• 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:
    SUMMARY The present invention relates to a method of steering a front and rear wheel steered vehicle (100), comprising the steps of: - continuously determining (s401; s410) a surrounding configuration of said vehicle (100) including object occurrence; in the event of a change of direction, including steering by means of a front wheel, determining (s402; s430) if there is a risk that the said vehicle (100) will interfere in an undesired manner with objects (01; 02; 03; 110; 04; 05; 06) of the said fixed environment configuration; in the event that such a risk is determined to exist, freely use (s403) steering by means of rear wheels in order to a sufficient extent with the selected (01; 02; 03; 110; 04; 05; 06) of the said established external configuration. The invention also relates to a computer program product comprising program code (P) for a computer (200; 210; 500) to implement a method according to the invention. The invention also relates to a system for controlling a vehicle and a vehicle (100) equipped with the system.
    公开号:SE1450537A1
    申请号:SE1450537
    申请日:2014-05-06
    公开日:2015-11-07
    发明作者:André Claesson
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    TECHNICAL FIELD The present invention relates to a method for controlling a vehicle. More specifically, the present invention relates to a method of steering a front and rear wheel drive vehicle. The invention also relates to a computer program product comprising program code for a computer for implementing a method according to the invention. The invention also relates to a system for controlling a vehicle and a vehicle equipped with the system.
    BACKGROUND In city buses with two vehicle bodies, a front vehicle body and a rear vehicle body, with a lamp joint arranged between them, and three wheel axles, a driver of the bus can steer it with a first, front, wheel pair by means of, for example, a steering wheel. The first, front, pair of wheels is steerably arranged on said front vehicle body. In these buses, a second, rear, pair of wheels may be non-steerably arranged on a wheel axle of the front vehicle body, i.e. this second, rear, pair of wheels is not automatically or manually steerable. Furthermore, these buses are in an embodiment where a third, rear, pair of wheels is automatically steerably arranged on a wheel axle of said second, rear, vehicle body.
    It is edged to steer said third, rear, pair of wheels on the basis of a steering angle of said front manually steerable pair of wheels. In this case, the said third, rear, pair of wheels is automatically controllable to the extent that an angular deflection which cannot exceed an angular deflection has the front manually controlled pair of wheels. The third, rear, pair of wheels is also controlled in such a way that when the vehicle's front vehicle body is steered straight, for example after a challenging turn, an automatically controlled angular deflection will also have the said third, rear, 2 pairs of wheels return to a centered original stroke. This can lead to several different concerns.
    In the case of bends, for example in T-junctions, where the vehicle changes direction of travel by essentially 90 degrees, the steering of the said third, rear, pair of wheels can mean that the bend is not extended to an unsightly extent. This can result in the other, rear, vehicle body "nuisance" too much and the vehicle's rear body Icor Over a curb or interfere with another obstacle in an undesirable manner.
    In the event that the rear vehicle body is controlled too much when cornering by means of control of said third, rear, pair of wheels, this can cause discomfort to passengers who are in the rear part of the rear vehicle body. This can be caused by throws which occur when said rear vehicle body is automatically guided to centering to said front vehicle body, ie that the two bodies of the vehicle have a common longitudinal line.
    Often buses of the type mentioned above have a so-called Overhang at the rear of the rear vehicle body. If the rear vehicle body is steered too much at a turn by means of said control of the third, rear, pair of wheels, objects present on the opposite side of the turn can be hit and damaged. This is especially serious onn said objects are living beings, for example a bicycle ist.
    FR2916721 describes a system in which a rear wheel of a vehicle is steered based solely on lateral distances to obstacles. This is used in so-called pocket parking of vehicles. Furthermore, a maximum steering angle of the rear wheels is limited to a radiating steering angle of the steerable front wheels of the vehicle.
    OBJECT OF THE INVENTION An object of the present invention is to provide a new and advantageous method and system for controlling a vehicle. An object of the present invention is to provide a new and advantageous method and a system for steering a front and rear wheel controlled vehicle.
    An object of the present invention is to provide a method and system for steering a vehicle, in which the safety of both passengers on board and the environment of the vehicle is improved.
    An object of the present invention is to provide a robust, reliable and user-friendly method and system for controlling a vehicle.
    A further object of the present invention is to provide a method and system for controlling a vehicle, where a risk of collision with said vehicle and objects in an environment for the vehicle is minimized.
    A further object of the present invention is to provide a method and system for steering a vehicle in which high passenger comfort is maintained in the event of changes of direction of said vehicle.
    SUMMARY OF THE INVENTION These and other objects, which will be apparent from the following description, are accomplished by a method and system, as well as motor vehicles, computer programs and computer program products of the kind initially indicated and further having the features set forth in the dependent part of the appended independent claims. Preferred embodiments of the method and system are defined in the appended dependent claims.
    The embodiments of the system have corresponding advantages as corresponding embodiments of the method mentioned herein.
    According to one aspect of the present invention, there is provided a method of steering in a front and rear wheel steered vehicle. The method comprises the steps of: 4 continuously determining an external configuration of said vehicle including object occurrence; in the event of a change of direction, including steering by means of front wheels, determining whether there is a risk that the said vehicle will interfere in an undesired manner with objects of the said established world configuration; in the event that such a risk is determined to exist, freely use steering by means of rear wheels in order to a sufficient extent with selected.
    In this case, a method is provided which automatically controls said rear wheels for pivoting in an optimal path. In this case, the said vehicle is controlled in such a way that undesired interference with physical objects is avoided at the same time as high passenger comfort is maintained in the event of changes of direction. In addition, unwanted interference between a possible overhang of the vehicle and physical objects on one side facing a change of direction of travel is avoided. This provides a safe and comfortable method of steering a front and rear wheel drive vehicle.
