METHOD AND DEVICE FOR THE CONTROL OF A DRIVER ASSISTANCE SYSTEM

• US 20100185363A1
• Filed: 03/19/2008
• Published: 07/22/2010
• Est. Priority Date: 04/30/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Rentschler, Tobias, App, Thomas, Buerkle, Lutz
• Granted Patent: US 8,565,975 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60W 2050/0096 Control during transition between modes
• 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

The invention relates to a method and a device for the control of a driver assistance system (1) having an LKS function of a vehicle (100), wherein the LKS function is activated within thresholds that can be predetermined, and is deactivated outside of these system limits. According to the invention, the LKS function is transferred from a regulating function into a control function upon deactivation of the LKS function during the operation of the vehicle (100) in curves such that the driver is further assisted during the operation in a curve by a system torque in the transverse guidance of the vehicle (100) at least for a certain distance.

Claims

1-16. -16. (canceled)

17. A method for controlling a driver assistance system using a function for transverse guidance of a vehicle, in which the function is activated within predefinable boundary values and is deactivated outside the boundary values, wherein, in response to deactivation of the function during cornering of the vehicle, the function is transferred from a regulation to a control, in such a way that, during the cornering, the driver continues to be supported by a system torque in the transverse guidance of the vehicle at least over a stretch of path (S_Hold).

19. The method as recited in claim 17, wherein, in response to the deactivation of the function, a steering torque exerted by the function on steering of the vehicle is controlled to a specifiable value (M_align) along a first stretch of path (S_Red);

this value (M_align) is essentially held constant along a second stretch of path (S_Hold) and is restored to zero along a third stretch of path (S_Zero).

21. The method as recited in claim 19, wherein the steering torque (M_align) is predefined in such a way that the steering wheel of the vehicle is held in the position required for traveling a setpoint trajectory.

22. The method as recited in claim 21, wherein a threshold value is specified for the curvature of the setpoint trajectory;

the curvature of the setpoint trajectory is recorded during travel of the vehicle; and

cornering is assumed if the curvature of the setpoint trajectory recorded during travel exceeds the specified threshold value in absolute amount.

23. The method as recited in claim 19, wherein the return of the steering torque to a controlled value or to the value zero takes place according to a linear function.

24. The method as recited in claim 19, wherein the return of the steering torque to a controlled value or to the value zero takes place according to a function of a higher order.

25. The method as recited in claim 19, wherein the length of the stretches of path (S_Red, S_Hold, S_Zero) is dependent on a traffic situation (VS1, VS2, VS3, VS4, VS5, VS6).

26. The method as recited in claim 19, wherein the length of the stretches of path (S_Red, S_Hold, S_Zero) depends on a reaction of the driver.

27. The method as recited in claim 19, wherein a driver activity measure is derived from steering interventions of the driver;

and the length of the stretches of path (S_Red, S_Hold, S_Zero) is adjusted as a function of the derived driver activity measure.

28. The method as recited in claim 19, wherein the length of the stretches of path (S_Red, S_Hold, S_Zero) is established as a function of signals of a video sensor.

29. The method as recited in claim 25, wherein the traffic situations (VS1, VS2, VS3, VS4, VS5, VS6) are classified;

and the regulation or control of the steering wheel torque takes place as a function of the respectively present classification of the traffic situation.

30. The method as recited in claim 29, wherein the classification of the respective traffic situation (VS1, VS2, VS3, VS4, VS5, VS6) is recorded using additional sensors, particularly using a radar sensor.

31. The method as recited in claim 19, wherein an immediate deactivation of the function is carried out using a gradual reduction of the steering torque to the value zero, when the driver steers towards an outer part of a curve.

32. The method as recited in claim 22, wherein an immediate deactivation of the function is carried out using a gradual reduction of the steering torque to the value zero, when the threshold value for the curvature of the setpoint trajectory, that is assumed for cornering, is undershot.

18. A method for controlling a driver assistance system using a function for transverse guidance of a vehicle, comprising:

specifying boundary values for activation and deactivation of the function, in such a way that the function is activated within the boundary values and is deactivated outside the boundary values,

continually monitoring said boundary values during travel of the vehicle,

monitoring a course of a traffic lane of the vehicle, and

switching over the function from a regulation to a control in response to recording of cornering of the vehicle and imminent deactivation of the function as a result of exceeding a specified boundary value.

20. The method as recited in claim 18, wherein, in response to the deactivation of the function, a steering torque exerted by the function on steering of the vehicle is controlled to a specifiable value (M_align) along a first stretch of path (S_Red);

this value (M_align) is essentially held constant along a second stretch of path (S_Hold) and is restored to zero along a third stretch of path (S_Zero).

33. An apparatus for controlling a driver assistance system having a function for transverse guidance of a vehicle, which is activated within predefinable boundary values and is deactivated outside the boundary values, wherein the apparatus is designed so that, in response to the deactivation of the function during cornering of the vehicle, the function is transferred from a regulation to a control, in such a way that, during the cornering, the driver continues to be supported by a system torque in the transverse guidance of the vehicle at least over a stretch of path (S_Hold).