KS lateral guidance system having a modified control characteristics when cornering

• US 9,211,910 B2
• Filed: 09/19/2006
• Issued: 12/15/2015
• Est. Priority Date: 10/31/2005
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Buerkle, Lutz, Weilkes, Michael, Scherl, Michael, Rentschler, Tobias
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): ODEH, NADEEM N
• Application Number:
  US12/084,355
• Publication Number:
  US 20100004821A1
• Time in Patent Office: 3,374 Days
• Field of Search: 701/28, 701/36, 701 41- 42, 701/69, 180408-410, 180/204, 180/6.2, 180/443, 180/446
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 30/12 Lane keeping
• 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

A device for keeping a vehicle in its lane, including a reference model, which obtains geometric data regarding the position of the vehicle in the lane as well as data relating to the course of the lane from a lane detection system, and from these calculates a setpoint variable for controlling the vehicle position. In order to allow for corners to be cut, the guiding behavior of the control system is modified in such a way when cornering that, in the event of a deviation of the path of motion of the vehicle from the setpoint path of motion in the direction of the inside of the curve, no or only low steering forces are applied to the steering system.

Claims

1. A device for keeping a vehicle in its lane, comprising:

a steering intervention arrangement to apply a steering torque to a steering system of the vehicle via a steering control element in the event of a deviation of a path of motion of the vehicle from a setpoint path of motion;

a modifying arrangement to modify, when cornering along a curve and responsive to a determination that the path of motion of the vehicle deviates from the setpoint path of motion in a direction towards an inside of the curve, a guiding behavior of the steering intervention arrangement so that lower steering torques are applied to the steering system than in the event of a corresponding deviation in a direction towards an outside of the curve; and

one of an open-loop control device and a closed-loop control device which includes a characteristic curve which is asymmetrically widened when cornering, a dead zone being specified for a steering deviation such that responsive to a determination that the steering deviation falls within the dead zone, small or no steering torques are applied to the steering system;

wherein the size of the dead zone is a function of the course of the curve along which the vehicle is traveling.

2. The device of claim 1, wherein:

a reference model which receives, from a lane detection system, geometric data regarding a position of the vehicle in the lane and data regarding a course of the lane, and which determines a setpoint variable from the received data; and

the one of an open-loop control device and a closed-loop device, which as a function of a difference between the setpoint variable and a corresponding state variable, generates a control signal, the control signal is applied with the steering control element to the steering system of the vehicle to guide the vehicle to the setpoint path of motion.

3. The device of claim 1, wherein the size of the dead zone is further a function of at least one of a driving speed, a yaw rate, and a lateral acceleration.

4. The device of claim 1, wherein the guiding behavior is modified shortly before entering a curve.

5. The device of claim 1, further comprising:

a steering angle control loop arrangement having a controller.

6. The device of claim 1, wherein, when driving straight ahead, the characteristic curve is a symmetrical characteristic curve, that is modified to become an asymmetrical characteristic curve when cornering.

7. The device of claim 1, wherein one of a modified reference steering angle and a modified system deviation is determined when cornering to allow for cutting the corner.

8. The device of claim 1, further comprising:

a steering angle control loop arrangement having a controller,

wherein the guiding behavior is modified shortly before entering a curve, and wherein one of a modified reference steering angle and a modified system deviation is determined when cornering to allow for cutting the corner.

9. The device of claim 1, further comprising:

a steering angle control loop arrangement having a controller;

wherein the size of the dead zone is further a function of at least one of a driving speed, a yaw rate, and a lateral acceleration, and wherein the guiding behavior is modified shortly before entering a curve.

10. The device of claim 9, wherein, when driving straight ahead, the characteristic curve is a symmetrical characteristic curve, that is modified to become an asymmetrical characteristic curve when cornering.

11. The device of claim 9, wherein one of a modified reference steering angle and a modified system deviation is determined when cornering to allow for cutting the corner.