DE-102017201610-B4 - Method, apparatus and a corresponding computer program for the application of patterns in the guidance of a vehicle

DE102017201610B4DE 102017201610 B4DE102017201610 B4DE 102017201610B4DE-102017201610-B4

Abstract

Methods for applying patterns in the operation of a vehicle, comprising - Determine (S3) at least one actual or foreseeable impact on the vehicle when driving through a terrain area due to local hazards, in particular exceeding a threshold value, - Comparison (S5) with pre-stored data from one or more previous journeys and identification of a suitable pattern to influence the vehicle's guidance for the expected impact, - Providing (S7) data dependent on the assigned pattern to at least one vehicle function, wherein control data for controlling the vehicle's chassis, in particular a specific influence on lateral guidance and/or longitudinal guidance in combination with vertical dynamics of the vehicle, are derived from the data dependent on the assigned pattern and: - a type of user vehicle or its key figures, and/or - a current configuration of the user's vehicle, in particular its chassis and/or driver assistance systems, determined and applied.

Inventors

Alexander Augst

Assignees

BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT

Dates

Publication Date: 20260513
Application Date: 20170201

Claims (20)

Method for applying patterns to the control of a vehicle, comprising: - Determining (S3) at least one current or anticipated effect on the vehicle when driving through a terrain area through local hazards, in particular exceeding a threshold value, - Comparing (S5) with pre-stored data from one or more previous journeys and determining a suitable pattern to influence the control of the vehicle for the anticipated effect, - Providing (S7) data dependent on the assigned pattern to at least one vehicle function, wherein control data for controlling the vehicle's chassis, in particular a specific influence on lateral guidance and/or longitudinal guidance in combination with vertical dynamics of the vehicle, are determined and applied from the data dependent on the assigned pattern and: - a type of the user vehicle or its key figures, and/or - a current configuration of the user vehicle, in particular its chassis and/or driver assistance systems.
Procedure according to the Claim 1 , in which the determination of a suitable pattern to influence the guidance of the vehicle is also determined taking into account a global position and/or global position of the vehicle.
Method according to one of the preceding claims, wherein the control data for controlling the chassis of the vehicle, in particular the specific influence on the lateral guidance and/or longitudinal guidance in combination with the vertical dynamics of the vehicle, are determined and applied from a currently recorded or predicted traffic situation.
A method according to any of the preceding claims, wherein: depending on the data dependent on the assigned pattern and with the detected relative position of at least one local terrain artifact or with an arrangement of terrain artifacts, one of the following combinations of at least one of the following is performed: - intervention in the lateral and longitudinal guidance of the vehicle, or - intervention in the lateral and vertical dynamics of the vehicle, or - intervention in the lateral, longitudinal, and vertical dynamics of the vehicle.
A method according to any of the preceding claims, comprising: - determining a current or imminent position of the vehicle, - determining information about terrain artifacts related to the vehicle's position, in particular in the expected direction of movement of the vehicle, using means of the vehicle, and - comparing the acquired information about terrain artifacts with at least one pattern to influence the vehicle's guidance.
Method according to one of the preceding claims, wherein a trajectory of at least one tire is determined depending on the associated pattern for influencing the guidance of the vehicle and information detected by means of the vehicle relating to at least one local terrain artifact or an arrangement pattern of at least two or more terrain artifacts.
A method according to any of the preceding claims, wherein at least one associated pattern, in particular a spatially related steering pattern and/or trajectory pattern, represents at least a specific part of the vehicle, the part of the vehicle comprising: - at least one front wheel of the vehicle, and/or - at least one rear wheel of the vehicle, and/or - at least one, in particular a relatively low-mounted, part of the underbody of the vehicle.
Method according to the preceding claim, wherein, depending on the current or imminent position of the vehicle and/or an environmental sensing of the vehicle, a selection is made from at least two patterns to influence the steering of the vehicle and/or, in particular, a restriction of the patterns under consideration is carried out.
Method according to one of the preceding claims, wherein at least one pattern for influencing the guidance of the vehicle represents a ratio between a front axle steering and/or rear axle steering of the vehicle.
Method according to one of the preceding claims, wherein a pattern for influencing the guidance of the vehicle, in particular a trajectory pattern for a part of the vehicle, especially for front wheels, rear wheels and/or low-mounted parts of the vehicle underbody.
A method according to any of the preceding claims, comprising: - determining the position of specific local hazards, in particular terrain artifacts or a specific pattern formed by the terrain artifacts, from data in a map or a database, and - assigning the data to influence the vehicle's steering, at least with regard to lateral steering of the vehicle depending on the determined pattern formed by terrain artifacts.
Method according to one of the preceding claims, wherein at least one pattern for influencing the guidance of the vehicle represents a restriction of manual and/or automated intervention, at least with regard to lateral guidance of the vehicle.
Method according to one of the preceding claims, comprising: - detecting an effect on the vehicle, comprising at least a vertical dynamic effect, - recognizing at least one pattern, in particular comprising at least one vertical dynamic detected pattern, - determining, in particular assigning, selecting and/or excluding at least one pattern to influence the guidance of the vehicle depending on the detected pattern of the effect on the vehicle.
Method according to one of the preceding claims, wherein, depending on a recognized pattern of vertical dynamic influences, a pattern for influencing the guidance of the vehicle, at least with regard to a lateral guidance of the vehicle, is assigned and applied directly or indirectly.
Method according to one of the preceding claims, wherein at least one pattern for influencing the movement of the vehicle, in particular for the lateral guidance of the vehicle in relation to the terrain artifacts, is determined and/or applied, wherein at least one piece of information, at least comprising a position or arrangement of at least one or more terrain artifacts, is additionally taken into account by means of the vehicle, in particular by means of sensory environment detection.
Method according to one of the preceding claims, wherein at least one pattern for influencing the steering of the vehicle represents the limits or deviations that at least a part of the vehicle may exhibit in relation to a trajectory or trajectory pattern, wherein, in the event of an exceedance of at least one limit, an intervention in the steering of the vehicle takes place, in particular an intensified intervention.
A method according to one of the preceding claims, wherein, depending on a pattern for influencing the guidance of the vehicle, the following are also: - a rear axle steering is controlled or varied, and/or - the distribution of a manual or at least partially automated steering of the vehicle between a front axle steering and a rear axle steering is changed.
Method according to one of the preceding claims, wherein at least one pattern for influencing the guidance of the vehicle is assigned depending on the vertical dynamic influences that were determined in a lateral guidance of a vehicle, in particular another vehicle, that was applied in the past.
Device for applying patterns to the guidance of a vehicle depending on current or anticipated vertical dynamic influences on the vehicle, wherein the device is configured to perform a method according to one of the Claims 1 until 18 to execute.
Computer program, in particular a computer program product comprising a computer program, for applying patterns in the operation of a vehicle, wherein the computer program is configured, when executed on a computing unit of the vehicle or a computing unit carried with a vehicle, in particular a computing unit of a mobile application device carried in the vehicle, to execute the method according to one of the Claims 1 - 18 to carry out.

