DE102013103626A1 - Method for automatically braking and steering vehicle, involves detecting surrounding of vehicle environment by system, and determining order of automatic steering or braking operations based on relative speed of collision object - Google Patents

Method for automatically braking and steering vehicle, involves detecting surrounding of vehicle environment by system, and determining order of automatic steering or braking operations based on relative speed of collision object Download PDF

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Publication number
DE102013103626A1
DE102013103626A1 DE102013103626.0A DE102013103626A DE102013103626A1 DE 102013103626 A1 DE102013103626 A1 DE 102013103626A1 DE 102013103626 A DE102013103626 A DE 102013103626A DE 102013103626 A1 DE102013103626 A1 DE 102013103626A1
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DE
Germany
Prior art keywords
steering
vehicle
braking
relative speed
automated
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Withdrawn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
DE102013103626.0A
Other languages
German (de)
Inventor
Matthias Strauss
Pfeiffer Jürgen
Stefan Lüke
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.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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 Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Priority to DE102013103626.0A priority Critical patent/DE102013103626A1/en
Priority to PCT/DE2013/200376 priority patent/WO2014094772A1/en
Priority to EP13828911.1A priority patent/EP2934967B1/en
Priority to US14/648,427 priority patent/US9569968B2/en
Priority to DE112013006126.0T priority patent/DE112013006126A5/en
Publication of DE102013103626A1 publication Critical patent/DE102013103626A1/en
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/009—Priority selection
    • B60W2050/0091—Priority selection of control inputs
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/009—Priority selection
    • B60W2050/0094—Priority selection of control units
    • 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
    • B60W2554/00—Input parameters relating to objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The method involves detecting surrounding of a vehicle environment by a system, and determining an order of automatic steering or braking operations based on a function of relative speed of a collision object. An automated steering intervention is initially carried out for avoiding a lane change when relative speed is above a predetermined threshold value. The automatic braking operation is initiated during continuation of collision. An independent claim is also included for a control device for controlling automated braking and steering interventions of a vehicle.

Description

Fahrerassistenzsysteme, die den Fahrer beim Führen eines Fahrzeugs unterstützen, z.B. ACC, Spurhaltesysteme, Notbrems- und Lenkassistent etc., werden seit einigen Jahren in Serienfahrzeugen umgesetzt. Die Verantwortung für die Fahrzeugführung liegt weiterhin beim Fahrer, er muss zu jeder Zeit aufmerksam sein, um ggf. die Führung des Fahrzeugs zu übernehmen. Driver assistance systems that assist the driver in driving a vehicle, e.g. ACC, lane keeping systems, emergency brake and steering assistant, etc., have been implemented in production vehicles for several years. The responsibility for the vehicle management remains with the driver, he must be attentive at all times, if necessary, to take over the leadership of the vehicle.

Das automatisierte Führen eines Fahrzeugs, d.h. das Fahrzeug fährt autonom und der Fahrer darf seine Aufmerksamkeit auch anderen Tätigkeiten zuwenden, ist noch nicht verbreitet, ist jedoch nach heutigem Stand der Technik möglich. Auch hier ist der automatisierte Brems- und Lenkeingriff von großer Bedeutung. Automated driving of a vehicle, i. The vehicle drives autonomously and the driver may turn his attention to other activities is not yet widespread, but is possible according to the current state of the art. Again, the automated braking and steering intervention is of great importance.

Eine automatisierter Brems- und Lenkeingriff wird in beiden zuvor genannten Systemtypen in einer kritischen Umfeldsituation eingeleitet, und es ist die Aufgabe der hier vorliegenden Erfindung ein verbessertes Verfahren und Vorrichtung zum automatisierten Führen eines Fahrzeugs in einer kritischen Umfeldsituation anzugeben. An automated braking and steering intervention is initiated in both of the aforementioned system types in a critical environment situation, and it is the object of the present invention to provide an improved method and apparatus for automatically guiding a vehicle in a critical environment situation.

Das Fahrzeugumfeld wird von zumindest einem Umfelderfassungssystem, z.B. Radar-, Lidar oder Kamerasensorsystem, einem funkbasierten System, das per Funk Informationen von anderen Verkehrsteilnehmern erhält, oder einem Navigationssystem in Verbindung mit einer elektronischen Karte, überwacht. Eine kritische Umfeldsituation besteht z.B. bei einer Kollisionsgefahr mit einem Umgebungsobjekt. Die Überwachung des Fahrzeugumfeldes gibt ebenfalls Aufschluss darüber, ob die Möglichkeit eines Spurwechsels besteht oder Raum für ein Ausweichmanöver vorhanden ist. The vehicle environment is controlled by at least one surround detection system, e.g. Radar, Lidar or camera sensor system, a radio-based system that receives information from other road users by radio, or a navigation system in conjunction with an electronic map monitors. A critical environment exists e.g. in the event of a collision hazard with an environment object. The monitoring of the vehicle environment also provides information about whether there is the possibility of a lane change or if there is room for an evasive maneuver.

Erfindungsgemäß wird ein Verfahren zum automatisierte Bremsen und Lenken eines Fahrzeugs angegeben. Dazu umfasst das Fahrzeug zumindest ein System zur Erfassung des Fahrzeugumfelds. In Abhängigkeit von einer Relativgeschwindigkeit zu einem Kollisionsobjekt wird die Reihenfolge von automatisierten Lenk- bzw. Bremseingriff festgelegt, d.h. ob zunächst ein Bremseingriff und danach ggf. ein Lenkeingriff oder umgekehrt erfolgen soll. Der zweite Eingriff, z.B. nach dem Bremsungseingriff ein Lenkeingriff oder nach dem Lenkeingriff ein Bremseingriff, wird durchgeführt, wenn nach dem ersten Eingriff die Kollisionsgefahr weiterhin besteht. According to the invention, a method for automated braking and steering of a vehicle is specified. For this purpose, the vehicle comprises at least one system for detecting the vehicle environment. Depending on a relative speed to a collision object, the order of automated steering or braking intervention is determined, i. whether initially a braking intervention and then possibly a steering intervention or vice versa should take place. The second intervention, e.g. after the braking intervention, a steering intervention or after the steering intervention, a braking intervention is performed when after the first intervention, the risk of collision continues.

In einer bevorzugten Ausgestaltung der Erfindung wird bei einer Relativgeschwindigkeit oberhalb eines vorgegebenen Schwellwerts zunächst ein automatisierter Lenkeingriff zum Ausweichen bzw. Spurwechsel eingeleitet. In dem Falle, dass weiterhin eine Kollisionsgefahr besteht, wird danach eine automatisierte Bremsung ausgeführt. In a preferred embodiment of the invention, at a relative speed above a predetermined threshold value, an automated steering intervention for avoiding or changing lanes is initially initiated. In the event that there is still a risk of collision, then an automated braking is performed.

Die Erfindung umfasst zudem ein Steuergerät zur Steuerung automatisierten Brems- und Lenkeingriffs eines Fahrzeugs, das mit zumindest einem System zur Umfelderfassung und den Bremsen und der Lenkung eines Fahrzeugs verbindbar ist. Das Steuergerät umfasst eine Speichereinheit, auf der ein Verfahren wie zuvor beschrieben hinterlegt ist, und eine Prozessoreinheit, zur Durchführung eines Verfahrens wie zuvor beschrieben. The invention also includes a control unit for controlling automated braking and steering intervention of a vehicle, which is connectable to at least one system for environment detection and the brakes and the steering of a vehicle. The control device comprises a memory unit, on which a method as described above is deposited, and a processor unit, for carrying out a method as described above.

Claims (3)

