route section ahead of the motor vehicle, each speed profile indicating a course of the motor vehicle's speed along the route section; - determining a most probable speed profile for the route section from the set of speed profiles; - determining a speed profile optimized according to a predetermined optimization parameter as a function of the most probable speed profile; and - signaling a driving recommendation as a function of the optimized speed profile and as a function of the current position of the motor vehicle.

[0005] The invention is based on the object of creating a method for reliably determining a cornering speed for a lateral assistance system without exceeding a maximum permitted lateral acceleration. In particular, a robust, variable, and adaptive method for determining speed is to be created, with control preferably being close to the maximum permitted speed.

[0006] The above object is achieved by a setting unit for determining a target speed for a lateral assistance system of an at least partially assisted motor vehicle according to claim 1, comprising at least: an input interface for receiving input data comprising type data with information about a vehicle type of the motor vehicle and swarm data with information about a curve in front of the motor vehicle; an analysis unit for determining a curve speed based on the input data; an output interface for transmitting information regarding the curve speed to the lateral assistance system, wherein the input data comprise swarm data from a swarm data pool with information from a sensor of a swarm motor vehicle and information about the vehicle type of the swarm motor vehicle, and the analysis unit is designed to determine a curve speed at which the maximum lateral acceleration in a predefined period of time is less than a predefined threshold value.

[0007] The above task is further solved by a motor vehicle with: a setting unit as previously defined; a lateral assistance system; a sensor for acquiring sensor data with information regarding a lateral acceleration of the motor vehicle; and preferably a memory for storing type data with information about a vehicle type of the motor vehicle.

[0008] The above object is also achieved by a system for determining a target speed for an at least partially assisted motor vehicle with: a motor vehicle, as previously defined, and a swarm data pool comprising swarm data with information from at least one sensor of at least one swarm motor vehicle and information about a vehicle type of the at least one swarm motor vehicle, wherein the system is designed to exchange swarm data with the swarm data pool.Furthermore, the above object is achieved by a method for determining a target speed for a lateral assistance system of an at least partially assisted motor vehicle according to claim 8, comprising at least the steps of: receiving input data comprising type data with information about a vehicle type of the motor vehicle and swarm data with information about a curve in front of the motor vehicle; determining a curve speed based on the input data; transmitting information regarding the curve speed to the lateral assistance system, wherein the input data comprise swarm data from a swarm data pool with information from a sensor of a swarm motor vehicle and information about the vehicle type of the swarm motor vehicle, and a curve speed is determined at which the maximum lateral acceleration in a predefined period of time is less than a predefined threshold value.

[0009] Finally, the above object is also achieved by a computer program having program code means for carrying out all steps of a method as previously defined when the computer program is executed on a computer or a corresponding computing unit.

[0010] By using swarm data, it is possible to reliably and safely determine which speeds were safely driven in the curve. From this, a cornering speed that can be driven can be determined technically easily. The swarm data therefore preferably includes information regarding a lateral acceleration in the curve, a speed in and before the curve and / or information about the vehicle type of the swarm vehicle. In this way, a maximum cornering speed can be determined using the swarm data, at which the lateral acceleration limits are adhered to. Preferably, the speed can already be regulated before the curve. In particular, it is conceivable that the predefined threshold value can be adjusted with a certain tolerance for a certain time, for example, 2 seconds. 0 , 3 m / s ∧ 2 m s 2 , may be exceeded. In this respect, the maximum lateral acceleration within a predefined period of time is less than the predefined threshold.

[0011] According to the invention, the setting unit and the method provide that the swarm data include information regarding a lateral acceleration of the swarm motor vehicle, a loading state of the swarm motor vehicle, a tire pressure of the swarm motor vehicle, a steering type of the swarm motor vehicle, and / or whether lateral guidance of the swarm motor vehicle was active. This allows for improved determination of the target speed. In particular, this can prevent cornering too slowly. The setting unit can determine a selection of swarm data based on the host motor vehicle. For example, if the host motor vehicle comprises a small car, a selection can be made based on swarm data from swarm motor vehicles of the small car type.In particular, the steering type can include a chassis combination, so that only swarm data from motor vehicles with comparable chassis combinations are selected.

