DE102007060862A1 - Emergency brake assistance system for e.g. passenger car, has control unit triggering driver warning i.e. haptic warning, when determined collision time period falls below emergency brake time period - Google Patents

Abstract

The system has a control unit determining a time period up to a start of a collision of two vehicles (F1, F2) i.e. lorry and passenger car, approximately. The control unit triggers a driver warning i.e. optical warning, when the determined collision time period falls below a lane changing time period, and triggers another driver warning i.e. acoustic warning, when the determined collision time period falls below a circular path avoiding time period. The control unit triggers a third driver warning i.e. haptic warning, when the determined time period falls below an emergency brake time period.

Description

The The invention relates to an emergency braking assistance system for motor vehicles, in particular for commercial vehicles according to the preamble of claim 1.

Brake assist systems for motor vehicles, especially commercial vehicles are sufficient known from the prior art.

In particular, from the DE 103 49 211 A1 a brake assist system for motor vehicles with a control device for controlling the generated braking forces, a brake force sensor and an evaluation device for detecting an emergency braking request of the driver and for preparing or initiating an emergency braking known in which the evaluation device receives signals of an environmental sensor and evaluates. In this case, unlike other known collision avoidance systems, the information provided by the environmental sensors is not automatically used for triggering an emergency braking operation, but rather the environmental sensor technology serves to assist the evaluation device in the recognition of the driver's emergency braking request hitherto solely on the basis of the pedal operation the actual emergency braking is initiated by the driver himself, by appropriate manual operation of the brake pedal.

Furthermore, from the DE 102 58 617 A1 already discloses a method and a device for triggering an automatic emergency braking operation of a vehicle, which discloses an assistance function for avoiding a collision of the vehicle with a vehicle in front or for reducing the consequences of an accident when it is unavoidable. Here, a two-stage collision warning of the driver and triggering an automatic emergency braking of the vehicle is dependent on the presence of a warning condition. The fulfillment of the specified warning condition indicates that, after a predetermined warning period to avoid the collision of a first vehicle with a leading second vehicle, the automatic emergency braking is triggered.

Further are Adaptive Cruise Control systems known, for example, when driving on the highway an automatic adjustment the speed of your own vehicle to the speed allow a preceding vehicle. One in the vehicle provided suitable environmental sensors, such as a radar sensor unit is to capture the forward-facing traffic environment provided, over which the distance and the relative speed or relative acceleration of the own vehicle to the preceding vehicle Vehicle determined and evaluated for automatic distance control become. Such distance control systems usually have also collision avoidance or collision mitigation functions on, over which the driver in an imminent danger of collision alarmed or targeted emergency braking is initiated.

outgoing from the stated prior art, the present invention the object of an improved emergency assistance system to create, which the driver while maintaining a possible high degree of comfort a reliable brake assistance in dangerous situations up to the automatic emergency braking in the unavoidable collision case allows. The task becomes starting from the preamble of claim 1 by the characterizing Characteristics solved.

Of the essential aspect of the method according to the invention can be seen in the fact that by the control unit the time to is approximately determined to the collision and the determined collision time duration with a lane change time period and / or a Kreisbahnausweichzeitdauer and a Notbremszeitdauer compared is, wherein falls below the lane change time period, a first driver warning, when falling below the circular path evasion time duration, a second driver warning and if the emergency brake time falls below a third driver warning is triggered. By the current driving or operating condition the vehicle carries dependent multi-level driver warning to reduce the collision consequences and offers the driver the opportunity to actively intervene in the current braking events to be able to.

Farther advantageous is provided when activating a in the first vehicle Distance control routine the second driver warning when falling below triggered a predetermined braking time, wherein the predetermined Braking time is selected differently to the circular path evasion time.

in this connection will be at least one in the context of the first to third driver warning optical and / or acoustic and / or haptic warning of the driver performed. In addition, at the first driver warning a slight warning braking generated by the brake system and at the second driver warning on Braking the vehicle with a medium delay triggered. The third driver warning is braked of the vehicle by the braking system with a predetermined emergency braking delay.

advantageous Further developments of the emergency brake assist system according to the invention are to be taken from the further dependent claims.

The Invention will be described below with reference to an embodiment described in more detail with reference to figures. Show it:

1 by way of example a plan view of a traffic situation for explaining the assistance functions provided by the emergency braking assistance system according to the invention,

2 by way of example in a schematic block diagram, an integrated into a vehicle emergency braking assistance system and

3 by way of example, a casserole diagram of the control and evaluation routine executed in the control unit of the emergency brake assist system.

