GB2458655A - Controlling the speed of a vehicle having a distance sensor - Google Patents

Controlling the speed of a vehicle having a distance sensor Download PDF

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Publication number
GB2458655A
GB2458655A GB0805432A GB0805432A GB2458655A GB 2458655 A GB2458655 A GB 2458655A GB 0805432 A GB0805432 A GB 0805432A GB 0805432 A GB0805432 A GB 0805432A GB 2458655 A GB2458655 A GB 2458655A
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United Kingdom
Prior art keywords
vehicle
distance
braking force
wheel
sensor
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Granted
Application number
GB0805432A
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GB2458655B (en
GB0805432D0 (en
Inventor
Dudley Harrison
Robin Sayce-Jones
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Haldex Brake Products Ltd
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Haldex Brake Products Ltd
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Publication date
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Priority to GB0805432.2A priority Critical patent/GB2458655B/en
Publication of GB0805432D0 publication Critical patent/GB0805432D0/en
Publication of GB2458655A publication Critical patent/GB2458655A/en
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Publication of GB2458655B publication Critical patent/GB2458655B/en
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Classifications

    • 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
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/08—Driving in reverse

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

A method of controlling a vehicle, wherein the method comprises using a distance sensor to determine the distance between a part of the vehicle and an object, whilst the distance detected by the distance sensor exceeds a predetermined value, permitting the vehicle to travel at a speed selected by a driver of the vehicle, and, if the distance detected by the distance sensor decreases below the predetermined value, obtaining from a wheel speed sensor an output signal indicative of a rotational speed of the wheel; and using the rotational speed of the wheel to calculate a braking force required to bring the vehicle to a stop when the vehicle has travelled a predetermined proportion of the predetermined distance value, and ensuring that the calculated braking force is applied to the vehicle. This application is particularly useful to prevent damage to vehicles reversing up to a loading bay.

