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CN107709139B - 具有前桥转向系统和后桥转向系统的自动驾驶的机动车 - Google Patents

具有前桥转向系统和后桥转向系统的自动驾驶的机动车 Download PDF

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CN107709139B
CN107709139B CN201680037844.0A CN201680037844A CN107709139B CN 107709139 B CN107709139 B CN 107709139B CN 201680037844 A CN201680037844 A CN 201680037844A CN 107709139 B CN107709139 B CN 107709139B
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steering system
axle steering
automatic
front axle
motor vehicle
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CN107709139A (zh
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M·雷德克尔
A·米宁格
T·米勒
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/148—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering provided with safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1518—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/005—Emergency systems using brakes for steering

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

本发明涉及一种具有前桥转向系统和后桥转向系统的自动驾驶的机动车，其中在自动驾驶时在激活的、无干扰的行驶状态下通过自动控制前桥转向系统的前桥转向控制系统实施用于前桥转向的驾驶任务。利用故障识别装置自动识别自动的前桥转向控制系统的故障并且由后桥转向系统接管车辆转向。根据本发明，机动车装配有用于受控的车轮选择性的制动干预的设备。该设备在自动的前桥转向控制系统故障时被这样控制，使得借助于车轮选择性的制动干预实施对前桥转向系统的自动居中定位。

Description

具有前桥转向系统和后桥转向系统的自动驾驶的机动车
技术领域
本发明涉及一种具有前桥转向系统的自动驾驶的机动车。
背景技术
机动车可以已经装有用于在道路交通中自动驾驶的智能驾驶员辅助系统。在自动驾驶时使得驾驶员能够暂时不必参与交通状况，驾驶任务、尤其是加速、减速和转向都自动地实施。因此在被激活的无干扰的“自动驾驶”运行状态下，“前桥转向”的驾驶任务通过自动控制前桥转向系统的前桥转向控制系统来实施，该前桥转向控制系统是电子辅助转向系统(EPS-System)。在该转向系统故障时，出于安全原因，该“转向”的驾驶任务在限定的过渡时间段内必须由冗余的系统接管。
为此，文献GB 2 448 471 A已经公开了本类型的机动车，其具有前桥转向系统和后桥转向系统。如果在此由故障识别装置识别出前桥转向系统故障，则由后桥转向系统接管车辆转向。为此具体地在此借助于可切换的接合装置使前桥转向与前桥转向直接耦合。由此，后桥转向的执行器作为执行元件也承担前桥转向任务。
此外文献EP 1 529 718 A1公开了一种前轮可转向、后轮具有转向功能的机动车，其具有借助于车轮自有的制动压力建立用于稳定机动车的反横摆力矩的和借助于在后轮上的转向功能减低侧偏角的系统。该系统独立于前桥转向故障情况起作用。
此外文献DE 10 2012 207 548 A1公开一种车辆，其中能够根据需要通过有针对性的、车轮选择性的制动干预导入车辆的横摆运动。
因此已经多次公开了在前桥转向控制系统故障时由后桥转向系统接管转向任务。但实践证实，为了在前桥转向系统故障时实现转向任务，仅是调整后桥车轮转向角、尤其是在较快行驶的公路行驶车辆的情况下不足以操控车辆以及不足以对行驶方向起决定性影响。其仅调整了侧偏角，而车辆仍基本继续直行。
发明内容
因此本发明的任务是，改进本类型的机动车，使得在自动驾驶以及前桥转向控制系统故障时能够利用后桥转向系统有效操纵车辆。
该任务由此实现，即在自动的前桥转向控制系统故障时，利用用于受控的车轮选择性的制动干预的设备与前轮的正前方位置相应地实施前桥转向系统的自动居中定位/回中，而无需借助于车轮选择性的制动干预施加前轮转向角。该车轮选择性的制动干预用于平衡由于车辆侧偏角原因产生的轮胎侧向力，由此能够借助于后桥上的转向系统操纵该车辆。
具体而言，为在自动的前桥转向控制系统故障时在限定的过渡时间段内操纵车辆且无需引入手动力矩，调整规定的后桥车轮转向角。此外，通过在前桥上的车轮选择性的制动干预实施前桥转向系统的主动的、与侧偏角无关的居中定位，以便平衡由于侧偏角原因产生的轮胎侧向力，该侧偏角是在运动方向和车辆纵轴线之间的角。只有通过在单个车轮上平衡的力分量才能够借助于后桥上的转向系统操纵车辆。
在无干扰的自动驾驶状态下，可以借助于执行器进行前桥转向系统的主动居中定位，该执行器可以包括作为伺服电机的电机。尤其是可以在此监控电机和控制系统的故障。这种监控可以直接通过执行器上的传感器来监控，和/或可能情况下通过如下多次冗余的间接方式监控，即没有调整到或保持规定的额定转向角的情况。
为了对尤其是还结合车轮选择性的制动干预的主动居中定位进行控制/调整，可以评估前桥转向角传感器的测量值，尤其是作为实际值探测器的转向角探测器的测量值。
此外提出，为了在自动的前桥转向控制系统故障时通过后桥转向系统结合对前桥主动地居中定位来冗余地接管转向任务，规定了确定的过渡时间段，在该过渡时间段内自动控制车辆至车道外侧并且必要时制动和停车。
附图说明
借助附图详述本发明。
附图示出：
图1示出具有前桥转向系统和后桥转向系统的自动驾驶的机动车的示意图；
图2示例性示出流程图，其中说明各单个程序步骤。
具体实施方式
图1中示意性示出机动车1的俯视图，其装备用于自动驾驶且具有前桥转向系统2和后桥转向系统3。
前桥转向系统2具有前桥伺服电机4，后桥转向系统3具有后桥伺服电机5。
机动车1还具有(示意性示出的)控制装置6，利用该控制装置在自动驾驶时(没有手动力矩)经由前桥控制线路7通过操控前桥伺服电机4自动执行前桥转向控制，其中在图1中左侧前轮8和右侧前轮9分别被施加前桥车轮转向角10。相应地，后轮11、12当前借助于后桥伺服电机5被施加后桥车轮转向角13。通过由此规定的在左转弯中的行驶，得到了车辆中心14的与箭头15相应的当前运行方向以及在车辆纵轴线17和与箭头15相应的当前运行方向之间的侧偏角16(或者说质心侧偏角)。
前桥伺服电机4示例性地包括故障识别装置，利用该故障识别装置能够识别前桥伺服电机4的故障以及前桥转向系统2的前桥转向控制的故障，并且通过前桥控制线路7告知控制装置6。对于该(故障)情况，后桥转向系统3被控制装置6这样控制，使得后桥转向系统接管机动车1的转向任务。
在此情况下，还由控制装置6实施借助于车轮选择性的制动干预的前桥转向系统2的自动居中定位，以便在不施加前轮转向角的情况下将前轮8、9调整到正前方位置并加以保持，如虚线所示的前轮8、9那样。为此，在当前所示行驶情况下由控制装置6通过制动控制线路18车轮选择性地使右前轮9的制动器19制动，以便获得所需的居中定位，在没有居中定位的情况下后桥转向系统3在前桥转向系统2故障时则无法有成效地接管驾驶任务。在例如通过(未示出的)前桥转向角传感器识别出前桥车轮转向角朝向另一方向时，为自动居中定位，通过制动控制线路20车轮选择性地制动前轮9。
为明确本发明，图1中示出了作为单独部件的结构件、功能元件和控制线路。这些单独部件有一部分在现代车辆中以结合其他功能的方式集成或能够集成在更高级的控制和调节单元中，其中控制信号尤其是也能够通过总线系统传导。这些实施方式也应为本发明所包括。
根据图2的流程图，在开始之后在决策菱形21中确定驾驶员是否激活了“自动驾驶”的驾驶员辅助系统。
在激活的情况下，则按照状态方块22结合其他措施激活自动的前桥转向系统。
在决策菱形23中一直检查该自动的前桥转向系统是否有故障。
如果确定出现故障，则按照状态方块24通过在前桥上的车轮选择性的制动干预执行对前桥转向系统的主动居中定位。此外根据状态方块25利用后桥转向系统操纵车辆。
在决策菱形26中检查，所述利用后桥转向系统的操作连同所述主动居中定位是否位于规定的过渡时间段内，在该规定的过渡时间段内尤其将机动车操纵并停止在车道路肩上。根据内部的车辆诊断系统和规定的安全策略，可以给驾驶员发出通知和/或这样进行控制，使得该车辆能够手动继续行驶，或不再能行驶。

