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CN109677376A 用于运行能够半自主地或者全自由地行驶的机动车的方法和装置 有权

用于运行能够半自主地或者全自由地行驶的机动车的方法和装置
Abstract:
本发明涉及一种用于运行能够半自主地或者全自主地行驶的机动车（1）的方法，所述机动车（1）具有多个车轮（8、12）、用于在所述车轮（8、12）中的至少一个车轮上产生驱动转矩的驱动系统（2）以及用于产生至少一个用来将所述车轮（8、12）中的至少一个车轮固定住的停止保持力的制动系统（3），其中为所述机动车（1）的车轮（8、12）中的至少一个车轮分配了转速传感器（13），所述转速传感器为所配属的车轮的多个旋转角位置分别产生信号脉冲，其中根据所产生的信号脉冲来实施能够预先给定的行驶策略。在此规定，在从静止状态出来的短程-行驶过程中首先一直降低所述制动力（FB），直至所述转速传感器（13）产生第一信号脉冲（T1），并且而后至少暂时地将所述制动力（FB）保持恒定，直至产生了预先确定的数目的信号脉冲（T1-T4），并且随后将所述制动力（FB）一直提高到所述停止保持力。
Abstract(English):

A method for operating a motor vehicle (1) having partial/full autonomous driving, having a plurality of wheels (8, 12), a drive system (2) for producing a drive torque at at least one of the wheels (8, 12), and a brake system (3) for producing at least one holding force for holding still at least one of the wheels (8, 12), a rotational speed sensor (13) being allocated to at least one of the wheels (8, 12), which sensor produces a respective signal pulse for each of a plurality of positions of angular rotation of the associated wheel, a specifiable driving maneuver being performed as a function of the produced signal pulses. For a short path driving process starting from a standstill, the brake force (FB) is reduced until the rotational speed sensor (13) produces a first signal pulse (T1), and is then held at least temporarily constant until a specified number of signal pulses (T1-T4) is produced, and subsequently is increased up to the holding force.

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