Driver assistance system of a non-track-bound vehicle
A driver assistance system and method of operating same is provided for a non-track-bound. By applying a steering torque to the driver's steering wheel via an electric motor, a direction-oriented steering recommendation is made to the driver. By this steering torque, first, a steering wheel angle in the recommended rotating direction at an angular speed that is greater in its amount is set and subsequently a steering wheel angle is set in the opposite rotating direction at an angular speed that is lower in its amount. Subsequent to the setting of the steering wheel angle having the opposite rotating direction, at a comparatively lower angular speed, a further steering wheel angle can be set, by which the vehicle is changed along a straight course of the road essentially to the orientation held before the making of the direction-oriented steering recommendation.
1. A driver assistance system of a non-track-bound vehicle having a steering wheel operable by a driver, the system comprising:
a drive operatively configured to apply a steering torque to the steering wheel in order to provide a direction-oriented steering recommendation to the driver; and
an electronic control unit operatively coupled to the drive and including a processor and associated memory, the control unit configured to operate the drive such that:
the steering wheel is set, via a first torque, to a first steering wheel angle in a first direction of rotation and according to a first angular velocity, thereby providing the direction-oriented steering recommendation to the driver, and
the steering wheel is set, via a second torque directed against the first torque, to a second steering wheel angle in a second direction of rotation opposite the first direction of rotation and according to a second angular velocity of smaller magnitude than the first angular velocity,
wherein the steering wheel is set to the first steering wheel angle over a first time period and the steering wheel is set to the second steering wheel angle over a second time period greater than the first time period.
2. The driver assistance system according to claim 1 , wherein the magnitude of the second steering wheel angle is essentially equal to the magnitude of the first steering wheel angle.
3. The driver assistance system according to claim 2 , wherein the electronic control unit is further configured to operate the drive such that the steering wheel is set to a third steering wheel angle from the second steering wheel angle by which the vehicle is essentially returned to an orientation held before the direction-oriented steering recommendation was provided.
4. The driver assistance system according to claim 1 , wherein the electronic control unit is further configured to operate the drive such that the steering wheel is set to a third steering wheel angle from the second steering wheel angle by which the vehicle is essentially returned to an orientation held before the direction-oriented steering recommendation was provided.
5. The driver assistance system according to claim 1 , further comprising:
a superimposing system configured to provide an additional steering angle in addition to a steering angle defined by the steering wheel, wherein
when the direction-oriented steering recommendation is made, the superimposing system sets the additional steering angle against the first steering wheel angle,
when the second steering wheel angle is being set, the superimposing system sets the additional steering angle against the second steering wheel angle, and
the additional steering angle is set such that the vehicle is returned at least approximately to an orientation held before the direction-oriented steering recommendation was provided.
6. The driver assistance system according to claim 1 ,
wherein rear wheels of the vehicle are steerable in addition to front wheels of the vehicle being steerable via the steering wheel, and
wherein
when the direction-oriented steering recommendation is made, a rear-wheel steering angle is set according to the first direction of rotation,
when the second the steering wheel angle is being set, the rear-wheel steering angle is set according to the second direction of rotation, and/or
the rear-wheel steering angle is set such that the vehicle is returned at least approximately to an orientation held before the direction-oriented steering recommendation was provided.
7. The driver assistance system according to claim 1 , further comprising a one-sided braking system configured to impress a yaw moment on the vehicle and directed against the first and/or second steering wheel angle.
8. The driver assistance system according to claim 1 , further comprising a one-sided braking system configured to impress a yaw moment on the vehicle such that the vehicle is returned at least approximately to an orientation held before the direction-oriented steering recommendation was provided.
9. The driver assistance system according to claim 1 , wherein the drive comprises at least one of: an electric motor and a servomotor, and wherein the control unit is further configured to automatically operate the drive in accordance with the first and second steering wheel angles and the first and second angular velocities.
10. The driver assistance system according to claim 1 , wherein the direction-oriented steering recommendation is made via a jerky application of the first steering torque to the steering wheel, and wherein subsequently, the second steering torque of a smaller magnitude and a correspondingly longer duration, directed against the first steering torque is applied to at least approximately neutralize the first steering torque.
11. The driver assistance system according to claim 10 , wherein an integral amount of the first steering torque over its effective period is essentially equal to an integral amount of the second steering torque over its effective period.
12. The driver assistance system according to claim 1 , wherein the drive comprises at least one of: an electric motor and a servomotor, and wherein the controller, in operating the drive to apply steering torque, accounts for friction effects in an associated steering system of the vehicle.
13. The driver assistance system according to claim 1 , wherein the second steering wheel angle is set from the first steering wheel angle.
14. A method of operating a driver assistance system of a non-track-bound vehicle, the method comprising the acts of:
making a direction-oriented steering recommendation to a driver of the vehicle by applying a first steering torque, via an electric motor, to a steering wheel operable by the driver, wherein
by way of the applied first steering torque, the steering wheel is set to a first steering wheel angle in a first rotating direction and according to a first angular velocity,
subsequently, by way of applying a second steering torque directed against the first steering torque, the steering wheel is set to a second steering wheel angle in a second rotating direction opposite the first rotating direction and according to a second angular velocity of a smaller magnitude than the first angular velocity, and
wherein the steering wheel is set to the first steering wheel angle over a first time period and the steering wheel is set to the second steering wheel angle over a second time period greater than the first time period.
15. The method according to claim 14 , wherein the magnitude of the second steering wheel angle is essentially equal to the magnitude of the first steering wheel angle.
16. The method according to claim 14 , further comprising the acts of:
setting the steering wheel to a third steering wheel angle from the second steering wheel angle by which the vehicle is essentially returned to an orientation held before the direction-oriented steering recommendation was made.
17. The method according to claim 16 , further comprising the acts of:
providing a steering angle for steerable wheels of the vehicle, the steering angle defined by the steering wheel,
providing, via a superimposing system, an additional steering angle for the steerable wheels, wherein
when the steering wheel is set to the first steering wheel angle, the additional steering angle is set against the first steering wheel angle,
when the steering wheel is set to the second steering wheel angle, the additional steering angle is set against the second steering wheel angle, and
the additional steering angle is set such that the vehicle is returned at least approximately to an orientation held before the direction-oriented steering recommendation was made.
18. The method according to claim 17 , wherein rear wheels of the vehicle are at least slightly steerable, the method further comprising the acts of:
steering rear wheels of the vehicle in accordance with the first rotating direction when the steering wheel is set to the first steering wheel angle,
steering rear wheels of the vehicle in accordance with the second rotating direction when the steering wheel is set to the second steering wheel angle, and/or
steering the rear wheels such that the vehicle is returned at least approximately to an orientation along a straight course of road held before the direction-oriented steering recommendation was made.
19. The method according to claim 18 , wherein a yaw moment is impressible on the vehicle by one-sided braking system, the method further comprising the acts of:
impressing the yaw moment such that the vehicle is returned at least approximately to an orientation held before the direction-oriented steering recommendation was made.