CN114430721A - 用于执行用于单辙机动车辆的距离或速度调节功能的方法和装置 - Google Patents

用于执行用于单辙机动车辆的距离或速度调节功能的方法和装置 Download PDF

Info

Publication number
CN114430721A
CN114430721A CN202080068944.6A CN202080068944A CN114430721A CN 114430721 A CN114430721 A CN 114430721A CN 202080068944 A CN202080068944 A CN 202080068944A CN 114430721 A CN114430721 A CN 114430721A
Authority
CN
China
Prior art keywords
brake
driver
function
motor vehicle
track motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202080068944.6A
Other languages
English (en)
Inventor
M·舍恩赫尔
M·格雷劳德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN114430721A publication Critical patent/CN114430721A/zh
Pending legal-status Critical Current

Links

Images

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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements thereof
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

本发明涉及一种用于执行用于单辙机动车辆的距离或速度调节功能的方法，其中：‑如果制动操作元件的操纵强度超过第一阈值，则被激活的距离或速度调节功能能够由驾驶员通过操纵制动操作元件来去除激活；‑借助于安置在单辙机动车辆处的周围环境传感装置来为单辙机动车辆查明碰撞危险的存在；‑在存在碰撞危险时通过由驾驶员以超过第二阈值的操纵强度对制动操作元件进行操纵来激活紧急制动辅助功能，该紧急制动辅助功能在不依赖于驾驶员的情况下增强与操纵强度相对应的制动强度；‑其中，第二阈值低于第一阈值；‑其中，在结束紧急制动辅助功能之后，在不依赖于驾驶员的情况下用在激活紧急制动辅助功能之前存在的设定量来继续进行被激活的距离或速度调节功能。

Description

用于执行用于单辙机动车辆的距离或速度调节功能的方法和 装置
背景技术
DE 10 2015 217 256 A1教导一种用于在单辙机动车辆中执行紧急制动过程的方法，其中，
- 借助于对机动车辆前的周围环境进行检测的周围环境传感装置来查明对机动车辆的事故的概率进行描述的事故概率大小，
- 对于借助于事故概率大小的测评确定了所述事故概率超过预先给定的阈值这种情况来说，开始所述机动车辆的不依赖于驾驶员的紧急制动过程。
发明内容
本发明涉及一种用于执行用于单辙机动车辆的距离或速度调节功能或者说ACC功能的方法，其中：
- 如果制动操作元件的操纵强度超过第一阈值，则被激活的距离或速度调节功能能够由驾驶员通过操纵所述制动操作元件来去除激活；
- 借助于安置在所述单辙机动车辆处的周围环境传感装置来为所述单辙机动车辆查明碰撞危险的存在；
- 在存在碰撞危险时通过由驾驶员以超过第二阈值的操纵强度对所述制动操作元件进行操纵来激活紧急制动辅助功能，所述紧急制动辅助功能在不依赖于驾驶员的情况下增强与操纵强度相对应的制动强度；
- 其中，所述第二阈值低于所述第一阈值；
- 其中，在结束所述紧急制动辅助功能之后，在不依赖于驾驶员的情况下用在激活紧急制动辅助功能之前存在的设定量来继续进行所述被激活的距离或速度调节功能。
这允许将紧急制动辅助功能嵌入到距离或速度调节功能中。在短期必要的强烈的制动过程中——所述制动过程的强度无法在所述距离或速度调节功能的范围内呈现——所述制动过程能够通过驾驶员在使用紧急制动辅助机构的情况下被执行，而没有将所述距离或速度调节功能去除激活。
本发明的一种有利的设计方案的特征在于，如果所述第二阈值低于所述第一阈值，则仅仅在存在碰撞危险时通过由驾驶员以超过第二阈值的操纵强度对制动操作元件进行操纵来激活所述紧急制动辅助功能。由此保证，仅仅在存在碰撞危险时在没有将所述距离或速度调节功能去除激活的情况下能够执行所述紧急制动辅助功能。
本发明的一种有利的设计方案的特征在于，所述制动操作元件是制动踏板、制动杆或者制动旋转手柄。
本发明的一种有利的设计方案的特征在于，所述单辙机动车辆是摩托车。
本发明的一种有利的设计方案的特征在于，所述周围环境传感装置是雷达传感装置、视频传感装置、激光雷达传感装置或者超声波传感装置。这样的传感装置从轿车领域中已知。
本发明的一种有利的设计方案的特征在于，所述制动强度是制动力、制动力矩或制动压力。
此外，本发明包括一种装置，该装置包括被设计用于执行按本发明的方法的器件。在此尤其涉及一种控制器，在该控制器中存储了用于执行按本发明的方法的程序代码。
附图说明
附图包括图1。其中：
在图1中示出了按本发明的方法的一种设计方案的流程。
具体实施方式
ACC功能能够通过由驾驶员对制动操作元件进行操纵来去除激活。此外，有意义的是，对于ACC系统来说将不依赖于驾驶员的制动减速限制到最大值，以便不会由于未预料地剧烈的制动干预而过分要求驾驶员。
一种用于双轮车的可能的紧急制动辅助功能在于，只有当由驾驶员所要求的制动力不足以用于避免碰撞时，才出于安全原因激活该紧急制动辅助功能。所述紧急制动辅助功能并非在不依赖于驾驶员的情况下被触发，而是仅仅在驾驶员借助于制动操作元件开始制动时才被触发。而后，所述紧急制动辅助功能增强由驾驶员所要求的制动力。一旦驾驶员不再操纵制动操作元件，就结束所述紧急制动辅助功能。由此保证了，双轮车的驾驶员尽可能多地保持对双轮车的掌控。
如果不同地选择用于紧急制动辅助功能的触发和ACC功能的结束的制动操作元件阈值，则能够实现所述ACC功能和紧急制动辅助功能的组合。在此，所述用于紧急制动辅助功能的触发阈值小于用于所述ACC功能的去除激活的触发阈值。只要驾驶员操纵制动踏板，所述紧急制动辅助功能就针对碰撞危险的情况增强由驾驶员预先给定的制动强度预先规定。在结束所述紧急制动辅助功能之后，继续进行所述距离或速度调节功能或者说ACC功能。
在图1中示出了按本发明的方法的一种设计方案的流程。在方框100中开始所述方法之后，在方框101中激活所述距离或速度调节功能或者说ACC功能，并且在方框102中借助于安置在单辙机动车辆处的周围环境传感装置来检测并且分析处于单辙机动车辆前的周围环境。在方框103中，借助于所述周围环境传感装置的输出信号来查明，对单辙机动车辆来说是否存在碰撞危险。如果不是这种情况，则返回至方框102。但是，如果存在碰撞危险，则在方框104中查明存在通过驾驶员来操纵制动操作元件的情况。在方框105中检查，制动操作元件通过驾驶员的操纵强度是否超过预先给定的阈值。如果不是这种情况，则返回到方框104。但是，如果所述操纵强度超过阈值，则在方框106中激活所述紧急制动辅助功能。只要驾驶员操纵制动操作元件，这种功能就一直起作用。在结束所述紧急制动辅助功能之后，在方框107中恢复所述ACC功能并且在方框108中结束所述方法。