Description

S I
Title: A Method of, and Apparatus for, controlling the speed of a vehicle
Description of Invention
This invention relates to a method of, and apparatus for, controlling the speed of a vehicle. More particularly, but not exclusively, this invention relates to a method of controlling a vehicle when the vehicle is reversing.
It is often required for a vehicle to be manoeuvred into a position near one or more objects. For example, it is common for a truck or the like to be required to be reversed into a loading/unloading bay. Often, it is very difficult for a driver of the vehicle to determine how far a rear end of the vehicle is positioned from the loading bay and thus frequently, the vehicle collides with the loading/unloading bay through an error in judgement by the driver. Such collisions often cause serious damage to the loading/unloading bay and/or to the rear of the vehicle.
In an effort to avoid this problem, it has been proposed to provide the rear of the vehicle with a distance sensor which senses a distance between a rearmost part of the vehicle and the closest object near the rear of the vehicle, and to use the distance determined by the distance sensor automatically to reduce the speed of the vehicle to ensure that the vehicle does not collide with the object.
Such a system is disclosed in US6604592. In this prior art system, when the vehicle is placed in reverse mode, sensed distance values from the distance sensor are sent to a controller, and the controller limits the speed of the vehicle to a maximum permissible vehicle speed value which depends on the distance value detected by the distance sensor. If the distance value is greater than a first amount, the maximum permissible vehicle speed is set to a first value, if the distance value is less than the first amount by greater than a second amount, the maximum permissible vehicle speed is set to a second * 2 value, and if the distance value is less than the second amount, the vehicle speed is controlled such that the vehicle comes to a stop before contacting the object.
According to a first aspect of the invention we provide a method of controlling a vehicle, wherein the method comprises:-using a distance sensor to determine the distance between a part of the vehicle and an object, whilst the distance detected by the distance sensor exceeds a predetermined value, permitting the vehicle to travel at a speed selected by a driver of the vehicle, and, if the distance detected by the distance sensor decreases below the predetermined value, obtaining from a wheel speed sensor an output signal indicative of a rotational speed of the wheel; and using the rotational speed of the wheel to calculate a braking force required to bring the vehicle to a stop when the vehicle has travelled a predetermined proportion of the predetermined distance value, and ensuring that the calculated braking force is applied to the vehicle.
It will be appreciated that, in the method according to the invention, the distance sensor is used simply as a switch to turn on the automatic braking once the vehicle is a predetermined distance from an object. Once the vehicle is within the predetermined distance of the object, any required braking force is automatically applied to the vehicle without requiring any further input from the distance sensor.
Further features of the first aspect of the invention are set out in claims 2 to 6.
According to a second aspect of the invention we provide a control apparatus for controlling a vehicle, including:-a wheel speed sensor mountable on or near a wheel of the vehicle for sensing a rotational speed of the wheel and for providing an output signal indicative of the sensed rotational speed of the wheel; a distance sensor for sensing, when connected to the vehicle, a distance between a part of the vehicle and an object and for providing an output signal when the distance sensor senses that an object is within a predetermined distance of a part of the vehicle; and a controller for receiving output signals from the wheel speed and distance sensors, wherein the controller is configured so as not to intervene in the control of vehicle speed until receipt of an output signal from the distance sensor indicating that the vehicle is less than a predetermined distance from an object, upon which the controller is configured to use the output signal from the wheel speed sensor to calculate the braking force required to bring the vehicle to a stop within a predetermined distance from the object and to transmit a signal to a braking device so as to ensure that the braking device applies the calculated braking force to one or more wheels of the vehicle.
According to a third aspect of the invention we provide a vehicle including:-a wheel speed sensor for sensing a rotational speed of a wheel of the vehicle and for providing an output signal indicative of the sensed rotational speed of the wheel; a braking device for applying a braking force to one or more wheels of the vehicle; * 4 a distance sensor for sensing, when the vehicle is operational, a distance between a part of the vehicle and an object and for providing an output signal when the distance sensor senses that an object the vehicle is approaching is within a predetermined distance of a part of the vehicle; and a controller for receiving output signals from the wheel speed and distance sensors, wherein the controller is configured so as not to intervene in control of vehicle speed until receipt of an output signal from the distance sensor indicating that the Vehicle is less than a predetermined distance from an object, upon which the controller is configured to use the output signal from the wheel speed sensor to calculate the braking force required to bring the vehicle to a stop within a predetermined distance from the object and to transmit a signal to the braking device so as to ensure that the calculated braking force is applied to one or more wheels of the vehicle.
Examples of the invention will now be described by way of example only with reference to the accompanying drawings, of which: Figure 1 is a schematic view of the components required or carrying out the method of the present invention; and Figure 2 is a flow diagram illustrating steps of the method of the present invention.
Referring firstly to figure 1, this shows a schematic layout of the apparatus required to be installed on a vehicle so that the method of the present invention can be performed. The illustration of figure 1 applies to an articulated lorry, i.e. a lorry which has a tractor and a towed trailer which itself has two or more wheels. It will, however, be appreciated, however, that the invention could also be utilised on a non-articulated vehicle. * 5
The two front wheels of the towing part of the vehicle and the two rearmost wheels of the trailer are provided with braking devices 1 to 1 of known kind, e.g. a pneumatically or hydraulically operated brake, the operation of which is controlled by the controller 5. The controller 5 may be an electronic control unit for an electronic braking system (EBS).
