DE102004056120A1 - Method for collision avoidance or Kollisionsfolgenminderung and apparatus for performing the method - Google Patents

Method for collision avoidance or Kollisionsfolgenminderung and apparatus for performing the method

Info

Publication number
DE102004056120A1
DE102004056120A1 DE102004056120A DE102004056120A DE102004056120A1 DE 102004056120 A1 DE102004056120 A1 DE 102004056120A1 DE 102004056120 A DE102004056120 A DE 102004056120A DE 102004056120 A DE102004056120 A DE 102004056120A DE 102004056120 A1 DE102004056120 A1 DE 102004056120A1
Authority
DE
Germany
Prior art keywords
motor vehicle
collision
characterized
tta
avoidance
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.)
Withdrawn
Application number
DE102004056120A
Other languages
German (de)
Inventor
Bernd Dipl.-Ing. Danner
Thomas Dipl.-Ing. Dohmke
Jörg Dipl.-Ing. Hillenbrand
Volker Dr.-Ing. Schmid
Andreas Dr.-Ing. Spieker
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.)
Daimler AG
Original Assignee
DaimlerChrysler AG
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 DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE102004056120A priority Critical patent/DE102004056120A1/en
Publication of DE102004056120A1 publication Critical patent/DE102004056120A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/008Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for anti-collision purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22Brake-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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/022Collision avoidance systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/024Collision mitigation systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

The invention relates to a method for collision avoidance or collision sequence reduction during a journey, in which a motor vehicle (10) approaches an obstacle (20), in particular a vehicle in front, wherein in a method at least the relative speed (vrel) between the motor vehicle (10). and the obstacle (20) is determined to have a time remaining until the latest start of a collision avoiding avoidance maneuver as an escape time (TTA) and a collision avoidance or collision sequence reducing action is performed in response to the determined avoidance time interval (TTA) and wherein the avoidance time period (TTA) is Time period is calculated, which is required by the distance (s) between the motor vehicle (10) and the obstacle (20) at the current relative speed (vrel) on one in dependence on the relative speed (vrel) and the driving speed (vego) of the motor vehicle (10) featured to reduce the acceptable limit distance (sA).