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    Namnda. Naming, configuration and movement of objects in said fixed environment configuration. Named automatically by means of lamps. Namnda.
    According to one example, in the case where a detected object is a curb, the said security may be 20 or 50 centimeters. This meant that said vehicle, and in particular a rear part of the vehicle, should not be closer to the detected physical object than said security.
    According to an example, in case the said detected object is a pedestrian, the said security can, 2 or 3 meters.
    Advantageously, an external configuration can be determined for an environment of the vehicle, in all directions from the vehicle. In this case, a substantially complete and completely thankful world configuration including objects can be determined.
    By freely using steering by means of rear wheels, a maximum permissible steering angle of these is not limited to a clearing or maximum steering angle of manually steered front wheels of the vehicle.
    The method may comprise the step of: - determining the said world configuration including object occurrence by at least a flag of a first sensor configuration, second sensor configuration, third sensor configuration and fourth sensor configuration. The four sensor configurations can be of completely different types. The said four sensor configurations can, for example, consist of a video camera, IR camera, ultrasonic unit and radar unit, respectively.
    In this way, a versatile procedure is provided for determining object occurrence with high accuracy with different, independent sources. According to one embodiment, data from the various sensor configurations can be fused, which further increases the accuracy in determining said object occurrence.
    The method may comprise the step of: - determining whether said risk exists on the basis of information on a position, configuration and movement of said vehicle as well as information on a position, configuration and movement of at least one object in said established environment configuration. In this case, any risk of unwanted interference between said vehicle and said object can be determined with high accuracy.
    The method may comprise the step of: - controlling the rear wheels of the vehicle to avoid interference on the basis of information about a position, configuration and movement of said vehicle as well as information of a position, configuration and movement of at least one object having said fixed world configuration.
    Accurate steering of the rear wheels of the vehicle is achieved in order to avoid undesired interference with at least one vehicle external object.
    The procedure may include the step of: - selecting the said pivoting is minimized when steering by means of the rear wheels. Larger lateral throws are avoided, which throws can cause reduced comfort or direct danger to passengers on board the vehicle. In this way, a secure method is provided for steering a front and rear wheel controlled vehicle such as, for example, an articulated bus. In this case, an unnecessarily rigid swinging out of a rear section, for example an overhang, can be avoided if the vehicle.
    According to the inventive method, automatically steered rear wheels -160 do not need a track for a front wheel pair in the event of changes in the direction of travel of the vehicle.
    The method according to the invention can be applied to a towing vehicle with a trailer which has steerable rear wheels.
    The method may comprise the step of: - when steering with the front wheels, steering with the rear wheels at the same hall as with the front wheels or at the opposite hall, depending on the information on position, configuration and movement of objects in said environment configuration to avoid or reduce interference with said objects .
    The method may comprise the step of: - when steering with the front wheels, steering with the rear wheels at the same hall as with the front wheels or at the used hall, depending on information about position, configuration and movement of objects in said environment configuration to avoid or reduce interference with said objects and depending on information on position, configuration and movement of the said vehicle.
    The said position for the said vehicle can be determined by, for example, a GPS unit. The said position of said object can be determined by means of an electronic map stored in a control unit of the vehicle. Said configuration of said vehicle and at least one fixed object may be predetermined information stored in a memory of a control unit of said vehicle. The said configuration for the said vehicle or object may include information on shape, extent, width and height. Named configuration for the said vehicle and object, respectively, may include information on the shape profile.
    In this way, a versatile, flexible and dynamic steering is achieved by means of the rear wheels of the vehicle. In this case, an effective adaptation to a fixed optimal path for the rear part of the vehicle can be achieved. In this case, a safe performance at a so-called S-curve is achieved.
    The procedure may comprise the step of: - continuously sensing said external configuration in front of the vehicle and along the long sides of the vehicle! In this case, an accurate and substantially complete world configuration can be established. In this case, a reliable basis for the said risk assessment can be provided.
    The method may include the step of continuously examining said external configuration behind the vehicle. In this case, a versatile procedure can be provided. By arranging sensor configurations for detecting the external configuration not only at the sides and facing forward, the inventive method can also be applied to changes of direction of travel when reversing with the vehicle.
    The method may comprise the step of: - in the event that fixed objects are determined to be present in said environment configuration, extrapolating the movement of such objects to determine the risk of unwanted interference with objects of said determined environment configuration. This ensures safer travel for the said vehicles, especially in the event of changes of direction. This reduces, minimizes or eliminates the risk of unwanted interference, such as a collision, with surrounding moving vehicles, vehicles, moped riders, cyclists, pedestrians or animals, etc.
    Advantageously, an automated method for steering a front and rear wheel controlled vehicle is provided.
    According to one aspect of the present invention, there is provided a control system for a front and rear wheel steered vehicle, comprising: means adapted to continuously determine a surrounding configuration of said vehicle including object occurrence; means adapted to determine, in the event of a change of direction, including steering by means of front wheels, whether there is a risk that said vehicle will interfere in an undesirable manner with objects of said established external configuration; bodies adapted to, in the event that such a risk is established, freely use steering by means of rear wheels in order to a sufficient extent with selected.
    The system may comprise: 9 - at least one of a first sensor configuration, second sensor configuration, third sensor configuration and fourth sensor configuration which sensor configurations are adapted to determine said environment configuration including object occurrence.
    Said first sensor configuration may include a camcorder and light image processing program.
    Said second sensor configuration may include an IR camera and light image processing program.
