DE10359965A1 - Motor vehicle steering and braking system operating method for preventing a driver driving on the wrong carriageway or in the wrong direction, wherein if a turn-off is detected then driver action is given priority - Google Patents

Abstract

Method for operating the steering and braking systems in a motor vehicle in which the current vehicle position (xist) on a street is determined using a street detection system and compared with a corresponding desired value (xsoll). If there is an inadmissible difference, the braking system and or the steering system are automatically operated. If a turn-off from the road is detected then a turning maneuver initiated by the driver is given priority over an automatically initiated maneuver. The invention also relates to a motor vehicle steering and braking system for implementation of the inventive method.

Description

The invention relates to a Method of actuation a steering and braking system in a motor vehicle and on a Steering and braking system according to the preamble of claim 1 or 6.

Method and devices for actuating a Steering and / or braking system are known from the prior art in various modification.

In the publication DE 43 32 836 C1 a device for tracking-controlled steering of a vehicle is described.

In the publication DT 2 112 669 a blocking protection device is described in which the possibility of steering braking is provided.

In the publication DE 199 48 913 A1 An automatic steering system for a vehicle is described which generates steering signals in response to signals provided via a satellite-based navigation system and a camera-based image acquisition system in accordance with a yaw rate model stored in a computing unit, which signals are supplied to a steering motor for setting a desired steering angle. With the help of the navigation system, the curvature of the currently traveled road section can be determined with the help of the image acquisition system white lane lines that limit the road can be determined from both information, the setpoints and actual values for the position of the vehicle and the determination of automatically be set to be adjusted steering angle. About the automatic correction of the steering angle, the vehicle can be steered automatically in the desired lane according to the stored relationship for the yaw rate. In this way, autonomous driving can be supported.

For the case that there is an obstacle on the road, the the driver wants to evade by an appropriate steering movement is that automatically Determined and the steering motor discontinued steering torque out of force set in order not to hinder the steering movement generated by the driver. On the other hand, driver intervention is imperative to a driver Avoid collision with the obstacle.

Against the background of this known state the technique of the invention is based on the problem, a partial or completely to allow autonomous driving in a motor vehicle, even in the case a road junction maximum safety guaranteed.

This problem is in the inventive method with the features of claim 1 and in the steering and brake system solved with the features of claim 6. The under claims give expedient further education on.

In the method according to the invention the steering and braking system is automatically adjusted as a function of signals from the road detection system, from the road detection system a road junction recognized by the road will and over In addition, a driver-generated steering and / or braking operation is detected. The automatic Adjustment of the steering and braking system intervenes advantageously subsidiary, with the consequence that the automatic steering and braking so long performed until the vehicle approaches a turnoff and also the driver either operated the steering or the brake or both units. Provided the driver but neither steering nor applied brake, remains automatic Steering and braking system appropriate in force and leads the vehicle automatically over the road section with the diversion.

According to a preferred embodiment automatic, the vehicle stabilizing interventions in the steering and braking system even in the case of a road junction and simultaneous driver intervention, if this does not contradict the driver's request. This automatic Intervention improves the driving stability in curves without thereby the driver intervention restricted becomes.

According to an alternative embodiment it can but also be appropriate to completely override the automatic steering and braking system as soon as possible a road junction is recognized.

As a street detection system comes both a satellite-based Navigation system as well as a camera-based image capture system or a cameroon-dependent Track recognition system into consideration. About the street detection system is determine the current vehicle position and a corresponding Position actual signal can be generated. In conjunction with one in one Control and control unit stored digital len road map, from the determine the desired position of the vehicle and corresponding Target signals can be generated, according to a stored control strategy in case of inadmissible Deviation between actual and reference signal is a control signal for automatic application the steering and / or the brake are generated.

Further advantages and expedient designs are the further claims, the figure description and the drawings. Show it:

1 a plan view of a motor vehicle with automatic steering and braking system, the motor vehicle is equipped with a road detection system, which is able to detect a road junction,

2a a flowchart with the method steps for the automatic adjustment of a steering and braking system in a motor vehicle, taking into account a driver intervention in the case of a road junction according to a first embodiment,

2 B a flowchart with the method steps for the automatic adjustment of a steering and braking system in a motor vehicle, taking into account a driver intervention in the case of a road junction according to a second embodiment.

