DE102011088768A1 - Motor car, has control device comprising program module by which driver assistance system is movable into learning mode, where driving dynamic troubles are inducible in learning mode using sensors and/or actuators against its normal tasks - Google Patents

Abstract

The car has a driving stability-based driver assistance system e.g. anti-lock braking system, to which an electronic control device is attached. The control device has a program module (10) by which the system is movable into a learning mode for training skill of a driver when a preset condition is met, where driving dynamic troubles are inducible in the learning mode using sensors e.g. steering angle sensors and/or actuators of the system against its normal tasks. The program module has an analysis module (2a) for detecting criticality of a driving dynamic parameter using the sensors.

Description

The invention relates to a motor vehicle with at least one driving stability-related driver assistance system.

From the DE 10 2009 040 677 A1 a motor vehicle with a driver assistance system is known in which a learning of the adjusted operation of the vehicle is to be achieved in autonomously intervening driver assistance systems.

It is an object of the invention to provide a motor vehicle by which the driver does not unlearn safe self-responsive driving despite the presence of a driver assistance system.

This object is achieved by the subject of claim 1. The dependent claims are advantageous developments of the invention.

The invention is based on the following considerations, findings and ideas:
Safe driving means more than just the perfect "easy" operation of the vehicle that you learn in the driving school. On the contrary, one must be familiar with the physical and traffic limits and be able to control them in emergencies.

Precise steering and self-steering behavior as well as ABS, ESP / DSC and other driver assistance systems make emergencies increasingly rare in modern vehicles. However, critical situations are completely excluded today and in the future, as the example of sudden onset of black ice shows. This raises the question of whether an experienced pilot with modern vehicles unlearn the savvy driving, and how a newcomer can become a "driver" with respect to the driving physics.

A prerequisite for mastering the vehicle is the driver's complete situational awareness, which includes the course of the driving process, existing and possible disruptions and further development.

Today's vehicles drive on good grip consistently up to higher lateral acceleration ranges almost as "on rails", while drivers had to reckon with yaw, swimming and rolling movements in old models even at moderate cornering speeds and road disturbances, as well as with change of self-steering, in particular of sub - oversteer. At that time, one had to be familiar with deviations from ideal driving behavior. In addition, experienced drivers were able to compensate for lane deviations due to their experience to some extent to good despite despite today poorer steering behavior (friction, elasticity, etc.).

• • Wie kann Fahrern das Gefühl vermittelt werden, dass Situationsbewusstsein auch bei schon weitgehend problemlos funktionierenden Fahrzeugen erforderlich ist, um auch seltene und schwierige Situationen beherrschen zu können?
• • Wie kann darauf aufbauend den Fahrern die Fähigkeit vermittelt werden, dann auch situationsgerecht reagieren zu können?

For today and tomorrow, 2 questions can be derived from this:

• • How do drivers feel they need to be aware of the situation, even on largely problem-free vehicles, in order to master even rare and difficult situations?
• • Based on this, how can the drivers be given the ability to be able to respond appropriately to the situation?

For motorists and their vehicles is known a proposal ( DE 10 20099 040 677 A1 ), in which the driver can get to know the mode of action of autonomous driving maneuvers of driver assistance systems. This should be done by specific input of the driver.

In contrast, it is an object of the present proposal to show the driver without helping driver assistance interventions in an automatic function that the largely perfect driving modern vehicles can certainly have its limits. For this purpose, the capabilities of the driver assistance systems including active chassis control systems are to be used, and at times by artificially impairing the ideal driving in non-critical situations. In order to achieve this, typical disturbance movements, preferably also of earlier vehicles and their causes, must be recorded, stored and made available in the driver assistance electronics of modern models with modern measurement technology. With these stored cause-and-effect relationships, the artificial deviations from ideal driving can then be used as required by state-of-the-art active suspension systems (depending on availability). This mode can be effective if in a classic car in a comparable driving situation (eg curve with bumps in the road and / or changing grip) even slight disturbing movements and lane deviations would occur. Today's vehicle dynamics sensors detect such situations and induce slight disturbances in the course of movement of the vehicle via active systems (eg ESP / DSC, electromechanical steering, torque vectoring, adjustable stabilizers). If an inexperienced driver is unsure of this, this is detected by its unadapted steering behavior (amplitudes, frequencies, ...) and unmotivated speed changes. The learning mode is then switched off again as soon as possible. On another occasion, this mode can be tried again in a weaker form until the inexperienced driver is no longer unsure, and can respond appropriately. at a trained driver, these artificial disturbances can be induced in a stronger form.

Of course, the learning mode should only be activated in completely uncritical situations that are detected by the vehicle and its surroundings detection, possibly supplemented by Car2X communication. Meaningful information should be to the driver (display, ...), when this mode is active, to sharpen the situation awareness of the driver. It is also conceivable to include this mode in the driving experience switch, possibly under the motto of a special form of "joy of driving".

In the drawing, an embodiment of the invention is shown. It shows schematically a program module which is integrated in an electronic control unit of the motor vehicle according to the invention and is required for the realization of a learning mode.

A motor vehicle not shown here is equipped with at least one driving stability-related driver assistance system - in particular a driving dynamics control system ABS, ASC, DSC, etc. - which is usually associated with an electronic control unit. The electronic control unit according to the invention contains a program module 10 by which the driver assistance system can be put into a learning mode for training the driving ability of a driver if at least one predetermined condition is fulfilled. In the learning mode, by using already existing sensors and / or actuators of the driver assistance system contrary to its previously intended tasks driving dynamics disorders can be induced. In this case, "inducing" is both an active cause and a passive allow - that is to say allow, by omitting the intended adjustment of the driver assistance system - to understand.