    Said third sensor configuration may include an ultrasonic device and a suitable sound echo processing program.
    Said fourth sensor configuration may comprise a radar unit.
    The system may comprise: - means adapted to determine if said risk exists on the basis of information on a position, configuration and movement of said vehicle as well as information on a position, configuration and movement of at least one object in said established external configuration.
    The system may comprise: - means adapted to steer the rear wheels of the vehicle to avoid interference on the basis of information about a position, configuration and movement of said vehicle as well as information about a position, configuration and movement of at least one object of said fixed environment configuration.
    The system may comprise means adapted to select the said.
    The system may comprise means adapted to, when steering with the front wheels, steer down the rear wheels to the true hall below the front wheels or to the used hall, depending on the position, configuration and movement of objects in said environment configuration to avoid or reduce interference with said objects.
    The system may comprise means adapted to continuously scan said external configuration in front of the vehicle and along both long sides of the vehicle.
    The system may include means adapted to continuously scan the said outside world configuration behind the vehicle.
    The system may include means adapted to, in the event that movable objects are determined to be present in said environment configuration, extrapolate the movement of such objects to determine the risk of undesired interference with objects of said determined environment configuration.
    According to one aspect of the present invention, there is provided a vehicle comprising the inventive system. The vehicle can be a motor vehicle, for example something of a truck, bus or car. The vehicle can be a so-called articulated bus, also called city bus or accordion bus.
    The vehicle can be a minibus or long-distance bus. According to an exemplary embodiment, said vehicle is an articulated bus with three pairs of wheels arranged at a respective wheel axle, wherein a front pair of wheels is manually steerable, an intermediate pair of wheels is not steerable and a rear pair of wheels is automatically steerable according to the inventive method.
    According to one aspect of the present invention, there is provided a computer program for steering in a front and rear wheel controlled vehicle, said computer program comprising program code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps of any of claims 1-9.
    According to one aspect of the present invention, there is provided a computer program for steering a front and rear wheel controlled vehicle, said computer program comprising program code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps of any of claims 1-9. , when said program code is crossed at said control unit or said computer.
    According to one aspect of the present invention, there is provided computer software for steering a front and rear wheel controlled vehicle, said computer software comprising program code stored on a computer readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any one of claims 1-9.
    According to one aspect of the present invention, there is provided computer programs for controlling a front and rear wheel controlled vehicle, said computer program comprising program code stored on a computer readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any one of claims 1-9, when said program code is crossed at said control unit or said computer.
    According to one aspect of the present invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-9, when said program code is executed on an electronic control unit or another computer connected to the electronic the control unit.
    According to one aspect of the present invention, there is provided a computer program product comprising a program code non-volatilely stored on a computer readable medium for performing the process steps of any of claims 1-9 when said program code is run on an electronic controller or other computer connected. to the electronic control unit.
    Additional objects, advantages, and novel features of the present invention may be apparent to those skilled in the art from the following details, taken in conjunction with the practice of the invention. While the invention has been described below, it is to be understood that the invention is not limited to the specific details described. Those skilled in the art having access to the teachings will again recognize additional applications, modifications, and embodiments in other fields which are within the scope of the invention.
    SUMMARY DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further objects and advantages thereof, we will now turn to the following detailed description which is to be read in conjunction with the accompanying drawings in which like reference numerals refer to like parts in the various figures, and in which: 1a schematically illustrates a vehicle, according to an embodiment of the present invention; Figure 1b schematically illustrates a vehicle, according to an embodiment of the present invention; Figure 2 schematically illustrates a system of a vehicle, according to an embodiment of the present invention; Figures 3a-c schematically illustrate different traffic situations for a vehicle; Figure 4a schematically illustrates a block diagram of a method, according to an embodiment of the present invention; Figure 4b schematically illustrates in further detail a block diagram of a method, according to an embodiment of the present invention; and Figure 5 schematically illustrates a computer, according to an embodiment of the present invention.
    DETAILED DESCRIPTION OF THE FIGURES 13 The term "lank" refers to a communication link which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.
    In this he refers to the term "environment configuration" to a detected representation of the actual environment of the vehicle.
    The world configuration can include different types of objects. Named objects can consist of structures. Structures can be made up of streets, cradles, sidewalks, curbs, buildings, etc. The objects can be made up of living beings or dead things, such as people, animals, poles and traffic signs. The surrounding configuration can be limited to a radius of 5, 10 or 50 meters based on the vehicle. The surrounding configuration can consist of a number of segments around said vehicle, which segments can be thanked with a suitable sensor configuration. A sensor configuration may be arranged to thank a segment of an environment to the vehicle at an appropriate angle and distance.
    The term "environmental configuration" is alternatively referred to as "environmental configuration".
    In this case, the term "interferes" means that the vehicle has somehow come into physical contact with an object. Interfering may mean that the vehicle collides with, Icor on, Icor over, scratches against or bumps against said object.
    In this he refers to the term "change of direction" to changes in the direction of travel of the vehicle. Changes in direction of travel can include turning into a lane intersection, changing lanes on a lane or turning in and out of a bus stop. The change of direction change can be initiated and carried out by a driver of the vehicle, for example by means of a conventional steering wheel for steering the front wheels of the vehicle.
    In this case, the term "object" refers to an object, which can be immobile or movable. Said object can be a lost form, such as for example a 14 wagon cone. Said object can be a fixed form or a structure. Named objects can be a living being, such as a human or an animal. In this case, the term object can refer to some kind of obstacle that is to be avoided by coming into contact with the vehicle, for example a refuge or a curb, or some other object in the vicinity of the vehicle.
