Railborne driver assistance device and method for supporting or automating the lateral control of a vehicle

Patent metadata

Field	Value
Publication number	US-12168484-B2
Application number	US-202017597685-A
Country	US
Kind code	B2
Filing date	Jun 3, 2020
Priority date	Jul 16, 2019
Publication date	Dec 17, 2024
Grant date	Dec 17, 2024

Abstract

A railborne driver assistance device for supporting or automating the lateral control of a vehicle includes a first processing unit configured to control a steering torque intervention by establishing a steering angle with a stationary control accuracy of an electrically supported steering system. A second processing unit is configured to adjust the stationary control accuracy of the steering angle via the output of an accuracy request signal to the first processing unit in such a way that there is a scaling of the control accuracy between a lower and an upper threshold value. The second processing unit includes a control unit having an integrator with an input and an output, wherein the output of the integrator is connected to the input in a closed-loop manner with a weighting dependent on the accuracy request signal.

First claim

The invention claimed is:

1. A railborne driver assistance device for lateral control of a vehicle, comprising:
a first processing unit configured to control a steering torque intervention by establishing a steering angle with a stationary control accuracy of an electrically supported steering system, and
a second processing unit configured to adjust the stationary control accuracy of the steering angle via an output accuracy request signal of the second processing unit to the first processing unit in such a way that there is a scaling of the stationary control accuracy between a lower and an upper threshold value,
wherein the second processing unit has an integrator comprising an input and an output, wherein the output of the integrator is connected to an input in a closed-loop manner with a weighting dependent on the accuracy request signal.

2. The railborne driver assistance device according to claim 1 , wherein the upper threshold value leaves the stationary control accuracy of the electrically supported steering system unchanged and wherein the lower threshold value implements a maximum predetermined attenuation of the stationary control accuracy.

3. The railborne driver assistance device according to claim 1 , wherein the accuracy request signal is specified between the upper and lower threshold value, wherein a stationary control error approaches zero at the upper threshold value and wherein the maximum permissible control error is present at the lower threshold value.

4. The railborne driver assistance device according to claim 1 , wherein the second processing unit is designed to adjust the stationary control accuracy of the steering angle utilizing temporal cross-fading.

5. The railborne driver assistance device according to claim 4 , wherein the accuracy request signal is designed quasi-continuously, wherein the second processing unit is configured to interpolate or to cross-fade between the upper and lower threshold value.

6. The railborne driver assistance device according to claim 1 , wherein the weighting dependent on the accuracy request signal is a gain factor.

7. The railborne driver assistance device according to claim 1 , wherein the first processing unit comprises a controller having a disturbance variable feedforward, wherein a proportional feedforward of the disturbance variable to an actuating torque is executed in accordance with a weighting that is dependent on the accuracy request signal.

8. The railborne driver assistance device according to claim 1 wherein a degree of attenuation of the stationary control accuracy to be adjusted is established by multi-stage cascade control unit.

9. The railborne driver assistance device according to claim 1 , wherein the first processing unit is configured to perform steering angle control for establishing a steering angle with a stationary control accuracy as well as feedforward control of the steering angle, wherein a contribution of the feedforward control is scaled as specified by the accuracy request signal prior to a proportional feedforward to an actuating torque.

10. The railborne driver assistance device according to claim 1 , wherein the stationary control accuracy has a predetermined output value until the stationary control accuracy is adjusted by the second processing unit.

11. The railborne driver assistance device according to claim 1 , wherein the second processing unit is configured to adaptively attenuate the stationary control accuracy when at least one of wheel fight occurs or a driver intervention is recognized.

12. The railborne driver assistance device according to claim 1 , wherein during a dynamic driving maneuver, when at least one of entering and/or exiting a curve, the stationary control accuracy is established with an accuracy request signal of at least 70 per cent.

13. The railborne driver assistance device according to claim 1 wherein a stronger or weaker recommended torque is obtained by an accuracy specification when the driver steers, depending on an established driving mode or as a function of driver-specific driving behavior.

14. A vehicle having a railborne driver assistance device comprising:
a first processing unit configured to control a steering torque intervention by establishing a steering angle with a stationary control accuracy of an electrically supported steering system, and
a second processing unit configured to adjust the stationary control accuracy of the steering angle via an output accuracy request signal to the first processing unit in such a way that there is a scaling of the stationary control accuracy between a lower and an upper threshold value,
wherein the second processing unit has an integrator comprising an input and an output, wherein the output of the integrator is connected to the input in a closed-loop manner with a weighting dependent on the accuracy request signal.

15. A method for lateral control of a vehicle, comprising:
controlling a steering torque intervention with a first processing unit by establishing a steering angle with a stationary control accuracy of an electrically supported steering system; and adjusting the stationary control accuracy of the steering angle with a second processing unit via the output of an accuracy request signal to the first processing unit in such a way that there is a scaling of the stationary control accuracy between a lower and an upper threshold value, wherein the second processing unit has a control unit having an integrator comprising an input and an output, wherein the output of the integrator is connected to the input in a closed-loop manner with a weighting dependent on the accuracy request signal.

Assignees

• Continental Automotive Gmbh

Inventors

• Feick Stefan
• Kessler Philipp
• Simon Michael

Classifications

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D6/04

  responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel · CPC title

• B62D5/0463 Primary

  calculating assisting torque from the motor based on driver input · CPC title