In 1 is a traffic situation to explain the operation of the emergency brake assist system BS according to the invention sketched.

1 shows, for example, a roadway FB with a first and second lane FS1, FS2, on which a first and second vehicle F1, F2 travel in a common direction FR, both on a first lane FS1. The first lane FS1, for example, is followed by a second lane FS2 on the left hand side and a parking lane PS followed by a green line GS on the right hand side.

In The illustrated traffic situation is followed by the first vehicle F1 the second vehicle F2 after. According to the embodiment is the first vehicle F1 by a truck and the second Vehicle F2 formed by a passenger car. The first vehicle F1 has a first speed V1 and the second vehicle F2 a second speed V2 up. Both vehicles F1, F2 are located at a distance A from each other and have a relative speed RV or a relative acceleration RA.

When the second speed V2 is exceeded by the first speed V1 or falls below a minimum distance dependent on the present speeds V1, V2 or the relative speed RV between the two vehicles F1, F2, a collision of the first vehicle F1 with the second vehicle F2 is imminent , The minimum distance is usually specified in the time remaining until the collision with the preceding vehicle F2 or collision time period T. In order to avoid the collision or to reduce the collision sequences, there are essentially three possible reactions, which are described in US Pat 1 are indicated by means of three each reproducing a vehicle movement track lines.

To the one can by the driver of the first subsequent vehicle F1 a lane change from the first to the second lane FS1, FS2 be made and thus a collision with the preceding second vehicle F2 be prevented. Alternatively, by the Driver of the first vehicle F1 or automated by the emergency braking assistance system BS emergency braking be performed and thereby at least the scope of the collision be limited. After all exists for the driver of the first vehicle F1 still the possibility the evasion in the direction of the parking strip SF or green strip GS of the carriageway FB.

The described reaction possibilities of the driver according to the invention by the emergency braking assistance system BS suitably supported, in particular by the timely Initiation of an automated emergency braking process whose effect is reduced in this case by the emergency brake assist system BS only one Intervention in an emergency situation occurs, d. H. the emergency brake assist system BS is only for faulty, too late or neglecting driver reactions.

In 2 the structure of such an emergency braking assistance system BS is shown by way of example in a schematic block diagram.

The Emergency braking assistance system BS has at least one control unit CU and a memory unit MU, which communicate with each other for data exchange are connected. In the control unit CU is at least one control and evaluation routine SAR provided which for controlling a also connected to the control unit CU brake system BSS of the vehicle F1, in such a way that a collision avoided with the preceding vehicle F2, but at least the Scope of an unavoidable collision is reduced. In the storage unit For this purpose, the individual will be required to carry out the tax and evaluation routine SAR required parameters and measured values stored.

Further, for example, a distance control routine ACC is executed in the control unit CU. Alternatively, in the vehicle F1 for executing the distance control routine ACC, a separate distance control system (not in FIG 2 shown), which cooperates with the emergency brake assist system BS. The distance control routine ACC is in a manner known per se for automatically adapting the first speed V1 of the first vehicle F1 to the second speed V2 of the preceding second vehicle Vehicle F2 and the distance A between the aforementioned vehicles F1, F2 provided, which can already be made by the distance control routine ACC intervention in the brake system BSS.

At the control unit CU is connected to an environment sensor US, by means of the forward traffic environment of the first vehicle F1 detected and the distance A and the relative speed RV or Relative acceleration RA between the two vehicles F1, F2 determined and for the automatic distance control by means of the distance control routine ACC can be evaluated.

to Capturing the traffic environment can be a differently trained Environment sensor US application find, for example, a radar system, a lidar sensor system and / or image processing systems. through a radar system, for example, in addition to a measurement of the distance A between the two vehicles F1, F2 and their relative speed RV and relative acceleration RA are determined directly. By the surroundings sensor US determined information will be at least an environment data signal us the control unit CU displayed and in the control unit CU by means of the distance control routine ACC and / or the control and evaluation unit SAR evaluated.

Further the emergency brake assistance system BS has a rating unit BE, those with the control unit CU and various provided in the vehicle Operating elements, in particular the vehicle pedals and the steering wheel (not shown in the figures) is connected. about the evaluation unit BE becomes the operation, for example the brake pedal, the accelerator pedal and / or the steering wheel detected and in the form of at least one actuation signal bs of the control unit CU is displayed.

