WO2011095510A1 - Method for automatically braking a vehicle for preventing a collision or minimizing the consequences of a collision - Google Patents

Method for automatically braking a vehicle for preventing a collision or minimizing the consequences of a collision Download PDF

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Publication number
WO2011095510A1
WO2011095510A1 PCT/EP2011/051454 EP2011051454W WO2011095510A1 WO 2011095510 A1 WO2011095510 A1 WO 2011095510A1 EP 2011051454 W EP2011051454 W EP 2011051454W WO 2011095510 A1 WO2011095510 A1 WO 2011095510A1
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Prior art keywords
collision
time
warning
vehicle
driver
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PCT/EP2011/051454
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German (de)
French (fr)
Inventor
Philipp Reinisch
Peter Zahn
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Bayerische Motoren Werke Aktiengesellschaft
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Publication of WO2011095510A1 publication Critical patent/WO2011095510A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the invention relates to a method for the automatic braking of a vehicle for collision avoidance or Kollisions Pharmaceuticalmeidung according to the preamble of claim 1.
  • Modern driver assistance systems are able to completely avoid an imminent collision by an autonomously initiated full braking or at least to minimize the collision consequences. These systems detect the vehicle environment using suitable sensors (radar, lidar, image processing) or by evaluating vehicle-vehicle communication and determine possible collision objects. If a collision is imminent, a full deceleration is initiated at a certain intervention time.
  • the full deceleration for collision avoidance or collision mitigation is often combined with an upstream warning, which was the driver from the threat of danger should be. Due to the upstream warning, the driver is given the opportunity to independently defuse the situation.
  • a partial deceleration of the vehicle with a predetermined partial braking delay can take place in the sense of a haptic warning.
  • the intention of the driver is usually not yet assessable.
  • the warning also takes place before a planned evasive or overtaking maneuver, in which the driver is approaching.
  • the partial braking deceleration is perceived as a faulty and incomprehensible triggering of the warning since, from a subjective point of view, there is no danger of a collision.
  • the object of the invention is to provide an improved with respect to the warning method for automatically braking a vehicle for collision avoidance or Kollisions Pharmaceuticalmeidung, the driver should not be irritated by the warning even if he was planning zürn time of warning already overtaking or avoidance.
  • the invention is based on a conventional method for automatic braking of a vehicle for collision avoidance or collision mitigation with a detected collision object, wherein in a imminent collision with a determined intervention time, a braking system of the vehicle is automatically controlled such that a collision with the detected collision object can be avoided or at least the collision sequences can be reduced.
  • a driver warning is triggered at a determined warning time in order to inform a possibly inattentive driver early on the risk of collision. The driver warning is sent out so early that the driver still has the opportunity to independently initiate a corresponding driver reaction to avoid collision.
  • a reduction of the switching stage is performed by at least one switching stage, ie z. B. from the fifth to the fourth or third gear.
  • the number of switching stages to be reduced can be predetermined fixed or depending on predetermined operating parameters of the vehicle and / or situation parameters variable.
  • the operating data of the vehicle may, for example, be the current speed, the current gear, the current speed or the torque. In the case of the situation parameters, it is possible, for example, to evaluate data of an environmental sensor system and / or navigation data.
  • the further behavior of the driver in particular as to which further procedure he planned, should be taken into account.
  • the operation of the accelerator pedal can be observed with regard to the evaluation of the driver's reaction. If the driver remains on the accelerator pedal after the gear shift has been reduced or if he gives more throttle, a conscious overtaking maneuver can be assumed. An automatic emergency braking can be completely dispensed with in this situation.
  • a determined last avoidance time can be specified as intervention time for a - but still necessary - automatic emergency braking. If the driver does not make any evasive action, an automatic full deceleration is initiated at this last possible evasion time (or the last possible braking time, if this is after the last possible evasion time).
  • the driver is off the accelerator or even applies the brakes, it can be assumed that the driver is not planning to overtake.
  • an automatic full deceleration should be initiated in the event of an insufficient deceleration by the driver.
  • the last possible braking time is specified as the intervention time, in which case a collision can barely be prevented by an initiated full deceleration.
  • the inventive method a number of advantages.
  • the main advantage is the fact that the problem of subjective false triggering of the warning during active emergency braking can be avoided by the invention, the (switching) intervention is considered independent of the actual planned driving maneuver as correct and supportive. This can lead to increased acceptance of an automatic emergency brake assistant at the customer.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for automatically braking a vehicle for preventing a collision or minimizing the consequences of a collision with a detected collision object, wherein a braking system of the vehicle is automatically actuated at a determined engagement instant, such that a collision with the detected collision object can be prevented or at least the consequences of the collision can be reduced, and wherein a driver warning is initiated at a determined warning point in time prior to the engagement point in time. According to the invention, a reduction in the shift stage is performed at the determined warning point in time as a haptic warning.

