DEVICE AND METHOD FOR CONTROLLING AN AUTOMATIC STEERING SYSTEM OF A VEHICLE, AND DEVICE AND METHOD FOR CHECKING THE ABILITY TO IMPLEMENT A PREDEFINED SETPOINT TRAVEL DIRECTION VARIABLE FOR A VEHICLE

• US 20110144865A1
• Filed: 11/17/2008
• Published: 06/16/2011
• Est. Priority Date: 06/27/2008
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Niemz, Volker
• Granted Patent: US 8,457,843 B2
• Time in Patent Office: Days
• US Class Current: 701/42
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: B62D 5/0469 End-of-stroke control
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence

Abstract

A device for controlling an automatic steering system of a vehicle includes a signal input (which receives a setpoint travel direction variable, a memory device on which a correction factor is stored, a control unit which ascertains a corrected setpoint travel direction variable on the basis of the correction factor and the predefined setpoint travel direction variable, and an evaluation device which compares an actual travel direction variable ascertained by a sensor of the vehicle to the predefined setpoint travel direction variable, and if the actual travel direction variable deviates from the predefined setpoint travel direction variable by at least a minimum difference, redefines the correction factor according to the comparison.

Claims

1-10. -10. (canceled)

11. A device for controlling an automatic steering system of a vehicle, comprising:

a signal input unit configured to receive a setpoint travel direction variable specified by an automatic vehicle control system;

a memory device storing at least one correction factor and configured to facilitate read out of the correction factor;

a control unit configured to (i) ascertain a corrected setpoint travel direction variable on the basis of the correction factor and the setpoint travel direction variable, and (ii) switch the automatic steering system to an operating mode for maintaining the corrected setpoint travel direction variable; and

an evaluation device configured to (i) receive an actual travel direction variable ascertained by a sensor of the vehicle, (ii) compare the actual travel direction variable to the setpoint travel direction variable, and (iii) if the actual travel direction variable deviates from the setpoint travel direction variable by at least a predetermined minimum difference, adjust the correction factor based on the comparison and store the adjusted correction factor in the memory device.

12. The device as recited in claim 11, wherein the setpoint travel direction variable represents at least one of a setpoint travel direction, a setpoint steering wheel angle, and a setpoint wheel angle, and wherein the actual travel direction variable represents at least one of an actual travel direction, an actual steering wheel angle, and an actual wheel angle.

13. The device as recited in claim 12, wherein the evaluation device is further configured to rule out at least one possible cause for the deviation of the actual travel direction variable from the setpoint travel direction variable by the at least the predetermined minimum difference, by comparing the actual steering wheel angle to the setpoint steering wheel angle, and by comparing the actual wheel angle to the setpoint wheel angle.

14. The device as recited in claim 12, further comprising:

a further signal input unit configured to receive at least one of (i) a vehicle inclination ascertained by a further sensor of the vehicle and (ii) a coefficient of friction of a traveled roadway ascertained by a further sensor of the vehicle;

wherein the memory device stores multiple correction factors, and wherein the control unit is configured to read out from the multiple correction factors stored in the memory device a selected correction factor corresponding to the at least one of the vehicle inclination and the coefficient of friction of the traveled roadway.

15. A control device configured ascertain the ability to implement a predefined setpoint travel direction variable for controlling a vehicle, comprising:

a first signal input configured to receive the predefined setpoint travel direction variable specified by at least one of a driver and an automatic vehicle control system;

a second signal input configured to receive at least one adjustment force, wherein the adjustment force is ascertained by at least one sensor of the vehicle for adjusting at least one of a steering wheel and a wheel of the vehicle when the instantaneous direction of travel of the vehicle changes according to the setpoint travel direction variable;

a comparator configured to (i) compare the adjustment force to at least one predefined comparative value, and (ii) provide a comparative signal according to the comparison; and

an evaluation device configured to (i) receive the comparative signal, (ii) determine that the ability to implement the predefined setpoint travel direction variable for the vehicle does not correspond to a selected standard if the adjustment force deviates from the at least one predefined comparative value by at least a predetermined minimum difference, and (iii) provide an information signal indicative of the determination regarding the ability to implement the predefined setpoint travel direction variable, wherein the information signal is output to at least one of the automatic vehicle control system, a display device for informing the drive, and an announcement device for informing the driver.

16. The control device as recited in claim 15, further comprising:

a storage unit for storing at least one of an output value of a maximum steering wheel angle allowed to be implemented and an output value of a maximum wheel angle of the vehicle allowed be implemented;

wherein the evaluation device is further configured to redefine, after receiving the comparative signal, at least one of the maximum steering wheel angle allowed to be implemented and the maximum wheel angle of the vehicle allowed be implemented, if the adjustment force deviates from the at least one predefined comparative value by at least the predetermined minimum difference, and wherein the information signal output to the automatic vehicle control system includes information regarding at least one of the redefined maximum steering wheel angle allowed to be implemented and the redefined maximum wheel angle allowed to be implemented.

17. The control device as recited in claim 15, wherein the evaluation device is further configured to rule out at least one possible cause for the deviation of the adjustment force from the at least one predetermined comparative value by at least the predetermined minimum difference, by comparing multiple adjustment forces to multiple comparative values.

18. The control device as recited in claim 15, further comprising:

a third signal input configured to receive at least one of a vehicle inclination ascertained by a further sensor of the vehicle and a coefficient of friction of a traveled roadway ascertained by a further sensor of the vehicle;

wherein the comparator is further configured to ascertain from a predefined set of comparative values at least one comparative value corresponding to at least one of the vehicle inclination and the coefficient of friction of the traveled roadway.

19. A method for controlling an automatic steering system of a vehicle, comprising:

a) receiving a setpoint travel direction variable specified by an automatic vehicle control system;

b) reading out a stored correction factor;

c) ascertaining a corrected setpoint travel direction variable on the basis of the correction factor and the setpoint travel direction variable;

d) switching the automatic steering system to an operating mode for maintaining the corrected setpoint travel direction variable;

e) ascertaining an actual travel direction variable of the vehicle;

f) comparing the actual travel direction variable to the setpoint travel direction variable;

g) redefining the correction factor according to the comparison if the actual travel direction variable deviates from the setpoint travel direction variable by at least a predefined minimum difference; and

h) storing the redefined correction factor for at least one iteration of steps a) through d).

20. A method for ascertaining the ability to implement a predefined setpoint travel direction variable for controlling a vehicle, comprising:

receiving the setpoint travel direction variable specified by at least one of a driver and an automatic vehicle control system;

changing the instantaneous direction of travel of the vehicle according to the setpoint travel direction variable;

ascertaining an adjustment force applied when the instantaneous direction of travel changes for adjusting at least one of the steering wheel and a wheel of the vehicle;

comparing the ascertained adjustment force to at least one predefined comparative value;

determining that the ability to implement the predefined setpoint travel direction variable for the vehicle does not correspond to a selected standard if the adjustment force deviates from the at least one predefined comparative value by at least a predetermined minimum difference; and

at least one of (i) displaying visual information to the driver indicating the determination regarding the ability to implement the predefined setpoint travel direction variable, (ii) providing audio information to the driver indicating the determination regarding the ability to implement the predefined setpoint travel direction variable, and (iii) outputting to the automatic vehicle control system an informational signal indicative of the determination regarding the ability to implement the predefined setpoint travel direction variable.