The program module 10 starts with start module 1 , which is called, for example, time or event-driven. Subsequently, in an analysis module 2a detected by means of existing sensors, the criticality of driving dynamics parameters, wherein a first predetermined condition for activating the learning mode is a comparatively low criticality. Additionally or alternatively, also a manually operated control element 2 B for arbitrarily turning on the learning mode by the driver, so that the on state of the operating element 2 B a second condition for activating the learning mode is.

The program module 10 contains a map complex 3 , are stored by the empirically determined driving dynamics cause-effect relationships that exist when a driver assistance system does not correct interference. To create this map complex preferably vintage or so-called early-timers (from 1980), which were not yet equipped with today used driver assistance systems including ABS, are measured. The induction of the effect on the recognized cause will thus cause more intense disturbances than vehicles equipped today with driver assistance systems, in particular in the form of vehicle dynamics control systems.

The program module 10 also contains a comparison module 4 in the presence of a recognized driving dynamic disturbance with low criticality, the induction of this cause in the map complex 3 activated effect, ie, for example, in a first step as a disturbance does not allow ausregelnd or increased in a second step, the intensity of the disorder. In this case, already existing actuators are used in the vehicle, in particular to generate yaw, swimming, rolling and / or steering problems. Such actuators may be radselektiv controllable wheel brakes, active steering gear, adjustable stabilizers, longitudinal and transverse couplings for axle or wheel-selective drive torque distribution, active air springs, etc. be. The learning mode can also take advantage of environmental conditions such as ice, rain, potholes, curves, etc. for driver training. To capture the environmental conditions in today's vehicles also already a variety of sensors, such. As steering angle sensors, rain sensor, lateral acceleration sensors, cameras, GPS sensor for the query of navigation data, etc., available.

For the sake of completeness, hereinafter with reference to the map complex 3 Known driving dynamic cause-effect relationships are listed by way of example:
Possible causes: (too high) vehicle speed (v), smoothness (low coefficient of friction μ or friction coefficient dμ / dt), cornering (lateral acceleration a_q), uneven road surface (wheel spring movements, vertical vibrations vs_r), left-right unevenness (left-right vibrations lrs_r).
Possible effects (alone or in combination): yaw, swimming, wavering, steering effects.
Yawing: The yaw angle α denotes the amount of rotation of a vehicle about its vertical axis, which prevents the vehicle from moving straight ahead.
Swimming: The slip angle β is the angle between the direction of movement of the vehicle and its longitudinal axis. At high lateral accelerations, the slip angle is decisive for the controllability of vehicles due to the lack of side guidance of the rear axle.
Rolling (including rollers): angle of rotation γ of a motor vehicle about its longitudinal axis (roll axis). For example, when cornering and / or in road bumps the motor vehicle usually rolls around its longitudinal axis to the outside and / or staggering back and forth.
Steering Influences: Steering interference in the form of passive, unwanted steering angles δ and / or steering torque.

The program module contains a monitoring module 5 which checks the driver's reaction to inducing these faults and by means of a polling module 6 either with appropriate driver response through a first reaction module 7 increases the intensity of the disturbance or in case of inappropriate (unsafe) driver reaction by a second reaction module 8th corrects the fault by the originally intended use of the driver assistance system.

The program module 10 terminates the learning mode in the end module nine if either the driver this by pressing the control 2 B switches off or a successful driver training with sufficiently high intensity is completed or exceeds the criticality of the detected vehicle dynamics parameters a predetermined hazard threshold.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009040677 A1 [0002]
• DE 1020099040677 A1 [0010]

Claims (7)

Motor vehicle with at least one driving stability-related driver assistance system to which an electronic control device is assigned, wherein the electronic control device is a program module ( 10 ), by which the driver assistance system can be set into a learning mode for training the driving ability of a driver, if at least one predetermined condition is met, in the learning mode by using already existing sensors and / or actuators of the driver assistance system contrary to its previously intended tasks driving dynamics disorders are inducible , Motor vehicle according to claim 1, characterized in that the program module ( 10 ) an analysis module ( 2a ) by which the criticality of driving dynamic parameters is determined by means of the existing sensors, wherein a first predetermined condition for activating the learning mode is a low criticality. Motor vehicle according to one of the preceding claims, characterized in that a manually operated control element ( 2 B ) is present for the arbitrary switching on of the learning mode by the driver and that the switch-on state of the operating element ( 2 B ) is a second condition for activating the learning mode. Motor vehicle according to one of the preceding claims, characterized in that the program module ( 10 ) a map complex ( 3 ), are stored by the empirically determined driving dynamics cause-effect relationships that exist when a driver assistance system does not correct interference. Motor vehicle according to one of the preceding claims, characterized in that the program module ( 10 ) a comparison module ( 4 ) that, in the presence of a recognized dynamic driving disturbance with low criticality, the induction of this cause in the map complex ( 3 ) is activated. Motor vehicle according to one of the preceding claims, characterized in that the program module is a monitoring module ( 5 ), which checks the driver's reaction to the induction of the disturbance and either increases the intensity of the disturbance with an appropriate driver reaction or corrects the disturbance due to the originally intended use of the driver assistance system in the event of an inappropriate driver reaction. Motor vehicle according to one of the preceding claims, characterized in that the program module ( 10 ) terminates the learning mode, if either the driver by pressing the operating element ( 2 B ) or a successful driver training with sufficiently high intensity is completed or the criticality of the detected driving dynamics parameters exceeds a predetermined hazard threshold.

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