    Referring to Figure 1a, a side view of a vehicle 100 is shown. The exemplary vehicle 100 is a bus with a front wheel pair controllably mounted at a front wheel axle X1. A driver of the bus can then control a direction of travel of said bus 100 by means of suitable maneuvering means, for example a steering wheel.
    Furthermore, the exemplary vehicle is equipped with a rear wheel pair controllably arranged at a rear wheel axle X2. According to the inventive method, the said pair of rear wheels, where applicable, can be steered freely. Free steering hereby means that an angle of rotation of said rear wheel pair at said axle X2 may exceed or fall below an angle of rotation of the front wheel pair at axis X1.
    The present invention is particularly applicable to a so-called articulated bus. Referring to Figure 1b, a vehicle 100 in the form of an articulated bus is illustrated. The said articulated bus can also be called a city bus or an accordion bus.
    In this case, the vehicle 100 consists of a front, first, vehicle body 100a and a second, rear, vehicle body 100b. Said first vehicle body 100a and said second vehicle body are connected by means of a hinge portion JP. In this case, said vehicle 100 has a front, first, pair of wheels at a first axle X1 of said first vehicle body 100a. In this case, said vehicle 100 has a rear, second, pair of wheels at a second axle X2 of said first vehicle body 100a. In this case, said vehicle 100 has a rear, third, pair of wheels at a third axle X3 having said second vehicle body 100b.
    Said front, first, pair of wheels are steerably arranged in a conventional manner, where a driver can influence a steering angle by means of, for example, a steering wheel. Said rear, second, pair of wheels may be steerably arranged according to the method according to the invention, but may alternatively be rigidly arranged at said second shaft X2. Said rear, third, pair of wheels are steerably arranged at said third axle X3 according to the method according to the invention.
    Harvid lives. ' it can be seen that a pair of wheels of at least one rear wheel axle is steerably arranged according to the method according to the invention. In other words, at least one of said pairs of wheels at said second shaft X2 and said third shaft X3 may be arranged for automatic steering. In this case, a control unit on board said vehicle is arranged to automatically control an angle of rotation of at least one rear wheel pair according to an aspect of the present invention.
    An arrow illustrates a forward direction of travel of the vehicle 100.
    The vehicle according to the present invention can be constituted by any suitable vehicle with front and rear wheel steering. Said vehicle may be a vag-based vehicle. Said vehicle may be an off-road vehicle. In addition to buses such as city buses, minibuses and long-distance buses, the vehicle according to the present invention may also include a truck, passenger car, or other vehicle with front and rear wheel steering.
    The invention is also applicable to towing vehicles with a steerable front wheel pair, where a slack with a rear steerable wheel pair is attached to said towing vehicle. In this case, the wheel pair of the slack is guided, where applicable, according to the inventive method. The term "where applicable" refers to situations where there is a risk of interference between the vehicle and a detected object (eg an obstacle).
    Figure 2 schematically illustrates a vehicle control system 299.
    The system 299 comprises a first control unit 200, which is arranged for steering in a front and rear wheel controlled vehicle 100. The said first control unit 200 is arranged for communication with a sensor configuration 220. Said sensor configuration 220 is adapted to continuously or intermittently provide information relevant to it. first control unit 200. Examples of such tasks may include, vehicle speed, vehicle acceleration, direction of travel, change of direction change, measured on the applied braking effect of the vehicle. This data can be used to activate or deactivate automatic steering of at least one rear wheel pair according to the method of the invention.
    For example, the first control unit 200 may adjust control of the at least one rear wheel pair in cases where the vehicle is propelled at a speed or acceleration exceeding a respective predetermined threshold value. According to one example, automatic steering of said at least one rear wheel pair is interrupted in cases where the vehicle is propelled at a speed or acceleration exceeding a respective predetermined threshold value.
    For example, the first control unit 200 may adjust control of the at least one rear wheel pair in cases where the vehicle is propelled during a change of direction of travel which exceeds a predetermined threshold value. According to one example, automatic steering of said at least one rear wheel pair is interrupted for cases where the vehicle is propelled during a change of direction of travel which exceeds a predetermined threshold value.
    For example, the first control unit 200 may allow the initiation of control of the at least one rear wheel pair in cases where the vehicle is propelled at a speed or acceleration below a respective predetermined threshold value.
    For example, the first control unit 200 may allow the initiation of control of the at least one rear wheel pair in cases where the vehicle is propelled during a change of direction of travel which is less than a predetermined threshold value. For example, the first control unit 200 may allow the initiation of control of the at least one rear wheel pair in cases where the said night on the applied well action of the vehicle is below a predetermined threshold value.
    The first control unit 200 is arranged for communication with a first sensor configuration 230 via a long L230. Said first sensor configuration 230 is adapted to continuously or intermittently determine a world configuration for said vehicle 100. Said first sensor configuration 230 is arranged to continuously or intermittently send data related to said determined world configuration to said first control unit 200 via the link L2. Said information related to said determined environment configuration may include information about any objects present in an environment of the vehicle 100. Said first sensor configuration 230 hereby includes a video camera. The first sensor configuration 2 may be equipped with an appropriate image processing program to detect the position, configuration and motion of one or more objects in the said world configuration. According to an alternative, said first control unit 200 is arranged to continuously receive a video stream from said first sensor configuration 230 and, in the case of a mandatory image processing program, detect the position, configuration and movement of one or more objects in said environment configuration.
