Control device for automatically adapting regulating parameters of a regulating system of a motor vehicle

Abstract

The invention relates to a control device (2) for automatically adapting a control parameter of a control system (3) of a motor vehicle (1), wherein the control system is designed to automatically match an actual driving behaviour of the motor vehicle (1) with a predefined setpoint driving behaviour of the motor vehicle (1). The control device (2) is designed to continuously detect, during operation of the motor vehicle (1), a deviation of the actual driving behaviour of the motor vehicle (1) from the predefined setpoint driving behaviour of the motor vehicle (1). The control device (2) is designed to adapt, on the basis of the detected deviation, an original control parameter of the control system (3) of the motor vehicle (1) in order in this way to obtain an adapted control parameter of the control system (3) of the motor vehicle (1).

Description

[0001]23-2053 PIF 1 CONTROL DEVICE FOR THE AUTOMATED ADJUSTMENT OF CONTROL PARAMETERS OF A CONTROL SYSTEM OF A MOTOR VEHICLE The present disclosure relates to a control device for the automated adjustment of a control parameter of a control system of a motor vehicle and / or a method for the automated adjustment of the control parameter of the control system of the motor vehicle. Additionally, or alternatively, a computer program is provided which comprises instructions which, when the program is executed by a computer, cause the computer to at least partially execute the method. Additionally, or alternatively, a computer-readable medium is provided which comprises instructions which, when the instructions are executed by a computer, cause the computer to at least partially execute the method. In modern motor vehicles, in particular automobiles, driver assistance systems are increasingly being installed. Driver assistance systems (FAS; English:(Advanced) Driver Assistance Systems (A)DAS) are electronic, particularly mechatronic, devices in motor vehicles designed to support the driver in specific driving situations. The focus here is often on safety aspects, but also on increasing driving comfort. Driver assistance systems can have automated and self-learning functions. These self-learning functions can influence the behavior of the vehicle (system). This influence can affect the behavior of the vehicle. Driver assistance systems exist that are designed to automatically control the lateral guidance of a motor vehicle. In this case, it can be provided that the parameters for controlling the steering behavior are defined in advance. The provided control systems can include all parameters relevant to driving dynamics.Regardless of the driving situation, the steering of the motor vehicle can be controlled at any time based on the same parameters. US 2010256869 A1 describes that in a method for automatically correcting a state variable of a vehicle in the event that the vehicle 23-2053 PIF 2 has left the specified roadway, a vehicle control system is reparameterized in such a way that an intervention specified by the driver is translated into a reduced change in a vehicle state variable. With the introduction of Level 3 autonomous driving, however, the lateral guidance or control of the steering of the motor vehicle is taken over independently in certain driving situations. The challenge here is that the parameters for controlling the steering must enable demand-based control behavior both for control operation (normal operation) and in dangerous situations or dynamic steering maneuvers.Against the background of this prior art, the object of the present disclosure is to specify a control device and / or a method, each of which is suitable for enriching the prior art. This object is achieved by the features of the independent claims. The independent claims and the subclaims each contain optional developments of the disclosure. According to this, the object is achieved by a control device for the automated adaptation of a control parameter of a control system of a motor vehicle, wherein the control system is designed for the automated adjustment of an actual driving behavior of the motor vehicle to a predetermined target driving behavior of the motor vehicle. The control device is designed to continuously detect a deviation of the actual driving behavior of the motor vehicle from the predetermined target driving behavior of the motor vehicle during operation of the motor vehicle.The control device is designed to adapt an original control parameter of the control system of the motor vehicle based on the detected deviation in order to thus obtain an adapted control parameter of the control system of the motor vehicle. 23-2053 PIF 3 The control device or control unit can be part of a driver assistance system controlled by the control system or represent this system together with the control system. The control device and / or the control system can be, for example, an electronic control unit (ECU). The electronic control unit can be an intelligent processor-controlled unit which can communicate with other modules, for example via a central gateway (CGW), and which can optionally form the vehicle's on-board network via fieldbuses such as the CAN bus, LIN bus, MOST bus, FlexRay and / or via the automotive Ethernet, for example together with telematics control units and / or environmental sensors.It is conceivable that the control system controls functions relevant to the driving behavior of the motor vehicle, such as the steering, engine control, power transmission, and / or the braking system. Furthermore, driver assistance systems such as a parking assistant, adaptive cruise control (ACC), lane keeping assistant, lane change assistant, traffic sign recognition, traffic light recognition, start-off assistant, night vision assistant, and / or intersection assistant can be controlled by the control system. When reference is made to the control device and the control system, they may refer to one and the same (optionally physical) unit, i.e., the control device may be part of the control system.However, it is also conceivable that the control device and the control system are designed as two separate (optionally physical) units which are connected to one another for the purpose of adapting the control parameter. A control parameter can be understood as a parameter or a characteristic variable whose amount or level determines an extent or strength of an intervention in the lateral and / or longitudinal guidance of the motor vehicle by the control system. The control parameter can therefore comprise values ​​or settings which can be used in the control system to control (optionally to regulate and / or adapt) the performance or behavior of the motor vehicle system. 