EP1523435A1 - Systeme d'assistance au conducteur et dispositif de regulation de freinage - Google Patents

Systeme d'assistance au conducteur et dispositif de regulation de freinage

Info

Publication number
EP1523435A1
EP1523435A1 EP03740409A EP03740409A EP1523435A1 EP 1523435 A1 EP1523435 A1 EP 1523435A1 EP 03740409 A EP03740409 A EP 03740409A EP 03740409 A EP03740409 A EP 03740409A EP 1523435 A1 EP1523435 A1 EP 1523435A1
Authority
EP
European Patent Office
Prior art keywords
driver
vehicle
brake
speed
distance
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Withdrawn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
EP03740409A
Other languages
German (de)
English (en)
Inventor
Steffen Luh
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
Publication of EP1523435A1 publication Critical patent/EP1523435A1/fr
Withdrawn legal-status Critical Current

Links

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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • 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
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • 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
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • 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
    • B60T2201/03—Brake assistants
    • 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
    • B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B60W2540/106—Rate of change
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • 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
    • 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
    • B60W30/14—Adaptive cruise control

Definitions

  • the present application relates to a
  • Driver assistance system to support the driver of a motor vehicle in dangerous and emergency situations and a device for controlling or regulating a motor vehicle brake system.
  • the object of the invention is to provide a system and a device for supporting the vehicle driver (driver). specify a motor vehicle with which a safe brake control is possible, particularly in dangerous and emergency braking situations.
  • the object is achieved in that the vehicle speed v ref of the vehicle, the actuation of an accelerator pedal (accelerator pedal) by the vehicle driver (driver), the actuation of a brake pedal by the driver, and the current driving situation, at least the distance and the relative speed of or compared to a vehicle in front, and that an intervention in the brake control takes place on the basis of all recorded values.
  • the invention is therefore based on the idea of evaluating data from environmental sensors present in the vehicle and linking them to sensor data that describe the overall dynamics of the vehicle and the driver, and then finding a decision in which situation and to what extent the driver is supported by an intervention in the brake control and / or engine electronics is provided.
  • the brake control then takes place in accordance with all recorded values for the vehicle longitudinal dynamics and by specifying an overall target acceleration.
  • the data of the current driving situation are preferably obtained from an ICC system or ACC system (Intelligent Cruise Control or Adaptive Cruise Control), which measures the distance and the relative speed of or compared to a vehicle in front, recorded, made available.
  • ICC system Intelligent Cruise Control or Adaptive Cruise Control
  • driver observation head human reaction
  • environment observation dynamics of the traffic ahead
  • critical traffic situations in particular emergency braking situations in subsequent traffic, can be recognized better and faster and appropriate measures can be initiated quickly.
  • the system particularly supports the inexperienced normal driver, who represents the majority of road users.
  • a hazard potential is ascertained on the basis of all recorded values and that a target value specification for the brake control, in particular a target vehicle acceleration or a target brake pressure, takes place when a hazard potential is determined that is related to a hazard. or emergency braking situation.
  • vehicle acceleration is to be interpreted broadly. In the mathematical sense, the term “acceleration” also includes, in particular, negative values, that is to say driving conditions which are referred to as “braking”.
  • the driver's wish to accelerate or decelerate the vehicle is determined and that the brake control is only intervened if it is recognized that the driver does not want to accelerate or decelerate the vehicle.
  • the driver's request for vehicle acceleration is considered to be recognized if the driver does not actively actuate the accelerator pedal, in particular if an ascertained accelerator pedal travel is zero or if an ascertained accelerator pedal speed and / or accelerator pedal force is less than or equal to zero.
  • the detection of the driver's request is preferably carried out via a state machine which has the states “driver does not accelerate”, “driver accelerates”, “driver takes gas back” and “driver holds the accelerator pedal at a constant value (with the hysteresis taken into account accordingly)".
  • the driver's request for a vehicle deceleration is considered to be recognized if the driver does not actuate the brake pedal, in particular if the brake pedal travel is zero or a determined brake pedal speed and / or brake pedal force is less than or equal to zero.
  • a current safety distance from a vehicle in front is determined and that an intervention in the brake control takes place only when it is recognized that the current safety distance is undershot.
  • the safety distance is defined in accordance with the respective legal regulations.
  • Braking of the vehicle in front is also advantageously monitored and, in the event that a certain or determinable minimum distance (safety distance) is undershot, the driver's own vehicle is increasingly braked.
  • a relative speed in relation to a vehicle in front is determined and that the intervention is corrected based on the falling below the safety distance in accordance with the determined relative speed, in particular a setpoint value for the vehicle acceleration being corrected or weighted in accordance with the relative speed.
  • the driver's steering wheel actuation is recorded for the purpose of determining an avoidance situation, and that the intervention in the brake control system is not carried out or corrected if an avoidance situation is detected.
  • the term “avoidance situation” here means a driving situation in which the driver dodges an obstacle or changes lanes, typically a rapid lane change on a federal highway. A rapid lane change is defined in particular by (known) significant parameters.
  • Steering wheel angle change speed is detected and that after exceeding a predetermined limit for the Steering wheel angular speed or
  • Steering wheel angle change speed preferably in combination with driving state data of a preceding object determined on the basis of an environment sensor system, an evasive situation is considered recognized.
  • a brake pedal characteristic and / or a brake assistant triggering threshold is changed in accordance with the recognized hazard potential.
  • a change in the brake pedal characteristic curve means, for example, a change in the assignment of the brake pedal travel to the system target pressure or target deceleration specification.
  • the brake assist trigger threshold can be adapted by changing the limit values for the brake pedal speed or acceleration.
  • a warning of the rear traffic can also be given if a dangerous situation is detected with the help of the information from the environment sensors.
  • a suitable unit for example one or more brake lights, is then activated.
  • a device for controlling a motor vehicle brake system with sensors for detecting the vehicle speed, pedal travel and / or pedal force sensors for detecting the pedal positions of the accelerator pedal and brake pedal, a distance sensor for detecting the distance and the relative speed of or compared to a vehicle in front, a steering wheel angle sensor for detecting a steering wheel angle speed or steering wheel angle change speed, and with a determining and evaluating device for determining a target acceleration or a target braking pressure in accordance with requirements of the detected values, which cooperate with an acceleration controller that controls the wheel brakes in accordance with the target acceleration or the target brake pressure.
  • the determination and evaluation device has a distance
  • Monitoring device for monitoring the distance to the vehicle in front, which, in the event that a certain or determinable minimum distance (safety distance) is undershot, outputs control signals for increased activation of the wheel brakes of the vehicle.
  • the determining and evaluating device has a steering angle monitoring device for monitoring the steering wheel actuation of the driver and determining an avoidance situation which, in the event that an avoidance situation is detected, outputs control signals for the reduced activation of the wheel brakes of the vehicle.
  • the determination and evaluation device has a device for outputting a correction signal for influencing a brake assist system or a brake pedal characteristic curve.
  • a correction signal for influencing a brake assist system or a brake pedal characteristic curve.
  • Appropriate preconditioning of the brake system by means of targeted pre-filling can already be achieved when a low hazard potential is identified.
  • the hazard potential is a function which preferably measures at least the “distance”, “the
  • Relative speed "and the" system reaction times (for example, response and threshold times of the brake system) "each weighted in relation to a relevant vehicle in front in such a way that a measure of a potential (Accident) danger is available to the entire system as a benchmark. Further additional information such as, for example, the “required braking distance”, “the jerk” as a derivative of the vehicle deceleration, the vehicle's own deceleration, the deceleration of the relevant object are also taken into account. This enables the determination of the hazard potential to be made much more precise. If a very critical driving situation is recognized, ie if the hazard potential is very large, the function and effect of the brake assist can be improved with this measure. The vehicle can be braked earlier and / or more strongly.
  • the device has a monitoring computer that detects a malfunction of individual sensors and / or controllers and outputs corresponding warning signals and / or switches off parts or the entire system.