    The first control unit 200 is arranged for communication with a second sensor configuration 240 via a long L240. Said second sensor configuration 240 is adapted to continuously or intermittently determine a world configuration for said vehicle 100. Said second sensor configuration 240 is arranged to continuously or intermittently send data related to said determined world configuration to said first control unit 200 via the line L240. Said information related to said determined environment configuration may include information about any objects present in an environment of the vehicle 100. Said second sensor configuration 240 hereby includes an IR can. The second sensor configuration 2 is equipped with an image processing program for detecting the position, configuration and motion of one or more objects in said environment configuration. According to an alternative, said first control unit 200 is arranged to continuously receive a video stream Than said second sensor configuration 240 and by means of a light image processing program detect the position, configuration and movement of one or more objects in said environment configuration. Advantageously, heat signatures in humans and / or animals and / or other objects, for example vehicles with internal combustion engines, can be determined under conditions with obscured vision or marks.
    The first control unit 200 is arranged for communication with a third sensor configuration 250 via a long L250. Said third sensor configuration 250 is adapted to continuously or intermittently determine a peripheral configuration for said vehicle 100. Said third sensor configuration 250 is arranged to continuously or intermittently send data related to said determined peripheral configuration to said first control unit 200 via the line L250. Said tasks related to said fixed environment configuration may include information on any objects present in an environment of the vehicle 100. The third sensor configuration 250 here includes an ultrasonic unit which by means of reflected sound can determine any objects in an environment of the vehicle 100. Said third sensor configuration. may be equipped with a suitable sound echo processing program for detecting the position, configuration and movement of one or more objects in said environment configuration. According to an alternative, said first control unit 200 is arranged to continuously receive relevant information than said third sensor configuration 250 and by means of an appropriate sound echo processing program detect the position, configuration and movement of one or more objects in said environment configuration. Said third sensor configuration 250 operates adequately in low visibility conditions or in the dark. The first control unit 200 is arranged for communication with a fourth sensor configuration 260 via a long L260. Said fourth sensor configuration 260 is adapted to continuously or intermittently determine a world configuration for said vehicle 100. Said fourth sensor configuration 260 is arranged to continuously or intermittently send data related to said determined world configuration to said first control unit 200. Said information related to said determined environment configuration may include information about any objects present in an environment of the vehicle 100. Said fourth sensor configuration 260 hereby comprises a radar unit, which by means of reflected emitting radio waves can determine the position, configuration and movement of one or more objects in said world configuration. According to an alternative, said first control unit 200 is arranged to continuously receive land-based data from said fourth sensor configuration 260 and, in the case of a suitable computer program, detect position, configuration and movement of one or more objects in said environment configuration.
    The system 299 may include an appropriate number of different sensor configurations to determine the position, configuration and motion of objects in an environment. According to one example, laser light may be used to determine the appearance, position, shape, configuration and motion of any object in an environment of the vehicle 100.
    The system is at least one of said sensor configurations 230, 240, 250 and 260 detecting the position, configuration and movement of one or more objects in said external configuration relative to the vehicle 100.
    The system 299 may include an appropriate array of different sensor configurations to determine object characteristics of any objects in an environment of said vehicle. Said object characteristics may include the occurrence, position, shape, configuration and movement of said object. In this case, it can be determined whether the said object is a living being, for example a human or an animal. In this case, a suitable sensor configuration can determine the position, speed and acceleration of said objects. In this case, a suitable sensor configuration can predict a future position of a moving object. It should be noted that said object characteristics can be determined in one of said exemplary sensor configurations, other suitable sensor configurations in the vehicle or in the first control unit 200 on the basis of data than at least one sensor configuration.
    The first control unit 200 is arranged for communication with a control device 270 via a long L270. Said steering device 270 is arranged to steer one or more rear wheel pairs of the vehicle 100. Referring to Figures 1a and 1b, said rear wheel pair may be present at said rear axles X2 and X3 of the vehicle 100. Said steering device may include, for example, electromagnetic, electromechanical, hydraulic, electrohydraulic , pneumatic or electropneumatic steering of said at least one rear wheel pair.
    According to an exemplary embodiment, the first control unit 200 is arranged to generate and send control signals via said link L270 to said control device 270 for controlling a control angle of said at least one rear wheel pair. In the event that steering according to one embodiment is performed on more than one rear wheel pair, these rear wheel pairs can be steered to mutually different steering angles.
    A second control unit 210 is arranged for communication with the first control unit 200 via a long L210. The second control unit 210 may be releasably connected to the first control unit 200. The second control unit 210 may be a control unit external to the vehicle 100. The second control unit 210 may be arranged to perform the inventive process steps.
    The second control unit 210 can be used to load program code to the first control unit 200, in particular program code to perform the inventive method. The second control unit 210 may alternatively be arranged for communication with the first control unit 200 via an internal network in the vehicle. The second control unit 210 may be arranged to perform substantially the same functions as the first control unit 200.
    Figure 3a schematically illustrates the vehicle 100 in a first traffic situation. It is illustrated here that the said vehicle 100 performs a right-hand turn at right-hand traffic at a T-junction. The vehicle 100 is hereby exemplified by a articulated bus comprising a first vehicle body 100a and a second vehicle body 100b. By means of suitable sensor means (for example sensor configuration 230, 240, 250, 260) a first object 01 can be fixed in a surrounding configuration of the vehicle 100. Said first object 01 is hereby constituted by a horn of a curb.
    By means of suitable sensor means, a second object 02 can be fixed in a surrounding configuration of the vehicle 100. Said second object is then constituted by a cyclist in motion. By means of suitable sensor means, a third object 03 can be determined in a world configuration having the vehicle 100. Said third object 03 is then constituted by a moving passenger car.