Verfahren zum automatisierten Bremsen und Lenken eines Fahrzeugs, wobei zumindest ein System zur Erfassung des Fahrzeugumfelds vorgesehen ist, dadurch gekennzeichnet, dass in Abhängigkeit von einer Relativgeschwindigkeit zu einem Kollisionsobjekt die Reihenfolge von automatisierten Lenk- bzw. Bremseingriff festgelegt wird. Method for the automated braking and steering of a vehicle, wherein at least one system for detecting the vehicle surroundings is provided, characterized in that the order of automated steering or braking intervention is determined as a function of a relative speed to a collision object. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass bei einer Relativgeschwindigkeit oberhalb eines vorgegebenen Schwellwerts zunächst ein automatisierter Lenkeingriff zum Ausweichen bzw. Spurwechsel erfolgt und danach in dem Falle, dass weiterhin eine Kollisionsgefahr besteht, eine automatisierte Bremsung eingeleitet wird. A method according to claim 1, characterized in that at a relative speed above a predetermined threshold initially an automated steering intervention for avoiding or lane change takes place and then in the event that there is still a risk of collision, an automated braking is initiated. Steuergerät zur Steuerung eines automatisierten Brems- und Lenkeingriffs eines Fahrzeugs, das – mit zumindest einem System zur Umfelderfassung, einer Bremseinheit und einer Lenkungseinheit in einem Fahrzeug verbindbar ist und – eine Speichereinheit, auf der ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist, und – eine Prozessoreinheit, zur Durchführung eines Verfahrens nach einem der vorherigen Ansprüche, umfasst. Control unit for controlling an automated braking and steering intervention of a vehicle, the - Can be connected to at least one system for environment detection, a brake unit and a steering unit in a vehicle and A memory unit on which a method according to one of the preceding claims is stored, and - A processor unit, for performing a method according to any one of the preceding claims comprises.
DE102013103626.0A 2012-12-20 2013-04-11 Method for automatically braking and steering vehicle, involves detecting surrounding of vehicle environment by system, and determining order of automatic steering or braking operations based on relative speed of collision object Withdrawn DE102013103626A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE102013103626.0A DE102013103626A1 (en) 2012-12-20 2013-04-11 Method for automatically braking and steering vehicle, involves detecting surrounding of vehicle environment by system, and determining order of automatic steering or braking operations based on relative speed of collision object
PCT/DE2013/200376 WO2014094772A1 (en) 2012-12-20 2013-12-18 Method and device for the automated braking and steering of a vehicle
EP13828911.1A EP2934967B1 (en) 2012-12-20 2013-12-18 Method and device for the automated braking and steering of a vehicle
US14/648,427 US9569968B2 (en) 2012-12-20 2013-12-18 Method and device for the automated braking and steering of a vehicle
DE112013006126.0T DE112013006126A5 (en) 2012-12-20 2013-12-18 Method and device for automated braking and steering of a vehicle

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012112799 2012-12-20
DE102012112799.9 2012-12-20
DE102013103626.0A DE102013103626A1 (en) 2012-12-20 2013-04-11 Method for automatically braking and steering vehicle, involves detecting surrounding of vehicle environment by system, and determining order of automatic steering or braking operations based on relative speed of collision object

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DE102013103626A1 true DE102013103626A1 (en) 2014-06-26

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9731717B2 (en) * 2014-10-27 2017-08-15 Hyundai Motor Company Driver assistance apparatus and method for operating the same
CN110877612A (en) * 2019-11-26 2020-03-13 江苏大学 Vehicle emergency lane change danger assessment method based on vehicle kinematics and genetic algorithm
CN113272196A (en) * 2018-11-29 2021-08-17 法雷奥开关和传感器有限责任公司 Advanced highway auxiliary scene

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005003274A1 (en) * 2005-01-25 2006-07-27 Robert Bosch Gmbh Collision occurrence preventing or reducing method for use in vehicle, involves identifying obstacle using field sensor, determining data of obstacle, and determining vehicle deceleration based on the data of obstacle and data of vehicle

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005003274A1 (en) * 2005-01-25 2006-07-27 Robert Bosch Gmbh Collision occurrence preventing or reducing method for use in vehicle, involves identifying obstacle using field sensor, determining data of obstacle, and determining vehicle deceleration based on the data of obstacle and data of vehicle

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9731717B2 (en) * 2014-10-27 2017-08-15 Hyundai Motor Company Driver assistance apparatus and method for operating the same
CN113272196A (en) * 2018-11-29 2021-08-17 法雷奥开关和传感器有限责任公司 Advanced highway auxiliary scene
US20220024475A1 (en) * 2018-11-29 2022-01-27 Valeo Schalter Und Sensoren Gmbh Advanced highway assist scenario
CN113272196B (en) * 2018-11-29 2024-03-29 法雷奥开关和传感器有限责任公司 Auxiliary scene of high-grade highway
US12005915B2 (en) * 2018-11-29 2024-06-11 Valeo Schalter Und Sensoren Gmbh Advanced highway assist scenario
CN110877612A (en) * 2019-11-26 2020-03-13 江苏大学 Vehicle emergency lane change danger assessment method based on vehicle kinematics and genetic algorithm
CN110877612B (en) * 2019-11-26 2022-03-22 江苏大学 Vehicle emergency lane change danger assessment method based on vehicle kinematics and genetic algorithm

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R163 Identified publications notified
R118 Application deemed withdrawn due to claim for domestic priority