KS Lateral Guidance System Having a Modified Control Characteristics When Cornering

• US 20100004821A1
• Filed: 09/19/2006
• Published: 01/07/2010
• Est. Priority Date: 10/31/2005
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Weilkes, Michael, Buerkle, Lutz, Rentschler, Tobias, Scherl, Michael
• Granted Patent: US 9,211,910 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

A device for keeping a vehicle in its lane, including a reference model, which obtains geometric data regarding the position of the vehicle in the lane as well as data relating to the course of the lane from a lane detection system, and from these calculates a setpoint variable for controlling the vehicle position. In order to allow for corners to be cut, the guiding behavior of the control system is modified in such a way when cornering that, in the event of a deviation of the path of motion of the vehicle from the setpoint path of motion in the direction of the inside of the curve, no or only low steering forces are applied to the steering system.

Claims

1-9. -9. (canceled)

10. A device for keeping a vehicle in its lane, comprising:

a guiding arrangement;

a steering arrangement to apply a steering torque to a steering system of the vehicle via a steering control element in the event of a deviation of a path of motion of the vehicle from a setpoint path of motion; and

a modifying arrangement to modify, when cornering, a guiding behavior of the guiding arrangement so that, in the event of a deviation of an actual path of motion of the vehicle from a setpoint path of motion in a direction of an inside of the curve, lower steering forces are applied to the steering system than in the event of a corresponding deviation in a direction of an outside of the curve.

11. The device of claim 10, wherein a reference model, which receives, from a lane detection system, geometric data regarding a position of the vehicle in the lane and data regarding a course of the lane and which determines from this a setpoint variable, further comprising:

one of an open-loop control device and a closed-loop control device, which as a function of a difference between the setpoint variable and a corresponding state variable generates a control signal, which is applied with a control element to the steering system of the vehicle so as to guide the vehicle to the setpoint path of motion.

12. The device of claim 10, further comprising:

one of an open-loop control device and a closed-loop control device which includes a characteristic curve, which is asymmetrically widened when cornering, a dead zone being specified for the difference, in which only small or no steering forces are applied to the steering system.

13. The device of claim 12, wherein the size of the dead zone is a function of at least one of a driving speed, a yaw rate, a lateral acceleration and a course of the curve.

14. The device of claim 10, wherein the guiding behavior is modified already shortly before entering a curve.

15. The device of claim 10, further comprising a steering angle control loop arrangement having a controller.

16. The device of claim 12, wherein, when driving straight ahead, the characteristic curve is a symmetrical characteristic curve, which is modified to become an asymmetrical characteristic curve when cornering.

17. The device of claim 12, wherein the characteristic curve is stored as a function in a control unit.

18. The device of claim 10, wherein one of a modified reference steering angle and a modified system deviation is determined when cornering to allow for cutting the corner.