METHOD AND DEVICE FOR PERFORMING CLOSED-LOOP OR OPEN-LOOP CONTROL OF THE DRIVING STABILITY OF A VEHICLE

• US 20120065861A1
• Filed: 04/29/2010
• Published: 03/15/2012
• Est. Priority Date: 05/07/2009
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Hartmann, Bernd, Eckert, Alfred, Roll, Georg, Fritz, Stefan
• Granted Patent: US 9,108,600 B2
• Time in Patent Office: Days
• US Class Current: 701/71
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/122 Pre-actuation in case of ESP control
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09

Abstract

The invention relates to a method and a device for performing open-loop or closed-loop control of the driving stability of a vehicle and for avoiding collisions with an object which is located in the traffic lane. The invention also relates to a closed-loop driving stability controller. The method according to aspects of the invention comprises: determining based on environmental signals whether a critical situation in terms of driving dynamics, in particular an imminent collision, exists, calculating an avoidance path if a critical situation in terms of driving dynamics exists, determining based on a plurality of input variables pressures for individual brakes of the vehicle, and activating preparatory measures of the driving dynamics regulator, in particular dynamic switching over of closed-loop control parameters if the critical situation in terms of driving dynamics exists. The device and the closed-loop driving stability controller are suitable for carrying out the method.

Claims

1-15. -15. (canceled)

16. A method for performing open-loop or closed-loop control of the driving stability of a vehicle and for avoiding collisions with an object which is located in the traffic lane, comprising:

determining based on environmental signals whether a critical situation in terms of driving dynamics exists,

calculating an avoidance path if a critical situation in terms of driving dynamics exists,

determining based on a plurality of input variables pressures for individual brakes of the vehicle, and

activating preparatory measures of a driving dynamics regulator if the critical situation in terms of driving dynamics exists.

17. The method as claimed in claim 16,

wherein the critical situation is an imminent collision, and

wherein the preparatory measures of the driving dynamics regulator include dynamic switching over of closed-loop control parameters.

18. The method as claimed in claim 16, wherein the preparatory measures comprise reducing closed-loop thresholds.

19. The method as claimed in claim 16, wherein the preparatory measures comprise increasing amplifications.

20. The method as claimed in claim 16, wherein the preparatory measures comprise reduction of intervention delay times.

21. The method as claimed in claim 20, wherein the intervention delay times are reduced to zero.

22. The method as claimed in claim 16, wherein the preparatory measures take the form of open-loop or closed-loop control with pilot-control components which are calculated from a steering angle predefined by the driver.

23. The method as claimed in claim 22, wherein the open-loop or closed-loop control with pilot-control components takes into account an absolute steering angle and a steering angle speed.

24. The method as claimed in claim 16, wherein the preparatory measures comprise pre-charging the brakes.

25. The method as claimed in claim 16, wherein a setpoint yaw speed of the vehicle is calculated on the basis of the avoidance path and is made available to the closed-loop control of the driving stability.

26. The method as claimed in claim 25, wherein the setpoint yaw angle speed is compared with a measured actual yaw angle speed, wherein the determined difference value is fed to a calculation unit in which a torque variable, which serves to define pressures which, by means of the brakes of the vehicle, generate an additional yaw torque which adds the measured yaw angle speed to the setpoint yaw angle speed which represents the avoidance path, is calculated.

27. The method as claimed in claim 16, wherein a setpoint steering angle of the vehicle which is made available to perform closed-loop control of the driving stability is calculated on the basis of the avoidance path.

28. The method as claimed in claim 27, wherein the setpoint steering angle is compared with a determined actual steering angle, wherein the detected difference value is fed to a calculation unit in which an adjustment variable is calculated, which adjustment variable serves to define a steering angle which is set at the wheels by means of an active steering system of the vehicle, and which method feeds the determined actual steering angle to the setpoint steering angle which represents the avoidance path.

29. A device for performing closed-loop control of the driving stability and for avoiding collisions comprising:

a closed-loop driving stability controller which includes means for acquiring input variables and for defining interventions into individual brakes of the vehicle, and

a sensor system which senses the surroundings of the vehicle and which emits and receives radar signals or lidar signals or receives video signals,

wherein the means receives the signals of the sensor system and subsequently evaluates whether a critical situation in terms of driving dynamics exists, such that, when the critical situation exists, the means calculate an avoidance path, and the closed-loop driving stability control operation takes preparatory measures by dynamically switching over closed-loop control parameters.

30. The device as claimed in claim 29, wherein the critical situation is an imminent collision.

31. The device as claimed in claim 29, wherein the means calculates a setpoint yaw speed of the vehicle on the basis of the avoidance path, which setpoint yaw speed is made available to the closed-loop control of the driving stability.

32. The closed-loop driving stability controller for a vehicle having at least four wheels, comprising:

a sensor which generates a yaw speed signal,

a sensor which generates a lateral acceleration signal,

a sensor which generates a steering angle signal,

wheel speed sensors which generate rotational movement signals of the wheels, and

an ABS control system, a traction control system, and a GMR control system which are connected to the sensors, wherein the GMR control system is connected to a surrounding sensor system.