Description

  • The The invention relates to a method for collision avoidance or collision sequence reduction according to the generic term of claim 1 and an apparatus for carrying out the Process.
  • A generic method and an apparatus for performing such a method are for example from DE 101 02 772 A2 known. Thus, in the known method and the known device, the remaining time period until an expected collision of the motor vehicle with an obstacle is calculated as an escape time span and it is checked whether the vehicle can still avoid the obstacle within this time span. If avoidance is no longer possible, an automatic braking intervention or an automatic steering intervention is initiated to avoid collision or collision consequences. The avoidance period is calculated independently of the current driving speed, so that the intervention at low speeds can take place earlier than expected by the driver, which is perceived by the driver as implausible or patronizing. On the other hand, the high speed intervention may be too late, thereby compromising the reliability of the process.
  • Of the Invention is based on the object, a method according to the preamble of claim 1, which is at one against the State of the art more accurate calculation of the avoidance period based. The invention is further based on the object, a device to carry out of the procedure.
  • The The object is achieved by the features of claim 1 and of the patent claim 10 solved. advantageous Refinements and developments emerge from the dependent claims.
  • According to the invention is for Avoiding a collision of a motor vehicle with a potential Obstacle, in particular with a vehicle in front, or to reduce the collision consequences at least the relative speed between the motor vehicle and the obstacle as a state of motion of the obstacle describing size. Based on the relative speed will be one to the latest Start of a collision avoiding evasive maneuver remaining Time span determined as evasion time and a collision avoiding or collision sequence-reducing action depending on the determined avoidance period performed. The fallback period is here as a time span calculated that needed is the distance between the car and the obstacle at the instantaneous relative speed between the motor vehicle and the obstacle to one depending on the relative speed and the driving speed of the motor vehicle predetermined limit distance to reduce.
  • The Dodge period is thus both of the relative speed as well as the own driving speed of the motor vehicle dependent. The collision avoiding or collision sequence reducing action is thus speed-dependent fires what next to an increase Road safety also increases the acceptance of the procedure leads, because the driver triggered the Action rather expected and this does not feel patronized.
  • Preferably the limit distance is given as a value that is proportional to the relationship from relative speed to travel speed of the motor vehicle is and proportional to one of the driving speed of the motor vehicle dependent Pre-factor is.
  • Advantageously, the limit distance becomes according to the equation
    Figure 00030001
    calculated, where sA stands for the limit distance, b stands for a lateral offset by which the motor vehicle is to be offset by the evasive maneuver, vego stands for the current driving speed of the motor vehicle, ay stands for a maximum achievable lateral acceleration, l for a distance of the front of the motor vehicle is up to its center of gravity and vrel stands for the relative speed between the motor vehicle and the obstacle, ie for the approach speed, with which the force approaching the obstacle.
  • In an advantageous embodiment of the method according to the invention is called a collision avoiding or collision sequence mitigating action a warning is issued to the driver.
  • alternative or additionally to warn a brake intervention can be made.
  • Preferably the warning is issued to the driver, if the determined fallback period a predetermined first time threshold falls below. This first time span is advantageously equal to twice the driver's reaction time selected.
  • In a further advantageous embodiment of the method is at an operation the brake checked by the driver, whether the driver is applying the brake in a manner sufficient for collision avoidance Dimensions pressed. If this is not the case, a corrective brake intervention is made, to avoid a collision by a targeted increase of the brake pressure. The increase The brake pressure can be done, for example, such that the motor vehicle at a certain target distance to the obstacle is brought to a standstill or at least until the target distance is reached is delayed to the speed of the obstacle.
  • In a further advantageous embodiment of the method is at lack of braking by the driver an autonomous braking intervention initiated when it is determined that the fallback period is below a second time threshold, which in turn is smaller as the first time threshold. This will ensure that an intervention in the traffic situation takes place only if the Driver on a warning regarding a possible impending Collision did not react.
