Method and device for determining a transversal controller parameterization for transversal control of a vehicle

• US 9,090,279 B2
• Filed: 09/21/2011
• Issued: 07/28/2015
• 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
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US13/881,846
• Publication Number:
  US 20140039716A1
• Time in Patent Office: 1,406 Days
• Field of Search: 701/1
• US Class Current: 1/1
• 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. 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, with a controller, the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on, by performing the following;

providing, with the controller, 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, with the controller, a curvature of the route segment to be instantaneously traveled on;

selecting, with the controller, an instantaneous curviness rating from the plurality of curviness ratings based on the curvature;

providing, with the controller, the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle; and

ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined based on the instantaneous driving velocity;

wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle, and

wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled, and wherein at least three curviness categories are provided, which represent different curviness states relating to the curviness of a possible road characteristic.

2. The method as recited in claim 1, wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle.

3. The method as recited in claim 1, wherein the curvature is determined by accessing a digital map stored in the vehicle.

4. The method as recited in claim 1, wherein the curvature is ascertained based on a curvature of a traveled route segment.

10. The method as recited in claim 1, wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled.

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

determining, with a controller, 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, by performing the following;

providing, with the controller, 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, with the controller, a curvature of the route segment to be instantaneously traveled on;

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

providing, with the controller, the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle;

ascertaining, with the controller, 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;

ascertaining, with the controller, a manipulated variable for the transversal control based on the deviation and the transversal controller parameterization; and

ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined based on the instantaneous driving velocity;

wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle, and

wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled, and wherein at least three curviness categories are provided, which represent different curviness states relating to the curviness of a possible road characteristic.

6. The method as recited in claim 5, wherein the setpoint position is located on a driving trajectory for the route segment to be instantaneously traveled on.

11. The method as recited in claim 5, wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled.

7. 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, comprising:

a controller having a processor to determine the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on, by performing the following;

providing, with the processor, 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, with the processor, a curvature of the route segment to be instantaneously traveled on;

selecting, with the processor, an instantaneous curviness rating from the plurality of curviness ratings based on the curvature;

providing, with the processor, the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle; and

ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined based on the instantaneous driving velocity;

wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle, and

wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled, and wherein at least three curviness categories are provided, which represent different curviness states relating to the curviness of a possible road characteristic.

12. The device as recited in claim 7, wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled.

8. A non-transitory computer-readable storage medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having 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, by performing the following;

determining the transversal controller parameterization based on a piece of information about a curvature of the route segment to be instantaneously traveled on, by performing the following;

providing, with the controller, 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, with the controller, a curvature of the route segment to be instantaneously traveled on;

selecting, with the controller, an instantaneous curviness rating from the plurality of curviness ratings based on the curvature;

providing, with the controller, the parameter of the instantaneous curviness rating as the transversal controller parameterization for the transversal control of the vehicle; and

ascertaining an instantaneous driving velocity of the vehicle, the transversal controller parameterization furthermore being determined based on the instantaneous driving velocity;

wherein the plurality of curviness ratings includes a plurality of parameters related to different velocities of the vehicle, and

wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled, and wherein at least three curviness categories are provided, which represent different curviness states relating to the curviness of a possible road characteristic.

9. The computer-readable storage medium as recited in claim 8, wherein a curvature characteristic includes information about radii and/or lengths of the curves included in the route segment instantaneously to be traveled.