DE102022204778A1 - Assistance system for a vehicle and method for operating an assistance system for a vehicle and vehicle - Google Patents

Abstract

The present invention relates to an assistance system for a vehicle (1), comprising a control device (2) for controlling actuators and sensors of the vehicle (1), at least one environment sensor for detecting the vehicle's surroundings, and a degradation manager which monitors functionalities of the vehicle (1). , wherein the control device (2) is configured such that it carries out a driving maneuver of the vehicle (1) based on the vehicle environment, the driving maneuver being carried out in a first mode and a second mode and the change between the first and second mode based on the monitoring of the Degradation manager takes place.

Description

The present invention relates to an assistance system for a vehicle, a method for operating such an assistance system for a vehicle and a vehicle which includes an assistance system according to the invention.

Technological background

Generic vehicles, such as B. Passenger vehicles (cars), trucks (lorries) or motorcycles are increasingly being equipped with driver assistance systems that use sensor systems to detect the environment, recognize the traffic situation and support the driver, e.g. B. by braking or steering intervention or by issuing a visual or acoustic warning. Radar sensors, lidar sensors, camera sensors or the like are regularly used as sensor systems for detecting the environment. Conclusions about the environment can then be drawn from the sensor data determined by the sensors.

The term driving function includes in particular the (partially) automated, driver-experienced vehicle behavior in driver assistance systems. The processed sensor information is used to recognize the environment and, based on this, provide instructions for driver warning/information or for controlled steering, braking and acceleration. As a result, generic driving functions can help to avoid accidents with other road users or make complicated driving maneuvers easier by supporting or even completely taking over the driving task or vehicle control. For example, the vehicle can z. B. by an emergency brake assistant (EBA, Emergency Brake Assist) an automatic emergency braking (AEB, Automatic Emergency Brake), by an emergency steering assistant (ESA, Emergency Steer Assist) an automatic evasive or emergency steering (AES, Automatic Emergency Steer) or by a active lane keeping assistant with steering support (LKA, Lane Keeping Assist). In addition to emergency braking in dangerous situations, automated brake intervention is particularly important when driving a vehicle (fully) automatically. Automated braking is initiated in a critical environmental situation or scene, particularly in the event of an impending collision.

Generic emergency braking systems react, for example, to braking vehicles or other road users in the front and rear areas, such as pedestrians or cyclists, and are designed in such a way that accidents are avoided through visual/acoustic warning signals from the driver as well as through automatic partial braking and full braking. The system cascades the various warning and braking levels as well as the various deceleration levels.

The aim of automatic emergency braking is essentially to avoid accidents with another road user. However, road users approaching from the rear or behind are usually not taken into account, which means that, for example, B. rear-end collisions can occur. Brake lights or warning lights are therefore expediently provided, which are automatically activated during the braking process and thus represent a very important warning signal for other road users in order to indicate the braking process to them, e.g. B. a vehicle approaching from behind or its driver is warned so that he can react accordingly to the situation if necessary. This means accidents with other road users behind the vehicle can be avoided or mitigated.

Furthermore, rear-end collisions cannot be avoided simply by mitigating the braking process, since the automatic emergency braking system should not reduce the braking process itself or the braking effect in the event of a degradation or a reduction in braking and thus impede accident avoidance. As a result, the importance of warning and brake lights is highlighted, with automatic emergency braking potentially endangering road users behind the vehicle if the brake lights are not functioning properly (i.e. represents a state of degradation).

Printed state of the art

The DE 10 2017 111 004 A1 relates to a method and control device for autonomous emergency braking of a vehicle. This triggers an emergency braking process, which activates a rear light. In the event that this rear light fails, following vehicles would not be warned. In the process, driving dynamics variables of the own vehicle and distance measurement signals are recorded. If an emergency braking situation is detected based on the driving dynamics variables and the distance measurement signals, a first starting point is set for initiating a warning phase with the output of a warning signal without initiating braking , and a second starting point for initiating a subsequent partial braking phase with a lower partial braking brake pressure and a third starting point for initiating a subsequent emergency braking phase with a higher brake pressure are determined.