Further there is a connection from the control unit CU to the brake system BSS of the vehicle F1 and to an alarm signal unit AE. To the intervention the brake assist system BS in the brake system BSS of the vehicle F1 is at least a control signal ss1-ss3 from the control unit CU generated, which is transmitted to the brake system BSS. In particular, the emergency braking assistance system BS is to be engaged in the brake system BSS is designed for critical driving situations in longitudinal traffic, d. H. in the event of an imminent collision with one on the same lane FS1, FS2 vehicle F2 ahead.

In 3 is shown by way of example in a schematic flowchart, the control and evaluation routine SAR for collision avoidance or reduction of the collision scope.

The prerequisite for the provision of the driver assistance functions by the emergency braking assistance system BS is the vehicle F1 in motion, ie the vehicle F1 is rolling. At the beginning of the journey, the brake assist system BS, for example, automatically or manually activated by the driver and the in 3 illustrated control and evaluation routine SAR executed in the control unit CU.

As well is by the environment sensor US continuously the distance A and / or the relative velocity VR or relative acceleration VA between the both vehicles F1, F2 and the distance control routine ACC and / or the control and evaluation routine SAR in the form of at least an environment data signal us displayed.

Next the velocities V1, V2, RV and the relative acceleration RA alternatively or additionally, the "yaw rate", detects the wheel speeds and the lateral acceleration of the vehicle F1 and for the evaluation of the distance control routine ACC and / or the Control and evaluation routine SAR are supplied. The yaw rate refers to the angular velocity of the rotation around the Vertical axis of the vehicle and will be together with the wheel speeds and the lateral acceleration for determining vehicle stability evaluated in known stability systems.

By the control and evaluation routine SAR is first checked, whether there is an activation of the distance control routine ACC or Not. If this is the case, then an override of Distance control routine ACC monitored by the driver of the vehicle F1. An override of the distance control routine ACC is in particular when an actuation by the evaluation unit BE a vehicle pedal, such as the accelerator or brake pedal shown becomes.

Of the Driver can thus by a manual intervention in the steering and / or the actuation of the accelerator or brake pedal the distance control routine Override or cancel ACC. The override The mentioned pedals will only after a minimum override time for example 0.5 to 1 second, preferably 0.7 second accepted, so that scary, unintended accelerator pedal operations Do not lead to abort the distance control routine ACC. As long as the distance control routine ACC is active and the driving or accelerator pedal is pressed, a possibly preset medium delay not further amplified.

If there is no activation of the distance control routine ACC or if this is overridden by the driver when one of the pedals in the vehicle F1 is actuated, then the control and evaluation function is activated routine SAR depending on the information provided by the environmental sensor US information, in particular the distance A and the relative velocity VR or relative acceleration RA determines the probable time T until the collision occurs, ie the time T, which at the currently existing environmental parameters until the collision of the first vehicle F1 with the second vehicle F2 remains for the driver to carry out a collision-preventing driving maneuver. The determined collision time period T is hereby updated continuously or periodically by the control and evaluation routine SAR.

In order to avoid a collision, the control and evaluation routine SAR checks whether there is a predetermined lane change time duration SW. For this purpose, the determined collision time T is compared with the predetermined lane change time SW. The lane change time duration SW is thus understood to mean the collision time duration T determined by the control and evaluation routine SAR, the last time it is possible to change the first vehicle F1 from the first to the second lane FS1, FS2 without collision with the preceding second vehicle F2. namely at an assumed lateral acceleration of, for example, 3 m / s ² .

Enough the remaining time T until the collision occurs more off to a lane change from the currently traveled first Lane FS1 to make the adjacent second lane FS2, Thus, a first driver warning message WS1 is generated, in the context of which at least one optical and / or acoustic and / or haptic warning the driver takes place. For this purpose, for example, a warning signal ws generated by the control unit CU, which to the alarm signal unit AE for the output of the optical and / or acoustic and / or haptic Warning is transmitted.

Lies For example, an additional actuation of the Brake pedal by the driver before or is provided in the vehicle F1 Speed control system ("cruise control") activated, so is in addition to the delivery of optical and / or acoustic and / or haptic warning in the context of the first driver warning WS1 through the brake system BSS a slight warning braking ("brake pressure") generated. For this purpose, by the control unit CU, a first control signal ss1 generated that for controlling the braking system BSS of the vehicle F1 is provided. The first control signal ss1 is sent to the brake system BSS broadcast. By means of preferably short-term light Warning braking is the driver of the vehicle F1 in addition warned of the impending collision of the two vehicles F1, F2.