Of course, if the vehicle has other wheels, these can, if desired, be provided with respective braking devices. Each braking device 1 to 1 is operable to apply braking force to its respective wheel to slow that wheel. Braking of the vehicle can, as is normal in conventional vehicles fitted with EBS, be initiated by the driver by actuation of a brake pedal or lever 4 positioned in the driver's cab, operation of the brake pedal or lever 4 causing the braking devices 1 to id to be actuated so as to cause a braking force to be applied to one or more wheels of the vehicle to slow the vehicle.
Each wheel is also provided with a wheel speed sensor 2 to 2, which is configured to sense a rotational speed of its respective wheel and to provide an output indicative of the sensed rotational speed to the controller 5. Such wheel sensors are preferably those provided as part of conventional EBS with anti-lock braking control.
Although in the present example each wheel is provided with a respective wheel speed sensor 2a to 2d, it is not necessary for each wheel to have a wheel speed sensor. Indeed the method of the present invention could work adequately with a wheel speed sensor provided on only one wheel.
Connected to the vehicle, in this example at a rear end thereof, is a distance sensor 3, e.g. an ultrasonic distance sensor or any other appropriate sensor.
The distance sensor is configured to sense when a rearmost part of the vehicle is within a predetermined distance of an object, e.g. a loading/unloading bay, and is connected to the controller 5, thus enabling it to * 6 provide an output signal to the controller 5 when the object is within the predetermined distance of the rear of the vehicle.
Where the vehicle is an articulated lorry, the distance sensor is preferably positioned towards a rearmost end of the trailer and is configured to sense when a rearmost part of the trailer is within a predetermined distance of the loading/unloading bay.
Turning now to the flow diagram of figure 2, when the vehicle is, for example, reversing into a loading/unloading bay, the distance sensor 3 at the rear of the trailer is constantly checking to determine when a rearmost part of the vehicle is within a predetermined distance of an outermost projecting part of the loading/unloading bay. In this example the predetermined distance is 1 metre.
When the rearmost part of the trailer moves to within 1 metre of the loading/unloading bay the distance sensor 3 sends a signal to the controller 5.
The controller 5 then obtains from one or more of the wheel speed sensors 2a to 2d an indication of the rotational speed of the or each wheel and determines what, if any, braking force is required to be applied by the braking devices 1 to Id to the wheels of the trailer so as to slow the vehicle so that the rearmost part of the trailer does not collide with the loading/unloading bay.
The required braking force is calculated as follows: The data known to the controller 5, at the instant in time when the rear of the trailer moves within 1 metre of the loading/unloading bay, is: 1. Vehicle speed -calculated from the rotation wheel speed measurement; 2. Distance to collision with loading/unloading bay -1 metre; and 3. Brake performance, i.e. braking force required to produce a desired retardation of the vehicle. * 7
It is known that the following equation of motion of a moving body is true:-V2 -U2 +2AS (1) where, S = distance (m) U = initial speed (ms1) V= final speed (ms1) A = acceleration (ms2) Rearranging this equation gives: A = 2 _2 2S In order to calculate the deceleration required to stop the vehicle before it collides with the loading/unloading bay, it will be appreciated that the final velocity V is zero, U is the speed signal derived from the wheel speed sensors, and S is the required stopping distance. When, as in this example, the distance sensor 3 is configured to send a signal to the controller 5 when the vehicle is 1 m from the object, the desired stopping distance may be 0.8m, for example. There will be a known time delay (Td) in the brakes being applied to the wheels, so this should also be taken into account. Thus the actual stopping distance will be (S -U.Td).
Given the zero value of V, rearranging equation (1) to find A gives:-(2) 2(S-UTd) It is then necessary to calculate the brake pressure required to produce this deceleration, but as the system could be fitted to many different types of * 8 vehicle carrying different toads, in order to keep the system as simple as possible, as estimate is made as to the braking force required as follows: For a fully laden tractor/trailer combination the approximate relationship between the deceleration and brake pressure is known and may be programmed into the controller. For example, in many cases, to achieve a deceleration of 0.lg, approximately I bar of air pressure is required to be applied to the brake actuators. So, the brake pressure P required to achieve a deceleration of magnitude A can be estimated to be: P = 10.A'g (3) Combining equations (2) and (3) and solving for P gives:-1O.U2.K P= (4) 2.g(S-UT) where, K1 = Trailer braking factor The trailer braking factor, Kf, is used to compensate for the fact that the braking force is applied to the trailer brakes only, and not to the tractor. Where the vehicle includes a vehicle load sensor to provide an indication of the loading of the vehicle, the vehicle load sensor output may be used to calculate the reduction in braking pressure required to compensate for loads of less than 100% of the full vehicle capacity. In this case, K1 is dependent on the weight of the trailer, i.e. whether or not the trailer is empty, as full trailer will require a larger braking force than an empty trailer. To do this, one or more load sensors may be provided on the trailer, or at the connection of the trailer to the towing part of the vehicle, so that measurements from the(se) sensor(s) is/are sent to the controller 5, so that the controller 5 can make a more accurate determine of the value of 1<1.
For the example above, where the predetermined distance to the loading/unloading bay is 1 metre, the controller 5 will calculate, using equation (4) above, the required braking force which is required to be applied to the wheels and will send an appropriate signal to each braking device 1 to 1 to effect the desired operation thereof.
If a driver of the vehicle is already causing a braking force to be applied to the wheels of the vehicle, by actuation of the brake pedal or lever 4, the controller will take this into account when calculating the required braking force. If the braking force already being applied by the driver is not sufficient enough, i.e. is not equal to or greater than the calculated brake pressure value, P, from equation (4), the controller 5 will send a signal to each of the braking devices la to 1 to effect an increase in the braking force being applied thereby to the calculated braking force. Of course, if the braking force already being applied by the driver is greater than the brake pressure value, P, calculated by the controller 5, no additional braking will be applied to the wheels.
In the present specification "comprise" means "includes or consists of' and "comprising" means "including or consisting of'.
The features disclosed in the foregoing description, or the following claims, or the accompanying drawings, expressed in their specific forms or in terms of a means for performing the disclosed function, or a method or process for attaining the disclosed result, as appropriate, may, separately, or in any combination of such features, be utilised for realising the invention in diverse forms thereof.