Object of the present invention

Based on the prior art, the object of the present invention is now to provide an assistance system with which safety can be improved, particularly with regard to rear-end collisions or secondary accidents during emergency maneuvers.

Solution to the task

The above task is solved by the entire teaching of claim 1 and the subordinate claims. Appropriate embodiments of the invention are claimed in the subclaims.

The assistance system according to the invention for a vehicle includes a control device for controlling actuators (e.g. engine control, brakes and/or steering) and sensors (environmental sensors, vehicle dynamics sensors, interior sensors and the like) of the vehicle, at least one environment sensor for detecting the vehicle's surroundings and objects therein, and a degradation manager, which monitors the functionalities of the vehicle, in particular the assistance system, the sensors, actuators, warning devices (e.g. a brake light or the like) or their functionality. The control device is configured in such a way that it carries out a driving maneuver of the vehicle with definable maneuver properties based on the vehicle's surroundings. Here, the driving maneuver is carried out in a first mode and a second mode, with the change between the first and second mode taking place based on the monitoring of the degradation manager, i.e. H. It switches between the first and second mode depending on whether e.g. B. the braking system works properly or not including the device for warning rear traffic or the brake light. The method according to the invention can reduce the risk of multiple accidents and dangerous accidents to a particular extent. Collisions can be avoided - even if the brake light or brake light is defective, making the systems much more robust than conventional systems.

Preferably, the environment sensor is a radar sensor and/or lidar sensor and/or camera sensor and/or ultrasonic sensor.

A warning device can expediently be provided, which preferably issues a visual and/or acoustic warning to other road users, in particular at least one warning light and/or a rotating beacon (in all colors such as blue, yellow, red and the like) and/or indicators and/or Exterior lights of the vehicle (LED strips, home lights or the like) and/or brake lights and/or a horn and/or horn and/or siren may be provided. In addition, it is also conceivable to send a radio signal to other road users (car-to-car or car-to-X communication), e.g. B. causes a visual, acoustic or haptic warning as soon as this has been received by a corresponding receiver (e.g. other road users).

Preferably, a warning is issued via the warning device during the braking process, in particular flashing warning and emergency lights or signal tones from a horn or a horn. In particular, this has a beneficial effect on the functionality of the assistance system, since emergency braking should only be carried out if a brake light to warn the traffic behind is also working. However, in the event that the degradation manager determines that the brake light no longer works, this can still be done an emergency braking with warning of the traffic behind can be carried out if this is then done in a redundant manner, e.g. B. can be warned via rotating beacons, indicators or hazard warning lights by both indicators (hazard warning lights) or the like.

Emergency braking is preferably provided as a driving maneuver, with the assistance system then preferably being an emergency braking assistant. Alternatively or additionally, it is also conceivable that the driving maneuver involves emergency steering. Accordingly, the assistance system is then a steering assistant and/or a steering and braking assistant.

In practical terms, the first mode can cause automatic emergency braking, which occurs with maximum brake pressure.

Furthermore, the second mode can cause automatic emergency braking, in which the brake pressure is cascaded or applied gradually or in stages. This improves the braking process to a particular extent, as braking occurs less abruptly and the driver of the vehicle and other road users have more time to react to the dangerous situation. In contrast to conventional cascaded braking, which is intended to influence the braking process or primarily the strength of the braking intervention, this cascaded braking has the task of giving the following traffic reaction time by drawing attention to the impending braking process at an early stage should be directed. Thus, such cascaded braking does not correspond to a braking process in which the brake pressure is gradually increased in order to achieve a specific braking effect (in particular through the gradations of “prefill” and braking) - as is the braking increase in 3 shows.

The first mode can expediently bring about automatic emergency braking, which includes at least two braking stages - these can then be carried out in cascade. The term braking level means that a certain braking pressure is built up and maintained for a definable time (plateau formation). This significantly improves the braking process and increases safety.

The braking process is preferably preceded by at least one warning to the driver of the vehicle, which occurs during a definable warning time (tW), and then the braking process takes place within a definable braking time (tB).

