• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    method for determining a maximum speed limit for a vehicle combination in reverse. The present invention relates to a method for determining a maximum speed limit for a reverse vehicle combination comprising a tow vehicle and at least one towed trailer. in accordance with the present invention, the method comprises the steps of determining a maneuver that is to be performed by the vehicle combination; simulation of the complete maneuver in advance by using a control algorithm and a state space model, as a result obtaining the driving behavior of the vehicle combination during the maneuver; and calculating the maximum speed limit for the vehicle combination during the maneuver by using at least one predefined limiting condition. the advantage of the present invention is that a maximum speed limit for a reverse assist function can be estimated in advance, which allows for a faster and more efficient reverse of the vehicle combination, and at the same time time allows for improved driver comfort.
    公开号:BR112015013379B1
    申请号:R112015013379-7
    申请日:2012-12-10
    公开日:2021-07-20
    发明作者:Hoel Carl-Johan；Tagesson Kristoffer
    申请人:Volvo Truck Corporation；
    IPC主号:
    专利说明:

    TECHNICAL FIELD
    [001] The present invention relates to a method for determining a maximum speed limit for a vehicle combination in reverse. The method is especially suitable for use with a reverse assist function. OVERVIEW OF THE INVENTION
    [002] Professional drivers of heavy trucks with trailers often have to perform low speed maneuvers with high precision when marshalling. This can, for example, be when loading or unloading the vehicle, docking (anchoring) on loading docks, parking in tight spaces, docking trailers or changing swap bodies. When in cargo setup with long vehicle combinations, even an experienced driver has to be focused, and this situation can be quite stressful and time-consuming.
    [003] One way to relieve the pressure on the driver when bundling cargo is to provide the truck with a reverse assist function. The reverse assist function will assist the driver when backing up the vehicle combination, thereby enabling the driver to supervise the maneuver. Reversing assistance will reduce the time spent organizing the load (marshalling), for example, the time spent docking (anchoring) on a loading platform, which will increase the vehicle's productivity and the accuracy of the operation. fitting (anchoring). Additionally, it can also reduce accidents that could damage both the vehicle combination and surrounding objects as the driver can be completely focused on supervising the vehicle movement rather than planning and performing the reverse gear of the vehicle combination. Another advantage is that inexperienced drivers will also be able to perform difficult tasks of cargo organization (marshalling).
    [004] Reverse assist is becoming increasingly popular for passenger cars, where the task of controlling the reverse assist function often uses separate controls for steering and speed. The vehicle driver can, for example, control the vehicle's reverse speed and the vehicle's control system controls the vehicle's direction when parallel parking. The system comprises some speed limit variety such that the driver can only move the vehicle at a very low speed regardless of how much throttle is engaged.
    [005] For a reverse assist system that is to be used with a heavy vehicle, such as a truck, other features are desirable. With a heavy vehicle, parallel parking is not a primary purpose. Instead, backing up over longer distances, eg for docking (anchoring) on a loading platform, is a useful feature. Additionally, the reverse assistance system should also be adapted to handle a vehicle combination comprising a truck and a trailer.
    [006] Also for such a system, it is advantageous to limit the speed of the vehicle combination in order to increase safety and comfort. Consequently, there is room for an improved method adapted to determine a maximum speed limit for a vehicle combination in reverse. PRESENTATION OF THE INVENTION
    [007] An objective of the present invention is, therefore, to provide an improved method for determining a maximum speed limit for a vehicle combination in reverse. A further object of the present invention is to provide a method for determining a maximum speed profile for a vehicle reverse gear combination.
    [008] The solution to the problem in accordance with the present invention is described in the characterization part of the accompanying independent patent claim 1. The other dependent patent claims contain certain additional advantageous developments of the method of the present invention.
    [009] In a method for determining a maximum speed limit for a reverse vehicle combination comprising a towing vehicle and at least one towed trailer, the steps of determining a maneuver that is to be performed by the vehicle combination; of simulation of the complete maneuver in anticipation by using a control algorithm and a state space model, as a result, obtaining the driving behavior of the vehicle combination during the maneuver; and calculating the maximum speed limit for the vehicle combination during the maneuver by using at least one predefined limiting condition.