Claims (6)

1.一种具有前桥转向系统和后桥转向系统的自动驾驶的机动车，其中在自动驾驶时在激活的、无干扰的行驶状态下通过自动控制前桥转向系统的前桥转向控制系统实施用于前桥转向的驾驶任务，利用故障识别装置自动识别自动的前桥转向控制系统的故障并且由后桥转向系统接管车辆转向，其特征在于，机动车装配有用于受控的车轮选择性的制动干预的设备，该设备在自动的前桥转向控制系统故障时被这样控制，使得借助于车轮选择性的制动干预实施前桥转向系统的自动居中定位。
2.根据权利要求1所述的机动车，其特征在于，为了在自动的前桥转向控制系统故障时在限定的过渡时间段内操纵车辆且无需施加手动力矩，调整规定的后桥车轮转向角，并且通过在前桥上的车轮选择性的制动干预实施前桥转向系统的主动的、与侧偏角无关的居中定位，以便平衡由于侧偏角原因产生的轮胎侧向力，该侧偏角是在运动方向和车辆纵轴线之间的角。
3.根据权利要求1或2所述的机动车，其特征在于，在无干扰的自动驾驶状态下，借助于作为伺服电机的电机进行前桥转向系统的主动居中定位。
4.根据权利要求3所述的机动车，其特征在于，借助于故障识别装置监控所述电机和所述电机控制情况的故障。
5.根据权利要求1或2所述的机动车，其特征在于，为了对主动的居中定位进行控制/调整，评估作为实际值探测器的前桥转向角传感器的测量值。
6.根据权利要求1或2所述的机动车，其特征在于，为了在自动的前桥转向控制系统故障时通过后桥转向系统结合前桥转向系统的主动居中定位来冗余地接管转向任务，规定确定的过渡时间段，在该过渡时间段内自动控制车辆至车道外侧并且必要时制动和停车。
CN201680037844.0A 2015-07-02 2016-06-10 具有前桥转向系统和后桥转向系统的自动驾驶的机动车 Active CN107709139B (zh)

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PCT/EP2016/000968 WO2017001045A1 (de) 2015-07-02 2016-06-10 Kraftfahrzeug für ein pilotiertes fahren mit einem vorderachslenksystem und einem hinterachslenksystem

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