  • In a further advantageous embodiment of the method is the Traffic situation in the rear environment detected the motor vehicle and the braking intervention in dependence the rear traffic situation controlled. Thus, the braking intervention can be controlled so that the subsequent traffic is not unduly endangered thereby. Furthermore, it is possible To control the braking intervention so that in an unavoidable frontal accident and an unavoidable rear-end accident minimizes the overall consequences of the accident become.
  • In a further advantageous embodiment of the method is a Rideway determines which is the expected future position represents the motor vehicle. When calculating the fallback time then only such Taking into account obstacles which are at least partially within the driving tube. On This way it ensures that only essential obstacles the determination of the evasion period, so that false warnings or unexpected, traffic jeopardizing Brake interventions are avoided.
  • A Apparatus for carrying out the method according to the invention includes detection means for detecting obstacles in the forward Environment of the motor vehicle and to determine at least the relative speed between the motor vehicle and the potential obstacle. The device further comprises calculating means cooperating with the detection means for calculating the evasion time period and one with the calculation means cooperating control device for controlling a collision avoiding or collision sequence reducing action, in particular a braking intervention.
  • Preferably The device further comprises warning means for warning the driver before a possible Collision with the obstacle.
  • Preferably the device further comprises detection means for detection the traffic situation in the rear environment of the motor vehicle. These detection means interact with the calculation means and allow the control of the braking intervention taking into account the following Traffic.
  • The Invention will be described below with reference to figures. Show it:
  • 1 an example of the geometrical basis used to calculate the evasion period relationships
  • 2 a schematic representation of a vehicle in which the inventive method is implemented.
  • In 1 is a vehicle 10 and a slower vehicle ahead on the same lane 20 presented as a potential obstacle. The vehicle 10 moves in the vehicle longitudinal direction with the driving speed vego and the vehicle 20 with the speed vG.
  • In the figure is still a distance scale for the distance s between the vehicles 10 . 20 shown. According to this relative to the vehicle 20 The defined scale exists at the moment of observation between the vehicles 10 . 20 a distance s = sM.
  • The vehicle 10 is also in a position 11 which it will occupy at a time when it must start at the latest with the initiation of an evasive maneuver when a rear-end collision with the slower vehicle 20 should be avoided by avoiding. The vehicle 10 has at this time to a limit distance sA the preceding vehicle 20 approached.
  • In the figure, a time scale t is further represented, which represents the time t, which is needed to the vehicle 10 with unchanged relative speed vrel = vego - vG to move from a position s to the position s = sA. An alternate time period TTA (time to avoid) represents the time t, which is required by the distance s between the vehicles 10 . 20 from the current distance value sM to the limit distance sA, ie the time remaining to the driver until the latest time for the initiation of a collision avoiding evasive maneuver.
  • In the figure is still the trajectory 30 the evasive maneuver and a predicted driving line 40 represented, ie the area that the vehicle 10 is expected to be used in the near future.
  • The vehicle 10 is also in a position 12 shown it after performing the evasive maneuver next to the vehicle 20 will take. At this time is the vehicle 10 about the lateral offset b with respect to the original driving direction or with respect to the center of the predicted driving tube 40 added. For collision avoidance, the lateral offset b must be at least equal to half the width of the vehicle 10 plus half the width of the vehicle 20 be.
  • The limit distance sA is calculated according to the invention according to the following equation:
    Figure 00080001
  • In this equation, b stands for the required lateral offset, vego for the driving speed of the vehicle 10 , l for the distance from the front of the vehicle 10 up to his focus, vG for the speed of the vehicle 20 and ay for a maximum possible achievable lateral acceleration, which is achieved on the smallest possible stable passable circular path and which is advantageously adapted to the current road conditions, in particular the friction value. The road condition, in particular the road wetness or road slipperiness can be detected, for example, with a rain sensor or a sensor evaluating the windshield wiper activity or with a temperature sensor.
  • With the abbreviation vrel = vego - vG, where vrel is the relative speed between the vehicles 10 . 20 represents, the equation for the limit distance sA can be described as follows:
    Figure 00080002
  • The limit distance sA is thus proportional to the ratio of the relative speed vrel to the driving speed vego of the vehicle 10 and further proportional to a pre-factor represented by the root expression, which in turn is dependent on the driving speed vego of the vehicle 10 , from the maximum possible lateral acceleration ay, the required lateral offset b and the distance l between the front of the vehicle 10 and his focus.
  • From the equation for the limit distance sA, the fallback period TTA can then be calculated as follows:
    Figure 00090001
  • In this equation sM stands for the instantaneous distance between the vehicles, sA for the limit distance and vrel for the instantaneous relative speed between the vehicles 10 . 20 ,
  • If it is now determined that the avoidance period falls short of a predetermined first time threshold t1, a warning is issued to the driver in order to prevent him from a possible collision with the vehicle 20 to warn. This time threshold t1 is advantageously chosen to be equal to twice the driver's reaction time, ie, for example, equal to t = 2 s.
  • If the driver then actuates the brake, it is checked whether his brake request for a collision avoidance is sufficient. If this is not the case, a corrective braking intervention by a targeted braking force increase is made such that the vehicle 10 a target braking with a small residual distance to the vehicle in front 20 is carried out, wherein the remaining distance is advantageously determined taking into account the possibly subsequent rearward traffic.
  • reacts the driver does not respond to the warning, so he does not apply the brake nor the steering wheel or a direction indicator to sign that he intends to maneuver an evasive maneuver perform, An autonomous braking is initiated as soon as the avoidance period TTA is a second time threshold below the first time threshold t1 t2 falls below.
  • By these measures The number and severity of rear-end collisions can be significantly reduced.
  • In the 2 is the vehicle 10 shown schematically. The vehicle 10 has detection means 101 on for metrological detection of the traffic situation in front of the motor vehicle 10 as well as detection means 102 for recording the traffic situation behind the vehicle 10 , The detection means 101 . 102 can be designed as environment-sensing sensors, such as a radar, camera or laser scanner. The detection means 101 . 102 stand with an evaluation device 103 in conjunction with the sensor signals of the detection means 101 . 102 Quantities such as the distance, the speed or the acceleration of preceding or succeeding objects can be determined and tracked.
  • Furthermore, funds 104 for determining vehicle data, such as the airspeed, the self-acceleration, the assumed coefficient of friction of the road, the brake operation, the steering wheel operation and the predicted from steering angle and / or lane detection course or driving tube provided. On the basis of the output signals of the evaluation device 103 and the means 104 can with calculation means 105 a determination of the latest avoidance time TTA, to which a driver must start with an evasive maneuver, in order to collide with an object 20 in the direction of travel in front of the vehicle 10 safe to prevent.
  • In a control unit 106 It checks to see if the time span is up to that in the funds 105 determined fallback time TTA is below the first threshold t1. If the time interval lies below the first threshold t1 but above the second threshold t2, a warning means may be provided 107 to be activated. If the time interval lies below the second threshold t2 can with the means 104 be monitored whether the driver has pressed the brake, which brake request he has possibly made and whether this is sufficient to the vehicle 10 timely to a given target distance to the object 20 in the direction of travel in front of the vehicle to bring to a halt or the vehicle 10 until the time of reaching the target distance to the speed vG of the object 20 to delay. Furthermore, it can be monitored whether the driver intends to drive an evasive maneuver, which can be detected, for example, on the basis of the steering wheel actuation and / or the actuation of the direction indicator. If the driver has not operated the brake or the brake request is insufficient and, moreover, if no driver activity indicative of the initiation of an evasive maneuver has been detected, a brake control device may be provided 108 to control an intelligent brake booster in order to increase the braking force specifically to a level required for collision avoidance, or to initiate autonomous emergency braking. Alternatively or additionally, a steering control device 109 initiate an autonomous evasive maneuver when the evaluation device 103 judges that an accident can be avoided or at least that the consequences of an accident can be reduced. The control of the braking force or the decision to carry out an autonomous evasive maneuver can also take into account the subsequent traffic to avoid a rear-end collision with the subsequent traffic or minimize the consequences of such an accident at least.