    According to this example, it is determined that there is a risk that said vehicle will interfere in an undesired manner with said first, second and third objects of said established external configuration. In this case, steering is performed by means of rear wheels of at least one of said second and third rear rear wheel pairs (axles X2 and X3, respectively) in order to sufficiently with selected to avoid interference with all of said first, second and third objects of said fixed environment configuration.
    Figure 3b schematically illustrates the vehicle 100 in a second traffic situation. At the same time, the said vehicle 100 makes a lane change to the left at right-hand traffic on a national road.
    The vehicle 100 is hereby exemplified by a articulated bus comprising a first vehicle body 100a and a second vehicle body 100b. By means of suitable sensor means, a movable object 110 can be determined in a surrounding configuration of the vehicle 100. Said object 110 is then constituted by a passenger car which is propelled at a substantially constant speed in the same main direction of travel as the vehicle 100. 22 According to this example will interfere in an undesired manner with said movable object 110 of said fixed environment configuration. In this case, steering is performed by means of a rear wheel of a third rear pair of rear wheels (axle X3) to a sufficient extent with the selected.
    Figure 3c schematically illustrates the vehicle 100 in a third traffic situation. In this case, a vehicle 100 has stopped at a bus stop H. In connection with this, three objects in a surrounding world configuration have been determined. In this case, a fourth object 04 in the form of a horn of an edge which has already been passed safely according to the method according to the invention has been detected. In this case, a fifth object 05 in the form of a horn of an edge which is to be passed safely according to the method according to the invention has been detected. Furthermore, a sixth object 06 in the form of a forward-moving passenger car has been detected.
    According to this example, a risk can be determined to exist, whereby said vehicle 100 may interfere in an undesired manner with said movable passenger car 06 of said determined external configuration. Furthermore, an additional risk can be established, whereby said vehicle 100 may interfere in an undesired manner with said fifth object 05. In this case, steering is performed by means of rear wheels of a third rear rear wheel pair (axle X3) in order to a sufficient extent with selected.
    Figure 4a schematically illustrates a flow chart of a method of steering in a front and rear wheel steered vehicle 100.
    The process comprises a first process step s401. Step s401 includes the step of: 23 continuously determining an external configuration of said vehicle 100 including object occurrence. This can be done by means of, for example, at least one of said first sensor configuration 230, second sensor configuration 240, third sensor configuration 250 and fourth sensor configuration 260.
    The method comprises a second method step s402. Step s402 includes the step of: in the event of a change of direction, including steering by means of front wheels, determining if there is a risk that said vehicle 100 will interfere in an undesired manner with objects of said established external configuration. This can be done by means of said first control unit 200 on the basis of said established external configuration.
    The method comprises a third method step s403. Step s403 includes the step of: in the event that such a risk is determined to exist, freely use steering by means of rear wheels to a sufficient extent with selected. This can be done by means of said first control unit 200 and said control device 270. After the process step s403 the process is terminated.
    Figure 4b schematically illustrates a flow chart of a method of steering in a front and rear wheel controlled vehicle. The process includes a first process step s410. The step s410 includes the step of continuously or intermittently determining an external configuration of the vehicle 100. This may be done by means of at least some of the first sensor configuration 230, the second sensor configuration 240, the third sensor configuration 250 and the fourth sensor configuration 260. The step s410 may include data. of said four different sensor configurations, or other sensible sensor configuration sonn can determine an environment configuration including objects. Alternatively, at least portions of said environment configuration may be determined by the first controller 200 based on data determined by at least one of said four sensor configurations.
    Step s410 may include the step of continuously sensing said external configuration in front of the vehicle and along the long sides of the vehicle and / or continuously sensing said external configuration behind the vehicle (preferably when reversing with said vehicle 100).
    Step s410 may include the step of, in the event that movable objects are determined to be present in said environment configuration, extrapolating such object movement for determining (see step s430) the risk of undesired interference with objects of said determined environment configuration.
    After the procedure step s410, a subsequent procedure step s420 is performed.
    The process step s420 comprises the step of determining a change of direction of said vehicle 100. This may be done by means of lamps, for example by means of a sensor of said sensor configuration 220. Alternatively, said change of direction may be determined by means of an onboard GPS unit and / or an electronic map stored in the vehicle. the control unit 200. According to an example, it is determined that a change of direction of travel occurs when a certain angular deflection of a pair of wheels of said front wheel axle is present for at least a predetermined period of time, or that an angular deflection of a pair of wheels of said front wheel axle exceeds a predetermined value. After the procedure step s420, a subsequent procedure step s430 is performed.
    The procedure step 4 includes the step of determining, in the event of a change of direction, including steering by means of the front wheel of the vehicle, if there is a risk that said vehicle will interfere in an undesired manner with objects of said established external configuration. This can be determined by means of said first control unit 200 on the basis of object characteristics of objects of said environment configuration. Step s430 may include the step of, in the event that fixed objects are determined to be present in said environment configuration, extrapolating the motion of such objects to determine the risk of unwanted interference with objects of said determined environment configuration.
    The step s430 may include the step of determining whether said risk exists on the basis of information about a position, configuration and movement of said vehicle as well as information of a position, configuration and movement of at least one object of said established environment configuration.
    After the procedure step s430, a subsequent procedure step s440 is performed.
    The method step s440 comprises the step of determining compensatory control of at least one rear wheel pair of the vehicle 100. These wheel pairs may be arranged at said second axle X2 and / or third axle X3. This can be done by the first control unit 200. This determines how the wheel pair at said second axle X2 and / or third axle X3 is to be steered in order to both avoid interference with said detected objects in said environment configuration and minimize loss of passenger comfort in said vehicles. in that case the vehicle is eg a bus). In this case, swinging out of an overhang of the vehicle 100 at the rear can be minimized. In step s440, a lamp / optical control of said at least one rear wheel pair can be calculated / estimated / modeled / predicted / estimated.
