US 20090177360 A1 Abstract A method for operating a vehicle, in which the method allows feedback about imminent risks. In this context, the vehicle moves on a predefined route at a current traveling velocity. A value characteristic of the vehicle movement along the predefined route is precalculated as a function of the current traveling velocity and the predefined route. A vehicle function is activated as a function of this value.
Claims(11) 1-20. (canceled)21. A method for operating a vehicle, which moves on a predefined route at a current traveling velocity, comprising:
as a function of the current traveling velocity and the predefined route, precalculating a characteristic value for the vehicle movement along the predefined route; and activating a vehicle function as a function of the characteristic value; wherein the vehicle function is at least one of a function for occupant protection and a driver information function activated in the form of a haptic feedback. 22. The method as recited in claim 1, wherein a precharging of a brake system or a conditioning of at least one restraint system is activated as a function for occupant protection.23. The method as recited in claim 1, wherein the feedback is implemented at an accelerator pedal.24. The method as recited in claim 1, wherein the driver-information function is activated in the form of feedback regarding a forthcoming critical curve or for optimizing one of fuel consumption and exhaust gas.25. The method as recited in claim 1, wherein a yaw rate is selected as the characteristic value.26. The method as recited in claim 1, wherein the calculation of the characteristic value assumes that an accelerator pedal of the vehicle is not operated.27. The method as recited in claim 1, wherein the route is predetermined in the form of a set of route points, and a path between the route points is interpolated with the aid of continuous and differentiable functions.28. The method as recited in claim 1, wherein the characteristic value is determined as a function of a steering angle, and the steering angle is determined as a function of a traveling-direction vector and a vector tangent to the traveling direction.29. The method as recited in claim 8, wherein the traveling-direction vector is ascertained as a function of a radian measure of the predefined route, and the radian measure is ascertained from a range of the vehicle.30. The method as recited in claim 9, wherein the range of the vehicle is ascertained as a function of a vehicle acceleration, and the vehicle acceleration is ascertained with the aid of a pulling-force equation.Description This application is a continuation of prior application U.S. Ser. No. 10/896,184 filed Jul. 21, 2004, which claimed priority to German Patent Application No. 103 33 962.0, which was filed in Germany on Jul. 25, 2003, and which is hereby incorporated by reference in its entirety. The present invention concerns a method for operating a vehicle. There are methods for operating a vehicle, in which a route is predefined by a navigation device, and in which the vehicle moves on the predefined route at a current traveling velocity. The exemplary method of the present invention for operating a vehicle may have the advantage that a value characteristic of the vehicle movement along the predefined route is precalculated as a function of the current traveling velocity and the predefined route, and that a vehicle function is activated as a function of this value. In this manner, a safety function may be activated when the predicted vehicle movement represents a safety risk. In addition, information as to how the driver of the vehicle should drive the vehicle as economically and/or safely as possible, based on the expected vehicle movement, may be generated for or transmitted to him. Consequently, the driving safety may be increased and the fuel consumption may be reduced, and a better or more effective exhaust-gas composition may also be attained. It may be advantageous when a safety function, in particular an accident-prevention function, which may be in the form of a traveling-velocity limitation system, a function for occupant protection, which may provide precharging of the brake system or conditioning of at least one restraint system, or a driver-information function, which may be in the form of feedback regarding a forthcoming, critical curve, is activated as a vehicle function. In this manner, a safety risk derived from the predicted vehicle movement may be more easily or effectively minimized or reduced beforehand. In addition, it may be advantageous when a function relating to vehicle operation, in particular along the lines of optimizing fuel consumption or exhaust-gas composition, which may be within the scope of feedback regarding the fuel consumption or exhaust gas, is activated as a vehicle function. In this manner, an optimum fuel consumption or an optimum exhaust-gas composition may be produced for a predicted vehicle movement. It may be advantageous that when the feedback is carried out or performed haptically, in particular at an accelerator pedal. In this manner, it may be ensured that the driver also senses the feedback and can initiate proper measures, for example, completely releasing the accelerator pedal. An additional advantage may be provided when a yaw rate is selected as a characteristic value for the vehicle movement along the predefined route. The yaw rate represents a reliable value, in particularly for cornering, the driving safety to be expected for the predefined route and the current traveling velocity being able to be quantified with the aid of this value. It may also be