• 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:
    The present invention relates to a method for adjusting the speed of a vehicle when cornering. The method comprises the step of controlling (S1) the speed of the vehicle based on the steering angle of the vehicle corresponding to a determined turning radius so that a predetermined lateral acceleration is not exceeded. The present invention also relates to a system for adjusting a vehicle's speed when cornering. The present invention also relates to a motor vehicle. The present invention also relates to a computer program and a computer program product (Fig. 3).
    公开号:SE1450605A1
    申请号:SE1450605
    申请日:2014-05-21
    公开日:2015-11-22
    发明作者:Jonny Andersson；Linus Bredberg；Tom Nyström
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION An object of the present invention is to provide a method and a system for adjusting the speed of a vehicle in cornering which enables improved safety.
    SUMMARY OF THE INVENTION These and other objects, which appear from the following description, are achieved by means of a method, a system, a motor vehicle, a computer program and a computer program product of the kind initially indicated and further having the features set forth in the characterizing part of the appended independent claims. Preferred embodiments of the method and system are defined in the appended dependent claims.
    According to the invention, the objects are achieved with a method for adjusting the speed of a vehicle when cornering, comprising the step of controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to a certain turning radius so that a predetermined lateral acceleration is not exceeded. This avoids allowing the driver to accelerate too much or resumes previously set cruise control speed in a curve. Consequently, the safety of cornering is improved, thereby reducing the risk of skidding or skidding in the curve. With such a solution, good safety when cornering can be achieved without the need for map data or equivalent means for determining future curvature along the vehicle's route for adjusting the speed when cornering.
    According to one embodiment of the method, the step of controlling the speed of the vehicle comprises the step of determining a maximum permissible instantaneous speed based on the vehicle parameters said predetermined lateral acceleration, said steering angle, effective wheelbase, steering gear and, where applicable, the vehicle understeer gradient. This enables a more correct determination of the current turning radius of the vehicle and thus a better basis for controlling the speed of the vehicle when driving the vehicle in a curve.
    According to one embodiment, the method comprises the step of limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering wheel. This avoids the vehicle accelerating too much at an S-turn between a first curve and a second curve. This further improves safety when cornering.
    According to one embodiment, the method comprises the step of allowing an increase of the maximum permissible instantaneous speed only after a certain time after the angular speed has fallen below a predetermined value. This prevents the vehicle from accelerating too early after a first curve in order to avoid the vehicle having time to accelerate too much during a subsequent second curve.
    According to an embodiment of the method, the step of limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering angle only takes place at steering angle over a predetermined size. This avoids unnecessary limitation of the speed at smaller steering angles.
    The embodiments of the system have the same advantages as the corresponding embodiments of the method mentioned above.
    DESCRIPTION OF THE DRAWINGS The present invention will be better understood with reference to the following detailed description read in conjunction with the accompanying drawings, in which like reference numerals refer to like parts throughout the many views, and in which: Fig. 1 schematically illustrates a motor vehicle according to an embodiment of the present invention; invention; Fig. 2 schematically illustrates a system for adjusting the speed of a vehicle in cornering according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a method for adjusting the speed of a vehicle in cornering according to an embodiment of the present invention; and Fig. 4 schematically illustrates a computer according to an embodiment of the present invention.
    DESCRIPTION OF PERFORMANCE FORIVIVES Here, the term "link" 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 link.
    Here, the term "effective wheelbase" refers to the virtual distance between the axles of the vehicle that best corresponds to a simplified representation of an "efficient wheelbase" reality. For a two-axle truck, the effective wheelbase = wheelbase, two-axle vehicle. The term means a simplification of ie. the distance between the shoulders. For a vehicle that also includes a support axle adjacent to and at a distance from a rear drive axle, the effective wheelbase will be moved to somewhere midway between the support axle and the drive axle, but not necessarily exactly midway, the position of the effective wheelbase depends on a number of factors such as weight distribution , if the support axle is steered, etc. The purpose of an efficient wheelbase is to be able to consider a multi-axle vehicle as a two-axle vehicle to simplify the dynamic calculations according to the bicycle model.
    Fig. 1 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck. The vehicle may alternatively be any suitable vehicle such as a bus or a passenger car. The vehicle comprises a system I according to the present invention.
    Fig. 2 schematically illustrates a block diagram of a system I for adjusting the speed of a vehicle in cornering according to an embodiment of the present invention.
    System I comprises an electronic control unit 100.
    System I includes means 110 for controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to a determined turning radius so that a predetermined lateral acceleration is not exceeded.
    The vehicle speed control means includes means 110a for determining a maximum allowable instantaneous speed based on the vehicle parameters: said predetermined lateral acceleration, said steering angle, effective wheelbase, steering gear and, where applicable, the vehicle understeer gradient.