Claims (11)

  1. CLAIMS1. A method of controlling a vehicle, wherein the method comprises:-using a distance sensor to determine the distance between a part of the vehicle and an object, whilst the distance detected by the distance sensor exceeds a predetermined value, permiuing the vehicle to travel at a speed selected by a driver of the vehicle, and, if tne distance detected by the distance sensor decreases below the predetermined value, obtaining from a wheel speed sensor an output signal indicative of a rotational speed of the wheel; and using the rotational speed of the wheel to calculate a braking force required to bring the vehicle to a stop when the vehicle has travelled a predetermined proportion of the predetermined distance value, and ensuring that the calculated braking force is applied to the vehicle.
  2. 2. A method according to claim 1 wherein, if an operator is already causing a braking force to be applied to one or more wheels of the vehicle, the method includes sensing whether the applied braking force is sufficient to reduce the speed of the vehicle so that the vehicle does not collide with the object, and if the braking force already being applied is not sufficient the method includes applying additional braking force to one or more wheels of the vehicle to bring the braking force up to the calculated braking force.
  3. 3. A method according to any preceding claim wherein the vehicle includes a load sensor for sensing any additional load supported by the vehicle and for providing an output signal indicative of the load, and wherein the S 11 braking force required to be applied to one or more wheels of the vehicle is determined as a function of both an output signal of the load sensor and the output signal obtained from the wheel speed sensor.
  4. 4. A method according to any preceding claim wherein if the rotational speed of the wheel is such that no meaningful indication of the rotational speed thereof can be provided by the wheel speed sensor, the method includes applying a predetermined level of braking force to one or more wheels of the vehicle.
  5. A +.- ,I,.m *h frrr.c li', J. r ii ILI IIJ'.J 1.411 I L%J lI 17 JI %.1II l l.,ICIIIII VVI Ul L.,Il I LI II... IJI (AIlI I I%II be applied by the braking device is calculated to bring the vehicle to rest at predetermined distance away from the object.
  6. 6. A method according to any preceding claim wherein the predetermined distance is user selectable.
  7. 7. A control apparatus for controlling a vehicle, including:-a wheel speed sensor mountable on or near a wheel of the vehicle for sensing a rotational speed of the wheel and for providing an output signal indicative of the sensed rotational speed of the wheel; a distance sensor for sensing, when connected to the vehicle, a distance between a part of the vehicle and an object and for providing an output signal when the distance sensor senses that an object is within a predetermined distance of a part of the vehicle; and a controller for receiving output signals from the wheel speed and distance sensors, wherein the controller is configured so as not to intervene in the control of vehicle speed until receipt of an output signal from the distance sensor indicating that the vehicle is less than a predetermined distance from an * 12 object, upon which the controller is configured to use the output signal from the wheel speed sensor to calculate the braking force required to bring the vehicle to a stop within a predetermined distance from the object and to transmit a signal to a braking device so as to ensure that the braking device applies the calculated braking force to one or more wheels of the vehicle.
  8. 8. A vehicle including:-a wheel speed sensor for sensing a rotational speed of a wheel of the vehicle and for providing an output signal indicative of the sensed rotational speed of the wheel; a braking device for applying a braking force to one or more wheels of the vehicle; a distance sensor for sensing, when the vehicle is operational, a distance between a part of the vehicle and an object and for providing an output signal when the distance sensor senses that an object the vehicle is approaching is within a predetermined distance of a part of the vehicle; and a controller for receiving output signals from the wheel speed and distance sensors, wherein the controller is configured so as not to intervene in control of vehicle speed until receipt of an output signal from the distance sensor indicating that the vehicle is less than a predetermined distance from an object, upon which the controller is configured to use the output signal from the wheel speed sensor to calculate the braking force required to bring the vehicle to a stop within a predetermined distance from the object and to transmit a signal to the braking device so as to ensure that the calculated braking force is applied to one or more wheels of the vehicle. * 13
  9. 9. A method substantially as hereinbefore described with reference to and/or as shown in the accompanying drawings.
  10. 10. A vehicle substantially as hereinbefore described with reference to and/or as shown in the accompanying drawings.
  11. 11. Any novel feature or novel combination of features described herein with reference to and/or in the accompanying drawings.
GB0805432.2A 2008-03-26 2008-03-26 A method of, and apparatus for, controlling the speed of a vehicle Active GB2458655B (en)