    Step s430 may include the step of selecting one. Said compensating control according to process step s440 below.
    After the step step s440, a subsequent step step s450 is performed.
    The method step s450 comprises the step of controlling a respective turning angle of said second and / or third steerable rear wheel pairs in accordance with said 26 lamp and / or optimal steering which is calculated / estimated / modeled / predicted / estimated previous step step s430. The step step s450 may include the step of steering with the front wheels, steering with the rear wheels at the same hall as with the front wheels or at the opposite hall, depending on information about position, configuration and movement of objects in said environment configuration to avoid or reduce interference with said objects.
    The method step s450 may include the step of steering the rear wheels of the vehicle 100 to avoid interference based on information about a position, configuration and movement of said vehicle 100 as well as information of a position, configuration and movement of at least one object having said fixed environment configuration.
    The process step s450 may comprise the step of, in the event that such a risk has been determined, freely using steering by means of rear wheels in order to a sufficient extent with selected.
    After the step step s450, a subsequent step step s460 is performed.
    The method step s460 comprises the step of, where applicable, deactivating said compensating control according to step s450. It may be appropriate to deactivate said automatic / compensating control of said at least one rear wheel pair when the entire vehicle 100 has a longitudinal extent, for example when the vehicle 100 runs straight into a lane or when the first vehicle body 100a and the second vehicle body 100b have a common longitudinal axis in the direction of travel of the vehicle. After the step step s460, the procedure is terminated.
    Referring to Figure 5, there is shown a diagram of an embodiment of a device 500. The controllers 200 and 210 described with reference to Figure 2 may in one embodiment include the device 500. The device 500 27 comprises a non-volatile memory 520, a data processing unit 510 and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530 used in a computer program, such as an operating system, stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an AID converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.
    In this case, a computer program P is provided for steering on a front and rear wheel controlled vehicle 100.
    The computer program P may comprise routines for continuously or intermittently determining a world configuration of said vehicle including object occurrence. The computer program P may comprise routines for continuously or intermittently determining change of direction of the vehicle 100. The computer program P may include routines for determining, in the event of a change of direction including steering by means of the front wheels of the vehicle 100, whether there is a risk of said vehicle 100 interfering with an object. has the named fixed environment configuration. The computer program P may include routines for, in the event of such a risk being determined, the free use of control by means of rear wheels in order to a sufficient extent with selected.
    The computer program P may comprise routines for determining said environment configuration including object occurrence by at least flaking a first sensor configuration 230, second sensor configuration 240, third sensor configuration 250 and fourth sensor configuration 260.
    The computer program P may comprise routines for determining the said risk available on the basis of information on a position, configuration and movement of 28 said vehicles as well as information on a position, configuration and movement of at least one object of said determined environment configuration.
    The computer program P may include routines for controlling the rear wheels of the vehicle to avoid interference based on information about a position, configuration and movement of said vehicle as well as information about a position, configuration and movement of at least one object of said fixed environment configuration.
    The computer program P may include routines for selecting the said consideration of passenger comfort in such a way that oscillation is minimized when steering by means of the rear wheels.
    The computer program P may comprise routines for steering with front wheels, steering with the rear wheels at the same hall as with the front wheels or at the opposite hall, depending on information about position, configuration and movement of objects in said environment configuration to avoid or reduce interference with said objects.
    The computer program P may include routines for continuously or intermittently sensing said external configuration in front of the vehicle 100 and along the long sides of the vehicle!
    The computer program P may include routines for continuously scanning the said environment configuration behind the vehicle 100.
    The computer program P may include routines for, in the event that fixed objects are determined to be present in said environment configuration, extrapolate the movement of such objects to determine the risk of undesired interference with objects in said determined environment configuration.
    The program P may be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550. 29 When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.
    The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. Read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, e.g. the lanes L210, L220, L230, L240, L250, L260, L270 and L280 are connected (see Figure 2).
    When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above.
    According to one embodiment, signals received at the data port 599 include information about object characteristics. According to one embodiment, signals received at the data port 599 include information about, for example, position, shape, configuration, type (object or living being), trajectory, speed, change of speed and change of direction of one or more detected objects in a surrounding configuration of the vehicle 100.
    According to one embodiment, signals received at the data port 599 include environment configuration information of the vehicle 100.
    Portions of the nodes described in the methods may be performed by the device 500 using the data processing unit 510 which the Icor program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, the procedures described are executed.
    The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments were selected and described in order to best explain the principles of the invention and its practical applications, thereby enabling those skilled in the art to understand the invention for various embodiments and with the various modifications which are appropriate to the intended use. 31
    权利要求:
    Claims (21)
    [1]
    1. continuously establish (s401; s410) a peripheral configuration of said vehicle (100) including object precursors; 2. in the event of a change of direction, including steering by means of front wheels, determine (s402; s430) if there is a risk that the said vehicle (100) will interfere in an undesirable manner with objects (01; 02; 03; 110; 04; 05; 06) of the said fixed environment configuration; - in the event that such a risk has been established, free-use (s403; s450) steering by means of rear wheels will, to a sufficient extent, be selected (01; 02; 03; 110; 04; 05; 06) in the said established environment configuration.
    [2]
    The method of claim 1, comprising the step of: 1. determining (s410) said environment configuration including object occurrence by at least a flag of a first sensor configuration (230; 200; 210; 500), second sensor configuration (240; 200; 210; 500), third sensor configuration (250; 200; 210; 500) and fourth sensor configuration (260; 200; 210; 500).