According to a preferred embodiment of the invention, the duration of the warning time (tW) and braking time (tB) in the first mode and in the second mode is essentially, i.e. H. except for minimal deviations of a few percent (in particular <10%, preferably <5%, particularly preferably <2%). This allows the braking time in which other road users can be warned to be extended, while maintaining the same braking performance. This significantly increases the safety of the braking process.

Expediently, the duration of the warning time (tW) in the second mode can be shorter than in the first mode and the duration of the braking time (tB) in the second mode can be longer than in the first mode.

Furthermore, the duration of the warning time (tW) in the first mode and in the second mode can also be essentially the same and the duration of the braking time (tB) in the second mode is longer than in the first mode.

In addition, the invention also claims a method for an assistance system for a vehicle, in particular for an emergency braking and/or emergency steering assistance system, in which the assistance system has a control device for controlling actuators and sensors of the vehicle, at least one environment sensor for detecting the vehicle's surroundings, and at least one warning device for warning road users, and a degradation manager, which monitors the functionalities of the vehicle (sensors, actuators, warning devices, assistance functions or the like), whereby a driving maneuver of the vehicle is carried out based on the vehicle's surroundings. According to the invention, the driving maneuver is carried out in a first mode and a second mode, with the change between the first and second mode taking place based on the monitoring of the degradation manager.

The present invention further includes a vehicle that includes an assistance system according to the invention.

Description of the invention using exemplary embodiments

• 1 eine vereinfachte Darstellung einer Ausgestaltung eines Fahrzeuges mit erfindungsgemäßem Assistenzsystem;
• 2 eine stark vereinfachte schematische Darstellung einer Ausgestaltung des erfindungsgemäßen Assistenzsystems/Verfahrens;
• 3 eine vereinfachte Darstellung einer Ausgestaltung einer automatischen Notbremsung im ersten Modus, sowie
• 4 eine vereinfachte Darstellung einer Ausgestaltung einer automatischen Notbremsung im zweiten Modus.

The invention is explained in more detail below using practical exemplary embodiments. Show it:

• 1 a simplified representation of an embodiment of a vehicle with an assistance system according to the invention;
• 2 a greatly simplified schematic representation of an embodiment of the assistance system/method according to the invention;
• 3 a simplified representation of an embodiment of automatic emergency braking in the first mode, as well
• 4 a simplified representation of an embodiment of automatic emergency braking in the second mode.

Reference number 1 in 1 describes a vehicle which includes the assistance system according to the invention and for this purpose has a control device 2, which is z. B. can be a central control unit (ECU - Electronic Control Unit, ADCU Assisted & Automated Driving Control Unit), which can detect and classify the environment or the vehicle environment as well as the objects located therein using suitable sensors or sensor devices for surrounding detection. As a sensor device for detecting the surroundings, the vehicle 1 has a camera 3 arranged behind the windshield of the vehicle 1 and a lidar sensor 4, as well as a radar sensor 5 arranged in the front area of the ego vehicle 1 and a camera 6 arranged in the rear area. The sensors are not listed exhaustively here In particular, fewer or more sensors (e.g. further radar sensors in the front and/or rear area, further cameras and/or ultrasonic sensors at various points of the vehicle 1 and/or the like) can also be provided. Using the sensors for detecting the surroundings, the control device 2 can z. B. other road users who recognize roadside developments, guardrails, road markings, road signs and the like and use them to perform driving maneuvers.

The method according to the invention is carried out in a practical manner via the control device 2 in that the control device 2 is configured in such a way that it carries out a driving maneuver of the vehicle 1 with definable maneuver properties (in particular emergency steering or emergency braking) based on the vehicle's surroundings, with warning devices (in the embodiment according to 1 e.g . B. flashing lights 7, 8) can be controlled depending on the driving maneuver. To carry out the driving maneuvers, the control device 2 can carry out steering and/or braking interventions in the vehicle control system by using these actuators of the vehicle 1, e.g. B. controls a steering system 9, an engine control 10 and/or a brake 11, in order to support the driver of the vehicle 1 or to guide the vehicle 1 (partially) automatically.