    [0010] By this first embodiment of the method in accordance with the present invention, the method can determine a maximum speed limit for a vehicle combination during an assisted reverse maneuver. The speed limit is calculated by using one or more limiting conditions for the vehicle and/or driver. Bounding conditions can include the maximum steer rate of the tow vehicle steer actuator, the maximum braking capability of the vehicle combination, and driver comfort limitations. The maximum steer rate of the steer actuator is an important factor due to the fact that if the steer actuator is too slow for the effective vehicle speed, the vehicle will deviate from the predefined lane (track). In such a case, the vehicle may not reach the pre-set position or may pull (steer) towards obstacles positioned outside the planned route. It is, therefore, advantageous to simulate the maneuver in advance, taking into account different limiting conditions that may occur during the maneuver. The steer rate of the steer actuator will affect the maximum speed more or less depending on the sharpness of the turns (the sharp turns) that are to be made during the ride. During a sharp (closed) turn, or when the desired camber changes rapidly, the trigger rate will limit the vehicle's allowable speed so that it remains on the pre-defined lane (track). When the vehicle travels along a more or less straight line or a curved course, the trigger rate will likely limit the allowable speed.
    [0011] The braking capability of the vehicle combination may also affect the maximum allowable speed of the vehicle combination. This limitation will affect driver comfort and/or the forces imposed on the vehicle combination load. Another boundary condition that will affect driver comfort and/or load is, for example, lateral acceleration.
    [0012] In a development of the method in accordance with the present invention, the maneuver of the vehicle combination is divided into several subpaths, where a maximum speed limit is determined for each subpath. In this way, a maximum speed profile for the maneuver is obtained. The effective speed of the vehicle combination during reverse can, in this case, be applied for the type of maneuver and for the specific conditions during the maneuver. On a sharp (closed) turn, the speed limit is relatively low and may, for example, depend on the steer rate, and on a straight-line segment, the speed may be limited by an upper speed limit.
    [0013] The maneuver that is to be performed can be selected from a list of stored maneuver paths. Such maneuvers can be, for example, fitting (anchoring) to a loading ramp, picking up (capturing) a swap body that was previously delivered, parking in a parking space or backing up on a route that has just been traveled. Due to the fact of the type of maneuver, the route can be divided into several different sub-paths. Each subroute can be defined as a route segment in which the direction of the tow vehicle displays the same sign. In this way, each change of direction will define a new subroute. A subroute can also be defined by a pre-determined time interval or by a pre-defined distance covered. BRIEF DESCRIPTION OF THE DRAWINGS OF THE INVENTION
    [0014] The present invention will hereinafter be described in greater detail with reference to the drawings, in which: Figure 1 shows a schematic vehicle combination comprising a towing vehicle and a towed vehicle; Figure 2 shows an example of a kinematic vehicle model; and Figure 3 shows a schematic flowchart of an inventive method for determining a maximum speed limit for a reverse vehicle combination. METHODS FOR CARRYING OUT THE INVENTION
    [0015] The embodiments of the present invention with further developments described below are to be considered as exemplary only and are in no way to limit the scope of protection provided by the patent claims subsequently.
    [0016] Figure 1 shows a schematic vehicle combination (1) comprising a towing vehicle (2) and a towed vehicle (3). The towing vehicle (2) can be a regular truck adapted for commercial use on a highway, a bus or a tractor having a fifth wheel. In the example shown, a tractor having a fifth wheel is used as a towing vehicle. The towed vehicle (3) is, in the example shown, a semi-trailer, but the towed vehicle (3) can also be a regular trailer or a towed platform (dolly). The semi-trailer is provided with a kingpin that is connected to the fifth wheel of the tractor. This example shows a common type of a vehicle combination, but it is also possible to use a vehicle combination having other tow vehicle types and other towed vehicle types and numbers. One such example is a vehicle combination comprising a truck, a towed platform (dolly) and a semi-trailer.
    [0017] The towing vehicle is provided with an automatic reverse assist function, in which the steering of the vehicle combination is automated during reverse and where the speed of the vehicle combination is controlled by the driver. The automatic reverse assist function is adapted to steer (steer) the vehicle through a desired maneuver, which consists of a pre-defined route that the vehicle should follow. The pre-defined route is selected in such a way that it is possible for the vehicle to reach its final destination in a safe way, avoiding obstacles along the route.
    [0018] In Figure 2, a kinematic vehicle model of a tractor-semitrailer combination vehicle is shown. The vehicle combination contains two rigid bodies joined by a joint that has a rotational degree of freedom.
