Identification of vehicle parameters for adapting a driving behavior

Abstract

A method for adapting a driving behavior of a vehicle or of a vehicle combination based on vehicle parameters, in particular by a control unit. In the method, static vehicle parameters are received, preferably prior to starting the drive, measuring data being collected and received during at least one initiated driving maneuver, the measuring data received during the at least one initiated driving maneuver being evaluated for ascertaining at least one dynamic vehicle parameter, and the static vehicle parameters and/or ascertained dynamic vehicle parameters being transmitted to a vehicle control unit for the vehicle-specific adaptation of a driving behavior. A control unit, a computer program, and a machine-readable memory medium are also described.

Claims

1. A method of a vehicle that includes static structures and at least one variable structure whose state is variable, the at least one variable structure being (1) an amount of loaded cargo with the state being variable between different values of the amount, (2) a distribution of the cargo over a loadable area of the vehicle with the state being variable between different values of the distribution, and/or (3) a cargo-holding structure (i) with the state being variable between being in a form of a flatbed and being in a form of a box body and/or (ii) with the state being variable between having a trailer or semi-trailer attached thereto and being in a state in which no trailer and no semi-trailer is attached thereto, the method comprising: receiving, by a control unit and prior to a start of a drive, static vehicle parameters, which are of the static structures of the vehicle; receiving, by the control unit and during performance by the vehicle of at least one driving maneuver of the drive, measuring data, wherein during the at least one driving maneuver, a driving behavior of the vehicle is controlled by the control unit according to the static vehicle parameters; evaluating, by the control unit, the measuring data ascertained during the performance of the at least one driving maneuver; based on the evaluation, ascertaining, by the control unit, which of the variable states is a present state of the at least one of a variable structure; and modifying, by the control unit, the driving behavior of the vehicle based on the ascertained present state.

2. The method as recited in claim 1, wherein, prior to the ascertainment of the present state, the drive is controlled by the control unit according to a predefined assumed state of the at least one of the variable structure.

3. The method as recited in claim 1, further comprising controlling, by the control unit, the vehicle to perform an automatic braking after starting the drive in order to obtain at least a portion of the measuring data when the braking is not otherwise required.

4. The method as recited in claim 1, further comprising, while the vehicle is being driven to a target location and prior to the ascertainment of the present state, controlling the vehicle to perform, as at least part of the at least one driving maneuver, at least one identification driving maneuver that propels or inhibits a propulsion of the vehicle along a road and that is not used for reaching the target location in order to obtain at least a portion of the measuring data during the at least one identification driving maneuver.

5. The method as recited in claim 1, wherein the receiving and evaluating of the measuring data and the ascertaining of the present state is performed continually during the drive, thereby continually updating the ascertained present state.

6. The method as recited in claim 5, further comprising, in response to detection, as a result of the receiving and evaluating of the measuring data and the ascertaining of the present state being continually performed, of a predefined change to the variable state, controlling the vehicle to bring the vehicle to a stop.

7. The method as recited in claim 1, further comprising, in response to detection, as a result of the receiving and evaluating of the measuring data and the ascertaining of the present state being continually performed, of a predefined change to the variable state, transmitting over a communication link a request for a service unit.

8. A control unit comprising a processor for control a vehicle that includes static structures and at least one variable structure whose state is variable, the at least one variable structure being (1) an amount of loaded cargo with the state being variable between different values of the amount, (2) a distribution of the cargo over a loadable area of the vehicle with the state being variable between different values of the distribution, and/or (3) a cargo-holding structure (i) with the state being variable between being in a form of a flatbed and being in a form of a box body and/or (ii) with the state being variable between having a trailer or semi-trailer attached thereto and being in a state in which no trailer and no semi-trailer is attached thereto, wherein, for the control, the processor is configured to: receive, prior to a start of a drive, static vehicle parameters, which are of the static structures of the vehicle; receive measuring data during performance by the vehicle of at least one driving maneuver of the drive during which a driving behavior of the vehicle is controlled by the control unit according to the static vehicle parameters; evaluate the measuring data ascertained during the performance of the at least one driving maneuver; based on the evaluation, ascertain which of the variable states is a present state of the at least one variable structure; and modify the driving behavior of the vehicle based on the ascertained present state.

9. A non-transitory machine-readable memory medium on which is stored a computer program that is executable by a control unit and that, when executed by the control unit, causes the control unit to perform a method for a vehicle that includes static structures and at least one variable structure whose state is variable, the at least one variable structure being (1) an amount of loaded cargo with the state being variable between different values of the amount, (2) a distribution of the cargo over a loadable area of the vehicle with the state being variable between different values of the distribution, and/or (3) a cargo-holding structure (i) with the state being variable between being in a form of a flatbed and being in a form of a box body and/or (ii) with the state being variable between having a trailer or semi-trailer attached thereto and being in a state in which no trailer and no semi-trailer is attached thereto, the method comprising: receiving, prior to a start of a drive, static vehicle parameters, which are of the static structures of the vehicle; receiving measuring data during performance by the vehicle of at least one driving maneuver of the drive during which a driving behavior of the vehicle is controlled by the control unit according to the static vehicle parameters; evaluating the measuring data ascertained during the performance of the at least one driving maneuver; based on the evaluation, ascertaining which of the variable states is a present state of the at least one variable structure; and modifying the driving behavior of the vehicle based on the ascertained present state.

10. The method as recited in claim 1, further comprising, prior to the receiving of the measuring data: receiving, by the control unit, input of a target location; planning, by the control unit, the drive to include a route from a current location to the target location; and modifying, by the control unit, the drive to include the at least one driving maneuver in order to obtain the measuring data, wherein the at least one driving maneuver propels or inhibits a propulsion of the vehicle along a road.