23-2053 PIF 4 For the purposes of the present disclosure, the original control parameter can correspond to a parameter value which exists before the adaptation of the control parameter.This can be, among other things, a (default) value that is set when the control system and / or the control device is started due to the start of the motor vehicle. For the purposes of the present disclosure, a target driving behavior can describe an ideal, appropriate and / or safe manner in which the motor vehicle and / or a user should behave in various traffic situations. It can refer to the driving style prescribed by traffic regulations, safety principles and / or situational conditions, which can serve to ensure the safety of all road users and enable a smooth flow of traffic. This applies analogously to the actual driving behavior, whereby the actual driving behavior of the motor vehicle is decisive for determining the state. The device described above offers a number of advantages.Among other things, by adjusting the control variable, the control system can automatically adapt the control of the lateral and / or longitudinal guidance of the vehicle to the driving situation. This can lead, among other things, to smoother or more comfortable steering behavior during normal operation of the vehicle, as the control parameter can be selected so that driving comfort takes priority in the control of the lateral and / or longitudinal guidance. During a sudden steering maneuver, however, safe and precise steering can be more strongly integrated into the control system. By adjusting the control parameters, it is therefore possible to react to appropriate situation-dependent driving behavior and adjust the vehicle to a desired driving behavior.For the purposes of the present disclosure, situation-dependent driving behavior can include adapting the driving style of a user or of the motor vehicle itself to the current road and traffic conditions as well as to the environment. It can comprise the ability to react appropriately to changing situations in order to ensure the safety, efficiency and comfort of the motor vehicle for its occupants. Traffic density, weather conditions, road conditions, traffic signs and signaling, environmental factors, emergency situations, dangerous situations and / or evasive maneuvers can be taken into account. Possible further developments of the device described above are explained in detail below. The control system can be designed toadapted control parameter to control a lateral and / or longitudinal guidance of the motor vehicle in such a way that the deviation from the desired driving behavior to the actual driving behavior of the motor vehicle is reduced. The control device can be designed to adapt the original control parameter of the control system of the motor vehicle if the detected deviation exceeds a predetermined limit value. The control device can be designed to reset the adapted control parameter to the original control parameter as soon as the deviation falls below the predetermined limit value. The control system can be a controller and the control parameter can be a control parameter of the controller. In other words, the term "control" used above is to be interpreted broadly and also includes control, i.e. control taking into account a feedback variable.Consequently, a control device can be provided for the automated adaptation of a control parameter of a control system or a controller of a motor vehicle, wherein the control system is designed for the automated adjustment of an actual driving behavior of the motor vehicle to a predetermined target driving behavior of the motor vehicle. The control device is designed to continuously detect a deviation of the actual driving behavior of the motor vehicle from the predetermined target driving behavior of the motor vehicle 23-2053 PIF 6 during operation of the motor vehicle. The control device can be designed to adapt an original control parameter of the control system of the motor vehicle based on the detected deviation in order to thus obtain an adapted control parameter of the control system of the motor vehicle. The above statements regarding the control parameter and the control system also apply analogously to the control system or the controller and the control parameter.Furthermore, it should be noted that the control device itself can also be a controller. The control system can include at least one motor vehicle guidance system, a steering control system, and / or a braking control system. In a motor vehicle, driver assistance systems can access the guidance system, the steering control system, and / or the braking control system to support the user. Through controlled interventions, the user can be protected from hazardous situations or supported in hazardous situations. The control of the vehicle can be taken over for support, and the motor vehicle can be driven autonomously. In addition, steering and braking can be supported and / or performed for the user. This can increase the quality and safety of driving.It can be provided that the specified target driving behavior includes a threshold value, and exceeding the threshold value implies a deviation from the target driving behavior, and falling below the threshold value implies driving behavior that corresponds to the target driving behavior. The threshold value can be used to determine when the situation-dependent driving behavior can be controlled with the available control parameters and when deviations may occur and the control parameters must be adjusted based on the threshold value. If the deviation thus exceeds the threshold value, the control parameters can be adjusted using the disclosed control device. The actual driving behavior is controlled such that the deviation from the target driving behavior is minimized until the value falls below the threshold value. If the value falls below the threshold value, the control system and the control parameters can be reset to the original parameter value.The control parameters are reset to their original parameter values. 