Claims (7)

1.用于执行用于单辙机动车辆的距离或速度调节功能的方法，其中，
- 如果制动操作元件的操纵强度超过第一阈值，则被激活的距离或速度调节功能能够由驾驶员通过操纵所述制动操作元件来去除激活（101）；
- 借助于安置在所述单辙机动车辆处的周围环境传感装置来为所述单辙机动车辆查明碰撞危险的存在（103）；
- 在存在碰撞危险时通过由驾驶员以超过第二阈值的操纵强度对所述制动操作元件进行操纵（105）来激活紧急制动辅助功能（106），所述紧急制动辅助功能在不依赖于驾驶员的情况下增强与所述操纵强度相对应的制动强度；
- 其中，所述第二阈值低于所述第一阈值；
- 其中，在结束所述紧急制动辅助功能之后，在不依赖于驾驶员的情况下用在激活紧急制动辅助功能之前存在的设定量来继续进行所述被激活的距离或速度调节功能（107）。
2.根据权利要求1所述的方法，其特征在于，如果所述第二阈值低于所述第一阈值，则仅仅在存在碰撞危险时通过由驾驶员以超过第二阈值的操纵强度对制动操作元件进行操纵来激活所述紧急制动辅助功能。
3.根据权利要求1所述的方法，其特征在于，所述制动操作元件是制动踏板、制动杆或者制动旋转手柄。
4.根据权利要求1所述的方法，其特征在于，所述单辙机动车辆是摩托车。
5.根据权利要求1所述的方法，其特征在于，所述周围环境传感装置是雷达传感装置、视频传感装置、激光雷达传感装置或者超声波传感装置。
6.根据权利要求1所述的方法，其特征在于，所述制动强度是制动力、制动力矩或制动压力。
7.装置，所述装置包括被设计用于执行按本发明的方法的器件。
CN202080068944.6A 2019-10-01 2020-08-11 用于执行用于单辙机动车辆的距离或速度调节功能的方法和装置 Pending CN114430721A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102019215101.9 2019-10-01
DE102019215101.9A DE102019215101A1 (de) 2019-10-01 2019-10-01 Verfahren und Vorrichtung zur Durchführung einer Abstands- oder Geschwindigkeitsregelungsfunktion für ein einspuriges Kraftfahrzeug
PCT/EP2020/072508 WO2021063576A1 (de) 2019-10-01 2020-08-11 Verfahren und vorrichtung zur durchführung einer abstands- oder geschwindigkeitsregelungsfunktion für ein einspuriges kraftfahrzeug