11. The method as recited in claim 1, further comprising, prior to the receiving of the measuring data: receiving, by the control unit, input of a target location; and based on (a) an identification of the variable state whose present status is to be ascertained and (b) the received target location, planning, by the control unit, the drive to include a route from a current location to the target location and to include performance of the at least one driving maneuver in order to obtain the measuring data, wherein the at least one driving maneuver propels or inhibits a propulsion of the vehicle along a road.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a schematic system for illustrating the method according to one exemplary embodiment of the present invention.

(2) FIG. 2 shows a schematic representation of possible state sensors as feedback from driving maneuvers, in accordance with an example embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

(3) FIG. 1 shows a schematic system for illustrating method 1 according to one exemplary embodiment of the present invention. In particular, a vehicle 2 including a control unit 4 and a vehicle control unit 8 are shown. A planning module 6 is also integrated into control unit 4. Vehicle 2 is implemented as a passenger car here, but may also be a commercial vehicle, a bus, a delivery van, a truck and the like.

(4) Control unit 4, planning module 6 and vehicle regulation unit or vehicle control unit 8 may have a hardware-based and/or software-based design. In particular, control unit 4, planning module 6 and vehicle control unit 8 may be configured as one component or as multiple mutually connectable components, it being possible for the respective tasks of control unit 4, of planning module 6 and of vehicle control unit 8 to be separate from one another or shared among one another.

(5) Control unit 4 is connectable to a surroundings sensor system 10 of vehicle 2 to receive and evaluate the collected measuring data of surroundings sensor system 10.

(6) Surroundings sensor system 10, by way of example, includes a camera sensor 12, a LIDAR sensor 13, a radar sensor 14, an ultrasonic sensor 15, and a GPS sensor 16.

(7) A localization unit 18 may carry out a localization of vehicle 2 based on map data 20 and the received measuring data of GPS sensor 16. The corresponding localization data may be transmitted in parallel to the measuring data of surroundings sensor system 10 to control unit 4, preferably to planning module 6. The measuring data of surroundings sensor system 10 may also be merged with one another and thereafter transmitted to control unit 4.

(8) Static vehicle parameters may be received by control unit 4, or may already be stored in a machine-readable memory medium 22. The static vehicle parameters may preferably be received prior to starting the drive. Ascertained or estimated vehicle parameters may also be stored in machine-readable memory medium 22.

(9) Control unit 4 includes a so-called PRIMER catalog 24, which includes a list of driving maneuvers. Depending on vehicle 2 and vehicle combination 3, this catalog 24 may have a different order and a different type of driving maneuvers. This catalog 24 is taken into consideration during the trajectory planning of planning module 6. In this way, driving maneuvers may be introduced into the regular driving operation of vehicle 2, 3. Acceleration tests, brake tests, slow curve negotiations, drastic steers, frequency responses during the steering motion as well as during the deceleration of vehicle 2, 3 may be used as possible driving maneuvers.

(10) Measuring data are ascertained by further sensors or state sensors 26, 28 during at least one initiated driving maneuver and transmitted to control unit 4. State sensors 26, 28 may be, for example, acceleration sensors 26, path sensors of suspension 28, yaw, pitch, roll rate sensors, king pin-articulation angle sensors, tire pressure sensors and the like.

(11) To ascertain the vehicle parameters based on the measuring data of state sensors 26, 28, control unit 4 may include a so-called PRIMER module 30. PRIMER module 30 is, for example, a computing module for vehicle parameters and may calculate or estimate the vehicle parameters independently or prompted by planning module 6. The calculated vehicle parameters may be stored in machine-readable memory medium 22.

(12) The static vehicle parameters may also be ascertained or received by PRIMER module 30 of control unit 4 and be stored in machine-readable memory medium 22.

(13) The static and/or dynamic vehicle parameters are transmitted to vehicle control unit 8 for the vehicle-specific adaptation of a driving behavior of vehicle 2, 3.

(14) Based on the received vehicle parameters, vehicle control unit 8 may generate an adapted activation of actuators 32 for transverse control and longitudinal control of vehicle 2, 3.

(15) FIG. 2 shows a schematic representation of possible state sensors 26, 28, 34, 36 for collecting measuring data as feedback from defined driving maneuvers. According to the illustrated exemplary embodiment, the vehicle is implemented as a vehicle combination 3. Vehicle combination 3 is made up of a tractor 38 and a trailer 39. As an alternative, tractor 38 may be configured as an 18-wheeler, and trailer 39 may be configured as a semitrailer. In addition, vehicle combination 3 may include multiple trailers 39.

(16) In response to defined driving maneuvers for ascertaining vehicle parameters, measuring data of state sensors 26, 28, 34 of tractor 38 and measuring data of state sensors 36 of trailer 39 are received and evaluated by control unit 4.

(17) Preferably, multiple state sensors may be situated in tractor 38 and trailer 39. For example, in addition to acceleration sensors 26 and the path sensors of suspension 28 of tractor 38, further sensors 34 may be introduced in the area of the tractor-side cargo area or the box body. These state sensors 34 may, for example, be tire pressure sensors of the rear wheels.

(18) Trailer 39 may include acceleration sensors or tilt and inclination sensors, for example, as state sensors 36. In addition, state sensors may include sensors for ascertaining an inclination angle or rotation angle with respect to tractor 38. In addition, state sensors may also be positioned in multiple positions of trailer 39 and connectable to control unit 4.