Description

Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisi onsvermeidung oder Kollisionsfolgenminderung  Method for automatic braking of a vehicle for Kollis onsvermeidung or Kollisionsfolgenminderung
Die Erfindung bezieht sich auf ein Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung nach dem Oberbegriff des Anspruchs 1. The invention relates to a method for the automatic braking of a vehicle for collision avoidance or Kollisionsfolgenmeidung according to the preamble of claim 1.
Moderne Fahrerassistenzsysteme sind in der Lage, eine unmittelbar bevorstehende Kollision durch eine autonom initiierte Vollbremsung vollständig zu vermeiden oder zumindest die Kollisionsfolgen zu minimieren. Diese Systeme erfassen mit geeigneter Sensorik (Radar, Lidar, Bildverarbeitung) oder durch Auswertung von Fahrzeug-Fahrzeug-Kommunikation das Fahrzeugumfeld und ermitteln mögliche Kollisionsobjekte. Steht eine Kollision bevor, wird zu einem bestimmten Eingriffszeitpunkt eine Vollverzögerung eingeleitet. Modern driver assistance systems are able to completely avoid an imminent collision by an autonomously initiated full braking or at least to minimize the collision consequences. These systems detect the vehicle environment using suitable sensors (radar, lidar, image processing) or by evaluating vehicle-vehicle communication and determine possible collision objects. If a collision is imminent, a full deceleration is initiated at a certain intervention time.
Im Rahmen derartiger Notbremssysteme wird die Vollverzögerung zur Kollisionsvermeidung bzw. zur Kollisionsfolgenminderung oft mit einer vorgelagerten Warnung kombiniert, die den Fahrer vor der drohenden Gefahr war- nen soll. Durch die vorgelagerte Warnung wird dem Fahrer die Möglichkeit zur selbständigen Entschärfung der Situation gegeben. In the context of such emergency braking systems, the full deceleration for collision avoidance or collision mitigation is often combined with an upstream warning, which was the driver from the threat of danger should be. Due to the upstream warning, the driver is given the opportunity to independently defuse the situation.
Ein derartiges Verfahren und eine entsprechende Vorrichtung sind bereits aus der DE 102 58 617 B4 bekannt. Hier wird zur Vermeidung einer Auffahrkollision in einem ersten Schritt eine Fahrerwarnung zum Warnen des Fahrers vor einer möglichen Kollision ausgelöst und - falls der Fahrer die Situation nicht selbständig entschärft - in einem zweiten Schritt ein automatischer Notbremsvorgang eingeleitet. Such a method and a corresponding device are already known from DE 102 58 617 B4. Here, to avoid a collision collision in a first step, a driver warning to warn the driver of a possible collision is triggered and - if the driver does not defuse the situation independently - initiated in a second step, an automatic emergency braking.
Im Rahmen der Fahrerwarnung kann im Sinne einer haptischen Warnung eine Teilverzögerung des Fahrzeugs mit einer vorgegebenen Teilbremsverzögerung erfolgen. Zum Zeitpunkt dieser Warnung ist jedoch die Intention des Fahrers in der Regel noch nicht abschätzbar. So erfolgt die Warnung auch vor einem geplanten Ausweich- oder Überholmanöver, bei dem knapp auf den Vordermann aufgefahren wird. Die Teilbremsverzögerung wird in diesem Fall als fehlerhafte und nicht nachvollziehbare Auslösung der Warnung empfunden, da aus subjektiver Sicht keine Kollision droht. As part of the driver warning, a partial deceleration of the vehicle with a predetermined partial braking delay can take place in the sense of a haptic warning. At the time of this warning, however, the intention of the driver is usually not yet assessable. Thus, the warning also takes place before a planned evasive or overtaking maneuver, in which the driver is approaching. In this case, the partial braking deceleration is perceived as a faulty and incomprehensible triggering of the warning since, from a subjective point of view, there is no danger of a collision.
Aufgabe der Erfindung ist es, ein hinsichtlich der Warnung verbessertes Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung anzugeben, wobei der Fahrer durch die Warnung auch dann nicht irritiert werden soll, falls er zürn Zeitpunkt der Warnung bereits einen Überhol- oder Ausweichvorgang plante. The object of the invention is to provide an improved with respect to the warning method for automatically braking a vehicle for collision avoidance or Kollisionsfolgenmeidung, the driver should not be irritated by the warning even if he was planning zürn time of warning already overtaking or avoidance.