Becomes However, by the evaluation unit BE an actuation of the Accelerators detected and a corresponding actuation signal bs transmitted to the control and evaluation routine SAR, so is exclusively the optical and / or acoustic and / or haptic warning issued. Only when changing from the accelerator pedal on the brake pedal within a predetermined period of time, for example 0.5-1 seconds, preferably 0.7 seconds, takes place Activation of a light warning brake to alert the driver.

in the Distance control operation, d. H. with the distance control routine activated ACC eliminates the first driver warning WS1, and indeed assumed that the driver has higher expectations of the Notbremsassistenzsystem BS than in the case without distance control has. Rather, when activated distance control routine ACC is present a predetermined braking time MB monitored and dependent thereof issued a second driver warning WS2. For example a predetermined braking time MB of 2 s is selected.

As part of the second driver warning WS2, an average deceleration of the vehicle F1 is triggered in addition to the at least one visual and / or audible and / or haptic warning by the brake system BSS. For this purpose, the control unit CU generates a second control signal ss2, in the presence of which an average delay, for example at the level of the prior art known maximum deceleration of a distance control system, is initiated by the brake system BSS, for example with a delay of. 2 to -4 m / s ² , preferably -2.5 m / s ² .

After activation of the first driver warning WS1, the control and evaluation routine SAR at least monitors the presence of a circular path evasion time duration KB. The circular path evasion time period KB is understood to be the remaining collision time duration T determined by the control and evaluation routine SAR, at which an evasion of the first vehicle F1 on a circular path without collision with the preceding second vehicle F2 is possible for the last time, assuming a lateral acceleration of, for example 3 m / s ² . For example, if the currently determined collision time duration T falls below the predetermined orbit evasion time duration KB, the second driver warning WS2 is likewise activated.

Subsequently, it is checked by the control and evaluation unit SAR whether a predetermined emergency braking time NB is present, ie the currently determined collision time T already falls below the predetermined emergency braking time NB. The emergency brake duration NB indicates the time duration which, for a full braking of the vehicle F1 with a predetermined emergency brake delay is erforder Lich to significantly reduce the impact of the collision. In such emergency braking, although a collision of the two vehicles F1, F2 unavoidable, however, there is only a small relative speed RV between the following vehicle F1 and the preceding vehicle F2 immediately before the collision. When the emergency braking period NB is exceeded, the effect of the impact is reduced by the automated intervention of the emergency braking assistance system BS. The emergency brake delay is, for example, -6 m / s ² . In the third warning level WS, a third control signal ss3 is generated in addition to the visual and / or audible and / or haptic warning, which is controlled to the brake system BSS and there triggers full braking of the vehicle with the predetermined emergency brake delay.

is for example, the direction indicator ("turn signal") during a critical approach to the forerunner set and the accelerator pedal is pressed, then the first and / or second driver warning WS1, WS2 initially suppressed, since it is assumed that the driver intends to use the lane FS1, FS2 to change or stop behind the preceding vehicle.

can the driver, however, by dodging or braking a collision more prevent, d. H. is the emergency brake time NB by the current If the collision time KB has dropped below the determined collision time, the third one becomes Driver warning WS3 initiated and carried out an emergency braking.

In A preferred embodiment is the alarm signal unit AE arranged in the driver's field of vision and generating a red Brake lights trained. The alarm signal unit AE is here the Brake lights of a preceding vehicle modeled after.

The The invention has been described in an embodiment described. It is understood that many changes As well as modifications are possible, without thereby The invention underlying the invention is abandoned.

