CN-121989912-A - Method, computer program product and device for operating a vehicle

Abstract

Embodiments of the present disclosure relate to methods, computer program products, and apparatus for operating a vehicle. The invention relates to a method for operating a vehicle, in particular a motor vehicle, having at least one first and a second steerable actuator, which influence the yaw behavior of the vehicle when required. The method comprises the steps of determining a driving situation of the vehicle as a function of a dynamic indicator, dividing a yaw moment required to influence the yaw behaviour into at least one first yaw moment for a first actuator and a second yaw moment for a second actuator as a function of the driving situation, and calculating a first setpoint for the first actuator to cause the first yaw moment and a second setpoint for the second actuator to cause the second yaw moment.

Inventors

• K - Hof Kisch
• K. HESS
• M. Beswig

Assignees

• 罗伯特·博世有限公司

Dates

Publication Date

20260508

Application Date

20251105

Priority Date

20241108

Claims (10)

1. 1. Method for operating a vehicle, in particular a motor vehicle, having at least one first steerable actuator (A1) and a second steerable actuator (A2), which influence the yaw behaviour of the vehicle when required, the method having the following steps: Determining (S1) a driving situation of the vehicle according to a dynamic indicator (DynInd); Dividing (S2) the yaw moment required to influence the yaw behaviour into at least one first yaw moment (MzFB _BR) for the first actuator and a second yaw moment (MzFB _SbW) for the second actuator according to the driving situation, and -Calculating (S3') a first tuning preset for the first actuator (A1) to cause the first yaw moment (MzFB _br), and-calculating (S3 ") a second tuning preset for the second actuator (A2) to cause the second yaw moment (MzFB _sbw).
2. 2. The method according to claim 1, wherein the first actuator (A1) is designed as a brake system and the first setting is predefined with a wheel braking torque.
3. 3. Method according to claim 1 or 2, wherein in dividing the required yaw moment the first yaw moment (MzFB _br) is given a predetermined minimum yaw moment (MzFB _min).
4. 4. A method according to claims 2 and 3, wherein the predetermined minimum yaw moment (MzFB _min) is caused by the brake system (A1), which is designed as a hydraulic brake system.
5. 5. The method according to any of the preceding claims, wherein the second actuator (A2) is designed as a steering system and the second setting presets a steering angle.
6. 6. The method according to claim 5, wherein the second yaw moment (MzFB _sbw) is defined as a maximum yaw moment (MzFB _max), which is determined by the second set-up preset maximum possible set-up parameter.
7. 7. Method according to claim 5 or 6, wherein the second setpoint setting is calculated as a function of an operating state in which a state variable and/or parameter of the vehicle influences the formation of the slip angle (α_fa).
8. 8. The method according to any of the preceding claims, wherein the driving situation is determined further depending on comparing a lateral acceleration corresponding to a driving steering expectation with a measured lateral acceleration.
9. 9. A computer program product having a program code stored on a machine readable carrier for performing the method of any of claims 1 to 8 when the program is executed on a computer.
10. 10. An apparatus (1) for operating a vehicle, in particular a motor vehicle, has: At least one first (A1) and a second (A2) steerable actuator, which affect the yaw behaviour of the vehicle when required, and A controller (2) comprising means for performing the method according to any one of claims 1 to 8.

Description

Method, computer program product and device for operating a vehicle Technical Field The invention relates to a method for operating a vehicle, in particular a motor vehicle, a computer program product for carrying out the method, and a device having a controller with means for carrying out the method. Background Modern vehicle dynamics control systems typically employ model-based feedback mechanisms to control the vehicle's driving dynamics through one or more actuators. An example of such a control system is described in EP 2 832,599 A1. In this system, various actuators, particularly the rear axle steering, brakes, and torque vectoring devices are utilized to apply a modified yaw rate to the vehicle. The feedback portion of modern vehicle dynamics control systems is traditionally provided entirely by the brakes. Historically, brakes have been selected as actuators because ESPs, which are vehicle dynamics control systems, can only use brakes as actuators. Furthermore, the brake has high availability and linear response. This is particularly advantageous when the accuracy of the vehicle model is not ideal. For example, DE 10 2018 219 052 A1 describes a device and a method for stabilizing (in particular) an autonomous vehicle. In addition to the primary stabilizing system, which provides longitudinal and lateral stability of the vehicle by independent wheel pressure adjustment to the brakes, a secondary stabilizing system is provided, which is activated when the primary stabilizing system fails. The auxiliary stabilizing system achieves longitudinal stability of the vehicle at least by making uniform pressure adjustments to all brakes, while lateral stability is achieved by other vehicle stabilizing components (e.g., steering systems). Furthermore, DE 10 2020 206 707 A1 describes a method for influencing the driving behavior of a motor vehicle during a turn, which method detects whether the motor vehicle is in a turning state and whether the load of the motor vehicle changes during the turn. And correspondingly adjusting the driving behavior according to the detected driving condition. According to the invention, the influence on the driving behaviour during a load change is also at least dependent on the driving mode that the driver can select, so that the response effect of the motor vehicle to the load change is reduced or increased. Disclosure of Invention The invention realizes a method for operating a vehicle with the features of claim 1, a computer program product with a program code stored on a machine-readable carrier with the features of claim 9, and a device for operating a vehicle with the features of claim 10. According to a first aspect of the invention, a method for operating a vehicle, in particular a motor vehicle, is provided, which has at least one first and a second steerable actuator, which influences the yaw behavior of the vehicle when required. The method comprises the following steps: determining a driving condition of the vehicle according to the dynamic indicator; Dividing the yaw moment required to influence the yaw behavior into at least one first yaw moment for the first actuator and a second yaw moment for the second actuator according to the driving condition; a first setpoint for the first actuator to produce the first yaw moment is calculated, and a second setpoint for the second actuator to produce the second yaw moment is calculated. According to a second aspect of the present invention, there is provided a computer program product having a program code stored on a machine readable carrier for performing the method according to any one of claims 1 to 8 when the program is executed on a computer. According to a third aspect of the invention, a device for operating a vehicle, in particular a motor vehicle, is provided. The apparatus includes at least a first steerable actuator and a second steerable actuator that affect the yaw behavior of the vehicle when needed. The apparatus further comprises a controller comprising means for performing the method according to the first aspect of the invention. The invention is based on the idea of providing a method which makes it possible to divide or distribute the yaw moment to different actuators or actuators. Based on the divided yaw moments, for example the first yaw moment and the second yaw moment, individual setpoint variables or setpoint presets of the individual actuators can be calculated. This means that the invention provides a method for the integrated distribution of a desired yaw moment, in particular a feedback yaw moment, to a plurality of setters, which takes into account the individual advantages of the setters and thus optimizes the overall performance of the vehicle dynamics. One advantage of the present invention is that sound vibration harshness (NVH) characteristics, wear, and/or energy efficiency may be significantly improved, particularly as compared to hydraulic braking systems. Furthermore, the invention can