  • the exemplary embodiment relates to a vehicle with an externally controllable wheel brake, here, for example, an electro-hydraulic brake (EMS).
  • EMS electro-hydraulic brake
  • BA brake assistant
  • the vehicle is also equipped with an environmental sensor system, a radar-based ACC system.
  • the ACC system's bow radar monitors the surroundings and determines the relative distance and relative speed to the relevant front object.
  • the driver's behavior is monitored with the help of brake and accelerator sensors.
  • a special electronic controller referred to here as a so-called “danger computer”, analyzes all relevant information, ie that of the bow radar and the pedal sensors, and uses special algorithms to recognize dangerous situations that result from the driving speed of both vehicles, the distance between them and the Speed or their time derivative with which the distance changes.
  • the system initiates staged actions to shorten the stopping distance.
  • driver warnings optically, e.g. using a display, or acoustically, e.g. using a warning buzzer
  • pre-filling the brake system a legally compliant pre-deceleration without the driver pressing the brake pedal, and triggering full braking when the driver presses the brake pedal quickly.
  • the brake assistant's trigger thresholds can be adapted to the potential accident risk. Overall, emergency braking is initiated earlier that critical fraction of a second, which may help prevent the accident or help minimize the consequences of the accident.
  • Fig.l An overall view of the brake control system with an assistance system according to the invention
  • Fig.2 is a schematic overview of the assistance system according to the invention
  • Fig.3 A schematic overview of the hazard calculator of the assistance system.
  • the chain of effects begins logically with the brake pedal or the associated brake pedal simulator, which enables a desired pedal travel pressure assignment, which is carried out in the DRV task (Driver Task) 1, by means of an implemented travel sensor.
  • the pressure setpoint 2 resulting from this task is fed as input to a subsequent arbitration 3, the so-called BFAI task (brake force arbitration).
  • BFAI task brake force arbitration
  • DCM task Danger Control Module
  • the input variables supplied by the environment sensor system 6, in particular the relative speed 7 and the distance between the vehicles 8, are measured with different system and vehicle variables, for example one
  • a delay or pressure set request is generated as an output variable in the DCM task 5 and is sent to an arbitration 11.
  • a target vehicle deceleration appropriate to the detected danger is adjusted after arbitration 11 with the aid of a depicted longitudinal deceleration controller, the VAC task (Vehicle Acceleration Control) 12.
  • Important criteria for calculating this delay are the relative distances and speeds to the relevant target vehicle or object.
  • the target pressure 12 requested by the danger computer and the target pressure 2 requested by the driver are coordinated in the described BFAI task 3 and made available to the module of the electrical braking force distribution (EBD task) 4 as an input variable. Possibly. In addition, an external set pressure request 14 is also taken into account 17.
  • FIG. 2 shows the assistance system according to the invention in a schematic overview.
  • the Danger calculator evaluates the safety distance and the relative movement to the target vehicle (speed, deceleration). If, based on the current vehicle situation, a calculated critical safety distance is undershot 26, then a continuously calculated target deceleration request takes place depending on the determined relative movement of the vehicles to one another 27.
  • This delay requirement can be classified, for example, by two thresholds into a large 28 and a small 29 delay specification, in order to then implement gentle and thus comfortable delay requirements with low delay requirements (gradient limits) or, in the case of a large delay specification, correspondingly additional dynamic components in the printing or Integrate target deceleration and thus keep the existing system reaction times as short as possible.
  • the hazard calculator is shown in more detail in Fig.3. At least the vehicle speed 40, the steering wheel angle 41, the accelerator pedal travel 42, a recognized object 43, the distance to the object 44, the relative speed to the object 45 and the driver target pressure specification 46 are taken into account as input variables 39.
  • variables related to or derived from these variables such as a required deceleration 47, an object deceleration 48, a jerk of the object (derivation of the object deceleration) 49, the object speed 50, a stationary object 38 and possibly a driver braking mode, ie whether the driver has not depressed the brake pedal at all, he keeps it almost constant in a detected state, he continues to step towards greater deceleration or releases it again (corresponding hysteresis must be taken into account), supplied as input variables 39.
  • the driver pedal movement can also take place 52 in the danger computer 5.
  • a target pressure specification 53 for the brake control is generated from the input variables.