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GB0805432.2A GB2458655B (en) 2008-03-26 2008-03-26 A method of, and apparatus for, controlling the speed of a vehicle

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GB2458655A true GB2458655A (en) 2009-09-30
GB2458655B GB2458655B (en) 2012-01-25

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2512633A (en) * 2013-04-04 2014-10-08 Vignal Systems A method of, and apparatus for, operating a vehicle
US20140316666A1 (en) * 2013-04-23 2014-10-23 Haldex Brake Products Limited Method of, and Apparatus for, Controlling the Speed of a Vehicle
EP2598375B1 (en) 2010-07-30 2016-03-23 WABCO GmbH Monitoring system for monitoring the surrounding area, in particular the area behind motor vehicles

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2796601A1 (en) * 1999-07-21 2001-01-26 Renault System to aid a motorist when reversing, has control system which reduces fuel to engine or applies brakes gently until the vehicle stops near the obstacle
DE102004017365A1 (en) * 2004-04-08 2005-10-27 Daimlerchrysler Ag Vehicle parking assisting method, involves controlling brake assembly when vehicle to obstacle distance is minimum such that vehicle automatically slows down when accelerator pedal deflection is less than predetermined threshold value

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2796601A1 (en) * 1999-07-21 2001-01-26 Renault System to aid a motorist when reversing, has control system which reduces fuel to engine or applies brakes gently until the vehicle stops near the obstacle
DE102004017365A1 (en) * 2004-04-08 2005-10-27 Daimlerchrysler Ag Vehicle parking assisting method, involves controlling brake assembly when vehicle to obstacle distance is minimum such that vehicle automatically slows down when accelerator pedal deflection is less than predetermined threshold value

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2598375B1 (en) 2010-07-30 2016-03-23 WABCO GmbH Monitoring system for monitoring the surrounding area, in particular the area behind motor vehicles
GB2512633A (en) * 2013-04-04 2014-10-08 Vignal Systems A method of, and apparatus for, operating a vehicle
EP2786886A2 (en) * 2013-04-04 2014-10-08 Haldex Brake Products Limited A method of, and apparatus for, operating a vehicle
EP2786886A3 (en) * 2013-04-04 2014-11-05 Haldex Brake Products Limited A method of, and apparatus for, operating a vehicle
US9840236B2 (en) 2013-04-04 2017-12-12 Haldex Brake Products Limited Method of, and apparatus for, operating a vehicle
US20140316666A1 (en) * 2013-04-23 2014-10-23 Haldex Brake Products Limited Method of, and Apparatus for, Controlling the Speed of a Vehicle

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Publication number Publication date
GB2458655B (en) 2012-01-25
GB0805432D0 (en) 2008-04-30

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