Claims (12)

  1. Method for collision avoidance or collision consequence reduction during a journey, in which a motor vehicle ( 10 ) an obstacle ( 20 ), in particular a preceding vehicle, wherein in the method at least the relative speed (vrel) between the motor vehicle ( 10 ) and the obstacle ( 20 ), a time remaining until the latest start of a collision avoiding avoidance maneuver is determined as an escape time (TTA) and a collision avoidance or collision sequence reducing action is performed in dependence on the determined avoidance time period (TTA), characterized in that the avoidance time period (TTA) is calculated as a time period , which is needed to determine the distance (s) between the motor vehicle ( 10 ) and the obstacle ( 20 ) at the instantaneous relative speed (vrel) to a function of the relative speed (vrel) and the travel speed (vego) of the motor vehicle ( 10 ) specifiable limit distance (sA) to reduce.
  2. A method according to claim 1, characterized in that the limit distance (sA) is set as a value which is proportional to the ratio of relative speed (vrel) to driving speed (vego) of the motor vehicle ( 10 ) and is proportional to a vehicle speed (vego) dependent prefactor.
  3. A method according to claim 2, characterized in that the limit distance (sA) according to the equation
    Figure 00130001
    where sA stands for the limit distance, b stands for a lateral offset by which the motor vehicle is to be offset by the evasive maneuver, vego for the current driving speed of the motor vehicle ( 10 ay stands for a maximum achievable lateral acceleration, l stands for a distance from the front of the motor vehicle up to its center of gravity and vrel for the relative speed between the motor vehicle ( 10 ) and the obstacle ( 20 ) stands.
  4. Method according to one of the preceding claims, characterized characterized in that as collision-avoiding or collision-sequence-reducing Action a warning is issued to the driver and / or a braking intervention is made.
  5. Method according to claim 4, characterized in that that the warning is issued to the driver when the fallback period (TTA) falls below a predetermined first time threshold (t1).
  6. Method according to one of claims 4 to 6, characterized that at one press the brake tested by the driver whether the driver is applying the brake in a collision avoidance sufficient dimensions actuated and if that is not the case, a corrective one Brake intervention is made.
  7. Method according to one of claims 5 to 6, characterized that in the absence of braking by the driver, an autonomous braking intervention is initiated when the alternate period (TTA) is one below falls below the first time threshold (t1) lying second time threshold (t2).
  8. Method according to one of claims 4 to 8, characterized in that the traffic situation in the rear environment of the motor vehicle ( 10 ) is detected and that the braking intervention is controlled in dependence on the rear traffic situation.
  9. Method according to one of the preceding claims, characterized in that the prospective future position of the motor vehicle ( 10 ) representing driving tube ( 40 ) and that only such obstacles ( 20 ) are taken into account in the calculation of the avoidance time interval (TTA), which is at least partially within the travel path (TTA) ( 40 ) lie.
  10. Device for carrying out the method according to one of the preceding claims, with detection means ( 101 ) for the detection of obstacles ( 20 ) in the forward environment of the motor vehicle ( 10 ) and to identify at least one of the movements of the obstacles ( 20 ) descriptive size, with with the detection means ( 101 ) cooperating calculation means ( 105 ) for calculating the time-out period (TTA) and with the calculation means ( 105 ) cooperating control device ( 106 ) for controlling a collision avoiding or collision sequence reducing action.
  11. Apparatus according to claim 10, characterized in that warning means ( 107 ) to warn the driver of a possible collision with an obstacle ( 10 ) are provided.
  12. Apparatus according to claim 10 or 11, characterized in that with the calculation means ( 105 ) cooperating detection means ( 102 ) for detecting the traffic situation in the rear environment of the motor vehicle ( 10 ) are provided.
DE102004056120A 2004-11-20 2004-11-20 Method for collision avoidance or Kollisionsfolgenminderung and apparatus for performing the method Withdrawn DE102004056120A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102004056120A DE102004056120A1 (en) 2004-11-20 2004-11-20 Method for collision avoidance or Kollisionsfolgenminderung and apparatus for performing the method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004056120A DE102004056120A1 (en) 2004-11-20 2004-11-20 Method for collision avoidance or Kollisionsfolgenminderung and apparatus for performing the method
PCT/EP2005/011930 WO2006053655A1 (en) 2004-11-20 2005-11-08 Method for avoiding a collision or for reducing the consequences of a collision and device for carrying out said method

Publications (1)

Publication Number Publication Date
DE102004056120A1 true DE102004056120A1 (en) 2006-05-24

Family

ID=36313786

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102004056120A Withdrawn DE102004056120A1 (en) 2004-11-20 2004-11-20 Method for collision avoidance or Kollisionsfolgenminderung and apparatus for performing the method

Country Status (2)