Diese Aufgabe wird durch ein Verfahren nach Patentanspruch 1 gelöst. Vorteilhafte Weiterbildungen ergeben sich aus den abhängigen Ansprüchen. This object is achieved by a method according to claim 1. Advantageous developments emerge from the dependent claims.
Die Erfindung geht von einem herkömmlichen Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung mit einem detektierten Kollisionsobjekt aus, wobei bei einer bevorstehenden Kollision zu einem ermittelten Eingriffszeitpunkt ein Bremssystem des Fahrzeugs automatisch derart angesteuert wird, dass eine Kollision mit dem detektierten Kollisionsobjekt vermieden oder zumindest die Kollisionsfolgen gemindert werden können. Bereits vor dem Eingriffszeitpunkt wird zu einem ermittelten Warnzeitpunkt eine Fahrerwarnung ausgelöst, um einen ggf. unaufmerksamen Fahrer frühzeitig auf die Kollisionsgefahr hinzuweisen. Die Fahrerwarnung wird dabei so rechtzeitig ausgesendet, dass der Fahrer noch die Möglichkeit hat, selbständig eine entsprechende Fahrerreaktion zur Kollisionsvermeidung einzuleiten. The invention is based on a conventional method for automatic braking of a vehicle for collision avoidance or collision mitigation with a detected collision object, wherein in a imminent collision with a determined intervention time, a braking system of the vehicle is automatically controlled such that a collision with the detected collision object can be avoided or at least the collision sequences can be reduced. Already before the intervention time, a driver warning is triggered at a determined warning time in order to inform a possibly inattentive driver early on the risk of collision. The driver warning is sent out so early that the driver still has the opportunity to independently initiate a corresponding driver reaction to avoid collision.
Um den Fahrer aber auch dann, wenn er bereits vor der Warnung die Gefahr bemerkte und eine entsprechende Fahrerreaktion plante, nicht zu verunsichern, wird erfindungsgemäß vorgeschlagen, zum ermittelten Warnzeitpunkt eine Reduzierung der Schaltstufe (im Sinne einer haptischen Warnung) vorzunehmen. Dadurch wird das Fahrzeug kurzzeitig durch das erhöhte In order not to unsettle the driver even if he already noticed the danger before the warning and planned a corresponding driver reaction, it is proposed according to the invention to perform a reduction of the switching stage (in the sense of a haptic warning) for the determined warning time. This will increase the vehicle momentarily
Schleppmoment verzögert. Drag torque delayed.
Diese Warnung bzw. Verzögerung erscheint dem Fahrer stets als angemessene Strategie: Hatte der Fahrer bereits vor der Warnung geplant, das vorausfahrende Fahrzeug zu überholen und fährt daher mit hoher Relativgeschwindigkeit auf das Vorderfahrzeug auf, erscheint ihm das This warning or delay always appears to the driver as an appropriate strategy: If the driver had already planned to overtake the vehicle ahead of the warning before the warning and therefore drives at high relative speed to the fore vehicle, this seems to him
Herunterschalten als Antizipation bzw. Einleitung des bevorstehenden Überholmanövers. Im niedrigeren Gang steht ihm mehr Drehmoment zur Verfügung, das er für ein beschleunigtes Überholen verwenden kann. Hatte der Fahrer jedoch das vorausfahrende Fahrzeug übersehen, wirkt der Schaltvorgang wie ein Bremsruck, der die Aufmerksamkeit des Fahrers (zurück) auf die Straße lenkt und ihm noch die Möglichkeit gibt, die drohende Kollision selbst zu vermeiden. Vorteilhafterweise wird eine Reduzierung der Schaltstufe um mindestens eine Schaltstufe vorgenommen, also z. B. vom fünften in den vierten oder dritten Gang. Die Anzahl der zu reduzierenden Schaltstufen kann dabei fest oder in Abhängigkeit vorgegebener Betriebsparameter des Fahrzeugs und/oder Situationsparameter variabel vorgegeben werden. Bei den Betriebsdaten des Fahrzeugs kann es sich bspw. um die aktuelle Geschwindigkeit, die aktuellen Gangstufe, die aktuelle Drehzahl oder das Drehmoment handeln. Bei den Situationsparametern können bspw. Daten einer Umfeld- sensorik und/oder Navigationsdaten ausgewertet werden. Downshift as anticipation or initiation of the upcoming overtaking maneuver. In the lower gear he has more torque available, which he can use for accelerated overtaking. However, if the driver has overlooked the vehicle in front, the shifting action acts as a brake pressure which draws the driver's attention (backwards) to the road and still gives him the opportunity to avoid the impending collision himself. Advantageously, a reduction of the switching stage is performed by at least one switching stage, ie z. B. from the fifth to the fourth or third gear. The number of switching stages to be reduced can be predetermined fixed or depending on predetermined operating parameters of the vehicle and / or situation parameters variable. The operating data of the vehicle may, for example, be the current speed, the current gear, the current speed or the torque. In the case of the situation parameters, it is possible, for example, to evaluate data of an environmental sensor system and / or navigation data.
