DE102006009191A1 - Vehicle control system operating method, involves executing instructions in support system of vehicle and providing transition condition based on actual dynamics for transition of instruction to next instruction - Google Patents

Abstract

The method involves executing the instructions in a support system of a vehicle (40) and a driver. A control system detects the instructions, where the system acts as an interface between the driver and the driver systems and as a unit integrated in the vehicle. The instructions are generated at the side of the driver or the driver system. A transition condition is provided based on the actual dynamics for a transition of the instruction to the next instruction.

Description

The The invention relates to a method for operating a control system for a Vehicle according to the preamble of claim 1.

In Vehicles are in support of the driver integrated numerous systems whose task is the vehicle in certain situations instead of the driver.

In the published patent application DE 10 2004 059 739 A1 a control system for a vehicle is disclosed, in which specifications for the movement and / or manipulation are converted into desired value signals, which then control vehicle-side actuators as activation signals. For example, it acts on brakes, engine and transmission.

The publication EP 1 548 608 A2 discloses a control system for a vehicle having a motion control system and a plurality of coordination subsystems. The motion control system communicates with the subsystems and decides which of the subsystems will execute the corresponding ride requests. Subsystems are, for example, the powertrain or the brake system.

task The invention is the creation of a method for operating a Control system for a vehicle having a safe transition from an instruction the driver and / or a driving system or several driving systems allows for another statement.

The The object is achieved by the Characteristics of claim 1 solved.

Favorable price and further developments of the invention are the further claims remove.

The inventive method for operating a control system of a vehicle, in which instructions from at least one support system in the vehicle and a driver accomplished be, that provides the control system as an interface between driver and / or one or more driving systems on the one hand and into the Vehicle integrated aggregates on the other hand recorded instructions, the driver side and / or the driving system come and for a transition from one statement to the next statement a transition state depending on an actual Dynamics of the vehicle pretends.

Preferably takes place at a transition between the instructions a transition as soon as possible.

In one next advantageous method step is checked if the transition in accordance with the issued transition statement.

Prefers For example, the interface is based on motion vectors at least Acceleration and steering angle.

Advantageous The transition may be a realization of a distance in an acceleration steering angle plane being represented.

In another cheap Process step, a three-dimensional map is created, the all possible in terms of acceleration and steering angle Represents motion vectors.

Especially is advantageous for determining the shortest transition path a To draw on Delaunay triangulation. Generally one understands under a triangulation of points in the plane a maximum amount non-crossing line segments with these predetermined endpoints. The edges of the convex hull belong in any case, because they can be crossed by no other edge. For a point set it can be very different Triangulations give, including those in which very sharp Angle occur. For many applications this is undesirable. That's why the Delaunay triangulation Cheap, because with her the smallest angle is as big as possible. If moving a point, the edges of the Delaunay triangulation move first once with it until suddenly to a structural change comes. An edge is removed and in the resulting quadrangle replaced by the other diagonal. It corresponds to a structural change in the so-called Voronoi diagram. The Voronoi diagram is a structure for storing sets of points that supports neighborhood requests. That is more precisely Voronoi diagram VD (P) to a set of points P in the plane is a planar subdivision of the plane such that to every point p from P the region VR (p) is defined, all points q of the plane contains the closer to p are from any other point of P. From the Delaunay triangulation the Voronoi diagram can easily be recovered. Every Delaunay triangle corresponds in the Voronoi diagram a node, in which the regions meet the three key points. This Voronoi knot does not need necessarily to be inside his triangle. But if you are simply connecting all the nodes whose triangles are one Sharing edge results in the Voronoi diagram. Because of this property are the Voronoi diagram and the Delaunay triangulation to each other dual.

• – Finden eines Startdreiecks und der nächstgelegenen Knotenpunkte;
• – iterative Berechnung von folgenden Knotenpunkten Dreieck für Dreieck;
• – für jedes Dreieck, auf das der Lösungsweg trifft, wird als Ausgangskante diejenige Kante gewählt, die dem zu erreichenden Endpunkt am nächsten liegt;
• – Bestätigen der Auswahl, wenn es auf dieser Kante mindestens einen Bewegungsvektor mit ausreichender Qualität gibt.