This in 1 illustrated motor vehicle 1 which is on the street 2 drives, is equipped with an automatic, self-acting steering and braking system, which allows autonomous driving. The steering and braking system includes a road detection system that indicates the current vehicle position of the vehicle 1 in the street 2 detects and generates corre sponding position actual signal, and a setpoint generator for generating a position command signal for the desired position of the vehicle 1 in the street 2 , The setpoint generator draws information from a digital, stored in a control and control unit of the steering and braking system road map. In the control and regulating unit, the position actual signal is compared with the position command signal and in the case of an impermissible deviation generates a control signal which is supplied in the steering and braking system of the steering and / or the brake to correct the deviation and the vehicle 1 to bring you to the desired course.

In particular, the road recognition system is a satellite-based navigation system, with the help of which the absolute coordinates of the vehicle 1 are determinable. In addition, the road detection system also includes a camera-based image recognition system capable of detecting lateral roadway boundaries, particularly white lines applied to the roadway. This lane recognition system supplements the navigation system and is able to refine or improve the quality of the positioning obtained via the navigation system by determining the current, lateral vehicle position with respect to the lateral boundary lines.

The vehicle 1 moves in the direction of the arrow 4 in the street 2 , Is determined via the navigation system that the vehicle 1 a road junction 3 approaches, the steering and braking system in the motor vehicle 1 automatically be switched to a new mode, according to which a driver-generated steering and / or braking operation of an automatic adjustment of the steering and braking system proceeds. This is to avoid that the steering and braking system automatically generates control signals that run counter to the driver's request. If the driver intervenes in the steering or the brake, such a driver operation should take precedence over an automatic adjustment of the steering and braking system, so as to ensure that the driver on the road junction 3 without obstruction by the steering and braking system in the direction of the arrow 5 can leave. However, if the driver in the direction of the arrow 6 continue on the street 2 want to drive and the road junction 3 The vehicle can pass through the steering and braking system 1 be continued automatically as long as no driver intervention takes place.

Also in case of driving along the road junction 3 It may be appropriate, at least for the vehicle 1 to allow stabilizing regulatory intervention in the steering and braking system.

In 2a the flowchart of the method according to the invention is shown according to a first embodiment. In method step V1, first the current actual position x _{is of} the vehicle via the navigation system GPS 1 detected. In the following method step V2 can over a in the vehicle 1 entrained camera - for example, a CCD camera - the current actual position x _is the vehicle 1 be improved by image processing in consideration of the detected by the camera, lateral boundary lines.

In the subsequent method step V3, the target position x _{soll of} the vehicle 1 based on a in a control unit in the vehicle 1 digitally stored road map determined. Thus, in the vehicle 1 both the information about the actual position x _is as well as the information about the target position x _{soll of} the vehicle 1 in front.

Based on the absolute position of the vehicle determined in the navigation system GPS 1 and the image acquisition and the determined via the road map target position x _should be determined whether the vehicle 1 a road junction 3 approaches. This detection is carried out in the following method step V4. Unless a road junction 3 is determined, the yes branch is moved accordingly and returned directly to the beginning of the process, the process step V1. But if there is no road junction 3 is determined, the no-branch is continued following the next step V5.

In method step V5, in combination with the following method step V6, the automatic tracking of the vehicle 1 carried out. In method step V5, it is first queried whether the current actual position x _is the setpoint position x _{soll of} the vehicle 1 equivalent. If this is the case, no further action needs to be taken; in this case, the yes branch is returned accordingly to the beginning of the procedure. However, if a significant deviation _is x between the actual position and desired position of x _{is to} be detected, the NO branch is according to the following process step V6 proceeding, in which an automatic driving and / or braking intervention performed. Optionally, intervention in the engine management and the firing of the engine can be controlled. Subsequently, the system returns to the first method step V1.

In 2 B is the flowchart of the method according to the invention according to a second Embodiment shown. In method step V11, the current actual position x _{ist of} the vehicle is initially via the navigation system GPS 1 detected. In the following method step V12 can via a vehicle 1 entrained camera - for example, a CCD camera - the current actual position x _is the vehicle 1 be improved by image processing in consideration of the detected by the camera, lateral boundary lines.

In the subsequent method step V13, the target position x _{soll of} the vehicle 1 based on a in a control unit in the vehicle 1 digitally stored road map determined. Thus, in the vehicle 1 both the information about the actual position x _is as well as the information about the target position x _{soll of} the vehicle 1 in front.