[0012] In a further preferred embodiment of the invention, the input interface is configured to receive input data comprising sensor data with information about a state of the motor vehicle, wherein the analysis unit is configured to determine the cornering speed based on the sensor data and the swarm data. This can further improve the determination of the target speed. The setting unit can determine a selection of swarm data based on a state of the host motor vehicle. This enables a more precise and finer determination of the target speed.

[0013] In a further preferred embodiment of the invention, the type data includes information regarding a steering type of the motor vehicle. By detecting a steering type of the vehicle's own motor vehicle, a permissible target speed can be reliably determined. In particular, this allows for a very precise determination of the target speed, which is particularly close to the permitted maximum value, in a technically simple manner. A simple, fast, and robust method for determining the target speed can be created.

[0014] In a further preferred embodiment of the invention, it is provided that the analysis unit is designed to determine a characteristic map and / or an empirical model relating to the cornering speed based on the sensor data, the type data and / or the swarm data and to determine the cornering speed based on the characteristic map and / or the empirical model. It is understood that the swarm data can also comprise one or more characteristic maps. The characteristic map and / or empirical model can therefore also be determined by receiving the characteristic map and / or empirical model, in particular a vehicle type- or steering type-specific characteristic map and / or empirical model, from the swarm data. The characteristic map represents a highly condensed information source from which a target speed can be determined in a short time in a technically simple and, in particular, computing-efficient manner.An empirical model represents a simplified source of information based on a wide range of data. It can provide a fast, efficient, and robust way to determine the target speed, which is improved, in particular, with each passage of a swarm of vehicles through the curve.

[0015] In a further preferred embodiment of the invention, the setting unit is designed to transmit sensor data and / or type data of the motor vehicle to the swarm data pool. This makes it possible to create a constantly growing swarm data pool. The determination of the target speed can be continuously refined. Furthermore, changing road characteristics can be taken into account. For example, a slight lowering of the road surface can lead to different drivable cornering speeds. The swarm data in the swarm data pool can therefore preferably be kept constantly up to date. Furthermore, a motor vehicle with a modified steering type, for example if a sports suspension has been retrofitted, can be safely steered laterally without prior learning, since corresponding swarm data can preferably be used for lateral guidance.

[0016] Further preferred embodiments of the invention emerge from the remaining features mentioned in the subclaims.

[0017] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.

[0018] Driver assistance systems for lateral guidance of motor vehicles are, in particular, systems for active lane guidance or active lane centering. In these systems, the road course is recorded via a sensor, often a camera, and driving intervention is carried out to guide the vehicle laterally. The systems are generally designed in such a way that the driver must continue to keep their hands on the steering wheel. If the driver makes a strong steering intervention, the automatic lateral guidance is deactivated. With these driver assistance systems, it is possible to make controlled driving in a lane particularly easy and pleasant for the driver, especially in conjunction with a longitudinal driver assistance system, while still allowing slight steering interventions by the driver.The use of such driver assistance systems also makes it possible to make predictions about the future trajectory of the vehicle and to use these in other vehicle systems.

[0019] A characteristic curve or characteristic map is a representation of a relationship between two or more physical quantities. The relationship is characteristic of a component, an assembly, and / or a device. The relationship is specified as a line in a plane coordinate system. The characteristic curve serves to illustrate the relationship but also to represent it quantitatively when an algebraic function of the relationship is unknown. While a characteristic curve can be derived directly from measured values, a theoretically unsupported, but nevertheless approximately correct, function can be determined from measured values, for example, through interpolation and regression.

[0020] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Figure 1 shows a schematic representation of a setting unit according to the invention; Figure 2 shows a schematic representation of a setting unit, a swarm data pool and a transverse driver assistance system; Figure 3 shows a schematic representation of a system according to the invention comprising a motor vehicle and a swarm data pool; Figure 4 shows a schematic representation of cornering; Figure 5 shows a schematic representation of further cornering; Figure 6 shows a schematic representation of a determination of a characteristic map and Figure 7 schematically shows the steps of a method according to the invention.

[0021] Figure 1shows a schematic representation of a setting unit 10 for a transverse driver assistance system (not shown) of a motor vehicle. The setting unit 10 comprises an input interface 12, an analysis unit 14, and an output interface 16.