    [3]
    A method according to claim 1 or 2, comprising the step of: 1. determining (s430) whether said risk exists on the basis of information about a position, configuration and movement of said vehicle (100) as well as information about a position, configuration and movement of at least one object (01; 02; 03; 110; 04; 05; 06) of said fixed environment configuration.
    [4]
    A method according to any one of the preceding claims, comprising the step of: 1. steering (s450) rear wheels of the vehicle (100) to avoid interference based on information about a position, configuration and movement of said vehicle (100). a position, configuration and motion of at least one object (01; 02; 03; 110; 04; 05; 06) of said fixed environment configuration.
    [5]
    A method according to any one of the preceding claims, comprising the step of: 1. selecting (s430) said.
    [6]
    Method according to any one of the preceding claims, comprising the step of: - when steering with the front wheels, steering (s450) with the rear wheels at the same inclination as with the front wheels, or at the opposite inclination, depending on information on position, configuration and movement of objects (01 ; 02; 03; 110; 04; 05; 06) of said environment configuration to avoid or reduce interference with said object.
    [7]
    A method according to any one of the preceding claims, comprising the step of: 1. continuously sensing (s410) said circumferential configuration in front of the vehicle and along the long sides of the vehicle [Dada.
    [8]
    A method according to any one of the preceding claims, comprising the step of: 1. continuously sensing (s410) said external configuration behind the vehicle.
    [9]
    A method according to any one of the preceding claims, comprising the step of: 1. in the event that movable objects are determined to be present in said environment configuration, extrapolate (s430) the movement of such objects to determine the risk of undesired interference with objects of said determined environment configuration.
    [10]
    A control system for a front and rear wheel steered vehicle (100), comprising: 33 means (200; 210; 230; 240; 250; 260; 500) adapted to continuously determine a peripheral configuration of said vehicle (100) including object occurrence; 2. means (200; 210; 500) adapted to, in the event of a change of direction including steering by means of front wheels, determine whether there is a risk that the said vehicle (100) may interfere in an undesirable manner with objects (01; 02; 03; 110; 04; 05 ; 06) in the said fixed environment configuration; 3. means (200; 210; 500) adapted to, in the event of such a risk being determined, freely use steering by means of rear wheels in order to a sufficient extent with selected (01; 02; 03; 110; 04; 05; 06) with the said established external configuration.
    [11]
    The system of claim 10, comprising: 1. at least a flag of a first sensor configuration (230; 200; 210; 500), second sensor configuration (240; 200; 210; 500), third sensor configuration (250; 200; 210; 500) and fourth sensor configuration (260; 200; 210; 500), which sensor configurations are adapted to determine said environment configuration including object preconfiguration.
    [12]
    A system according to claim 10 or 11, comprising: 1. means (200; 210; 500) adapted to determine if said risk exists on the basis of information about a position, configuration and movement of said vehicle (100) as well as information about a position , configuration and rarity of at least one object (01; 02; 03; 110; 04; 05; 06) of said fixed environment configuration.
    [13]
    A system according to any one of claims 10 to 12, comprising: 1. means (200; 210; 500; 270) adapted to steer the rear wheels of the vehicle (100) to avoid interference based on information about a position, configuration and movement of said vehicle (100) as well as information on a position, configuration and movement of at least one object (01; 02; 03; 110; 04; 05; 06) of said fixed environment configuration.
    [14]
    A system according to any one of the preceding claims, comprising: - means (200; 210; 500) adapted to select said consideration of passenger comfort in such a way that swinging is minimized when steering by means of the rear wheels.
    [15]
    A system according to any one of claims 10-14, comprising: - means (200; 210; 500; 270) adapted to, when steering with front wheels, steer with the rear wheels at the same hall as with the front wheels, or at the opposite hall, depending on the task about the position, configuration and movement of objects (01; 02; 03; 110; 04; 05; 06) of said environment configuration in order to avoid or reduce interference with said objects.
    [16]
    A system according to any one of claims 10-15, comprising: - means (200; 210; 230; 240; 250; 260; 500) adapted to continuously scan said external configuration in front of the vehicle and along both long sides of the vehicle.
    [17]
    A system according to any one of claims 10-16, comprising: - means (200; 210; 230; 240; 250; 260; 500) adapted to continuously scan said external configuration behind the vehicle (100).
    [18]
    A system according to any one of claims 10-17, comprising: - means (200; 210; 500) adapted to, in case moving objects are determined to be present in said environment configuration, extrapolate the movement of such objects to determine the risk of unwanted interference with objects in named fixed environment configuration.
    [19]
    A vehicle (100) comprising a system according to any one of claims 10-18.
    [20]
    A computer program (P) for controlling a front and rear wheel controlled vehicle (100), wherein said computer program (P) comprises program code for causing an electronic control unit (200; 500) or another computer (210; 500) connected to it electronic control unit (200; 500) to perform the steps according to any one of claims 1-9.
    [21]
    A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-9, when said program code is executed on an electronic control unit (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500). -X2
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    同族专利:
    公开号 | 公开日
    DE102015005464B4|2020-03-26|
    DE102015005464A1|2015-11-12|
    BR102015010218A2|2017-03-28|
    SE538200C2|2016-04-05|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1450537A|SE538200C2|2014-05-06|2014-05-06|System and procedure for controlling a vehicle|SE1450537A| SE538200C2|2014-05-06|2014-05-06|System and procedure for controlling a vehicle|
    DE102015005464.3A| DE102015005464B4|2014-05-06|2015-04-29|System and method for steering a vehicle|
    BR102015010218A| BR102015010218A2|2014-05-06|2015-05-05|system and method for driving a vehicle|
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