The following steps are preferably carried out:

• - finding a start triangle and the nearest nodes;
• - iterative calculation of following nodes triangle by triangle;
• For each triangle encountered in the solution, the edge which is closest to the end point to be reached is chosen as the starting edge;
• Confirm the selection if there is at least one motion vector of sufficient quality on that edge.

conveniently, calculates one PID controller each for each axis of the acceleration steering angle plane with input data at least with regard to the current state of the vehicle and the State, the node for Node is to be achieved, a to be transmitted to the vehicle instruction vector, so this is the original one Execute instruction can.

Advantageous A latency is set to correct the vehicle can follow faster than the transition points move.

Further Advantages and details of the invention are described below a preferred embodiment described in the drawing explained in more detail, without to this embodiment limited to be.

there demonstrate:

1 a representation of a preferred interface,

2a , b; in the model, a realization of a route between two instructions (a) and an instruction vector to be transmitted to a vehicle in order to execute the original instruction (b),

3a , b; a model with motion vectors in a map (a) corresponding to a situation with three different routes in the encounter case (b),

4a , b; a model representation of first and second adjacent points (b) compared with a driver side instruction (b), and

5 a schematic of a preferred double-loop algorithm.

In The figures are functionally identical elements with the same reference numerals quantified.

1 shows a schematic of a preferred transition control according to the invention. The transition control system is an interface 10 Switched between a driver and / or existing driving systems of a vehicle and integrated into the vehicle units. There will be instructions on the driver's side and / or on the driving system side 12 . 14 read continuously. The entire interface 10 of the system is based entirely on motion vectors (acceleration a - steering s, 2a . 2 B ). As input parameters are driver's request 12 and / or an instruction 14 that wants to run the driving system and the current state 16 entered the vehicle. The starting point is the transition statement 18 issued that it should let the vehicle run.

Several parallel driving systems are possible as long as they remain indexed. In addition, the system must know which of the instructions 12 . 14 to be executed.

As soon as a transition from one instruction to another, the transition control system must the transition from the original statement to perform the new instruction as soon as possible. Around to perform this transition must the transition control system make sure that the vehicle indeed this transition in agreement with the issued transition statement.

Without any additional information, the best theoretical transition is the realization of a path between the two instructions, as in 2a is shown. 20 indicates a driver's request, 22 a target, the connection between them represents a safe motion vector in the acceleration steering angle plane (a-s plane).

It is possible, to expand this basic function by using existing active ones Control devices one functionality adds which provides information to the transition control system, such as Acceleration and steering wheel angle (as before) and / or minimum allowable and maximum acceleration and / or permissible minimum and maximum steering angle.

It is then possible to create a 3D map, all in terms of acceleration a and steering s possible Represents motion vectors. Based on an analysis of the thus obtained Kennfeldes can be tested whether a potential risk exists, a direct transition perform.

There is a risk, as in 2 B is shown, for example, due to a vehicle condition 24 a correction of the transition point made. 28 denotes the error between the original motion vector and vehicle condition 24 ,

• – Bremsen und nach dem Fahrzeug 42 die Einmündung passieren (Kurve 34 in 3a),
• – Beschleunigen, um vor der Ankunft des Fahrzeugs 42 die Einmündung zu passieren (Kurve 30 in 3a),
• – Ausscheren und links vor dem Fahrzeug 42 die Einmündung passieren (Kurve 32 in 3a).

In the in the 3a and 3b illustrated case has a vehicle 40 three options, one coming from a right-hand drive at a junction 42 dodge:

• - Brakes and after the vehicle 42 pass the junction (curve 34 in 3a )
• - Accelerate to before the arrival of the vehicle 42 to pass the junction (curve 30 in 3a )
• - Pull out and left in front of the vehicle 42 pass the junction (curve 32 in 3a ).

Only the first option has a high quality of security. The in a map in the acceleration steering angle plane in 3b The juxtaposition of the different scenarios shows discontinuities, and it is thus possible to find certain excluded areas in some scenarios. So it is impossible to perform the transition directly linear. The two dashed lines 30 ' . 32 ' must be avoided since these are associated with a high accident risk ( 3a ).

The excluded area 42 ' must be bypassed, including authorized areas 44 are to be used, which correspond to other scenarios.