    [0019] In the Figures, (L1) is the wheel base of the towing vehicle, in this example a tractor having a rear wheel axle (7). This value (L1) can be the effective wheelbase for a tractor having only two wheel axles, or it can be the effective wheelbase for a tractor having more than two wheel axles. The wheel base (L1) is the distance between the front wheel axle (6) and the rear wheel axle (7) of the tractor. The distance between the rear wheel axle and the connection point for the towed vehicle (3) is symbolized by (C). The tractor is provided with a fifth wheel (4) that connects to a kingpin (5) provided on the semitrailer, which forms the connection point between the tractor and the semitrailer. (L2) is the wheel base of the towed vehicle (3), in this example a semi-trailer having three rear wheel axles (8). This value, (L2), may be the effective wheelbase for a semitrailer having a rear wheel axle, but is normally the effective wheelbase defined as the distance between the connection point and the virtual rear wheel axle (9 ) of the semi-trailer, as most semi-trailers are provided with two wheel axles or with three rear wheel axles.
    [0020] The algorithm for determining the maximum speed is described in this example for a tractor-semitrailer combination. However, any vehicle combination can be used with the method described.
    [0021] A kinematic model of the vehicle was developed:
    Where (x2, y2) is the semitrailer wheel axis coordinate, ^2) is the trailer heading, ^2) is the pivot angle, (δ) is the steering angle, and (vi) is the speed of the trailer. tractor. The geometry is described by the wheel base (L1) of the truck, the wheel base (L2) of the trailer, and the coupling position (C). The equations described above are time dependent. However, these equations can be rewritten in a time-independent way:
    • Where(s) is the distance traveled along the course.
    [0022] As the motion equations are independent of time, it is possible to predict how the vehicle will behave during the maneuver before the displacement is started. For a time dependent case, it is not possible to predict behavior in advance as the speed is not known in advance (in advance) when the driver is in control of the speed. Before the vehicle starts moving, the complete maneuver is simulated with the control algorithm that is to be used during the maneuver and with a state space model of the vehicle combination. The control algorithm takes into account the deviation (deviation) from the desired path and adjusts the steering angle to minimize the deviation. In this way, the vehicle's direction is known before the maneuver is performed. The simulation output is the vehicle state (X2, Y2, 02, Φ) and the input (δ) as a function of (s), which describes how they will change along the desired route.
    [0023] Vehicle simulation can be used to determine a maximum speed limit depending on a predefined condition or more predefined conditions. In an example of the present invention, the properties of the steering actuator are used as limiting condition of the truck. Vehicle drivers are mutually limited in how fast they can sense a change in motion, and this is also the case for the steering drive. The steering angle (δ) in the above equation, valid for an actively steered wheel axle, has a maximum rate at which it can change. This maximum rate is ) ^max ■ ) . The maximum allowable speed for the vehicle with respect to this trigger limitation can be discovered from the equation:
    • Where
    is discovered by differentiation from (δ) discovered in the simulation. From this, the maximum speed of the drive axle (v1) is obtained through the equation:

    [0024] This determines a value for the maximum speed at which the vehicle can travel when turning using the steering wheel and staying over the pre-set course. At a higher speed, the steering will not be able to perform the required steering for the pre-set route, which will result in the vehicle veering away from the pre-set route. If the vehicle deviates from the pre-set route, subsequent maneuvers may also be off-track, which could lead to the vehicle reaching a wrong final position. A deviation from the predefined route may also be possible for compensation, such that the vehicle can still reach the appropriate final position. However, a detour along the pre-defined path can lead to a collision with an obstacle that is positioned outside the pre-defined path. It is therefore an advantage to adapt the speed in reverse gear to the rate of the steering drive.
    [0025] In another example of the present invention, the braking capacity is used as a limiting condition. The maximum deceleration of the vehicle combination is limited by the braking capability of the vehicle combination. As the vehicle combination should stop at the final position of the course, the speed has to start decreasing some distance before the final position. The maximum deceleration is (otax)) . The maximum speed of the vehicle combination, with respect to brake actuator limitations, is in this example limited to satisfy the deceleration limit. The maximum deceleration can be set either from the maximum braking capacity of the vehicle combination, or from the maximum deceleration possible for a specific load. The maximum deceleration for a vehicle combination carrying a liquid, such as a gasoline truck, may, for example, differ from the maximum deceleration possible for a vehicle combination carrying concrete blocks. The maximum deceleration value can therefore be used to adjust the maximum speed limit of the vehicle combination when in reverse.