Publications (1)

Publication Number Publication Date
CN114430721A true CN114430721A (zh) 2022-05-03

Family

ID=72145363

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080068944.6A Pending CN114430721A (zh) 2019-10-01 2020-08-11 用于执行用于单辙机动车辆的距离或速度调节功能的方法和装置

Country Status (6)

Country Link
US (1) US20220281426A1 (zh)
EP (1) EP4037941B1 (zh)
JP (1) JP7387882B2 (zh)
CN (1) CN114430721A (zh)
DE (1) DE102019215101A1 (zh)
WO (1) WO2021063576A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023053022A1 (ja) * 2021-09-28 2023-04-06 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 制御装置及び制御方法
DE102022200404A1 (de) * 2022-01-14 2023-07-20 Volkswagen Aktiengesellschaft Verfahren zum Betreiben einer Bremsanlage in einem Fahrzeug, Computerprogrammprodukt, sowie Bremssystem

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004291667A (ja) * 2003-03-25 2004-10-21 Aisin Seiki Co Ltd 衝突予防装置
JP2011183983A (ja) * 2010-03-10 2011-09-22 Toyota Motor Corp 車両制御装置
FR2964632B1 (fr) * 2010-09-09 2012-10-19 Peugeot Citroen Automobiles Sa Procede de gestion d'un systeme d'aide a la conduite couple a un systeme d'aide au freinage d'un vehicule automobile confronte a un risque de collision
US9292471B2 (en) * 2011-02-18 2016-03-22 Honda Motor Co., Ltd. Coordinated vehicle response system and method for driver behavior
US8698639B2 (en) * 2011-02-18 2014-04-15 Honda Motor Co., Ltd. System and method for responding to driver behavior
DE102013226004A1 (de) 2012-12-18 2014-06-18 Continental Teves Ag & Co. Ohg Verfahren zur Steuerung eines Fahrzeugs mit einem eine Bremsassistenzfunktion aufweisenden Fahrerassistenzsystem
US9751534B2 (en) * 2013-03-15 2017-09-05 Honda Motor Co., Ltd. System and method for responding to driver state
DE102015217256A1 (de) 2015-09-10 2017-03-16 Robert Bosch Gmbh Verfahren und Vorrichtung zur Durchführung eines Notbremsvorgangs bei einem einspurigen Kraftfahrzeug
US11124069B2 (en) * 2016-09-27 2021-09-21 Honda Motor Co., Ltd. Vehicle

Also Published As

Publication number Publication date
JP2022549928A (ja) 2022-11-29
WO2021063576A1 (de) 2021-04-08
JP7387882B2 (ja) 2023-11-28
DE102019215101A1 (de) 2021-04-01
EP4037941B1 (de) 2023-10-11
EP4037941A1 (de) 2022-08-10
US20220281426A1 (en) 2022-09-08

Similar Documents

Publication Publication Date Title
JP5197572B2 (ja) 安全機能の作動解除のための装置及び方法
US8706372B2 (en) Method for adjusting a brake system of a vehicle in the event of a collision
US8942904B2 (en) Emergency brake assistance system for assisting a driver of a vehicle when setting the vehicle in motion
US9205815B2 (en) Method and device for autonomous braking of a vehicle following collision
US8095277B2 (en) Method for determining a direction of travel in a motor vehicle
US7894959B2 (en) Method and device for actuating a passenger protection means
US9956959B2 (en) Method for controlling a delay device of a vehicle
US10124775B2 (en) Method and device for operating a vehicle which is capable of autonomous driving
US8918255B2 (en) Method for preventing a collision of a vehicle and driver assistance system for a vehicle
US20120173068A1 (en) Method for assisting a driver of a motor vehicle
US9908532B2 (en) Method for determining the activity of a driver of a motor vehicle and the adaptive response time and a corresponding assistance system
JP2010030396A (ja) 車両用安全制御装置
US20170101131A1 (en) Driver Assistance System
US20080238075A1 (en) Method and Device for Control of a Reversible Belt Tensioner
JPWO2010125634A1 (ja) 運転支援装置
CN114430721A (zh) 用于执行用于单辙机动车辆的距离或速度调节功能的方法和装置
CN113104008A (zh) 驾驶支援装置
EP1839961A1 (en) Pedestrian protection system
US20110238267A1 (en) Method for adjusting a brake system of a vehicle
US20100045101A1 (en) Deactivating a safety function by braking
US10118598B2 (en) Vehicle braking control device
US20210347343A1 (en) Method and device for carrying out an autonomous brake application in a two-wheel motor vehicle
US20200290602A1 (en) Method and device for controlling movement for a single-track motor vehicle
US20080284243A1 (en) Method for a Preventive-Action Protection System in a Motor Vehicle
US20240157942A1 (en) Method and device for deactivating an assisted or automated driving function

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination