DE19715622A1 - Collision warning system for use with a road vehicle - Google Patents

Collision warning system for use with a road vehicle

Info

Publication number
DE19715622A1
DE19715622A1 DE19715622A DE19715622A DE19715622A1 DE 19715622 A1 DE19715622 A1 DE 19715622A1 DE 19715622 A DE19715622 A DE 19715622A DE 19715622 A DE19715622 A DE 19715622A DE 19715622 A1 DE19715622 A1 DE 19715622A1
Authority
DE
Germany
Prior art keywords
vehicle
parking
brake
maneuvering
intervention
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.)
Ceased
Application number
DE19715622A
Other languages
German (de)
Inventor
Jochen Krismeyer
Thomas Goebel
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
ITT Manufacturing Enterprises LLC
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 ITT Manufacturing Enterprises LLC filed Critical ITT Manufacturing Enterprises LLC
Priority to DE19715622A priority Critical patent/DE19715622A1/en
Publication of DE19715622A1 publication Critical patent/DE19715622A1/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Regulating Braking Force (AREA)

Abstract

A road vehicle is fitted with a number of sensors at the front (SF) and rear (SR) that detect the presence of objects when manoeuvring the vehicle. The sensors are sampled (3) and fed as inputs to an on board processor (5). A further sensor (6) monitors the speed of the road wheels and indicates when the vehicle is at a standstill. Other inputs are from the brake pedal (11). Outputs are generated to a warning display (8) and to a braking control circuit (9).

Description

Die Erfindung bezieht sich auf eine elektronische Einpark- und/oder Rangierhilfe für ein Kraftfahrzeug, mit Einrichtun­ gen zum Erkennen von Hindernis sen und zum Messen des zur Verfügung stehenden Freiraums oder Abstands zu den Hinder­ nissen sowie mit einer elektronischen Schaltung zur Auswer­ tung der Meßwerte und/oder zur Auslösung von Warnsignalen.The invention relates to an electronic parking and / or maneuvering aid for a motor vehicle, with equipment to identify obstacles and to measure the Free space or distance to the obstacle nissen and with an electronic circuit for Auswer processing of the measured values and / or for triggering warning signals.

Eine derartige Einrichtung, die als Rangierhilfe beim Ein­ parken oder Wenden eines Fahrzeugs dient, ist bereits aus der DE 32 44 358 A1 bekannt. Die Fahrzeuge werden mit Radar-, Ultraschall- oder Infrarotmeßeinrichtungen zum Auf­ spüren von Hindernissen ausgerüstet. Im Fahrzeug befinden sich Anzeigenfelder mit Leuchtdioden, durch deren Aufleuch­ ten dem Fahrzeuglenker der Abstand des Fahrzeugs von dem Hindernis angezeigt wird. Beim Einparken oder Rangieren muß sich der Fahrer bemühen, durch Beobachtung der Anzeigeein­ richtungen den erforderlichen Abstand von den Hindernissen einzuhalten, um Kollisionen zu vermeiden.Such a facility that as a maneuvering aid when one parking or turning a vehicle is already out known from DE 32 44 358 A1. The vehicles are with Radar, ultrasound or infrared measuring devices for on sense obstacles. Are in the vehicle display fields with LEDs, by their lighting the vehicle driver the distance from the vehicle Obstacle appears. When parking or maneuvering the driver endeavors to observe the display directions the required distance from the obstacles to be observed to avoid collisions.

Es wurde auch schon vorgeschlagen, eine derartige Rangier­ hilfe durch Einbeziehung von Lenkwinkel-Sensoren und eines elektronischen Rechner- und Regelungssystems zu erweitern. Mit Hilfe dieses Systems wird dann auf Basis der erfaßten, die freie Parkfläche darstellenden Daten sowie unter Berück­ sichtigung der momentanen Fahrzeugposition und des aktuellen Lenkwinkels eines Einpark-Fahrvorgang errechnet und dem Fahr­ zeuglenker durch Vorgabe der erforderlichen Fahr- und Lenk­ manöver angezeigt (nicht vorveröffentlichte DE 196 46 559).It has also been suggested such a switch help by including steering angle sensors and one electronic computing and control system. With the help of this system, based on the recorded, the data representing the free parking space and under consideration view of the current vehicle position and the current one Steering angle of a parking driving process is calculated and the driving witness drivers by specifying the necessary driving and steering indicated maneuvers (not previously published DE 196 46 559).

Der vorliegenden Erfindung liegt nun die Aufgabe zugrunde, den Fahrer bei einem Rangiervorgang noch stärker zu entla­ sten und gleichzeitig den Schutz vor Kollisionen mit nicht oder zu spät erkannten Hindernissen noch zu erhöhen.The present invention is based on the object to release the driver even more when maneuvering and protection against collisions with or to increase obstacles recognized too late.

Es hat sich herausgestellt, daß diese Aufgabe mit einer elektronischen Hilfe der im Anspruch 1 genannten Art zu lö­ sen ist, deren Besonderheit darin besteht, daß eine Steuer­ schaltung vorhanden ist, die beim Annähern des Fahrzeugs an ein Hindernis einen selbsttätigen Bremseneingriff hervor­ ruft, der auf die Vermeidung einer Kollision mit dem Hinder­ nis gerichtet ist.It has been found that this task with a to solve electronic help of the type mentioned in claim 1 sen, whose peculiarity is that a tax circuit is present when the vehicle approaches an obstacle to automatic brake intervention who calls on avoiding a collision with the obstacle nis is directed.

Der Erfindung liegt also die Überlegung zugrunde, daß der Fahrer beim Rangieren oder Einparken nicht nur optisch oder akustisch vor dem Vorhandensein eines Hindernisses gewarnt werden sollte, sondern daß eine Kollision mit dem Hindernis durch einen automatischen, von der Elektronik gesteuerten Bremseneingriff auch bei einem Fahrfehler, bei einer Unauf­ merksamkeit des Fahrers oder bei einer verspäteten Reaktion des Fahrers mit hoher Sicherheit und Zuverlässigkeit vermie­ den werden kann.The invention is therefore based on the consideration that the Driver not only visually or when maneuvering or parking acoustically warned of the presence of an obstacle should be, but that a collision with the obstacle by an automatic, controlled by the electronics Brake intervention even in the event of a driving error, in the event of a bump driver's attention or in the event of a delayed reaction the driver with high safety and reliability that can be.

Da die für ein solches System benötigen Komponenten in mo­ dernen Fahrzeugen größtenteils ohnehin vorhanden sind, läßt sich die erfindungsgemäße Einpark- und Rangierhilfe mit ge­ ringem Aufwand verwirklichen; einige der benötigten Senso­ ren, die Elektronik und die Komponenten zum Bremseneingriff, wie Hydraulikventile, Hydraulikpumpe, aktiver Booster etc., sind nämlich, wenn das Fahrzeug mit einem Regelungssystem, wie ABS, ASR, ASMS oder dergleichen ausgerüstet ist, bereits vorhanden.Since the components required for such a system in mo whose vehicles are mostly available anyway the parking and maneuvering aid according to the invention with ge realize little effort; some of the senso needed the electronics and components for brake intervention, such as hydraulic valves, hydraulic pump, active booster etc., because if the vehicle has a control system, like ABS, ASR, ASMS or the like is already equipped available.

Es hat sich als zweckmäßig erwiesen, die Einparkhilfe derart auszulegen, daß der Bremseneingriff in Abhängigkeit von dem Abstand des Fahrzeugs zu dem Hindernis steuerbar ist. Durch Berücksichtigung der Fahrzeuggeschwindigkeit und/oder von weiteren errechneten oder gemessenen Größen, wie Fahrzeug­ beschleunigung, Fahrtrichtung etc., kann die erfindungsgemä­ ße Einpark- und Rangierhilfe noch weiter verbessert werden.It has proven expedient to use the parking aid in this way interpret that the brake intervention depending on the  Distance of the vehicle to the obstacle is controllable. By Taking into account the vehicle speed and / or other calculated or measured variables, such as vehicle acceleration, direction of travel etc., can the invention Parking and maneuvering assistance can be further improved.

Nach einem weiteren vorteilhaften Ausführungsbeispiel der Erfindung sind zum Erkennen der Hindernisse zumindest an der Fahrzeugfront und an dem Fahrzeugheck jeweils ein oder meh­ rere Abstandssensoren vorgesehen. Je nach Fahrtrichtung wer­ den nur die vorderen oder die hinteren Abstands-Meßeinrich­ tungen oder die zugehörigen Auswerte-Einrichtungen akti­ viert, um beispielsweise zu verhindern, daß bei Vorwärts­ fahrt durch ein folgendes, dicht auffahrendes Fahrzeug die Bremse aktiviert wird.According to a further advantageous embodiment of the Invention are at least to recognize the obstacles Front and rear of the vehicle one or more rere distance sensors provided. Depending on the direction of travel only the front or rear distance measuring device lines or the associated evaluation devices acti fourth, for example to prevent forward drives through a following, closely colliding vehicle Brake is activated.

Ferner hat es sich als zweckmäßig erwiesen, bei Stillstand des Fahrzeugs oder Unterschreiten einer sehr geringen Min­ destgeschwindigkeit die Bremsenaktivierung durch die erfin­ dungsgemäße Einparkhilfe zu beenden, um beim Parken ein sehr beabsichtigtes Auffahren, Berühren einer Abgrenzung oder eines anderen Fahrzeugs zu ermöglichen.It has also proven to be useful when the machine is at a standstill of the vehicle or falling below a very low min minimum speed the brake activation by the inventor according to the parking aid to end a very parking intended opening, touching a boundary or of another vehicle.

In den Unteransprüchen sind noch andere vorteilhafte Ausführungsbeispiele der Erfindung genannt.There are other advantageous ones in the subclaims Embodiments of the invention called.

Weitere Einzelheiten der Erfindung gehen aus der folgenden Beschreibung eines Ausführungsbeispiels anhand der beigefüg­ ten Abbildung hervor. Diese Abbildung zeigt in Prinzipdar­ stellung, schematisch vereinfacht, die wichtigsten Komponen­ ten oder Baugruppen einer elektronischen Einparkhilfe oder Rangierhilfe nach der Erfindung.Further details of the invention follow from the following Description of an embodiment with reference to the accompanying figure. This figure shows in principle position, schematically simplified, the most important components or components of an electronic parking aid or Maneuvering aid according to the invention.

Funktionswesentliche Bestandteile des erfindungsgemäßen Sy­ stems sind die Einrichtungen zum Erkennen vor Hindernissen. Functionally essential components of the Sy according to the invention Stems are the facilities for recognizing obstacles.  

Nach der beigefügten Prinzipdarstellung sind zwei einzelne oder zwei Gruppen von Abstandssensoren 1, 2 (SF, SH) vorgese­ hen. Mit dem Sensor 1 (SF) wird der Abstand der Fahrzeug­ front von einem Hindernis und mit dem Sensor 2 (SH) der Ab­ stand des Fahrzeughecks von einem Hindernis sensiert. Ein symbolisierter Umschalter 3 bringt zum Ausdruck, daß je nach Fahrtrichtung der Front-Abstandssensor 1 oder der Heck-Ab­ standssensor 2 in Funktion sein soll. Die Verwendung eines Fahrtrichtungs-Erkennungssensors 4 - oder eine entsprechende Logikschaltung - stellt eine Möglichkeit zur Betätigung des Umschalters 3 dar.According to the attached schematic diagram, two individual or two groups of distance sensors 1 , 2 (S F , S H ) are provided. Sensor 1 (S F ) senses the distance of the vehicle front from an obstacle and sensor 2 (S H ) senses the distance from the rear of the vehicle to an obstacle. A symbolized changeover switch 3 expresses that, depending on the direction of travel, the front distance sensor 1 or the rear position sensor 2 should function. The use of a direction of travel detection sensor 4 - or a corresponding logic circuit - represents a possibility for actuating the changeover switch 3 .

In einer Auswerteschaltung 5, die Rechner und eine Auswerte­ logik enthält, wird auf Basis der mit den Abstandssensoren 1, 2 gewonnenen Informationen sowie ggf. unter Berücksichti­ gung der momentanen Fahrzeuggeschwindigkeit vFZ (6) und wei­ terer Signale oder Daten, die für die erfindungsgemäße Park­ hilfe von Bedeutung sind,das Annähern an Hindernisse er­ kannt und die Abbremsung, der Zeitpunkt eines Bremsenein­ griffs und/oder der erforderliche Bremsdruck ermittelt.In an evaluation circuit 5 , the computer and an evaluation logic contains, on the basis of the information obtained with the distance sensors 1 , 2 and, if necessary, taking into account the current vehicle speed v FZ ( 6 ) and other signals or data necessary for the invention Parking assistance are important, he knows the approach to obstacles and the deceleration, the time of a brake intervention and / or the required brake pressure.

Die Fahrzeuggeschwindigkeit vFZ läßt sich am einfachsten auf Basis der einzelnen Radgeschwindigkeiten oder einer reprä­ sentativen Radgeschwindigkeit mit Hilfe einer Schaltung 6 ermitteln. Ein Stillstand des Fahrzeugs, dessen Erkennung durch einen Schaltkreis 7 erfolgt, wird zweckmäßigerweise ebenfalls an den Schaltkreis 6, der zur Ermittlung der Fahr­ zeuggeschwindigkeit vFZ dient, angeschlossen.The vehicle speed v FZ is most easily determined on the basis of the individual wheel speeds or a representative wheel speed with the aid of a circuit 6 . A standstill of the vehicle, the detection of which is carried out by a circuit 7 , is also advantageously connected to the circuit 6 , which is used to determine the vehicle speed v FZ .

Nach der beigefügten Abbildung sind sowohl eine Anzeige ei­ ner drohenden Kollision , Anzeige 8, als auch ein selbsttätiger Bremseneingriff mit Hilfe einer Steuerschal­ tung 9 vorgesehen. Ein Bremseneingriff ist natürlich nur dann notwendig oder sinnvoll, wenn es der Fahrer versäumt, durch ausreichende Betätigung der Fahrzeug-Betriebsbremse, die drohende Kollision zu vermeiden. Mit Hilfe eines Pedal­ wegsensors 10, der bei manchen Bremsensystemen ohnehin vor­ handen ist, und/oder des in jeder Bremsanlage vorhandenen Bremslichtschalters 11 oder eines (nicht gezeigten) Bremsdrucksensors wird die jeweilig herrschende Situation so genau wie nötig ermittelt und zur Auslösung und Dosierung des Bremseneingriffs mit Hilfe der Steuerschaltung 9 ausge­ wertet.According to the attached figure, both a display of an impending collision, display 8 , and an automatic brake intervention with the aid of a control circuit 9 are provided. Brake intervention is, of course, only necessary or sensible if the driver fails to avoid the impending collision by sufficiently applying the vehicle service brake. With the help of a pedal displacement sensor 10 , which is already available in some brake systems, and / or the brake light switch 11 present in each brake system or a brake pressure sensor (not shown), the prevailing situation is determined as precisely as necessary and for triggering and metering the brake intervention evaluated with the help of the control circuit 9 .

Je nach den speziellen Anforderungen an die Rangierhilfe und an den gewünschten automatischen Eingriff in das Bremsge­ schehen sind unterschiedliche Auslegungen der Auswerteschal­ tung 5 und der dieser Auswerteschaltung zugeführten Ein­ gangsinformationen erforderlich. So dürfte es beispiels­ weise sinn voll sein, einen manuellen Ein-/Ausschalter 12 vorzusehen, mit dem in Sonderfällen die beschriebene Ein­ parkhilfe deaktiviert bzw. ausgeschaltet werden kann. Die erfindungsgemäße Parkhilfe wäre z. B. dann störend, wenn aus besonderen Gründen - z. B. zum Transport - die Fahrzeuge ausnahmsweise extrem dicht aufeinandergeparkt werden soll­ ten.Depending on the special requirements for the maneuvering aid and the desired automatic intervention in the brake system, different interpretations of the evaluation circuit 5 and the input information supplied to this evaluation circuit are required. So it should make sense, for example, to provide a manual on / off switch 12 with which the described parking aid can be deactivated or switched off in special cases. The parking aid according to the invention would, for. B. then disruptive if for special reasons - e.g. B. for transport - exceptionally, the vehicles should be parked extremely close together.

Das erfindungsgemäße System, das Kollisionen vermeiden soll, kann auch bewußt zum Annähern an ein Hindernis verwendet werden. Der Fahrer verzichtet in diesem Fall auf eine Brem­ senbetätigung und "verläßt" sich auf den automatischen Brem­ seneingriff durch das erfindungsgemäße System.The system according to the invention, which is intended to avoid collisions, can also be used deliberately to approach an obstacle will. In this case, the driver does not use a brake actuation and "relies" on the automatic brake intervention by the system according to the invention.

Schließlich verhindert die beschriebene Rangierhilfe auch ein Auffahren auf das vordere Fahrzeug bei sehr langsamer Kolonnenfahrt. Finally, the maneuvering aid described also prevents collision with the front vehicle at a very slow speed Convoy.  

Sobald das Kraftfahrzeug beim Rangieren zum Stillstand ge­ kommen ist, was durch die Schaltung 7 und/oder durch Aus­ wertung der Signale, die die Abstandssensoren 1, 2 liefern, festgestellt werden kann, wird in der Grundauslegung des Systems der Bremseneingriff beendet. Der Fahrer kann nun das Fahrzeug weiter rangieren.As soon as the motor vehicle has come to a standstill when maneuvering, which can be determined by the circuit 7 and / or by evaluating the signals that the distance sensors 1 , 2 deliver, the basic intervention of the brake intervention is ended. The driver can now maneuver the vehicle further.

Der Bremseingriff bzw. die Einsteuerung von Bremsdruck in die Radbremsen einer oder beider Fahrzeugachsen geschieht zweckmäßigerweise mit Hilfe von hydraulischen oder mecha­ nischen Einrichtungen, die bei Fahrzeugen mit Antriebs­ schlupfregelung (ASR) oder Fahrdynamikregelung (ASMS) ohne­ hin vorhanden sind. Bei Bremsanlagen mit einem sogenannten "aktiven Booster" ist ebenfalls ein dosierter Bremsdruck­ aufbau bzw. eine Bremsdruckregelung möglich. Mit Hilfe sol­ cher Komponenten läßt sich mit geringem Aufwand eine komfor­ table Rangierhilfe realisieren, die sich insbesondere auch bei großen Fahrzeugen, bei denen sich vom Fahrersitz aus der Abstand zu den Hindernissen und zu den Parkplatzbegrenzungen nur sehr schwer beurteilen läßt, als nützlich erweist.The brake intervention or the control of brake pressure in the wheel brakes happen on one or both vehicle axles expediently with the help of hydraulic or mecha African facilities in vehicles with drive slip control (ASR) or vehicle dynamics control (ASMS) without there are. In brake systems with a so-called "Active booster" is also a measured brake pressure construction or brake pressure control possible. With the help of sol cher components can be convenient with little effort Realize table maneuvering aid, which in particular for large vehicles in which the driver's seat Distance to the obstacles and the parking lot limits difficult to judge, proves useful.

Claims (9)

1. Elektronische Einpark- und Rangierhilfe für Kraftfahr­ zeuge, mit Einrichtungen zum Erkennen von Hindernissen und zum Messen des zur Verfügung stehenden Freiraums oder Abstands zu den Hindernissen sowie mit einer elek­ tronischen Schaltung zur Auswertung der Meßwerte und/oder zur Auslösung von Warnsignalen, dadurch gekenn­ zeichnet, daß eine Steuerschaltung (9) vorhanden ist, die beim Annähern des Fahrzeugs an ein Hindernis einen Bremseneingriff hervorruft, der auf die Vermeidung einer Kollision mit dem Hindernis gerichtet ist.1. Electronic parking and maneuvering aid for motor vehicles, with devices for detecting obstacles and for measuring the available space or distance to the obstacles as well as with an electronic circuit for evaluating the measured values and / or triggering warning signals, thereby shows that a control circuit ( 9 ) is present which, when the vehicle approaches an obstacle, causes braking intervention which is aimed at avoiding a collision with the obstacle. 2. Einpark- und Rangierhilfe nach Anspruch 1, dadurch ge­ kennzeichnet, daß der Bremseneingriff in Abhängigkeit von dem Abstand des Fahrzeugs zu dem Hindernis steuerbar ist.2. Parking and maneuvering aid according to claim 1, characterized ge indicates that the brake intervention is dependent controllable from the distance of the vehicle to the obstacle is. 3. Einpark- und Rangierhilfe nach Anspruch 1 oder 2, da­ durch gekennzeichnet, daß der Bremseneingriff in Abhän­ gigkeit von der Fahrzeuggeschwindigkeit und/oder von weiteren errechneten oder gemessenen Größen, wie Fahr­ zeugbeschleunigung, Fahrtrichtung, Lenkungswinkel, Fahr­ bahnneigung etc., steuerbar ist.3. Parking and maneuvering aid according to claim 1 or 2, because characterized in that the brake intervention in depend speed of the vehicle and / or other calculated or measured variables, such as driving acceleration, driving direction, steering angle, driving web inclination etc., is controllable. 4. Einpark- und Rangierhilfe nach einem oder mehreren der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß ein Brem­ seneingriff das Überschreiten vorgegebener Grenzwerte, wie Abstandsgrenzwerte, Geschwindigkeitsgrenzwerte etc. voraussetzt.4. Parking and maneuvering aid according to one or more of the Claims 1 to 3, characterized in that a brake the intervention of predetermined limits, such as distance limits, speed limits etc. assumes. 5. Einpark- oder Rangierhilfe nach einem oder mehreren der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß zum Er­ kennen der Hindernisse zumindest an der Fahrzeugfront und an dem Fahrzeugheck jeweils ein oder mehrere Ab­ standssensoren (1, 2) vorgesehen sind.5. Parking or maneuvering aid according to one or more of claims 1 to 4, characterized in that for knowing the obstacles at least on the front of the vehicle and on the rear of the vehicle, one or more sensors ( 1 , 2 ) are provided. 6. Einpark- oder Rangierhilfe nach einem oder mehreren der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß bei Stillstand des Fahrzeugs und/oder Unterschreiten eines Geschwindigkeitsgrenzwertes ein durch das System ausge­ löster Bremseneingriff wieder aufgehoben wird.6. Parking or maneuvering aid according to one or more of the Claims 1 to 5, characterized in that at Standstill of the vehicle and / or falling below Speed limit on out by the system released brake intervention is canceled again. 7. Einpark- und Rangierhilfe nach einem oder mehreren der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß der Brem­ seneingriff beim Unterschreiten eines Fahrzeuggeschwindigkeits-Grenzwertes und eines Abstands- Grenzwertes abschaltbar ist.7. Parking and maneuvering assistance according to one or more of the Claims 1 to 6, characterized in that the brake intervention when falling below a Vehicle speed limit and a distance Limit value can be switched off. 8. Einpark- und Rangierhilfe nach einem oder mehreren der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß diese einen Sensor (4) zur Erkennung der Fahrtrichtung auf­ weist und daß nur beim Annähern an ein Hindernis in Fahrtrichtung ein Bremseneingriff auslösbar ist.8. Parking and maneuvering aid according to one or more of claims 1 to 7, characterized in that it has a sensor ( 4 ) for detecting the direction of travel and that a brake intervention can only be triggered when approaching an obstacle in the direction of travel. 9. Einpark- und Rangierhilfe nach einem oder mehreren der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß diese als Zusatzeinrichtung zu einem Kraftfahrzeug-Regelungssy­ stem, wie ABS, ASR, ASMS etc., ausgebildet ist und Kom­ ponenten dieser Systeme, wie Sensoren, Auswerteschaltun­ gen, Bremsbetätigungselemente etc., zum Ermitteln der Eingangsgrößen und zum Auslösen des Bremseneingriffs einsetzt.9. Parking and maneuvering assistance according to one or more of the Claims 1 to 8, characterized in that these as Additional device for a motor vehicle control system stem, such as ABS, ASR, ASMS etc., is trained and com components of these systems, such as sensors, evaluation circuits gene, brake actuators, etc. to determine the Input variables and for triggering the brake intervention starts.
DE19715622A 1997-04-15 1997-04-15 Collision warning system for use with a road vehicle Ceased DE19715622A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19715622A DE19715622A1 (en) 1997-04-15 1997-04-15 Collision warning system for use with a road vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19715622A DE19715622A1 (en) 1997-04-15 1997-04-15 Collision warning system for use with a road vehicle

Publications (1)

Publication Number Publication Date
DE19715622A1 true DE19715622A1 (en) 1998-10-22

Family

ID=7826524

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19715622A Ceased DE19715622A1 (en) 1997-04-15 1997-04-15 Collision warning system for use with a road vehicle

Country Status (1)

Country Link
DE (1) DE19715622A1 (en)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19933732A1 (en) * 1999-07-19 2001-01-25 Volkswagen Ag Electronic parking/unparking aid has computer unit that monitors parking/unparking process based on detected data and checks whether there is an object in pre-computed driving channel
DE10003607A1 (en) * 2000-01-28 2001-08-02 Volkswagen Ag Method of folding in / out an electrically operated trailer coupling and electrically operated trailer coupling
FR2816432A1 (en) * 2000-11-09 2002-05-10 Delphi Tech Inc Anti-collision system for an automotive vehicle, has active braking controller automatically controlling the braking of vehicle based on telemetric detector data
US6437688B1 (en) 1999-03-16 2002-08-20 Honda Giken Kogyo Kabushiki Kaisha Obstruction detection method for vehicle
DE10258756A1 (en) * 2002-03-21 2003-10-02 Volkswagen Ag Method for avoiding a motor vehicle collision uses sensors to feed data to position-assessing devices and decision devices to decide about actual use of control devices.
DE10223269A1 (en) * 2002-05-24 2003-12-04 Volkswagen Ag Driver assistance method for assistance during turning off and parking in spaces, uses sensors to detect speed and distance in relation to other vehicles and obstructions
WO2004007232A1 (en) * 2002-07-16 2004-01-22 Daimler Chrysler Ag Method for assisting a driver when performing driving maneuvers
DE10318389A1 (en) * 2003-04-23 2004-11-11 Volkswagen Ag Electronic parking and maneuvering aid for motor vehicles
DE10326358A1 (en) * 2003-06-04 2004-12-23 Volkswagen Ag Danger-averting device for warning a driver and shortening a stopping distance has devices to detect and process a motor vehicle's status values and to record environmental data
WO2005021344A1 (en) * 2003-08-26 2005-03-10 Daimlerchrysler Ag Maneuvering assistance system for a motor vehicle
DE10347980A1 (en) * 2003-08-19 2005-03-17 Volkswagen Ag Motor vehicle for determining the distance between the vehicle and an obstruction has a driving mechanism, a brake, a steering device and distance sensors
EP1522458A2 (en) * 2003-10-06 2005-04-13 Delphi Technologies, Inc. Automotive system including a back-up aid with parking assist
EP1695888A3 (en) * 2005-02-23 2008-04-16 Robert Bosch Gmbh Device for semi-autonomous parking assistance of vehicles
DE102009053939A1 (en) 2009-11-19 2010-06-17 Daimler Ag Motor vehicle maneuver during parking, where sensors detect an obstacle, has a controlled braking action to stop the vehicle at a gap from the obstacle
DE102009027656A1 (en) 2009-07-13 2011-01-20 Robert Bosch Gmbh Device for maneuvering a vehicle
DE102010026762A1 (en) 2010-07-10 2011-03-10 Daimler Ag Method for assisting parking process of motor vehicle i.e. passenger car, at objects, involves measuring approach speed of motor vehicle at objects, and starting automatic brake intervention if approach speed exceeds plausibility speed
DE102011101777A1 (en) 2011-05-17 2012-01-05 Daimler Ag Method for supporting rider of motor car, involves avoiding collision with standing object, and detecting kick-down of pedals independence of input of rider for suppressing automatic steering independence of input of rider
DE102010064277A1 (en) * 2010-12-28 2012-06-28 Robert Bosch Gmbh Method for use in driver assistance system for avoiding collision in rear vehicle environment of vehicle, involves recording image sequence with rear view camera during reverse driving
DE10261033B4 (en) * 2001-12-27 2013-05-08 Denso Corporation Ultrasonic transceiver and ultrasound distance sonar using this
CN105667394A (en) * 2016-04-11 2016-06-15 厦门理工学院 Ultrasonic automobile bumper and control method thereof
CN108205828A (en) * 2016-12-20 2018-06-26 大陆汽车电子（连云港）有限公司 Driver's driving habit analysis system and method
DE102014009060B4 (en) 2013-08-05 2022-05-05 Mando Corporation Parking control device and control method for the same

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4201806A1 (en) * 1991-01-24 1992-09-10 Peter Sprenger Reversing aid for automobile - uses propagation time of ultrasonic or electromagnetic waves to calculate distance of rear obstacle and initiate braking
DE4313992A1 (en) * 1991-11-12 1994-11-03 Mel Mikroelektronik Gmbh Method for distance measurement when parking vehicles and devices for carrying out the method
DE4336288C1 (en) * 1993-10-25 1995-03-30 Daimler Benz Ag Device for monitoring the rear or front space of a parking motor vehicle
DE4333112A1 (en) * 1993-09-29 1995-03-30 Bosch Gmbh Robert Method and device for parking a vehicle
DE4333357A1 (en) * 1993-09-30 1995-04-06 Bosch Gmbh Robert Parking aid with wheel sensor
DE4339066A1 (en) * 1993-11-16 1995-05-18 Bosch Gmbh Robert Parking aid with brake intervention
DE4425419C1 (en) * 1994-07-19 1995-12-14 Daimler Benz Ag Short-range ultrasonic distance warning system in a motor vehicle, especially as a parking aid
DE3813083C3 (en) * 1988-04-19 1996-11-21 Ind Tech Res Inst Parking aid for a motor vehicle

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3813083C3 (en) * 1988-04-19 1996-11-21 Ind Tech Res Inst Parking aid for a motor vehicle
DE4201806A1 (en) * 1991-01-24 1992-09-10 Peter Sprenger Reversing aid for automobile - uses propagation time of ultrasonic or electromagnetic waves to calculate distance of rear obstacle and initiate braking
DE4313992A1 (en) * 1991-11-12 1994-11-03 Mel Mikroelektronik Gmbh Method for distance measurement when parking vehicles and devices for carrying out the method
DE4333112A1 (en) * 1993-09-29 1995-03-30 Bosch Gmbh Robert Method and device for parking a vehicle
DE4333357A1 (en) * 1993-09-30 1995-04-06 Bosch Gmbh Robert Parking aid with wheel sensor
DE4336288C1 (en) * 1993-10-25 1995-03-30 Daimler Benz Ag Device for monitoring the rear or front space of a parking motor vehicle
DE4339066A1 (en) * 1993-11-16 1995-05-18 Bosch Gmbh Robert Parking aid with brake intervention
DE4425419C1 (en) * 1994-07-19 1995-12-14 Daimler Benz Ag Short-range ultrasonic distance warning system in a motor vehicle, especially as a parking aid

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6437688B1 (en) 1999-03-16 2002-08-20 Honda Giken Kogyo Kabushiki Kaisha Obstruction detection method for vehicle
DE10012761B4 (en) * 1999-03-16 2006-10-12 Honda Giken Kogyo K.K. Method for operating an automatic follow-up driving system
DE19933732A1 (en) * 1999-07-19 2001-01-25 Volkswagen Ag Electronic parking/unparking aid has computer unit that monitors parking/unparking process based on detected data and checks whether there is an object in pre-computed driving channel
DE10003607A1 (en) * 2000-01-28 2001-08-02 Volkswagen Ag Method of folding in / out an electrically operated trailer coupling and electrically operated trailer coupling
FR2816432A1 (en) * 2000-11-09 2002-05-10 Delphi Tech Inc Anti-collision system for an automotive vehicle, has active braking controller automatically controlling the braking of vehicle based on telemetric detector data
DE10261033B8 (en) * 2001-12-27 2013-07-25 Denso Corporation Ultrasonic transceiver and ultrasound distance sonar using this
DE10261033B4 (en) * 2001-12-27 2013-05-08 Denso Corporation Ultrasonic transceiver and ultrasound distance sonar using this
DE10258756A1 (en) * 2002-03-21 2003-10-02 Volkswagen Ag Method for avoiding a motor vehicle collision uses sensors to feed data to position-assessing devices and decision devices to decide about actual use of control devices.
DE10223269A1 (en) * 2002-05-24 2003-12-04 Volkswagen Ag Driver assistance method for assistance during turning off and parking in spaces, uses sensors to detect speed and distance in relation to other vehicles and obstructions
DE10223269B4 (en) * 2002-05-24 2017-11-09 Volkswagen Ag Driver assistance system
US7089101B2 (en) 2002-07-16 2006-08-08 Daimlerchrysler Ag Method for assisting a driver when performing driving maneuvers
WO2004007232A1 (en) * 2002-07-16 2004-01-22 Daimler Chrysler Ag Method for assisting a driver when performing driving maneuvers
DE10318389A1 (en) * 2003-04-23 2004-11-11 Volkswagen Ag Electronic parking and maneuvering aid for motor vehicles
DE10326358A1 (en) * 2003-06-04 2004-12-23 Volkswagen Ag Danger-averting device for warning a driver and shortening a stopping distance has devices to detect and process a motor vehicle's status values and to record environmental data
DE10326358B9 (en) * 2003-06-04 2013-05-29 Volkswagen Ag Device for driver warning and stopping distance shortening
DE10326358B4 (en) * 2003-06-04 2013-02-28 Volkswagen Ag Device for driver warning and stopping distance shortening
DE10347980A1 (en) * 2003-08-19 2005-03-17 Volkswagen Ag Motor vehicle for determining the distance between the vehicle and an obstruction has a driving mechanism, a brake, a steering device and distance sensors
DE10347980B4 (en) * 2003-08-19 2021-06-10 Volkswagen Ag Control for a motor vehicle
WO2005021344A1 (en) * 2003-08-26 2005-03-10 Daimlerchrysler Ag Maneuvering assistance system for a motor vehicle
EP1522458A2 (en) * 2003-10-06 2005-04-13 Delphi Technologies, Inc. Automotive system including a back-up aid with parking assist
EP1522458A3 (en) * 2003-10-06 2005-08-10 Delphi Technologies, Inc. Automotive system including a back-up aid with parking assist
EP1695888A3 (en) * 2005-02-23 2008-04-16 Robert Bosch Gmbh Device for semi-autonomous parking assistance of vehicles
DE102009027656A1 (en) 2009-07-13 2011-01-20 Robert Bosch Gmbh Device for maneuvering a vehicle
DE102009053939A1 (en) 2009-11-19 2010-06-17 Daimler Ag Motor vehicle maneuver during parking, where sensors detect an obstacle, has a controlled braking action to stop the vehicle at a gap from the obstacle
DE102010026762A1 (en) 2010-07-10 2011-03-10 Daimler Ag Method for assisting parking process of motor vehicle i.e. passenger car, at objects, involves measuring approach speed of motor vehicle at objects, and starting automatic brake intervention if approach speed exceeds plausibility speed
DE102010064277A1 (en) * 2010-12-28 2012-06-28 Robert Bosch Gmbh Method for use in driver assistance system for avoiding collision in rear vehicle environment of vehicle, involves recording image sequence with rear view camera during reverse driving
DE102010064277B4 (en) 2010-12-28 2024-03-14 Robert Bosch Gmbh Safety feature in a driver assistance system with a rear view camera
DE102011101777A1 (en) 2011-05-17 2012-01-05 Daimler Ag Method for supporting rider of motor car, involves avoiding collision with standing object, and detecting kick-down of pedals independence of input of rider for suppressing automatic steering independence of input of rider
DE102014009060B4 (en) 2013-08-05 2022-05-05 Mando Corporation Parking control device and control method for the same
CN105667394A (en) * 2016-04-11 2016-06-15 厦门理工学院 Ultrasonic automobile bumper and control method thereof
CN108205828A (en) * 2016-12-20 2018-06-26 大陆汽车电子（连云港）有限公司 Driver's driving habit analysis system and method

Similar Documents

Publication Publication Date Title
DE19715622A1 (en) Collision warning system for use with a road vehicle
DE19901953B4 (en) Device and method for stabilizing a vehicle combination
EP1057159B1 (en) Method for preventing the collision of a vehicle with an obstacle located in front of the vehicle and braking device
EP2043896B1 (en) Method and device for avoiding and/or reducing the consequences of collisions
EP2032418B1 (en) Control unit and method for driver assistance
DE19607823C1 (en) Braking control device and method for electrically-driven motor vehicle
DE102016208217B4 (en) Method and device for operating a vehicle capable of autonomous driving
DE19724092B4 (en) Method and device for determining the vehicle mass
EP2489531B1 (en) Driver support method in a procedure of docking a commercial vehicle with a ramp
EP1085295A1 (en) Method for traffic dependent control of vehicles and/or assisting drivers of vehicles
DE102008064645A1 (en) Driver assistance system for motor vehicles and method for haptic warning a driver of a motor vehicle
DE19810642A1 (en) Method for stabilizing trailers and braking device for trailers
DE102007043604A1 (en) A method for warning the driver of a motor vehicle at increased risk of accidents
EP1007384A1 (en) Method and system for determining a regulator object
DE102008018474B4 (en) Driver assistance system for motor vehicles, method for haptic warning a driver of a motor vehicle
DE102008014130A1 (en) Method for controlling a parking assistance system for vehicles and parking assistance system
EP1335846B1 (en) Method and device for recognizing when a vehicle is stopped
DE10307229A1 (en) Device for monitoring vicinity of motor vehicle to avoid collisions with obstacles, has sensor which detects distance covered, and distance sensor arranged at side of vehicle
EP1157915B1 (en) Method for controlling the steering angle of a vehicle and system for performing such a method
WO2004053813A1 (en) Safety device for non-guided vehicles
EP1167143B1 (en) Method and device for emergency braking detection
DE19835518A1 (en) Method for defining an object for a vehicle automatic speed and distance control system
DE102012019300A1 (en) Method and device for operating a vehicle and vehicle with such a device
WO2019091744A1 (en) Method and device for controlling the movement of a single-track motor vehicle
DE102012204391A1 (en) Brake control system for motor vehicle, has control device with functional module, such that reference trajectory is determined based on detected obstacles, and wheel-selective braking interventions are controlled when oversteering occurs

Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8127 New person/name/address of the applicant

Owner name: CONTINENTAL TEVES AG & CO. OHG, 60488 FRANKFURT, D

8110 Request for examination paragraph 44
R084 Declaration of willingness to licence
R084 Declaration of willingness to licence

Effective date: 20150410

R016 Response to examination communication
R071 Expiry of right
R409 Internal rectification of the legal status completed
R002 Refusal decision in examination/registration proceedings
R003 Refusal decision now final