The search for a secured transition path is based on a so-called Delaunay triangulation, which maps the (acceleration a - steering angle s) in the authorized area 44 divided into sections. It is then possible to find the best solution based on the sequence of unspecified triangles that form the shortest transition between the two instructions. This is in 4a and 4b shown.

After the definition of the various triangles, which are not designated in detail in the figure, the triangle may begin to search triangularly for a triangle. The first phase is to find the starting triangle, more precisely the two nearest nodes (points 46 . 48 in 4a ) to point 40 , The middle M between these two points is then used as a starting point (broken line between the center M and point 40 (Vehicle 40 )) for the search of the transition path.

The following points are then iteratively calculated triangle by triangle. For each triangle encountered in the approach, the edge that is closest to the endpoint to be reached (for example, edges) is chosen as the starting edge 50 and 52 in 4b ). This a-priori selection is confirmed if there is at least one motion vector of sufficient quality on that edge. The outer and inner contours of the map are not automatically included, in which case the best transition point is in between and must be as in 4b where the second point between two points of the contours (points 48 and 54 ) is located. If it is not possible to find a solution breakthrough in the current triangle, the triangle list with the transition points is recalculated in order to continue branching and trying to get a goal-oriented solution.

Gives there is no purposeful Solution, so it is impossible, to carry out the transition. Then the passive safety devices are informed about that in this Case an accident is unavoidable.

The goal of the transition algorithm is to have this transition carried out by the vector of the vehicle state. For this purpose, a PID controller is provided for each axle of the vehicle 40 (Acceleration a, steering angle b) integrated with input data or input variables, preferably the current state of the vehicle 40 and / or the state that should be reached point by point.

This offers the possibility of one to the vehicle 40 to calculate the changed instruction vector to be transmitted so that the vehicle 40 can execute the original statement.

The complete algorithm used in 5 is shown schematically, can thus be construed as a double loop. 62 represents the calculation of the intermediate points into which an end point 60 and the current state 16 received the vehicle. The output size 66 the calculation 62 stands for an intermediate point, which is the position controller 64 as an input variable together with the current actual state 16 the vehicle is handed over. The output of the position controller 64 is the instruction 18 to the aggregates of the vehicle.

The latency of the outer loop (position controller 64 ) is automatically set to be ten times longer than the inner loop (calculation 62 the intermediate points), thus the vehicle 40 The corrections can follow faster than the transition points move. However, this latency may vary depending on the current state of the vehicle 40 in relation to the intermediate point 66 be shortened or lengthened: the faster the vehicle 40 the required intermediate point 66 reached, the higher the transition speed can be.

Claims (10)

Method of operating a controller system of a vehicle ( 10 ), wherein instructions from at least one support system in the vehicle ( 10 ) and a driver, characterized in that the control system as an interface between the driver and / or one or more driving system (s) on the one hand and in the vehicle integrated units on the other hand detects instructions that are generated on the driver side and / or the driving system, and for a Transition from the one instruction to the next instruction specifies a transition state in response to an actual dynamics of the vehicle. Method according to claim 1, characterized in that that at a transition between the instructions a transition as quickly as possible. Method according to claim 1 or 2, characterized that checked will, if the transition in accordance with the issued transition statement. Method according to one of the preceding claims, characterized characterized in that the interface is related to motion vectors at least Acceleration and steering angle based. Method according to claim 4, characterized in that that the transition is a realization of a track in an acceleration steering angle plane represents. Method according to one of claims 4 or 5, characterized that a three-dimensional map is created, all in terms Acceleration and steering turn represents possible motion vectors. Method according to Claim 6, characterized that for determining the shortest transition path a Delaunay triangulation is used. Method according to claim 7, characterized in that that following steps are performed become: - Find a start triangle and the nearest one Nodes; - iterative Calculation of following nodes triangle by triangle; - for each Triangle, to which the solution meets, is selected as the starting edge, the edge that the closest to the endpoint to be reached lies; - confirm the Select if there is at least one motion vector on this edge with sufficient quality gives. Method according to one of claims 5 to 8, characterized that one PID controller for each Axis of the acceleration steering angle plane with input data at least with regard to the current state of the vehicle and the state, the node by node is to be achieved, an instruction vector to be transmitted to the vehicle so that it can execute the original instruction. Method according to one of the preceding claims, characterized characterized in that a latency is set so that the Vehicle corrections can follow faster than the transition points move.