Description

The invention relates to a method, device and a corresponding computer program for applying patterns in the guidance of a vehicle. Modern vehicles are equipped with numerous sensors, which are used, for example, to adapt the vehicle's guidance, such as longitudinal or lateral control, to the conditions of its surroundings. This typically involves controlling the vehicle based on specific objects, such as a vehicle ahead. In many practical situations, the information about a (relatively small, local) hazard that a vehicle's sensors can detect cannot be determined in time to take appropriate action. For example, the depth of a pothole cannot be determined before the vehicle is hit and used effectively for steering. It can also happen that a hazard, such as a small obstacle or terrain feature like a pothole in the road, is obscured by a vehicle ahead for up to a few seconds before being encountered. Even with high-quality sensors, the depth of a terrain feature often cannot be detected in time to take appropriate action. With regard to the trend towards increasing automation of vehicle control, it should also be noted that the road quality in many vehicle markets is poorly suited for automated vehicles due to hazards such as potholes and other terrain features (e.g., potholes, erosion). Without reliable automated or at least assisted handling of potential (small, local) hazards, highly automated vehicles cannot be successfully operated in certain locations and on certain types of roads. GB 2 525 839 A The invention relates to a method and a system for collecting data on road irregularities. Embodiments of the invention relate to the detection, categorization, and quantification of irregularities in surfaces on which vehicles drive, and in particular, but not exclusively, to the detection, categorization, and quantification of the severity of potholes, irregularities, and the like in road surfaces. US 9 355 319 B2 relates to a system and method for detecting road surface conditions, which compares a curvature pattern extracted from a signal measured by a road surface measurement sensor mounted on the front of a vehicle with a pre-stored curvature pattern to identify a road surface condition in the direction of travel of the vehicle and communicates the detected road surface condition to the driver. US 2009 / 0 164 063 A1 This concerns a vehicle-mountable system for monitoring road surface defects. The system may include a detector for sensing a surface defect in the road surface over which a vehicle is traveling. A positioning system can determine the vehicle's current location, and a memory can store the location of the surface defect relative to the current location. A control unit can receive the current location and compare it with the location of the surface defect to identify an impending surface defect. The control unit can also identify guidance instructions to minimize the impact of the impending surface defect. Finally, an interface can relay the guidance instructions to the vehicle. DE 10 2013 210 553 A1 This relates to a method for controlling a chassis control system of a motor vehicle. The motor vehicle comprises a chassis control unit and at least one chassis component. The method further comprises the following steps: receiving initial road surface condition information, wherein the initial road surface condition information includes at least information regarding the condition of a first road surface segment yet to be traversed by the motor vehicle, and anticipatory adaptation of at least one chassis component by means of the chassis control unit, based on the initial road surface condition information. The object underlying the invention is to create a reliable method for guiding a vehicle, in particular for the application of patterns in guiding the vehicle. The problem is solved by the features of the independent patent claims. Advantageous embodiments are characterized in the dependent claims. According to a first aspect, the invention is characterized by a method for applying patterns to the guidance of a vehicle. The system identifies at least one current or anticipated impact on the vehicle when traversing a terrain area due to local hazards, particularly when exceeding a threshold. This information is then compared with pre-stored data from one or more previous journeys to determine a suitable pattern for influencing the vehicle's handling in response to the expected impact. Furthermore, data dependent on this pattern is provided to at least one vehicle function. In a simplified example, this pattern-dependent data could include an identifier for the identified pattern used to influence the vehicle's handling. Preferably, the method additionally includes an execution of an intervention in the chassis of the vehicle to influence the steering of the vehicle depending on the assigned pattern. The provision of data for influencing vehicle control is particularly preferred for a vehicle func