    The means 110a for determining a maximum permissible instantaneous speed comprises means 111 for determining a maximum permissible lateral acceleration a / af. The means 111 for determining a maximum permissible lateral acceleration comprises determining a predetermined maximum permissible lateral acceleration, which is based on normal conditions regarding vehicle characteristics such as length of the vehicle, width of the vehicle, vehicle composition of the vehicle, load distribution of the vehicle, center of gravity of the vehicle and / or environmental characteristics such as effective lane width, friction characteristics of the road surface, visibility conditions, and dosing characteristics of the road surface. The predetermined maximum permissible lateral acceleration is according to one embodiment in the order of 2 m / s2. The maximum permissible lateral acceleration here consists of a predetermined maximum permissible lateral acceleration. According to an alternative or complementary variant, the electronic control unit 100 includes stored data on the maximum allowable lateral acceleration. The means 110a for determining a maximum permissible instantaneous speed comprises means 112 for determining the steering angle ö. The means 112 for determining the steering angle is arranged for continuously determining the steering angle. The means 112 for determining the steering wheel angle comprises sensor means in the form of steering wheel angle sensors for sensing the position of the steering wheel corresponding to a certain steering wheel angle.
    The means 110a for determining a maximum permissible instantaneous speed includes means 113 for determining effective wheelbase L. The means 113 for determining effective wheelbase includes determining vehicle characteristics including distance between wheel axles, number of wheel axles, possible occurrence of boogie and possible occurrence of support axle and support axle. position, i.e. whether the support wheels of the support axle are brought into engagement with the roadway or are raised so that the support wheels are in non-contact with the roadway. The effective wheelbase is estimated based on e.g. wheelbase, bogie distance, number of axles, weight distribution, whether the support axle is hoisted, etc. According to an alternative or complementary variant, the electronic control unit 100 includes stored data on effective wheelbase.
    The means 110a for determining a maximum allowable instantaneous speed comprises means 114 for determining the gear ratio iL. The means 114 for determining the gear ratio of the control includes, according to a variant, stored data for the gear unit which is normally known. The means for determining the gear ratio of the steering comprises sensor means for determining the gear ratio of the steering wheel by measuring the input and output steering angle velocity. According to an alternative or complementary variant, the electronic control unit 100 includes stored data on the control gear ratio.
    The means 110a for determining a maximum permissible instantaneous speed comprises means 115 for determining the understeer gradient KUS of the vehicle. The means 115 for determining the understeer gradient of the vehicle comprises sensor means for determining the understeer gradient of the vehicle as well as calculation models where the understeer gradient is determined based on, among other things, steering angle, effective wheelbase, vehicle speed, incoming and outgoing steering angle. According to an alternative or complementary variant, the electronic control unit 100 includes stored data on the understeer gradient of the vehicle.
    The means 110a for determining a maximum permissible instantaneous speed based on the vehicle parameters: predetermined lateral acceleration, steering angle, effective wheelbase, steering gear and, where applicable, the vehicle understeer gradient are arranged to determine the maximum permissible instantaneous speed by equation: where a , ie the maximum permissible lateral acceleration.
    L = effective wheelbase ear = steering wheel angle iL = steering gear ratio Cus = vehicle understeer gradient System I includes means 120 for continuously determining the vehicle's speed. The means 120 for continuously determining the speed of the vehicle includes, according to a variant, speedometer means.
    System I includes means 130 for limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering wheel.
    The means 130 for limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering angle comprises means 132 for determining the angular velocity of the steering angle. The means 132 for determining the angular velocity of steering wheel deflection comprises means for derivation including possible filtering of the steering wheel angle.
    The means 132 for determining the angular velocity of the steering angle includes means 132a for determining the size of the steering angle. System I here comprises means 132a for determining the size of the steering angle.
    The means 130 for limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering angle comprises means 134 for limiting the increase only in the case of steering angle over a predetermined size.
    System I includes means 140 for allowing increase of the maximum permissible instantaneous speed only time after the angular speed has fallen below a predetermined value. The means 140 for allowing the increase of the maximum permissible instantaneous speed only after a certain after a certain time after the angular velocity has fallen below a predetermined value comprises means for determining the time from the angular velocity under the predetermined value and during the determined time and the time from that the angular velocity has fallen below the predetermined value and that the angular velocity again reaches or exceeds the predetermined value.
    The electronic control unit 100 is signal connected to the means 110 for controlling the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius so that a predetermined lateral acceleration is not exceeded via a link 10a. The electronic control unit 100 is arranged via the link 10a to send a signal to the means 110 representing control data for controlling the speed of the vehicle.