Country Link
DE (1) DE102004056120A1 (en)
WO (1) WO2006053655A1 (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007013303A1 (en) 2007-03-16 2008-09-18 Robert Bosch Gmbh Method for calculating a collision avoiding trajectory for a driving maneuver of a vehicle
FR2915160A1 (en) * 2007-04-19 2008-10-24 Renault Sas Driving assisting device for car, has rear sensor measuring distance separating vehicle from its follower vehicle, and controller receiving signals from front and rear sensors and controlling actuator with setpoint function of signals
DE102007043157B4 (en) * 2006-09-21 2009-04-09 Denso Corp., Kariya-shi Collision determination device for vehicles
DE102008009900A1 (en) * 2008-02-19 2009-09-10 Fendt, Günter Vehicle e.g. passenger car, brake controlling method, involves processing and/or taking into consideration data of car-to-car communication system and precrash sensor system and/or optical detection system, by evaluation unit
EP2113437A2 (en) 2008-04-28 2009-11-04 Robert Bosch GmbH Method for ascertaining free areas in the vicinity of a motor vehicle in particular the vicinity relevant to driving the vehicle
WO2010000521A1 (en) * 2008-07-02 2010-01-07 Robert Bosch Gmbh Driver assistance method and apparatus
WO2010049192A1 (en) * 2008-10-28 2010-05-06 Robert Bosch Gmbh Method and control device for braking a vehicle after a collision
DE102009045661A1 (en) 2009-10-14 2011-04-21 Robert Bosch Gmbh Method for determining at least one passable area in the environment of a motor vehicle that is relevant in particular for the vehicle guidance
WO2011092229A1 (en) * 2010-01-29 2011-08-04 Bayerische Motoren Werke Aktiengesellschaft Method for automatically decelerating a vehicle to prevent a collision or reduce the consequences of a collision
WO2014114311A1 (en) * 2013-01-25 2014-07-31 Wabco Gmbh Method for determining an activation criterion for a brake application and emergency brake system for performing the method
WO2014146814A1 (en) * 2013-03-20 2014-09-25 Robert Bosch Gmbh Method and system for avoiding a collision in connection with vehicles
US8983706B2 (en) 2011-03-01 2015-03-17 Continental Teves Ag & Co. Ohg Safety device for motor vehicle and method for operating a motor vehicle
US9081387B2 (en) 2011-03-01 2015-07-14 Continental Teves Ag & Co. Ohg Method and device for the prediction and adaptation of movement trajectories of motor vehicles
DE102014208026A1 (en) 2014-04-29 2015-10-29 Continental Teves Ag & Co. Ohg Method and device for warning transport participants
US9174641B2 (en) 2011-03-09 2015-11-03 Continental Teves Ag & Co. Ohg Safety device for a motor vehicle and method for operating a motor vehicle
US9555781B2 (en) 2013-01-25 2017-01-31 Wabco Gmbh Determining a triggering criterion for vehicle braking
US9569968B2 (en) 2012-12-20 2017-02-14 Continental Teves Ag & Co. Ohg Method and device for the automated braking and steering of a vehicle
WO2019197864A1 (en) * 2017-12-28 2019-10-17 大众汽车股份公司 Collision prevention method and system for vehicle
EP3560778A1 (en) * 2018-04-25 2019-10-30 Mando Corporation Vehicle collision avoidance control device and method for controlling same

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008041627A1 (en) 2008-08-28 2010-03-04 Robert Bosch Gmbh Humidity determining method for control device of car, involves calculating capacitance value of precision capacitor, and determining humidity value of humidity acting on measurement electrode based on capacitance value

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3830790A1 (en) * 1988-09-09 1990-03-15 Freund Eckhard A method for automatically and apparatus for automatic collision avoidance Viable vehicles
DE4140327A1 (en) * 1991-12-06 1993-06-09 Bayerische Motoren Werke Ag, 8000 Muenchen, De A method of avoiding collisions of motor vehicles
JP3751142B2 (en) * 1998-02-18 2006-03-01 本田技研工業株式会社 Brake control device for vehicle
DE10102772A1 (en) 2001-01-23 2002-07-25 Bosch Gmbh Robert Device for adaptive motor vehicle speed regulation dependent on the relative speed and separation of an object in the vehicle path for accident avoidance by emergency activation of vehicle brakes or steering