  • the pedal characteristic curve 4 can be adjusted or the BA trigger threshold can be reduced 55.
  • An overall target pressure specification 59 is determined by an arbitration function 58 from the driver's request acquisition 56, a prepared driver target pressure specification 57 and the hazard calculator target pressure specification 53.
  • the information from the environment sensors, driver behavior (accelerator, brake pedal) and the entire vehicle are thus combined and evaluated in such a way that a "danger potential" can be assumed and correspondingly staged actions can be initiated.
  • the calculation of a “required deceleration” 47 that is required to avoid a collision with the object in front or to reduce the consequences of an accident to a minimum if this delay occurs can no longer be implemented by the vehicle.
  • Important factors influencing this are the calculated braking distance and the response time of the system or the driver.
  • Vehicle speed 40, the distance 44 and further status information of the environment sensor (for example the validity of the target object 43, etc.) divided the current situation into two critical areas. These are indicated by danger thresholds, by status bits, and are used in the course of the program
  • the method works as described below.
  • the driver does not actively accelerate (see automatic accelerator pedal state machine)
  • the driver does not brake actively (see automatic brake pedal state machine) and the relative speed is above a threshold value (depending on the vehicle speed and the distance) are met in this situation
  • Relative speed-dependent factors are calculated in order to then determine a target pressure as a function of the distance to the target vehicle.
  • a distinction is also made as to whether the driver is on the accelerator pedal or the so-called "empty gas information" is available, ie the driver is not accelerating. In the latter case, a higher pressure can be permitted since it is reliably recognized that the driver at least does not want to actively accelerate the vehicle.
  • the pressures are then converted into a required delay due to a critical safety distance.
  • the first step is to recognize these situations, which take into account the distance and the relative speed to the target vehicle.
  • the "required deceleration" calculated at the beginning serves as a reference value and is continuously corrected by observing the distance and relative speed values. This delay value is arbitrated with the target specification described in the previous section, so that the maximum value always serves as the system input variable.
  • two situations are to be distinguished: first, a situation when a dangerous situation is perceived by the surrounding system with subsequent preparation, the driver does not react and the system is not allowed to intervene, e.g. due to the driver pressing the accelerator pedal, and a second situation, if a dangerous situation is recognized accordingly and the vehicle is braked by the assistance system.
  • the additional brake light is controlled with an adjustable flashing frequency to visually warn the traffic behind.
  • the brake light is permanently activated as long as the assistance function actively brakes the vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un système d'assistance au conducteur destiné à assister le conducteur d'un véhicule automobile dans des situations de danger et de freinage d'urgence. Selon l'invention, la vitesse vref du véhicule, l'actionnement de la pédale d'accélérateur par le conducteur, l'actionnement de la pédale de frein par le conducteur et la situation de conduite actuelle, au moins la distance et la vitesse relative par rapport à un véhicule circulant devant le véhicule concerné, sont déterminés et une intervention sur la régulation du freinage est effectuée d'après l'ensemble des valeurs déterminées. L'invention concerne également un dispositif pour commander ou réguler un système de freinage d'un véhicule automobile.
EP03740409A 2002-07-05 2003-07-03 Systeme d'assistance au conducteur et dispositif de regulation de freinage Withdrawn EP1523435A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10230261 2002-07-05
DE10230261 2002-07-05
PCT/EP2003/007106 WO2004005092A1 (fr) 2002-07-05 2003-07-03 Systeme d'assistance au conducteur et dispositif de regulation de freinage

Publications (1)

Publication Number Publication Date
EP1523435A1 true EP1523435A1 (fr) 2005-04-20

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DE (1) DE10392862D2 (fr)
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EP3895948A1 (fr) 2020-04-15 2021-10-20 Technische Universität München Système de régulation adaptative de la vitesse pour véhicules lors de queues de poisson
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EP3412533A1 (fr) * 2017-06-09 2018-12-12 Honda Research Institute Europe GmbH Procédé et véhicule pour aider un conducteur à conduire un tel véhicule
DE102022203749A1 (de) 2022-04-13 2023-10-19 Robert Bosch Gesellschaft mit beschränkter Haftung Steuervorrichtung für ein elektrisches Antriebssystem, Bremssystem und Verfahren zur Steuerung eines elektrischen Antriebssystems
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WO2004005092A1 (fr) 2004-01-15
DE10392862D2 (de) 2005-09-15

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