    The electronic control unit 100 is signal connected to the means 110 for controlling the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius so that a predetermined lateral acceleration is not exceeded via a link 10b. The electronic control unit 100 is via the link 10b 10 110 steering wheel angle data corresponding to a certain turning radius of the vehicle. arranged to receive a signal from the means representing The electronic control unit 100 is signal connected to the means 110a to determine a speed of the vehicle parameters: said predetermined lateral acceleration, maximum permissible moment based on said steering angle, effective wheelbase, steering gear and, where appropriate, the electronic steering unit 10. 100 is arranged via the link 10 to receive a signal from the vehicle understeer gradient via a link 110 representing parameter data including side acceleration data for predetermined side acceleration, steering angle data for current steering angle, data for effective wheelbase, steering gear data and, if applicable, understeer data.
    The electronic control unit 100 is signal connected to the means 120 for continuously determining the speed of the vehicle via a link 20. The electronic control unit 100 is arranged via the link 20 to receive a signal from the means 120 for continuously determining the speed of the vehicle representing speed data for the current vehicle speed.
    The electronic control unit 100 is signal connected to the means 132 for determining the angular velocity of the steering angle via a link 32. The electronic control unit 100 is arranged via the link 32 to receive a signal from the means 132 representing the angular velocity data for the angular velocity of the steering angle including steering angle size data. 132a.
    The electronic control unit 100 is signal connected to the means 134 for limiting the increase of the maximum permissible instantaneous speed only at steering angle over a predetermined size via a link 34. The electronic control unit 100 is arranged via the link 34 to receive a signal from the means 134 representing limiting data for to limit the increase only in the event of a steering wheel angle exceeding a predetermined size. The electronic control unit 100 is signal connected to the means 140 to allow an increase of the maximum permissible instantaneous speed only after a certain time after the angular speed has fallen below a predetermined value via a link 40a. The electronic control unit 100 is via the link 40a a signal to the means 140 angular velocity data for angular velocity of steering wheel stroke including data for size of steering wheel stroke. arranged to send a representative The electronic control unit 100 is signal connected to the means 140 to allow an increase of the maximum permissible instantaneous speed only after a certain time after the angular speed has fallen below a predetermined value via a link 40b. The electronic control unit 100 is arranged via the link 40b to receive a signal from the means 140 representing time data for time during which the angular velocity with a certain magnitude of the steering angle has fallen below a predetermined value.
    The electronic control unit 100 is signal connected to the means 130 for limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering angle via a link 30a. The electronic control unit 100 is arranged via the link 30a to send a signal to the means 130 of the steering angle, including data for the size of the steering angle and the time for such angular velocity. representing angular velocity data for angular velocity of The electronic control unit 100 is signal connected to the means 130 for limiting the increase of the maximum permissible instantaneous velocity based on angular velocity of steering wheel stroke via a link 30b. The electronic control unit 100 is arranged via the link 30b to receive a signal from the means 130 representing limitation data for limiting the speed based on angular velocity data.
    The electronic control unit 100 is hereby arranged to process said steering angle data corresponding to a determined turning radius of the vehicle and said parameter data including side acceleration data for predetermined side acceleration, steering angle data for current steering angle, data for effective wheelbase data and data for steering gear for understeer gradient and said speed data for determining control data for controlling the speed of the vehicle so that a predetermined lateral acceleration is not exceeded.
    The electronic control unit 100 is hereby arranged to process said angular velocity data for angular velocity of steering wheel including data for size of steering wheel stroke, said limiting data to limit the elevation only at steering wheel stroke over a predetermined size and said time data for time steering wheel stroke at which a certain speed of determine the angular velocity exceeded a predetermined speed and predetermined below a predetermined value for the size of steering wheel stroke and in that case send speed limitation data as long as this continues and a predetermined after the angular velocity has fallen below a predetermined value.
    Fig. 3 schematically illustrates a block diagram of a method for adjusting the speed of a vehicle in cornering according to an embodiment of the present invention.
    According to one embodiment, the method for adjusting the speed of a vehicle during cornering comprises a step S1. In this step, the speed of the vehicle is controlled based on the steering wheel angle of the vehicle corresponding to a certain turning radius so that a predetermined lateral acceleration is not exceeded.
    Referring to Fig. 5, there is shown a diagram of an embodiment of a device 500. The controller 100 described with reference to Fig. 2 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510, and a read / write memory 550. 530 in which a computer program, such as an operating system, is stored to control the function. The non-volatile memory 520 has a first memory portion of the device 500. Further, the device 500 includes a bus controller, A serial communication port, I / O means, an A / D converter, a time and date input and transfer unit, an event counter and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.
    A computer program P is provided which includes routines for adjusting the speed of a vehicle when cornering according to the innovative method.
