Control unit and control method for a motor vehicle
View Patent ↗A control unit is provided for operating a driver assistance system for automated lateral guidance of a motor vehicle. The control unit is configured, in a first operating state of the driver assistance system, to determine a target position of a steering wheel of the motor vehicle on the basis of the target steering angle of the motor vehicle which is stipulated by the driver assistance system in the first operating state, and to determine a quotient from the target steering angle which is stipulated by the driver assistance system in the first operating state, and from the target position which is determined therefrom, in order to determine a conversion factor. The control unit is configured, in a second operating state of the driver assistance system which is temporally sequential to the first operating state, by the application of the conversion factor thus determined, to determine a target steering angle equivalent on the basis of the target position of the steering wheel which is stipulated by the driver assistance system in the second operating state, by the application of the conversion factor thus determined, to determine an actual steering angle equivalent on the basis of an actual position of the steering wheel which is determined in the second operating state, and to control an operation of the driver assistance system on the base of a target value/actual value comparison of the target steering angle equivalent and the actual steering angle equivalent.
1 . An apparatus for operating a driver assistance system for automated lateral guidance of a motor vehicle, comprising:
a control unit, wherein
(i) in a first operating state of the driver assistance system, the control unit is configured to:
determine a target position of a steering wheel of the motor vehicle based on a target steering angle of the motor vehicle which is stipulated by the driver assistance system in the first operating state, and
determine a quotient from the target steering angle which is stipulated by the driver assistance system in the first operating state, and from the target position which is determined therefrom, in order to determine a conversion factor; and
(ii) in a second operating state of the driver assistance system which is temporally sequential to the first operating state, the control unit is configured to:
by applying the conversion factor thus determined, determine a target steering angle equivalent based on the target position of the steering wheel which is stipulated by the driver assistance system in the second operating state,
by applying the conversion factor thus determined, determine an actual steering angle equivalent based on the actual position of the steering wheel which is determined in the second operating state, and
control an operation of the driver assistance system based on a target value/actual value comparison of the target steering angle equivalent and the actual steering angle equivalent.
2 . The apparatus as claimed in claim 1 , wherein, in the first operating state, the control unit is further configured to:
determine a plurality of target positions of the steering wheel of the motor vehicle based on a plurality of target steering angles of the motor vehicle which are stipulated by the driver assistance system in the first operating state, and
in the first operating state, generate a respective quotient from the target steering angles stipulated by the driver assistance system and the target positions which are respectively determined therefrom, in order to establish a conversion factor as a mean value of the quotients thus determined.
3 . The apparatus as claimed in claim 1 , wherein
the first operating state of the driver assistance system is triggered by a restart of the control unit.
4 . The apparatus as claimed in claim 1 , wherein the conversion factor is only determined in the first operating state, when:
a speed of the motor vehicle is lower than a first predefined limiting value,
a difference between an actual position of the steering wheel of the motor vehicle and a target position of the steering wheel of the motor vehicle is smaller than a second predefined limiting value, and/or
a value for a target position of the steering wheel of the motor vehicle is lower than a third predefined limiting value.
5 . The apparatus as claimed in claim 1 , wherein
the first operating state is sustained until such time as a predefined number of quotients for the conversion factor have been determined, optionally within a predefined time interval.
6 . The apparatus as claimed in claim 1 , wherein control of the operation of the driver assistance system based on a target value/actual value comparison of the target steering angle equivalent and the actual steering angle equivalent comprises:
a difference formation between the target steering angle equivalent and the actual steering angle equivalent, in order to determine a relative deviation, and
termination, or suppression of the activation of automated lateral control of the motor vehicle by the driver assistance system, if the relative deviation exceeds a fourth predefined limiting value.
7 . A motor vehicle comprising the apparatus as claimed in claim 1 .
8 . A method for operating a driver assistance system for automated lateral guidance of a motor vehicle, the method comprising:
(i) in a first operating state of the driver assistance system:
determining a target position of a steering wheel of the motor vehicle based on a target steering angle of the motor vehicle stipulated by a driver assistance system in the first operating state, and
determining a quotient from the target steering angle stipulated by the driver assistance system in the first operating state and the target position thus determined, in order to define a conversion factor; and
(ii) in a second operating state of the driver assistance system which is temporally sequential to the first operating state:
determining a target steering angle equivalent using the conversion factor thus defined, based on a target position of the steering wheel stipulated by the driver assistance system in the second operating state,
determining an actual steering angle equivalent using the conversion factor thus defined, based on an actual position of the steering wheel determined in the second operating state, and
controlling operation of the driver assistance system based on a target value/actual value comparison of the target steering angle equivalent and the actual steering angle equivalent.
9 . The method as claimed in claim 8 , wherein, in the first operating state, the method further comprises:
determining a plurality of target positions of the steering wheel of the motor vehicle based on a plurality of target steering angles of the motor vehicle which are stipulated by the driver assistance system in the first operating state, and
in the first operating state, generating a respective quotient from the target steering angles stipulated by the driver assistance system and the target positions which are respectively determined therefrom, in order to establish a conversion factor as a mean value of the quotients thus determined.
10 . The method as claimed in claim 8 , wherein
the first operating state of the driver assistance system is triggered by a restart of the control unit.
11 . The method as claimed in claim 8 , wherein the conversion factor is only determined in the first operating state, when:
a speed of the motor vehicle is lower than a first predefined limiting value,
a difference between an actual position of the steering wheel of the motor vehicle and a target position of the steering wheel of the motor vehicle is smaller than a second predefined limiting value, and/or
a value for a target position of the steering wheel of the motor vehicle is lower than a third predefined limiting value.
12 . The method as claimed in claim 8 , wherein
the first operating state is sustained until such time as a predefined number of quotients for the conversion factor have been determined, optionally within a predefined time interval.
13 . The method as claimed in claim 8 , wherein controlling the operation of the driver assistance system based on a target value/actual value comparison of the target steering angle equivalent and the actual steering angle equivalent comprises:
a difference formation between the target steering angle equivalent and the actual steering angle equivalent, in order to determine a relative deviation, and
termination, or suppression of the activation of automated lateral control of the motor vehicle by the driver assistance system, if the relative deviation exceeds a fourth predefined limiting value.
14 . A computer product comprising a non-transitory computer-readable medium having stored thereon program code which, when executed by one or more processors, carries out the acts of:
(i) in a first operating state of the driver assistance system:
determining a target position of a steering wheel of the motor vehicle based on a target steering angle of the motor vehicle stipulated by a driver assistance system in the first operating state, and
determining a quotient from the target steering angle stipulated by the driver assistance system in the first operating state and the target position thus determined, in order to define a conversion factor; and
(ii) in a second operating state of the driver assistance system which is temporally sequential to the first operating state:
determining a target steering angle equivalent using the conversion factor thus defined, based on a target position of the steering wheel stipulated by the driver assistance system in the second operating state,
determining an actual steering angle equivalent using the conversion factor thus defined, based on an actual position of the steering wheel determined in the second operating state, and
controlling operation of the driver assistance system based on a target value/actual value comparison of the target steering angle equivalent and the actual steering angle equivalent.