Für das weitere Verfahren nach dem Schaltvorgang sollte das weitere Verhalten des Fahrers, insbesondere dahingehend, welche weitere Vorgehensweise er plante, berücksichtigt werden. In Abhängigkeit davon kann dann entschieden werden, ob ein automatischer Verzögerungseingriff vorgenommen werden muss, und wenn ja, zu welchem Zeitpunkt. In einer besonders vorteilhaften Ausgestaltung kann hinsichtlich der Auswertung der Fahrerreaktion die Betätigung des Gaspedals beobachtet werden. Bleibt der Fahrer nach der Reduzierung der Schaltstufe auf dem Gaspedal bzw. gibt er sogar mehr Gas, kann von einem bewussten Überholvorgang ausgegangen werden. Auf ein automatisches Notbremsen kann in dieser Situation vollständig verzichtet werden. Für eine zusätzliche Absicherung kann als Eingriffszeitpunkt für eine - doch noch notwendige - automatische Notbremsung ein ermittelter letztmöglicher Ausweichzeitpunkt vorgegeben werden. Falls der Fahrer doch keinen Ausweichvorgang vornimmt, wird zu diesem letztmöglichen Ausweichzeitpunkt (oder dem letztmöglichen Bremszeitpunkt, falls dieser nach dem letztmöglichen Ausweichzeitpunkt liegt) eine automatische Vollverzögerung eingeleitet. For the further procedure after the switching operation, the further behavior of the driver, in particular as to which further procedure he planned, should be taken into account. Depending on this, it can then be decided whether an automatic delay intervention must be made, and if so, at what time. In a particularly advantageous embodiment, the operation of the accelerator pedal can be observed with regard to the evaluation of the driver's reaction. If the driver remains on the accelerator pedal after the gear shift has been reduced or if he gives more throttle, a conscious overtaking maneuver can be assumed. An automatic emergency braking can be completely dispensed with in this situation. For an additional safeguard, a determined last avoidance time can be specified as intervention time for a - but still necessary - automatic emergency braking. If the driver does not make any evasive action, an automatic full deceleration is initiated at this last possible evasion time (or the last possible braking time, if this is after the last possible evasion time).
Geht der Fahrer jedoch vom Gas oder betätigt sogar die Bremse, kann davon ausgegangen werden, dass der Fahrer keinen Überholvorgang plant. Bei einer unzureichenden Verzögerung durch den Fahrer sollte in diesem Fall bei einer drohenden Kollision zu einem vorgegeben Eingriffszeitpunkt eine automatische Vollverzögerung eingeleitet werden. Als Eingriffszeitpunkt wird in diesem Fall der letztmögliche Bremszeitpunkt vorgegeben, bei dem durch eine eingeleitete Vollverzögerung eine Kollision gerade noch verhindert werden kann. However, if the driver is off the accelerator or even applies the brakes, it can be assumed that the driver is not planning to overtake. at In the event of an imminent collision at a given intervention time, an automatic full deceleration should be initiated in the event of an insufficient deceleration by the driver. In this case, the last possible braking time is specified as the intervention time, in which case a collision can barely be prevented by an initiated full deceleration.
Durch das erfindungsgemäße Verfahren ergeben sich eine Reihe von Vorteilen. Der wesentliche Vorteil ist darin zu sehen, dass durch die Erfindung die Problematik einer subjektiven Falschauslösung der Warnung bei der aktiven Gefahrenbremsung vermieden werden kann, indem der (Schalt-)eingriff unabhängig vom tatsächlich geplanten Fahrmanöver als richtig und unterstützend erachtet wird. Dies kann zu einer erhöhten Akzeptanz eines automatischen Notbremsassistenten beim Kunden führen. The inventive method, a number of advantages. The main advantage is the fact that the problem of subjective false triggering of the warning during active emergency braking can be avoided by the invention, the (switching) intervention is considered independent of the actual planned driving maneuver as correct and supportive. This can lead to increased acceptance of an automatic emergency brake assistant at the customer.