    The program P includes routines for controlling the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a certain turning radius so that a predetermined lateral acceleration is not exceeded. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.
    When it is described that the data processing unit 510 performs a certain function, it is to 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 links connected to the control unit 100 are connected.
    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 arranged to perform code execution in a manner described above. The received signals on the data port 599 can be used by the device 500 to control the speed of the vehicle based on the steering angle of the vehicle corresponding to a certain turning radius so that a predetermined lateral acceleration is not exceeded. Parts of the methods described herein may be performed by the device 500 by means of the data processing unit 510 running the program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, the methods described herein are executed.
    The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. 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 have been selected and described to best explain the principles of the invention and its practical applications, thereby enabling one skilled in the art to understand the invention for various embodiments and with the various modifications appropriate to the intended use.
    权利要求:
    Claims (13)
    [1]
    Method for adjusting the speed of a vehicle (1) when cornering, characterized by the step of controlling (S1) the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a determined turning radius so that a predetermined lateral acceleration is not exceeded.
    [2]
    The method of claim 1, wherein the step of controlling the speed of the vehicle includes the step of determining a maximum allowable instantaneous speed based on the vehicle parameters said predetermined lateral acceleration, said steering angle, effective wheelbase, steering gear and, where applicable, the vehicle understeer gradient.
    [3]
    A method according to claim 2, comprising the step of limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering wheel.
    [4]
    A method according to claim 3, comprising the step of allowing an increase of the maximum permissible instantaneous speed only after a certain time after the angular speed has fallen below a predetermined value.
    [5]
    A method according to claim 3 or 4, wherein the step of limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering angle is effected only in the case of steering angle over a predetermined size.
    [6]
    System (1) for adjusting the speed of a vehicle (1) during cornering, characterized by means (110) for controlling the speed of the vehicle based on the steering wheel angle of the vehicle corresponding to a certain turning radius so that a predetermined lateral acceleration is not exceeded.
    [7]
    The system of claim 6, wherein the means (110) for controlling the speed of the vehicle includes means (110a) for determining a maximum permissible instantaneous speed based on the vehicle parameters: said predetermined lateral acceleration, said steering angle, effective wheelbase, steering gear and, where applicable vehicle understeer gradient. 10 15 15
    [8]
    The system of claim 7, comprising means (130) for limiting the increase of the maximum allowable instantaneous speed based on the angular velocity of the steering wheel.
    [9]
    The system of claim 8, comprising means (140) for allowing an increase in the maximum allowable instantaneous speed only after a certain time after the angular speed has fallen below a predetermined value.
    [10]
    A system according to claim 8 or 9, wherein the means (130) for limiting the increase of the maximum permissible instantaneous speed based on the angular velocity of the steering angle comprises means (132) for limiting the increase only in the event of steering angle over a predetermined size.
    [11]
    Vehicle (1) comprising a system (1) according to any one of claims 6-10.
    [12]
    A computer program (P) for adjusting the speed of a vehicle in cornering, said computer program (P) comprising program code which, when driven by an electronic control unit (100) or another computer (500) connected to the electronic control unit (100) , the electronic control unit (100) is capable of performing the steps of claims 1-5.
    [13]
    A computer program product comprising a digital storage medium which stores the computer program according to claim 12.
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    同族专利:
    公开号 | 公开日
    KR20170005068A|2017-01-11|
    BR112016024869A2|2017-08-15|
    WO2015178845A1|2015-11-26|
    EP3145765A4|2018-03-21|
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    引用文献:
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    CN112693470A|2021-01-14|2021-04-23|北京国联视讯信息技术股份有限公司|Method and device for avoiding vehicle turning risk|DE10128357A1|2001-06-13|2003-03-06|Continental Teves Ag & Co Ohg|Procedure for regulating driving stability|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1450605A|SE539938C2|2014-05-21|2014-05-21|Method and system for adjusting the instantaneous speed of a vehicle in relation to the angular velocity of a steering wheel|SE1450605A| SE539938C2|2014-05-21|2014-05-21|Method and system for adjusting the instantaneous speed of a vehicle in relation to the angular velocity of a steering wheel|
    BR112016024869A| BR112016024869A2|2014-05-21|2015-05-20|method and system for adapting a vehicle's speed when cornering|
    EP15796651.6A| EP3145765A4|2014-05-21|2015-05-20|Method and system for adaptation of the speed of a vehicle when taking a curve|
    KR1020167034358A| KR20170005068A|2014-05-21|2015-05-20|Method and system for adaptation of the speed of a vehicle when taking a curve|
    PCT/SE2015/050576| WO2015178845A1|2014-05-21|2015-05-20|Method and system for adaptation of the speed of a vehicle when taking a curve|
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