advantageous when it is assumed that, during the calculation of the characteristic value, an accelerator pedal of the vehicle is not operated. In this manner, the safety risk may be deduced from the vehicle movement predicted by the current thrust of the vehicle and the predefined route alone, which means that a safety risk is also detected when the driver is no longer accelerating at all. A further advantage may be provided when the route of the vehicle is predetermined, in particular by a navigation system, in the form of a set of route points, and when the path between the route points is interpolated with the aid of continuous and differentiable functions. First of all, this allows the predefined route of the vehicle to be approximated in a particularly simple and complete manner, and secondly, the characteristic value for the expected vehicle movement may be derived from this predefined route with the aid of mathematical functions. A further advantage may be provided when the characteristic value is determined as a function of a steering angle, and when the steering angle is determined as a function of a traveling-direction vector and a vector tangent to the traveling direction. In this manner, the characteristic value may take into account the windiness of the predefined route in a particularly reliable manner. A further advantage may be provided when the traveling-direction vector is determined as a function of a radian measure of the predefined route, and when the radian measure is determined from a range of the vehicle. In this manner, the travel-direction vector may be ascertained with the aid of mathematical relationships. A further advantage may be provided when the range of the vehicle is ascertained as a function of a vehicle acceleration, and when the vehicle acceleration is ascertained with the aid of a pulling-force equation. In this manner, the range of the vehicle may also be determined in a particularly simple and reliable manner with the aid of mathematical and physical relationships. In At a time t The navigation device is provided with digital road data, which include, in part, a description of the network in the form of such routing points In the following, the method of the present invention is exemplarily described with the aid of a flowchart according to Vehicle An exact description of this interpolation method may be found, for example, in “Taschenbuch der Mathematik” (“Paperback Book of Mathematics”) (Bronstein, Semendjajew, 25th edition, p. 758). Furthermore, it is assumed that the interpolation method yields a continuous, differentiable description of predefined route
Points of reference In addition, “s” designates the range that the vehicle has while rolling, based on the current position, i.e. under the assumption that the driver takes his or her foot away from the accelerator pedal. At a program point Parameter r is initially equal to zero, i.e. r An integration step is carried out or performed at program point
In this equation: - {dot over (v)}
- F
_{th}(v) is the vehicle acceleration, - F
_{α}is the pushing force (or thrust) of the non-firing engine,- is the gradient-specific road resistances at time t
**0**,
- is the gradient-specific road resistances at time t
- cw is the drag coefficient,
- v is the vehicle velocity,
- m is the vehicle mass, and
- e is the mass-increase factor to compensate for the rotational inertias.
The pulling-force equation corresponds to a normal, non-linear, 2nd-order differential equation. In order to calculate range “s”, the equation is solved for “v” and numerically integrated. An integration step is made up of 3 computational operations: -
- a) Velocity v
_{i+1 }current for the (i+1)th integration step is yielded from the sum of last velocity value vi and the product of the corresponding acceleration value vdoti ({dot over (v)}_{i}) and integration time constant dt:
- a) Velocity v
For example, 500 ms may be selected for dt. -
- a) Calculating the acceleration from the pulling-force equation in view of the initial values or the values from the previous integration step, using the following equation:
In this context, the drag torque is measured by a torque-measuring hub and plotted versus the corresponding engine speed. In a summing element Portion Fα Range s For calculated range si, corresponding value ri in the parameter representation of C according to equation (1) must be ascertained for predefined route
where
In this context, ri are the parameters for points of reference If one solves the above equation for r
The method then branches to a program point 0:
It is assumed that the driver selects steering angle α
Steering angle α
Consequently, the following predicted yaw rate may be calculated from the so-called single-track model:
{dot over (ψ)} It was described how predicted yaw rate {dot over (Ψ)} In this manner, a vehicle function for preventing accidents, protecting occupants, informing the driver, in particular of imminent risks, or a vehicle function relating to vehicle operation and regarding the optimization of fuel consumption or the exhaust gas, may be activated as described. When an accelerator pedal is active, a restoring force, which the driver immediately senses at the accelerator pedal, via his foot, may be preselected by an electronic control unit (e.g. the engine control unit). This restoring force may inform one about imminent risks, such as a forthcoming, critical curve, or an optimum driving style may be recommended. The exemplary method of the present invention provides a method for pre-calculating yaw rate scidoti ({dot over (Ψ)} Referenced by
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