Modern driver assistance systems have a monitoring monitor or monitoring manager (degradation manager), as provided for in various regulations and standards (e.g. UNECE). This monitoring monitor can, for example, be part of the control device 2 (or be designed as a separate unit) and informs the driver, for example. B. via a display 12 or another display device about the degradation status of the system (vehicle, emergency braking system, environmental problems or the like). If e.g. For example, if a brake light is not working, the degradation manager transmits this status to the driver and the assistance system (in particular emergency braking or emergency steering assistant). According to the invention, the assistance system then changes from normal operation or normal mode (first mode) to a special mode (second mode) in which the assistance system enables early braking with at least one additional stage of cascaded braking (s) in the event of danger. The activation of this second mode occurs earlier than the normal activation (according to the first mode) and is less strong, less disruptive and/or less delayed.

In 2 an embodiment of this process is shown schematically in a very simplified manner. The control device 2 can, for example, include the degradation manager as a module, as well as at least partially the assistance system, or the degradation manager can be present as a separate unit. This receives a verification signal, e.g. B. the signal from warning lights, which are z. B. can be rear brake lights or differently arranged warning lights. Furthermore, other warning devices can also be provided, such as. B. Turn signals and the associated hazard warning lights, a horn or horn, which can then emit a warning tone, or rotating beacons. The degradation manager monitors the functionality of the assistance system or the entire system, such as: B. also warning lights, brake lights or the like and thus determines functionality. Depending on whether functionality is guaranteed, the switch switches from the first mode, in which automatic partial or full braking occurs in the event of an emergency braking, to the second mode, in which automatic cascaded braking occurs with optional warning devices (e.g. in the event of a failed brake light, in addition to cascaded braking, the flashing and hazard warning lights 7, 8 are switched on as a redundancy to the defective brake light in order to warn following traffic or to draw additional attention to the braking process - that is, depending on the malfunction/state of degradation always fall back on a functioning redundant warning device).

The aim of cascaded braking is to avoid collisions with vehicles that are supposedly approaching and to give approaching road users the opportunity to determine that vehicle 1 is decelerating or braking. The assistance system according to the invention also takes the human reaction time into account. In a practical way, the flashing warning lights 7, 8 of the vehicle 1 can be switched on, which can increase the attention of other road users to the dangerous situation. Depending on the respective dangerous situation, the assistance system can only carry out emergency braking after the flashing warning lights have been switched on, or vice versa or at the same time as braking.

In 3 an overview of the normal mode or first mode is shown, which corresponds to the braking of a conventional emergency braking system. A distinction must be made here that a danger initially occurs (in 3 shown as a black flash), which is detected by the assistance system or by the sensors for environmental recognition. For example, this is a vehicle suddenly braking in front of the vehicle 1 or another acute dangerous situation which requires the vehicle 1 to brake.

This is followed by a pre-warning (in 3 shown as a warning triangle), which can be visual and/or acoustic and/or haptical. This alerts the driver of the vehicle 1 to the dangerous situation. This is followed by an acute warning, which is intended to give the driver the opportunity to intervene in the dangerous situation, for example through a suitable driving maneuver such as steering, swerving or braking. If the driver of vehicle 1 does not react to these warnings, the braking process takes place with maximum brake pressure L2. The brake pressure L2 is built up to a maximum (steep increase). The time from the start of the braking process L2 to standstill is referred to as the braking time. The time from the advance warning to the start of the braking process is referred to as the warning time.