[0022] The input interface 12 is configured to receive input data comprising type data with information about a vehicle type of the motor vehicle and swarm data with information about a curve in front of the motor vehicle. The input data can comprise swarm data from a swarm data pool with information from a sensor of a swarm motor vehicle and information about the vehicle type of the swarm motor vehicle and / or sensor data from one or more sensors of the motor vehicle.

[0023] The analysis unit 14 is designed to analyze the input data and, based on the input data, to determine a cornering speed for the motor vehicle at which the maximum lateral acceleration in a predefined period of time is less than a predefined threshold value. The predefined threshold value is preferably specified in the ECE Regulation UN ECE R79 and is, for example, 2 , 7 m / s ∧ 2 m s 2 The analysis unit 14 determines the speed at which a swarm vehicle has exceeded the permitted lateral acceleration. For this purpose, a comparison of the vehicle condition, preferably including a vehicle type and / or a steering type, of the vehicle's own vehicle with the swarm data can be carried out.

[0024] The output interface 16 is designed to transmit information regarding the cornering speed to the lateral assistance system. The lateral assistance system can receive the information regarding the cornering speed and control and / or regulate the motor vehicle according to the cornering speed.

[0025] It is understood that the input interface 12 and the output interface 16 can be combined into a single interface. It is further understood that the interfaces 12, 16 can be configured as either wireless or wired. In particular, the interfaces 12, 16 can also be configured as software interfaces.

[0026] Figure 2 schematically shows a setting unit 10, a swarm data pool 18 and a transverse assistance system 20. The same reference numerals refer to the same features and will not be explained again.

[0027] The swarm data pool 18 comprises a plurality of swarm data with information from at least one sensor of a swarm motor vehicle, a vehicle type of a swarm motor vehicle, and / or a steering type of a swarm motor vehicle. In particular, the swarm data can include information regarding whether lateral guidance was active, information regarding a measured lateral acceleration, a load condition, a speed, and / or a tire pressure.

[0028] The setting unit 10 determines a target speed, i.e., a cornering speed at which the maximum permitted lateral acceleration is not exceeded. Information regarding the cornering speed is then transmitted to the lateral assistance system 20. The lateral assistance system 20 regulates and / or controls the vehicle based on the information regarding the cornering speed.

[0029] It is understood that the setting unit 10 can be part of an on-board computer, a navigation system, and / or, particularly preferably, the lateral assistance system 20. This allows costs and installation space requirements to be kept low.

[0030] In Figure 3 2 shows a system 22 according to the invention with a motor vehicle 24 and a swarm data pool 18. The motor vehicle 24 has a lateral guidance assistance system 20 and a setting unit 10. Furthermore, sensors 26 are arranged on the motor vehicle 24.

[0031] The setting unit 10 can receive and analyze sensor data from the sensors 26. Furthermore, the setting unit 10 can exchange swarm data with the swarm data pool 18 via a communication interface 30 of the motor vehicle 24.

[0032] On the one hand, the setting unit 10 can receive data from the swarm data pool 18. Using the received swarm data, the target speed can then be determined, as already described above. In particular, the setting unit 10 can receive sensor data from the sensors 26 and / or type data containing information about a vehicle type of the motor vehicle 24 from a memory 27 and determine the target speed based on the received sensor data, type data, and / or the swarm data. In this case, a comparison of the vehicle state of the motor vehicle 24, in particular with regard to the vehicle type and steering type, can preferably be made with the swarm data.

[0033] On the other hand, the setting unit 10 can send data to the swarm data pool 18. The motor vehicle 24 thus acts as a swarm vehicle. The sensors 26 can, for example, comprise at least one of the following sensor types: a lateral acceleration sensor, a tire pressure sensor, a load sensor, and / or a status sensor that detects whether the lateral assistance system 20 is active. The swarm data transmitted to the swarm data pool 18 is preferably the sensor data and / or type data with information about a vehicle type of the motor vehicle 24 from the memory 27. It is understood that further data regarding a position, speed, acceleration, etc. of the motor vehicle 24 can be transmitted.

[0034] In Figure 4 A system 22 according to the invention is shown schematically, wherein a motor vehicle 24 of the system 22 according to the invention is cornering. In the Figure 4In the situation shown, the motor vehicle 24 receives swarm data from the swarm data pool 18 before and / or during cornering. The setting unit 10 determines the cornering speed based on the swarm data and sensor data from sensor 26.