23-2053 PIF 7 It can be provided that the situation-dependent driving behavior includes an executed deviation from a target trajectory of the motor vehicle and / or a predictable steering intervention of the motor vehicle. It can be provided that the control parameters include at least the control quality, the control speed, and / or driving comfort. Via parameterization, the control system can be adapted to the driving situations of the motor vehicle in such a way that this can lead to smoother and more comfortable steering behavior, where in normal operation the parameter for driving comfort has a higher priority and / or importance in the control. In dangerous situations with sudden steering maneuvers (evasive maneuvers), the control quality can be more strongly incorporated into the control for safe but precise steering.Furthermore, the control speed, which includes the control intervention, can be adjusted. This way, delays can be avoided or faster control can be achieved. The desired driving behavior can be a desired trajectory of the motor vehicle and the actual driving behavior can be an actual trajectory of the motor vehicle. The term trajectory can be understood as information relating to a path to be taken by the motor vehicle, whereby this path or this location information can be combined with a time component. The trajectory can therefore indicate where the motor vehicle will be or should be, and optionally when the motor vehicle will be or should be where. The desired trajectory can therefore be understood as a trajectory planned, for example by a driver assistance system of the motor vehicle. The actual trajectory can be an expected orestimated trajectory of the motor vehicle. The actual trajectory can be determined, for example, based on a current speed, a current acceleration and / or a current steering angle of the motor vehicle, for example by the control device and / or the control system. The deviation of the actual trajectory from the desired trajectory can be understood as a deviation or a difference in the location information(s) of the two trajectories 23-2053 PIF 8 from one another and optionally also in the time information of the two trajectories from one another. The above description can be summarized in other words and in a possible more concrete embodiment of the disclosure as described below, wherein the following description is to be interpreted as non-limiting to the disclosure.It was recognized that with the introduction of Level 3 autonomous driving, the vehicle will independently take over steering in certain situations. The parameters for steering control must therefore enable demand-based control behavior both for normal operation and in dangerous situations or dynamic steering maneuvers. It was also recognized that during evasive maneuvers, the steering control takes into account both comfort and the rapid execution of the maneuver. Thus, the selection of parameters involves a trade-off: To what extent can comfort be increased so that a dangerous situation can also be controlled under these parameters? It can therefore be provided to adapt the control parameters if excessive deviations from the target trajectory or predictable dynamic steering maneuvers occur. The adjustment of the parameters can thus be situation-dependent, i.e.that, in particular, the control parameters are only adjusted for the period in which there is an unusually high deviation; however, as soon as this deviation no longer exceeds the threshold value, control can be resumed using the original parameters. Furthermore, a motor vehicle with the control unit or control device described above is provided. The motor vehicle accordingly comprises the control system described above, which is designed to adapt an actual driving behavior of the motor vehicle to a predetermined target driving behavior of the motor vehicle, and the control device described above, which is designed to adapt a control parameter of the control system. 23-2053 PIF 9 The motor vehicle can be a passenger car, in particular an automobile, or a commercial vehicle, such as a truck. The motor vehicle can be automated.The motor vehicle can be designed to at least partially and / or at least temporarily assume longitudinal guidance and / or lateral guidance during automated driving of the motor vehicle by means of the control system. Automated driving can occur in such a way that the motor vehicle moves (largely) autonomously. Automated driving can be controlled at least partially and / or temporarily by the control system. It is conceivable for the motor vehicle to intervene in the lateral guidance of the motor vehicle through a driver assistance system, actively, e.g., by adjusting an actual steering wheel position, and optionally passively, e.g., by displaying turn-by-turn instructions. The same applies analogously to the longitudinal guidance of the motor vehicle. The motor vehicle can be a motor vehicle of autonomy level 1, i.e., have certain driver assistance systems that support the driver in operating the vehicle, such as, for example, adaptive cruise control (ACC).The motor vehicle can be a motor vehicle with autonomy level 2, i.e. it can be so partially automated that functions such as automated parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and / or braking are taken over by driver assistance systems. The motor vehicle can be a motor vehicle with autonomy level 3, i.e. it can be so conditionally automated that the driver does not have to continuously monitor the vehicle system. The motor vehicle independently carries out functions such as activating the indicator, changing lanes and / or keeping in lane. The driver can attend to other activities but will be prompted by the system to take over control within a pre-warning period if necessary. The motor vehicle can be a motor vehicle with autonomy level 4, i.e. it can be so highly automated that control of the vehicle is permanently taken over by the vehicle system.If the system can no longer handle the driving tasks, the driver can be asked to take over. The motor vehicle can be a motor vehicle with autonomy level 5, i.e. so fully automated that the driver is not required to perform the driving task. Apart from setting the destination and starting the system, no human intervention is necessary. The motor vehicle can operate without a steering wheel and pedals. What has been described above with reference to the control device also applies analogously to the motor vehicle and vice versa. Furthermore, a method is provided for the automated adaptation of a control parameter of a control system of a motor vehicle, which is designed to match an actual driving behavior of the motor vehicle to a predetermined target driving behavior of the motor vehicle.The method comprises continuously detecting a deviation of the actual driving behavior of the motor vehicle from the predetermined target driving behavior of the motor vehicle during operation of the motor vehicle. The method comprises adapting an original control parameter of the control system of the motor vehicle based on the detected deviation in order to obtain an adapted control parameter of the control system of the motor vehicle. The (control) method can be a computer-implemented method, i.e. one step, several or all steps of the method can be carried out at least partially by a computer or a data processing device, optionally the control device. What has been described above with reference to the control device and the motor vehicle also applies analogously to the method and vice versa.23-2053 PIF 11 Furthermore, a computer program is provided, comprising instructions which, when the program is executed by a computer, cause the computer to at least partially carry out or implement the method described above. A program code of the computer program can be in any code, in particular in a code which is suitable for controlling motor vehicles. What has been described above with reference to the control device, the motor vehicle and the method also applies analogously to the computer program and vice versa. Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when the instructions are executed by a computer, cause the computer to at least partially carry out or implement the method described above. This means that a computer-readable medium can be provided which comprises a computer program as defined above.The computer-readable medium can be any digital data storage device, such as a USB stick, a hard drive, a CD-ROM, an SD card, or an SSD card (or SSD drive / SSD hard drive). The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained via the Internet or otherwise externally. What has been described above with reference to the method, the control device, the computer program, and the motor vehicle also applies analogously to the computer-readable medium, and vice versa. An optional embodiment is described below with reference to Figures 1 and 2. Fig. 1 schematically shows a motor vehicle with a control device according to the disclosure for the automated adaptation of a control parameter of a control system of a motor vehicle, and Fig.2 schematically shows a flow diagram of a method according to the disclosure for the automated adjustment of the control parameter. 23-2053 PIF 12 The motor vehicle 1, which is only shown schematically in Figure 1, has a control device 2. The control device 2 can comprise a memory unit. Alternatively, the memory unit can be outsourced to a cloud and be communicatively connected to the control device 2. The motor vehicle 1 can have a sensor unit. The sensor unit can be designed to capture data or information from the environment of the motor vehicle 1 and to provide it for further processing and / or use. Alternatively, the captured data or information can be provided in already processed form as control signals for other components of the motor vehicle 1.It can be provided that the motor vehicle 1 has a plurality of different sensor units which record information (status information) about the motor vehicle 1 and / or environmental information from the motor vehicle 1 and make it available for further processing. This information can be used by the control device 2 to record situation-dependent driving behavior, i.e. an actual driving situation and / or a desired driving situation, as well as a deviation between the two. The motor vehicle 1 furthermore has a control system embodied as a control system 3. The control system 3 can be designed as a driver assistance system and / or be embodied in a driver assistance system and contain a motor vehicle guidance system, a steering control system, and / or a braking control system. The control system 3 can be used to guide the motor vehicle 1 longitudinally and to execute steering movements of the motor vehicle 1.The control device 2 is designed to carry out the method 10 for the automated adaptation of a control parameter of the control system, which is also described in detail below with reference to Figure 2. Since the control system in the present case is designed as a control system 3, which is designed to adapt an actual driving behavior of the motor vehicle 1 to a predetermined target driving behavior of the motor vehicle 1, the control parameter to be adapted is a control parameter. In other words, a control parameter is adapted to the driving situation so that automated driving of the motor vehicle 1 can be controlled in a suitable manner in the respective current driving situation. This is done using the method 10 described in detail below. 23-2053 PIF 13 The method 10 is carried out during operation of the motor vehicle 1.This means that during the method 10 the control system 3 is operated in parallel to the control device 2, wherein the control system initially controls a lateral and / or longitudinal guidance of the motor vehicle by means of an original control parameter and in the course of the method by means of an adapted control parameter such that the deviation of the target driving behavior from the actual driving behavior of the motor vehicle 1 is reduced. The target driving behavior is defined or established by a target trajectory of the motor vehicle and the actual driving behavior is defined or established by an actual trajectory of the motor vehicle. In a first step 11 of the method 10, a deviation of the actual trajectory of the motor vehicle 1 from the predetermined target trajectory of the motor vehicle 1 is continuously detected by means of the control device 2 during operation of the motor vehicle 1. The first step 11 of the method 10 is carried out continuously, i.e. simultaneously orcarried out in parallel to the further steps 12 - 14 of the method 10. In a second step 12 of the method 10, the currently detected deviation is compared with a predetermined limit value by means of the control device 2. The second step 12 of the method 10 is also carried out continuously, i.e. simultaneously or parallel to the other steps 10, 13, 14 of the method 10. In a third step 13 of the method, the original control parameter of the control system 3 of the motor vehicle 1 is adapted by means of the control device 2 in order to obtain an adapted control parameter of the control system 3 of the motor vehicle 1 if it is determined in the second step 12 that the detected deviation exceeds a predetermined limit value.In a fourth step 14 of the method, the control device 2 resets the control parameter adjusted in the third step 13 to the original control parameter as soon as it is determined in the second step 12 that the detected deviation (again) falls below the predetermined limit value. 23-2053 PIF 14 List of reference symbols 1 Motor vehicle 2 Control device 3 Control system 10 Method 11-14 Method steps.