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8026799B2 (en) 2006-09-21 2011-09-27 Denso Corporation Vehicle collision determination apparatus
DE102007043157B4 (en) * 2006-09-21 2009-04-09 Denso Corp., Kariya-shi Collision determination device for vehicles
WO2008113636A1 (en) 2007-03-16 2008-09-25 Robert Bosch Gmbh Method for the calculation of a collision-preventing trajectory for a driving maneuver of a vehicle
US8630762B2 (en) 2007-03-16 2014-01-14 Robert Bosch Gmbh Method for the calculation of a collision-preventing trajectory for a driving maneuver of a vehicle
CN101636304B (en) * 2007-03-16 2014-04-02 罗伯特.博世有限公司 Method for the calculation of a collision-preventing trajectory for a driving maneuver of a vehicle
DE102007013303A1 (en) 2007-03-16 2008-09-18 Robert Bosch Gmbh Method for calculating a collision avoiding trajectory for a driving maneuver of a vehicle
FR2915160A1 (en) * 2007-04-19 2008-10-24 Renault Sas Driving assisting device for car, has rear sensor measuring distance separating vehicle from its follower vehicle, and controller receiving signals from front and rear sensors and controlling actuator with setpoint function of signals
DE102008009900A1 (en) * 2008-02-19 2009-09-10 Fendt, Günter Vehicle e.g. passenger car, brake controlling method, involves processing and/or taking into consideration data of car-to-car communication system and precrash sensor system and/or optical detection system, by evaluation unit
DE102008009900B4 (en) * 2008-02-19 2010-12-02 Fendt, Günter Method and device for controlling a vehicle brake
EP2113437A2 (en) 2008-04-28 2009-11-04 Robert Bosch GmbH Method for ascertaining free areas in the vicinity of a motor vehicle in particular the vicinity relevant to driving the vehicle
DE102008001409A1 (en) 2008-04-28 2009-11-05 Robert Bosch Gmbh Method for determining free areas in the environment of a motor vehicle, which is particularly relevant for vehicle guidance
US8321066B2 (en) 2008-04-28 2012-11-27 Robert Bosch Gmbh Method for determining free spaces in the vicinity of a motor vehicle, in particular in the vicinity relevant to the vehicle operation
WO2010000521A1 (en) * 2008-07-02 2010-01-07 Robert Bosch Gmbh Driver assistance method and apparatus
DE102008040077A1 (en) 2008-07-02 2010-01-07 Robert Bosch Gmbh Driver assistance process
WO2010049192A1 (en) * 2008-10-28 2010-05-06 Robert Bosch Gmbh Method and control device for braking a vehicle after a collision
CN102549633B (en) * 2009-10-14 2016-03-02 罗伯特·博世有限公司 For determining the method at least one the wheeled region in the surrounding environment of motor vehicle
DE102009045661A1 (en) 2009-10-14 2011-04-21 Robert Bosch Gmbh Method for determining at least one passable area in the environment of a motor vehicle that is relevant in particular for the vehicle guidance
CN102549633A (en) * 2009-10-14 2012-07-04 罗伯特·博世有限公司 Method for determining at least one area in which a vehicle can drive in the surroundings of a motor vehicle
WO2011045118A1 (en) 2009-10-14 2011-04-21 Robert Bosch Gmbh Method for determining at least one area in which a vehicle can drive in the surroundings of a motor vehicle
WO2011092229A1 (en) * 2010-01-29 2011-08-04 Bayerische Motoren Werke Aktiengesellschaft Method for automatically decelerating a vehicle to prevent a collision or reduce the consequences of a collision
US8983706B2 (en) 2011-03-01 2015-03-17 Continental Teves Ag & Co. Ohg Safety device for motor vehicle and method for operating a motor vehicle
US9081387B2 (en) 2011-03-01 2015-07-14 Continental Teves Ag & Co. Ohg Method and device for the prediction and adaptation of movement trajectories of motor vehicles
US9174641B2 (en) 2011-03-09 2015-11-03 Continental Teves Ag & Co. Ohg Safety device for a motor vehicle and method for operating a motor vehicle
US9569968B2 (en) 2012-12-20 2017-02-14 Continental Teves Ag & Co. Ohg Method and device for the automated braking and steering of a vehicle
US10046761B2 (en) 2013-01-25 2018-08-14 Wabco Gmbh Determining an activation criterion for a brake application
WO2014114311A1 (en) * 2013-01-25 2014-07-31 Wabco Gmbh Method for determining an activation criterion for a brake application and emergency brake system for performing the method
US9555781B2 (en) 2013-01-25 2017-01-31 Wabco Gmbh Determining a triggering criterion for vehicle braking
WO2014146814A1 (en) * 2013-03-20 2014-09-25 Robert Bosch Gmbh Method and system for avoiding a collision in connection with vehicles
US9944259B2 (en) 2013-03-20 2018-04-17 Robert Bosch Gmbh Method and system for avoiding a vehicle collision
DE102014208026A1 (en) 2014-04-29 2015-10-29 Continental Teves Ag & Co. Ohg Method and device for warning transport participants
WO2019197864A1 (en) * 2017-12-28 2019-10-17 大众汽车股份公司 Collision prevention method and system for vehicle
EP3560778A1 (en) * 2018-04-25 2019-10-30 Mando Corporation Vehicle collision avoidance control device and method for controlling same

