METHOD AND DEVICE FOR DETERMINING A TRANSVERSAL CONTROLLER PARAMETERIZATION FOR TRANSVERSAL CONTROL OF A VEHICLE

• US 20140039716A1
• Filed: 09/21/2011
• Published: 02/06/2014
• Est. Priority Date: 10/26/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Buerkle, Lutz, App, Thomas, Glaser, Thomas
• Granted Patent: US 9,090,279 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0062 Adapting control system settings
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• 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
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, having a step for determining the parameter based on a piece of information about a curvature of the route segment to be instantaneously traveled on.

Claims

1-10. -10. (canceled)

11. A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, the method comprising:

determining the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on.

12. The method as recited in claim 11, wherein the determining of the transversal controller parameterization includes:

providing a plurality of curviness ratings which represent different curvature states of a possible course of a road, each curviness rating including a parameter which is related to a curvature state corresponding to the curviness rating;

ascertaining a curvature of the route segment to be instantaneously traveled on;

selecting an instantaneous curviness rating from the plurality of curviness ratings based on the curvature; and

providing the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle.

13. The method as recited in claim 12, wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle.

14. The method as recited in claim 11, further comprising:

ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined on the basis of the instantaneous driving velocity in the determining the transversal controller parameterization step.

15. The method as recited in claim 11, wherein the curvature is determined in the ascertainment step by accessing a digital map stored in the vehicle.

16. The method as recited in claim 11, wherein the curvature is ascertained in the ascertainment step on the basis of a curvature of a traveled route segment.

17. A method for ascertaining a manipulated variable for transversal control of a vehicle, comprising:

determining a transversal controller parameterization for the transversal control of the vehicle on a route segment to be instantaneously traveled on by the vehicle based on a piece of information about a curvature of the road segment;

ascertaining a deviation of an instantaneous position of the vehicle from a setpoint position of the vehicle in a lane of the route segment traveled on by the vehicle; and

;

ascertaining a manipulated variable for the transversal control based on the deviation and the transversal controller parameterization.

18. The method as recited in claim 17, wherein the setpoint position is located on a driving trajectory for the route segment to be instantaneously traveled on.

19. A device to determine a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, the transverse controller parameterization being determined based on a piece of information about a curvature of the route segment to be instantaneously traveled on.

20. A computer-readable storage medium storing program code for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, the program code, when executed by a control unit, causing the control unit to perform:

determining the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on.