DE-102024210748-A1 - Method for operating a vehicle, in particular a motor vehicle, computer program product and device

Abstract

The invention relates to a method for operating a vehicle, in particular a motor vehicle, which has at least one first actuable actuator and one second actuable actuator that influence the yaw behavior of the vehicle as needed. The method comprises the steps of: determining a driving situation of the vehicle based on a dynamic indicator; dividing a required yaw moment for influencing the yaw behavior, depending on the driving situation, into at least a first yaw moment for the first actuator and a second yaw moment for the second actuator; and calculating a first control input with respect to the first actuator to effect the first yaw moment and calculating a second control input with respect to the second actuator to effect the second yaw moment. Furthermore, the invention provides a computer program for carrying out such a method and a device with a control unit that includes means for carrying out such a method.

Inventors

• Konrad Kirchhoefer
• Kerstin Heuss
• Markus Beisswenger

Assignees

• Robert Bosch Gesellschaft mit beschränkter Haftung

Dates

Publication Date

20260513

Application Date

20241108

Claims (10)

1. A method for operating a vehicle, in particular a motor vehicle, which has at least one first actuable actuator (A1) and one second actuable actuator (A2) that influence the yaw behavior of the vehicle as required, comprising the steps of: Determining (S1) a driving situation of the vehicle based on a dynamic indicator (Dynlnd); Dividing (S2) a required yaw moment to influence the yaw behavior depending on the driving situation into at least one first yaw moment (MzFB_BR) for the first actuator and one second yaw moment (MzFB_SbW) for the second actuator; and Calculating (S3') a first control input with respect to the first actuator (A1) to effect the first yaw moment (MzFB_BR) and calculating (S3") a second control input with respect to the second actuator (A2) to effect the second yaw moment (MzFB_SbW).
2. Procedure according to Claim 1 , wherein the first actuator (A1) is designed as a braking system and the first positioning specification has a wheel braking torque.
3. Procedure according to Claim 1 or 2 , where when dividing the required yaw moment, the first yaw moment (MzFB_BR) is assigned a predetermined minimum yaw moment (MzFB_min).
4. Procedure according to Claim 2 and 3 , wherein the predetermined minimum yaw moment (MzFB_min) is effected via the braking system (A1) designed as a hydraulic braking system.
5. Method according to one of the preceding claims, wherein the second actuator (A2) is designed as a steering system and the second positioning specification has a steering angle.
6. Procedure according to Claim 5 , where the second yaw moment (MzFB_SbW) is limited to a maximum yaw moment (MzFB_max), which is determined by a maximum possible control variable of the second control input.
7. Procedure according to Claim 5 or 6 , where the second setting is calculated depending on an operating state in which a state variable and/or a parameter of the vehicle influences the formation of a slip angle (alpha_FA).
8. Method according to one of the preceding claims, wherein the driving situation is further determined on the basis of a lateral acceleration corresponding to a steering request in comparison with a measured lateral acceleration.
9. Computer program product with program code stored on a machine-readable medium for carrying out a procedure according to one of the Claims 1 until 8 , when the program is run on a computer.
10. Device (1) for operating a vehicle, in particular a motor vehicle, comprising: at least a first actuable actuator (A1) and a second actuable actuator (A2) which influence the yaw behavior of the vehicle as required; and a control unit (2) which provides means for carrying out the method according to one of the Claims 1 until 8 includes.

Description

The present invention relates to a method for operating a vehicle, in particular a motor vehicle, a computer program product for carrying out such a method, and a device with a control unit that includes means for carrying out such a method. State of the art Modern vehicle dynamics control systems typically use model-based feedforward mechanisms to control a vehicle's driving dynamics through the use of one or a combination of several actuators. An example of such a control system is in EP 2 832 599 A1 described. This involves imposing a modified yaw behavior on a vehicle, using various actuators, in particular rear axle steering, brakes and torque vectoring actuators. The feedback component of a modern vehicle dynamics control system is traditionally provided entirely via the brakes. Historically, the brakes were the chosen actuator, as ESP, as a vehicle dynamics control system, could only utilize the brakes as an actuator. Furthermore, the brakes offer high availability and a linear response. This is particularly advantageous when the vehicle model's accuracy is not ideal. For example, the DE 10 2018 219 052 A1 a device and a method for stabilizing, in particular, an autonomously driving vehicle. In addition to the primary stabilization system, which provides longitudinal and lateral stabilization of the vehicle by means of individual brake pressure modulation, a secondary stabilization system is provided, which is activated in the event of a malfunction of the primary stabilization system. The secondary stabilization system ensures longitudinal stabilization of the vehicle at least through uniform pressure modulation of all brakes, while lateral stabilization is achieved using another vehicle stabilization component such as the steering system. Furthermore, the DE 10 2020 206 707 A1 A method for influencing the driving behavior of a motor vehicle during cornering, wherein it is detected whether the motor vehicle is in a cornering state and whether a load change of the motor vehicle occurs during the corner. Depending on the detected driving state, the driving behavior is influenced. According to the invention, the influence on the driving behavior during a load change is carried out at least also depending on a driving profile selectable or chosen by a driver, such that the effect of a load change reaction of the motor vehicle to the load change is reduced or increased. Disclosure of the invention The invention provides 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 medium 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 a first actuable actuator and a second actuable actuator that influence the yaw behavior of the vehicle as required. The method comprises the following steps. Determining the vehicle's driving situation using a dynamic indicator. Dividing a required yaw moment to influence the yaw behavior depending on the driving situation into at least a first yaw moment for the first actuator and a second yaw moment for the second actuator. Calculating a first position setting with respect to the first actuator to produce the first yaw moment and calculating a second position setting with respect to the second actuator to produce the second yaw moment. According to a second aspect of the invention, a computer program product is provided with program code stored on a machine-readable medium for carrying out a method according to 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 device comprises at least a first actuable actuator and a second actuable actuator, which influence the yaw behavior of the vehicle as needed. Furthermore, the device includes a control unit comprising means for carrying out the method according to the first aspect of the invention. One of the underlying ideas of the present invention is to provide a method that enables the distribution or allocation of a yaw moment to different actuators. Based on the allocated yaw moments, such as the first and second yaw moments, individual control variables or setpoints for the respective actuators can be calculated. In other words, the present invention provides an integrated distribution of the required yaw moment, particularly a feedback yaw moment, to multiple actuators, taking into account the individual advantages of each actuator and thus optimizing overall performance with regard to the vehicle's driving dynamics. An advantage of the present invention is that NVH characteristics, wear and/or energy optimization, particularly compared to a hydraulic braking system, can be significantly improved. Furthermore, the pre