[0035] Preferably, the motor vehicle 24 or the setting unit 10, which is not shown in detail for reasons of clarity, receives the swarm data before cornering and determines the target speed, i.e. the maximum cornering speed, before entering the curve.

[0036] In Figure 5 A system 22 according to the invention is shown schematically, wherein a motor vehicle 24 of the system 22 according to the invention is cornering. In the Figure 5In the situation shown, the motor vehicle 24 sends data to the swarm data pool 18 before, during, and / or after cornering. For example, the data sent to the swarm data pool 18 includes sensor data from the sensor 26 and / or type data with information about a vehicle type of the motor vehicle 24 from the memory 27. The sensor 26 can include one or more of the above-mentioned sensors 26.

[0037] The swarm data pool 18 is configured to store, transmit, analyze, combine, and / or discard swarm data. The swarm data pool 18 may be a computer cloud, a server, a data center, and / or any other device known in principle in the art that is suitable for implementing the above-mentioned requirements for a swarm data pool 18.

[0038] The Figure 4 and in Figure 5The situations shown can also occur in parallel. It is therefore particularly preferred that both data be received from the swarm data pool 18 and data be transmitted to the swarm data pool 18.

[0039] In Figure 6 The determination of a characteristic map 32 from data from a swarm 34 of motor vehicles 24, a requirement 36, sensor data from sensors 26, and type data from memory 27 is shown schematically. A target speed is determined from the characteristic map 32. The target speed is the speed at which a curve can be negotiated without reaching a maximum value for lateral acceleration. The maximum value for lateral acceleration is preferably defined in requirement 36. Requirement 36 can, in particular, be an ECE rule or another regulatory requirement.

[0040] The swarm 34 of motor vehicles 24 preferably comprises many different vehicle types. Figure 6Various vehicle types, steering types, and states of motor vehicles 24 are shown by way of example. A front and rear spoiler indicates a motor vehicle 24 of the sports car type. A vehicle of the small vehicle type is shown shorter, i.e. with a shorter length. The longest motor vehicle 24 shown includes, for example, a bus. Furthermore, in the bottom row, various steering types of the motor vehicles 24 are schematically shown by different sizes of the vehicle wheels. Wider tires illustrate that the motor vehicle 24 has a steering type in the form of a sports chassis. Thinner, wider tires illustrate that the motor vehicle 24 has a steering type in the form of a comfort chassis. It is understood that each vehicle type and / or state can be present multiple times in the swarm data pool 18. In particular, a separate characteristic map 32 can be determined for each vehicle type and / or state.It is understood that different properties of the motor vehicles 24 can be combined to form different characteristic maps 32. Furthermore, instead of a characteristic map 32, a simplified empirical model can also be determined.

[0041] From the swarm data, the request 36, the type data, and the sensor data of the host motor vehicle 24, a characteristic map 32 can be determined that specifies a range for a target speed. In particular, the steering type and / or vehicle type can be plotted on the characteristic map 32, whereby these ranges can be defined such that a steering type defines a range in the characteristic map 32 and a vehicle type defines another range in the characteristic map 32, from which a speed range for the target speed is determined. If the speed of the host motor vehicle 24 lies within the previously defined speed range of the characteristic map 32 for the target speed, the maximum permissible lateral acceleration is not exceeded.

[0042] In Figure 7The individual steps of a method according to the invention for determining a target speed for a lateral assistance system 20 of an at least partially assisted motor vehicle 24 are shown schematically. A first step S1 comprises receiving input data comprising type data with information about a vehicle type of the motor vehicle 24 and swarm data with information about a curve in front of the motor vehicle 24. In a second step S2, a curve speed is determined based on the input data, at which the maximum lateral acceleration in a predefined period of time is less than a predefined threshold value. In a third step S3, information regarding the curve speed is transmitted to the lateral assistance system 20.The input data comprises, as already described above, swarm data from a swarm data pool 18 with information from a sensor 26 of a swarm motor vehicle 34 and information about the vehicle type of the swarm motor vehicle 34. List of reference symbols

[0043] 10Setting unit 12Input interface 14Analysis unit 16Output interface 18Swarm data pool 20Lateral assistance system 22System 24Vehicle 26Sensor 27Memory 30Communication interface 32Characteristic map 34Swarm / swarm-vehicle 36Requirement S1 - S3Procedure steps