Claims

Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung Patentansprüche Method for automatic braking of a vehicle for collision avoidance or collision reduction claims
1. Verfahren zum automatischen Abbremsen eines Fahrzeugs zur Kollisionsvermeidung oder Kollisionsfolgenminderung mit einem detektierten Kollisionsobjekt, wobei zu einem ermittelten Eingriffszeitpunkt ein Bremssystem des Fahrzeugs automatisch derart angesteuert wird, dass eine Kollision mit dem detektierten Kollisionsobjekt vermieden oder zumindest die Kollisionsfolgen gemindert werden können, und wobei zu einem ermittelten Warnzeitpunkt vor dem Eingriffszeitpunkt eine Fahrerwarnung ausgelöst wird, dadurch gekennzeichnet, dass zum ermittelten Warnzeitpunkt als haptische Warnung eine Reduzierung der Schaltstufe vorgenommen wird. 1. A method for automatically braking a vehicle for collision avoidance or Kollisionsfolgenminderung with a detected collision object, wherein at a determined intervention time, a braking system of the vehicle is automatically controlled such that a collision with the detected collision object avoided or at least the collision sequences can be reduced, and wherein a detected warning time before the intervention time a driver warning is triggered, characterized in that the detected warning time as a haptic warning, a reduction of the switching stage is made.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass eine Reduzierung der Schaltstufe um mindestens eine Schaltstufe vorgenommen wird, wobei die Anzahl der zu reduzierenden Schaltstufen fest oder in Abhängigkeit vorgegebener Betriebsparameter des Fahrzeugs und/oder Situationsparameter variabel vorgegeben wird. 2. The method according to claim 1, characterized in that a reduction of the switching stage is performed by at least one switching stage, wherein the number of switching stages to be reduced is determined fixed or variable depending on predetermined operating parameters of the vehicle and / or situation parameters.
3. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass nach dem Auslösen der Fahrerwarnung der Eingriffszeitpunkt zum Auslösen eines automatischen Bremsvor- gangs in Abhängigkeit von einer Fahrerreaktion, insbesondere in Abhängigkeit von der Betätigung des Gaspedals festgelegt wird. 3. The method according to any one of the preceding claims, characterized in that after triggering the driver warning of the intervention time to trigger an automatic Bremsvor- gangs is determined in response to a driver response, in particular in response to the operation of the accelerator pedal.
Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass bei einer Fahrerreaktion, die auf einen Ausweich- oder Überholvorgang hindeutet, kein Eingriffszeitpunkt ermittelt wird oder ein ermittelter letztmöglicher Ausweichzeitpunkt als Eingriffszeitpunkt verwendet wird. A method according to claim 3, characterized in that in a driver reaction, which indicates an avoidance or passing process, no intervention time is determined or a determined last possible alternative time is used as the intervention time.
Verfahren nach Anspruch 3 oder 4, dadurch gekennzeichnet, dass bei keiner Fahrerreaktion, die auf einen Ausweich- oder Überholvorgang hindeutet, ein ermittelter letztmöglicher Bremszeitpunkt als Eingriffszeitpunkt festgelegt wird. A method according to claim 3 or 4, characterized in that at no driver reaction, which indicates an avoidance or passing process, a determined last possible braking time is set as the intervention time.
PCT/EP2011/051454 2010-02-04 2011-02-02 Method for automatically braking a vehicle for preventing a collision or minimizing the consequences of a collision WO2011095510A1 (en)

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DE102010006762.8 2010-02-04
DE201010006762 DE102010006762A1 (en) 2010-02-04 2010-02-04 Method for automatic braking of a vehicle for collision avoidance or collision following reduction

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US10773642B2 (en) 2013-11-06 2020-09-15 Frazier Cunningham, III Vehicle driver nudge system
US11813978B2 (en) 2013-11-06 2023-11-14 Frazier Cunningham, III Parking signaling system

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