    [0026] The maximum deceleration can also be determined taking into account the driver's comfort. Hard (hard) braking when in reverse can be uncomfortable for the driver. Consequently, the maximum allowable deceleration can be adjusted with respect not only to the effective braking capacity, but also to the driver's comfort. This level of deceleration comfort is most often less than what the vehicle combination can deliver.
    [0027] It is also possible to limit the maximum speed of the vehicle combination when there are no physical connections due to the fact of actuator limitation, in order to determine the driver time to supervise the reverse gear action. It is, therefore, advantageous to set a fixed maximum speed that cannot be exceeded at any time during the maneuver, taking other conditions into account. Depending on other conditions, this fixed maximum speed may be replaced by another lower determined speed limit, for example depending on the steer drive rate.
    [0028] In another example of the present invention, it is also possible to limit the speed in sharp curves (closed), in order to limit lateral forces experienced by the driver and/or imposed on the load. This maximum lateral acceleration is aiat,max. The simulation determines them values for ()) , (δ) and )) ) along the path. From this, the maximum speed [v1(s)] is determined for the differential equation:
    and using the boundary condition [v1(sfinal) = 0], that is, the vehicle is approaching a stop at the end of the path. In this example of the present invention, it is assumed that the vehicle always remains on the route, which provides that:

    [0029] In this way, a maximum speed limit for the vehicle can be determined during a reverse assistance maneuver. If the maneuver is relatively short or does not comprise any sharp turns, a maximum speed limit which is used for the complete maneuver may suffice. However, for longer maneuvers it is not practical to use a maximum speed limit for the complete maneuver, as the maximum speed limit will be adjusted by the lowest determined speed limit value. If, for example, a steep bend is understood, the maximum speed limit will be adjusted by the speed through the steep bend. As this speed limit can be very low, it will not be practical to use the same speed limit to back up along a straight line course.
    [0030] The maneuver can, therefore, be divided into several sub-paths, where a maximum speed limit is determined for each sub-path. In this way, a maximum speed limit for a sharp turn is used to limit speed through this sharp turn, and another speed limit is used to limit speed when backing up along a straight line path. For some subpaths, steering trigger rate may be the limiting condition, and for other subpaths, driver comfort may be the limiting condition. The different maximum speed limits determined make a maximum speed profile for the maneuver.
    [0031] A subpath can be defined and delimited in different ways. In an example of the present invention, a subpath is defined as a path segment in which the steering angle has the same sign. This means that when the steering wheels are steered in the same direction taking into account the vehicle's center line, a subpath is defined. When the steering wheels change direction, for example from turning right to turning left, a new subpath is defined. In another example of the present invention, a subpath is defined by a pre-defined time interval. It is also possible to define a subroute by a predefined distance value.
    [0032] It is also possible to assign a maximum speed value to each simulation point, in such a way that a continuous maximum speed profile is obtained for the complete maneuver. This can be seen as using a very high number of subpaths defined by the same length of time interval or distance. By using a continuous speed profile for the complete manoeuvre, a high degree of comfort can be achieved. Additionally, the maneuver can be performed at the highest possible speed in a safe manner.
    [0033] It is, therefore, possible to determine a maximum speed limit or speed profile based on predefined limiting conditions of the vehicle, vehicle combination and/or driver. In addition, to limit the speed to these pre-calculated values, it is also possible to measure effective values during the effective reverse gear of the vehicle combination, for example, to measure the effective steering actuator rate and the effective lateral acceleration during the maneuver. If the maximum values of the measured units, eg (°max) and/or (aittmioax) are exceeded, the speed can be dynamically decreased during the maneuver. In this way, the determined maximum speed limit can be replaced by the actual measured values, should, for example, the load on the vehicle combination cause the vehicle combination to behave differently than expected.
    [0034] Figure 3 shows a schematic flowchart of the method for determining a maximum speed limit for a reverse vehicle combination comprising a towing vehicle and at least one towed trailer. The method is performed before the effective reverse of the vehicle combination is initiated.