In 4 an overview of an embodiment of the special mode (second mode) is presented, which corresponds to the method according to the invention. Appropriately, after the danger has been detected, a preliminary warning is given, which is followed by an acute warning. It can be clearly seen here that the warning time tW, which includes the time for the pre-warning and the acute warning, is significantly reduced compared to the normal mode or first mode, ie the braking time tB begins significantly earlier. In addition, braking does not occur with a simple increase in brake pressure, as in 3 shown, but through a type of cascaded braking in which the brake pressure is increased from stage to stage (L0 to L2). The last stage L2 of the stages corresponds to the maximum brake pressure, which also corresponds to the brake pressure L2 of a normal emergency braking process. This ensures that the vehicle 1 is braked gradually, and warning devices can also be active for a longer period of time (e.g. the hazard warning lights 7, 8), since the braking time is increased at the expense of the warning time tW - but does not occur abruptly. This ensures that the braking process itself, i.e. the time between the detected dangerous situation and the standstill of the vehicle 1 (= warning time tW+braking time tB), essentially corresponds to the same time in the second mode as in the first mode, i.e. the vehicle 1 is coming at the same time after a dangerous situation has been detected, it comes to a standstill. However, the second mode has a significantly longer braking time tB and therefore a significantly longer time to warn other road users (e.g. via the hazard warning lights - shown with the flashing and warning light symbols) than the first mode. However, the warning time or pre-warning and acute warning of the driver of vehicle 1 is reduced. In order not to unnecessarily reduce the comfort of braking in the second mode, the brake pressure is increased gradually (from level L0 to L2), which results in the vehicle 1 being braked in cascades without extending the braking time compared to the first mode. As a result, other road users can be warned for longer, without reducing the safety of the emergency braking process or the braking process itself. According to an alternative embodiment, the time of the braking process can also differ in the first and second modes.

Reference symbol list

1

vehicle

2

Control device

3

camera

4

Lidar sensor

5

Radar sensor

6

camera

7

Flashing light

8th

Flashing light

9

steering

10

Motor control

11

brake

12

display

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102017111004 A1 [0007]

Claims (13)

Assistance system for a vehicle (1), comprising a control device (2) for controlling actuators and sensors of the vehicle (1), at least one environment sensor for detecting the vehicle's surroundings, a degradation manager, which monitors the functionalities of the vehicle (1), whereby the control device (2) is configured in such a way that it carries out a driving maneuver of the vehicle (1) based on the vehicle environment, the driving maneuver being carried out in a first mode and a second mode and the change between the first and second mode taking place based on the monitoring of the degradation manager . assistance system Claim 1 , characterized in that a radar sensor (5) and/or lidar sensor (4) and/or camera sensor (3, 6) and/or ultrasonic sensor is provided as the environment sensor. assistance system Claim 1 or 2 , characterized in that a warning device is provided which can issue a visual and/or acoustic warning to road users and a warning is issued via the warning device during the braking process in the second mode. Assistance system according to one of the preceding claims, characterized in that emergency braking is provided as a driving maneuver. assistance system Claim 4 , characterized in that the first mode causes automatic emergency braking, which takes place with maximum brake pressure. Assistance system according to one of the Claims 4 or 5 , characterized in that the second mode causes automatic emergency braking, in which the brake pressure is applied in a cascaded manner. Assistance system according to one of the Claims 4 - 6 , characterized in that the first mode causes automatic emergency braking, which includes at least two braking stages. Assistance system according to one of the Claims 4 - 7 , characterized in that the braking process is preceded by at least one warning to the driver of the vehicle (1), which occurs during a definable warning time, and then the braking process takes place within a definable braking time. assistance system Claim 8 , characterized in that the duration of the warning time and braking time is essentially the same in the first mode and in the second mode. assistance system Claim 8 , characterized in that the duration of the warning time in the second mode is shorter than in the first mode and the duration of the braking time in the second mode is longer than in the first mode. assistance system Claim 8 , characterized in that the duration of the warning time in the first mode and in the second mode is essentially the same and the duration of the braking time in the second mode is longer than in the first mode. Method for an assistance system for a vehicle (1), in particular for an assistance system according to one of the preceding claims, in which the assistance system a control device (2) for controlling actuators and sensors of the vehicle (1), at least one environment sensor for detecting the vehicle's surroundings, and a degradation manager which monitors functionalities of the vehicle (1), wherein a driving maneuver of the vehicle (1) is carried out based on the vehicle surroundings, whereby the driving maneuver is carried out in a first mode and a second mode and the change between the first and second mode is carried out based on the monitoring of the degradation manager. Vehicle (1) comprising an assistance system according to one of Claims 1 - 11 .

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