In the subsequent method step V14 it is determined whether the current actual position x _is the setpoint position x _{soll of} the vehicle 1 equivalent. If this is the case, no further action needs to be taken; in this case, the yes branch is returned accordingly to the beginning of the procedure. However, if a significant deviation _is x between the actual position and desired position of x _{is to} be detected, the NO branch is continued according to the following process step V15.

Based on the absolute position of the vehicle determined in the navigation system GPS 1 and the image acquisition and the determined via the road map target position x _should be determined whether the vehicle 1 a road junction 3 approaches. This detection is carried out in method step V15.

Unless there is a road junction 3 is determined, the no branch is continued following the next step V16. In this step, driver-independent steering and / or braking interventions and possibly also engine interventions for tracking or tracking Runaway Runaway leads. Finally, a deviation was found in step V14 and since no road junction is present, it must be an unintended by the driver deviation between the actual position x _and the target position x _{to be} done. Subsequent to the method step V16, the method step V11 is performed again.

If, in contrast, in step V15 a road branch 3 is determined, the yes branch is moved accordingly and it follows the step V17. It is the situation that a deviation between the actual position _x and the desired position x _to present, which is due to the fact the vehicle is in the region of a road junction that is.

In method step V17 it is checked whether corresponding operations the driver present, the driver-dependent steering and / or braking interventions to lead or that are at least an indication that the driver the desire for such steering and / or braking interventions Has.

If it is determined in step V17 that such operations by the driver are present, which is equivalent to that established during the process step V14 deviation between the actual position _x and the desired position x _soll is wanted on the determined in step V15 road junction by the driver, it is then to method step V17, a method step V18 executed, in which braking and / or steering interventions are performed according to the specifications of the driver. Subsequent to the method step V18, a jump back to the method step V11.

If it is determined in the process step V17 that respective driver's operations are not present, which is equivalent to that established during the process step V14 deviation between the actual position _x and the desired position x _should despite the determined in step V15 road junction not intended by the driver is , then, following method step V17, method step V16 is carried out in which driver-independent steering and / or brake interventions and possibly also engine interventions for tracking or tracking are carried out.

With the invention is Also prevents a vehicle from being unintentionally off the road comes off, for example, if the driver has fallen asleep. This Type of unintentional leaving the road can be from the driver's interventions, for example from the driver's steering activity and derive the vehicle speed. When unintentionally Leaving the road occur only small changes in the steering angle and / or the Vehicle speed up. Therefore, the unintentional Leaving the lane from intentional leaving the lane be distinguished, with the larger changes occur in the steering angle and / or the vehicle speed.

Through the made for tracking brake interventions will arrive in time for agreement of the vehicle off the carriageway generated on the vehicle yaw moment, by which the vehicle gets back on track.

Claims (6)

A method for operating a steering and braking system in a motor vehicle, in which the current vehicle position _(x) on the road ( 2 ) is detected by means of a road recognition system and is compared with a setpoint value (x _soll ) corresponding to the route guidance and in the event of an impermissible deviation from the desired value (x _soll ) the steering system and / or the braking system in the vehicle ( 1 ) is actuated automatically, characterized in that in the case of a road branching detected by the road detection system ( 3 ) one from the driver produced steering and / or braking operation of an automatic adjustment of the steering and braking system proceeds. Method according to claim 1, characterized in that in the case of a road junction ( 3 ) any automatic adjustment of the steering and braking system is overridden. Method according to claim 1, characterized in that the vehicle ( 1 ) stabilizing, automatic intervention in the steering and braking system even in the case of a road junction ( 3 ) be performed. Method according to one of claims 1 to 3, characterized that as a street detection system a satellite-based Navigation system in conjunction with a digitally stored road map is used. Method according to one of claims 1 to 4, characterized that as a street detection system a camera-based Lane detection system is used. Steering and braking system in a motor vehicle for carrying out the method according to Claim 1, having a road recognition system which displays the current vehicle position of the vehicle ( 1 ) representing actual position signal (x _is ), with a setpoint generator for generating a position command signal (x _soll ) and with a control and control unit in which the position actual signal (x _is ) with the position command signal (x _soll ) is compared and in the case of an impermissible deviation, a control signal for applying the steering and / or the brake is generated.