Claims

23-2053 PIF 15 claims 1. Control device (2) for the automated adaptation of a control parameter of a control system of a motor vehicle (1), wherein the control system is designed for the automated adaptation of an actual driving behavior of the motor vehicle (1) to a predetermined target driving behavior of the motor vehicle (1), wherein the control device (2) is designed to: - continuously detect a deviation of the actual driving behavior of the motor vehicle (1) from the predetermined target driving behavior of the motor vehicle (1) during operation of the motor vehicle (1), characterized in that the control device (2) is designed to: - adapt an original control parameter of the control system of the motor vehicle (1) based on the detected deviation in order to thus obtain an adapted control parameter of the control system of the motor vehicle (1). 2.Control device (2) according to claim 1, characterized in that the control system is designed to control a lateral and / or longitudinal guidance of the motor vehicle (1) by means of the original or adapted control parameter such that the deviation of the desired driving behavior from the actual driving behavior of the motor vehicle (1) is reduced.

3. Control device (2) according to claim 1 or 2, characterized in that the control device (2) is designed to adapt the original control parameter of the control system of the motor vehicle (1) if the detected deviation exceeds a predetermined limit value.

4. Control device (2) according to claim 3, characterized in that the control device (2) is designed to reset the adapted control parameter to the original control parameter as soon as the deviation falls below the predetermined limit value. 23-2053 PIF 16 5. Control device (2) according to at least one of the preceding claims, characterized in that the control system is a control system (3) and the control parameter is a control parameter of the control system (3).

6. Control device (2) according to at least one of the preceding claims, characterized in that the desired driving behavior is a desired trajectory of the motor vehicle (1) and the actual driving behavior is an actual trajectory of the motor vehicle (1).

7. Motor vehicle (1), characterized in that the motor vehicle (1) comprises: - a control system designed to adapt an actual driving behavior of the motor vehicle (1) to a predetermined desired driving behavior of the motor vehicle (1), and - the control device (2) according to one of claims 1 to 6, which is designed to adapt a control parameter of the control system (3). 8.Method (10) for the automated adaptation of a control parameter of a control system of a motor vehicle (1), wherein the control device (2) is designed to adapt an actual driving behavior of the motor vehicle (1) to a predetermined target driving behavior of the motor vehicle (1), wherein the method (10) comprises: - continuously detecting (11) a deviation of the actual driving behavior of the motor vehicle (1) from the predetermined target driving behavior of the motor vehicle (1) during operation of the motor vehicle (1), characterized in that the method comprises: - adapting (12 - 14) an original control parameter of the control system of the motor vehicle (1) based on the detected deviation, in order to thus obtain an adapted control parameter of the control system of the motor vehicle (1). 23-2053 PIF 17 9. A computer program, characterized in that the computer program comprises instructions which, when executed by a computer, cause the computer to carry out the method according to claim 8.

10. A computer-readable medium, characterized in that the computer-readable medium comprises instructions which, when executed by a computer, cause the computer to carry out the method according to claim 8.

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