    [0035] In step (100), a maneuver that is to be performed by the vehicle combination is determined. The maneuver can, for example, be selected from a list of stored maneuvers previously performed by the vehicle combination or by another vehicle combination. It should also be possible to set an end point on a map and get a suggested route between the present position and the end position.
    [0036] In step (110), the complete maneuver is simulated in advance by using a control algorithm and a state space model, in such a way that the steering behavior of the vehicle combination during the maneuver is obtained.
    [0037] In step (120), the maximum speed limit for the vehicle combination during the maneuver is calculated by using at least one predefined limiting condition of the vehicle, vehicle combination or driver. The limiting condition may have the properties of one or more triggers of the vehicle, such as the steering trigger or brake triggers, possible stress on the load, or on the comfort properties of the driver.
    [0038] The complete maneuver can be divided into several sub-paths in order to determine different maximum speed limits for different parts of the route to be covered. The method can therefore be repeated for each subpath.
    [0039] The present invention is not to be considered as being limited to the foregoing described embodiments, a number of variations and additional modifications being possible within the scope of the patent claims. REFERENCE SIGNS 1: Vehicle Combination 2: Truck 3: Semitrailer 4: Fifth Wheel 5: Kingpin 6: Tractor Front Wheel Axle 7: Tractor Rear Wheel Axle 8: Semitrailer Rear Wheel Axle 9: Tractor Axle semitrailer virtual rear wheels
    权利要求:
    Claims (14)
    [0001]
    1. Method for determining a maximum speed limit for a reverse vehicle combination (1) comprising a tow vehicle (2) and at least one towed trailer (3), where the tow vehicle (2) is provided with an automatic reverse assist function, where the steering of the vehicle combination is automated during the reverse, and where the speed of the vehicle combination is controlled by the driver, said method being characterized by the fact that it comprises the following steps: - determine a maneuver that is to be performed by the vehicle combination, where the maneuver consists of a predefined route; - simulate the complete maneuver in anticipation by using a control algorithm and a state space model, as a result obtaining the driving behavior of the vehicle combination during the maneuver; - calculate the maximum speed limit for the vehicle combination during the maneuver by using at least one pre-defined limiting condition, using the simulation of the complete maneuver.
    [0002]
    2. Method according to claim 1, characterized in that the maneuver is divided into sub-paths, and that a maximum speed limit is calculated for each sub-path, such that a maximum speed profile is obtained for the complete maneuver.
    [0003]
    3. Method according to claim 2, characterized in that each subpath is defined as a path segment in which the steering angle has the same sign.
    [0004]
    4. Method according to claim 2, characterized in that each subpath is defined by a pre-defined time interval.
    [0005]
    5. Method according to claim 2, characterized in that each subpath is defined by a pre-defined distance.
    [0006]
    6. Method according to claim 1, characterized in that for each simulation point a maximum speed value is assigned, in such a way that a continuous maximum speed profile is obtained for the complete maneuver.
    [0007]
    7. Method according to any one of the preceding claims, characterized in that the limiting condition is the properties of the towing vehicle steering actuator (2).
    [0008]
    8. Method according to any of the preceding claims, characterized in that the limiting condition is the braking capacity of the vehicle combination (1).
    [0009]
    9. Method, according to any of the preceding claims, characterized by the fact that the limiting condition is a corresponding measurement for a driver's comfort level.
    [0010]
    10. Method according to claim 9, characterized in that the limiting condition is the lateral acceleration of the towing vehicle cabin (2).
    [0011]
    11. Method, according to any one of the preceding claims, characterized in that the maximum speed allowed during the maneuver is limited by a pre-set speed limit.
    [0012]
    12. Method according to any of the preceding claims, characterized in that the maneuver that is to be performed is selected from a number of stored maneuvers.
    [0013]
    13. Method according to any one of claims 1 to 12, characterized in that the calculated speed limit is used as an upper speed limit value for a reverse assistance function in which the driver controls the velocity.
    [0014]
    14. Method, according to any one of claims 1 to 12, characterized in that the calculated speed limit is used as a pre-defined value for an assist function in reverse gear, where the speed is automatically controlled.
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    法律状态:
    2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-02-04| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-05-11| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-07-20| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 10/12/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/SE2012/000199|WO2014092611A1|2012-12-10|2012-12-10|Method for determining a maximum speed limit for a reversing vehicle combination|
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