Also Published As

Publication number Publication date
WO2006053655A1 (en) 2006-05-26

Similar Documents

Publication Publication Date Title
US8762043B2 (en) Method and system for collision course prediction and collision avoidance and mitigation
EP2085281B1 (en) Driver condition detecting device, in-vehicle alarm system and drive assistance system
EP1409311B1 (en) Method and device for initiating and executing a deceleration of a vehicle
EP1539523B1 (en) Method and device for triggering an automatic emergency braking process of a vehicle
EP1010596B1 (en) Safety system for a motor vehicle
US5521579A (en) Method for providing guiding assistance for a vehicle in changing lane
US20080319610A1 (en) Method and Device for Avoiding and/or Reducing the Consequences of Collisions Upon Evasion with Respect to Obstacles
EP1379418B1 (en) Method for preventing collisions involving motor vehicles
DE102004062497B4 (en) Method and device for reducing the risk of a rear-end collision
EP1057159B1 (en) Method for preventing the collision of a vehicle with an obstacle located in front of the vehicle and braking device
US6017102A (en) Automatic-braking control system for a motor vehicle
EP1426230B1 (en) Driving assist system for vehicle
US6084508A (en) Automatic emergency braking method and arrangement
US8150583B2 (en) Method and apparatus for avoiding or mitigating vehicle collisions
EP1486933B1 (en) Driver assistance System
EP2637906B1 (en) Method for detecting critical driving situations of lorries or passenger vehicles and method for avoiding collisions
EP1346892B1 (en) Method and system for assisting driver of motor vehicle with deceleration control
US8386124B2 (en) Method and device for stabilizing a vehicle after a collision
JP2008307999A (en) Vehicular collision relaxing device
DE60116801T2 (en) Vehicle collision prevention device
EP1873736A1 (en) Method and system for aiding the driver of a motor vehicle in recognising road humps
EP2077212A1 (en) Driver assist system
DE102004035682B4 (en) Collision avoidance system for low speed
US7565242B2 (en) Method and device for triggering emergency braking
EP2095351B1 (en) System for determining objects

Legal Events

Date Code Title Description
8127 New person/name/address of the applicant

Owner name: DAIMLERCHRYSLER AG, 70327 STUTTGART, DE

8127 New person/name/address of the applicant

Owner name: DAIMLER AG, 70327 STUTTGART, DE

8120 Willingness to grant licenses paragraph 23
8139 Disposal/non-payment of the annual fee