A

distance

ACC

Distance control routine

AE

Alarm signal unit

BE

assessment unit

bs

actuating signal

BS

emergency braking system

BSS

braking system

CU

control unit

F1

first vehicle

F2

second vehicle

FB

roadway

FS1

first lane

FS2

second lane

FR

driving direction

KB

Orbit avoidance period

MB

Braking time

MU

storage unit

NB

Notbremszeitpunkt

RA

relative acceleration

RV

relative speed

SAR

Tax- and evaluation routine

ss1-ss3

first to third control signal

SW

Lane change time

us

Environment data signal

US

environmental sensors

V1

first speed

V2

second speed

WS

warning

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10349211 A1 [0003]
• - DE 10258617 A1 [0004]

Claims (16)

Emergency braking assistance system (BS) for vehicles, in particular commercial vehicles, comprising at least one control unit (CU) for controlling a brake system (BSS) provided in a first vehicle (F1) and at least one environment sensor system (US) connected to the control unit (CU) the control unit (CU), depending on the information provided by the environmental sensor system (US), has an at least two-stage driver warning (WS1-WS3) of an imminent collision of the first vehicle (F1) with a preceding second vehicle (F2), characterized in that the time period (T) is approximately determined by the control unit (CU) until the collision occurs and that the determined collision time duration (T) is compared with a lane change time period (SW) and / or a circular path evasion time period (KB) and an emergency braking time period (NB) is, when falling below the lane change time (SW) a first driver warning (WS1), falls below the Circular path evasion time (KB) a second driver warning (WS2) and when the emergency braking time (NB) falls below a third driver warning (WS3) is triggered. Emergency brake assist system according to claim 1, characterized characterized in that when activated one provided in the first vehicle Distance control routine (ACC) the second driver warning (WS2) when exceeded a predetermined braking time (MB) is triggered, wherein the predetermined braking time (MB) different to the circular path evasion time (KB) is selected. Emergency brake assist system according to claim 1 or 2, characterized characterized in that as the first to third driver warning (WS1 to WS3) at least one optical and / or acoustic and / or haptic warning the driver is carried out. Emergency braking assistance system according to one of the claims 1 to 3, characterized in that at the first driver warning (WS1) a slight warning braking by the brake system (BSS) is generated. Emergency braking assistance system according to one of the claims 1 to 4, characterized in that at the second driver warning (WS2) a braking of the vehicle (F1) by the braking system (BSS) with a medium delay. Emergency braking assistance system according to one of the claims 1 to 5, characterized in that at the third driver warning (WS3) a braking of the vehicle (F1) by the braking system (BSS) with a given emergency brake delay. Emergency braking assistance system according to one of the claims 1 to 6, characterized in that the environment sensor (US) for Detecting at least the relative speed (RV) and / or the Relative acceleration (RA) and the distance (A) between the first Vehicle (F1) and the preceding second vehicle (F2) formed is. Emergency braking assistance system according to one of the claims 1 to 7, characterized in that the lane change period (SW) indicates the remaining time to collision time (T) at the last change of lane (FS1, FS2) by the first vehicle (F1) to avoid the collision with the preceding second Vehicle (F2) is possible. Emergency braking assistance system according to one of the claims 1 to 8, characterized in that the Kreisbahnausweichzeitdauer (KB) indicates the time remaining until the collision (T) when they reach the last time an evasion of the first vehicle (F1) on a circular path without collision with the previous second Vehicle (F2) is possible. Emergency braking assistance system according to one of the claims 1 to 9, characterized in that the emergency braking period (NB) indicates the remaining time to collision time (T) at the a full braking of the vehicle F1 with a predetermined emergency braking delay to a significant reduction in the impact of the collision leads. Emergency braking assistance system according to one of the claims 2 to 10, characterized in that at a manual intervention in the steering of the vehicle (F1) and / or on actuation of a vehicle pedal deactivates the distance control routine (ACC) becomes. Emergency braking assistance system according to one of the claims 3 to 10, characterized in that in the presence of an operation the accelerator pedal exclusively the optical and / or acoustic and / or haptic warning is issued. Emergency braking assistance system according to claim 12, characterized characterized in that when changing from the accelerator pedal to the brake pedal within a predetermined period of time, for example between 0.5-1 seconds, through the braking system (BSS) a slight Warning braking is generated. Emergency braking assistance system according to one of claims 1 to 4, characterized in that upon actuation of the brake pedal or upon activation of a speed control system provided in the vehicle (F1) at the first driver warning (WS1) in addition to the visual and / or audible and / or haptic warning by the Braking system (BSS) is generated a slight warning braking. Emergency braking assistance system according to one of the claims 1 to 10, characterized in that the environment sensor (US) by at least one radar system, a lidar sensor system and / or a Image processing systems is formed. Emergency braking assistance system according to one of the claims 1 to 10, characterized in that upon activation of a direction indicator unit and an actuation of the accelerator pedal, the first and / or second Driver warning (WS1, WS2) are suppressed.