Claims

1. Setting unit (10) for determining a target speed for a lateral guidance assistance system (20) of a motor vehicle (24) which is driven in an at least partially assisted manner, comprising: - an input interface (12) for receiving input data comprising type data which contain information regarding a vehicle type of the motor vehicle (24), and swarm data which contain information regarding a curve in front of the motor vehicle (24); - an analysis unit (14) for determining a curve speed based on the input data; - an output interface (16) for transmitting information regarding the curve speed to the lateral guidance assistance system (20), wherein the input data comprise swarm data from a swarm data pool (18), containing information from a sensor (26) of a swarm motor vehicle (34), and information regarding the vehicle type of the swarm motor vehicle (34), and the analysis unit (14) is designed to determine a curve speed at which the maximum lateral acceleration in a predefined period of time is less than a predefined threshold value, and wherein the swarm data comprise information regarding a lateral acceleration of the swarm motor vehicle (34) and / or a load state of the swarm motor vehicle (34) and / or a tire pressure of the swarm motor vehicle (34) and / or a steering type of the swarm motor vehicle (34) and / or as to whether lateral guidance of the swarm motor vehicle (34) was active, wherein a selection of swarm data can be determined by the setting unit (10) based on the individual motor vehicle.

2. Setting unit (10) according to any of the preceding claims, characterized in that the input interface (12) is designed to receive input data comprising sensor data which contain information regarding a state of the motor vehicle (24), wherein the analysis unit (14) is designed to determine the curve speed based on the sensor data and the swarm data.

3. Setting unit (10) according to claim 2, characterized in that the type data comprise information regarding a steering type of the motor vehicle (24).

4. Setting unit (10) according to either claim 2 or claim 3, characterized in that the analysis unit (14) is designed to determine a characteristic map (32) and / or an empirical model regarding the curve speed based on the sensor data, the type data and / or the swarm data, and to determine the curve speed based on the characteristic map (32) and / or the empirical model.

5. Setting unit (10) according to any of the preceding claims, characterized in that the setting unit (10) is designed to transmit sensor data and / or type data of the motor vehicle (24) into the swarm data pool (18).

6. Motor vehicle (24) comprising: - a setting unit (10) according to any of the preceding claims; - a lateral guidance assistance system (20); - a sensor (26) for detecting sensor data which contain information regarding a lateral acceleration of the motor vehicle (24); and - preferably a memory (27) for storing type data which contain information regarding a vehicle type of the motor vehicle (24).

7. System (22) for determining a target speed of a motor vehicle (24) which is driven in an at least partially assisted manner, comprising: a motor vehicle (24) according to the preceding claim and a swarm data pool (18) comprising swarm data containing information from at least one sensor (26) of at least one swarm motor vehicle (34) and information regarding a vehicle type of the at least one swarm motor vehicle (34), wherein the system (22) is designed to exchange swarm data with the swarm data pool (18).

8. Method for determining a target speed for a lateral guidance assistance system (20) of a motor vehicle (24) which is driven in an at least partially assisted manner, comprising the steps of: - receiving (S1) input data comprising type data which contain information regarding a vehicle type of the motor vehicle (24) and swarm data which contain information regarding a curve in front of the motor vehicle (24); - determining (S2) a curve speed based on the input data; - transmitting (S3) information regarding the curve speed to the lateral guidance assistance system (20), wherein the input data comprise swarm data from a swarm data pool (18), containing information from a sensor (26) of a swarm motor vehicle (34) and information regarding the vehicle type of the swarm motor vehicle (34), and a curve speed is determined, at which the maximum lateral acceleration in a predefined period of time is less than a predefined threshold value, and wherein the swarm data comprise information regarding a lateral acceleration of the swarm motor vehicle (34) and / or a load state of the swarm motor vehicle (34) and / or a tire pressure of the swarm motor vehicle (34) and / or a steering type of the swarm motor vehicle (34) and / or as to whether lateral guidance of the swarm motor vehicle (34) was active, wherein a selection of swarm data is determined by the setting unit (10) based on the individual motor vehicle.

9. Computer program having program code means for carrying out all steps of a method according to the preceding claim 8 when the computer program is executed on a computer or a corresponding computing unit.