JP6203949B2 - 自動車のための回避・ブレーキアシスト - Google Patents
自動車のための回避・ブレーキアシスト Download PDFInfo
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- JP6203949B2 JP6203949B2 JP2016520333A JP2016520333A JP6203949B2 JP 6203949 B2 JP6203949 B2 JP 6203949B2 JP 2016520333 A JP2016520333 A JP 2016520333A JP 2016520333 A JP2016520333 A JP 2016520333A JP 6203949 B2 JP6203949 B2 JP 6203949B2
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- Prior art keywords
- avoidance
- dynamics
- vehicle
- intervention
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- 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.)
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Classifications
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/009—Priority selection
- B60W2050/0094—Priority selection of control units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/20—Sideslip 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- 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
Description
12 アクチュエータシステム
14 電子制御デバイス
16 緊急回避機能
Claims (5)
- 車両の交通環境を検出するためのセンサシステム(10)と、車両のステアリングシステムとブレーキシステムへ介入するためのアクチュエータシステム(12)と、前記センサシステム(10)から供給されるデータを参照して緊急回避操作が必要かどうか調べ、前記アクチュエータシステム(12)を通じて車両のダイナミクスへ作用して、前記緊急回避操作の開始時および/または実行時に車両ドライバーをサポートする緊急回避機能(16)が実装された電子制御デバイス(14)とを有する自動車のための回避・ブレーキアシストにおいて、
前記緊急回避機能(16)は、
左右方向ダイナミクスに対する介入を伴う緊急回避操作が可能である場合、
回避操作の第1の段階では前記車両の速度を一定に保ちながら左右方向ダイナミクスへのみ介入し、当該段階の後で初めて前後方向ダイナミクスへの介入も行うかどうか決定し、
回避操作の第2の段階では左右方向ダイナミクスに対する介入のみを継続して行うか、或いは、左右方向ダイナミクス及び前後方向ダイナミクスに対して複合型の介入を行う
ことを特徴とする回避・ブレーキアシスト。
- 前記前後方向ダイナミクスへの介入が行われるかどうかの決定は前記緊急回避機能(16)により閾値基準を参照して決定される時点(t2)で行われる
請求項1に記載の回避・ブレーキアシスト。
- 前記閾値基準は次の量すなわち車両の操舵角、操舵角速度、ヨーレート、ヨーイング角度、左右方向位置オフセット、左右方向加速度、車両の左右のホイールの間のホイール回転数比、第1の段階の開始以降に進んだ距離、第1の段階以降に経過した時間のうち少なくとも1つについての閾値比較を含んでいる
請求項2に記載の回避・ブレーキアシスト。
- 前記左右方向ダイナミクスへの介入は少なくとも前記回避操作の第1の段階では車両の左右のホイールの非対称の制動を含んでいる
請求項1から3のいずれか1項に記載の回避・ブレーキアシスト。
- 前記左右方向ダイナミクスへの介入はアクティブステアリング設備(SA)を通じての介入を含んでいる
請求項1から4のいずれか1項に記載の回避・ブレーキアシスト。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013211643.8A DE102013211643A1 (de) | 2013-06-20 | 2013-06-20 | Ausweich- und Bremsassistent für Kraftfahrzeuge |
DE102013211643.8 | 2013-06-20 | ||
PCT/EP2014/060240 WO2014202309A1 (de) | 2013-06-20 | 2014-05-19 | Ausweich- und bremsassistent für kraftfahrzeuge |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016523201A JP2016523201A (ja) | 2016-08-08 |
JP6203949B2 true JP6203949B2 (ja) | 2017-09-27 |
Family
ID=50733086
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016520333A Active JP6203949B2 (ja) | 2013-06-20 | 2014-05-19 | 自動車のための回避・ブレーキアシスト |
Country Status (6)
Country | Link |
---|---|
US (1) | US10427674B2 (ja) |
EP (1) | EP3010786B1 (ja) |
JP (1) | JP6203949B2 (ja) |
CN (1) | CN105555645B (ja) |
DE (1) | DE102013211643A1 (ja) |
WO (1) | WO2014202309A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014017594A1 (de) * | 2014-11-27 | 2016-06-02 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Verfahren zur Durchführung eines Ausweichmanövers, Computerprogrammprodukt sowie Kraftfahrzeug |
DE102016218948A1 (de) * | 2016-09-30 | 2018-04-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs, Kraftfahrzeug |
DE102016219757A1 (de) | 2016-10-11 | 2018-04-12 | Volkswagen Aktiengesellschaft | Ausweichunterstützung für ein Fahrzeug |
KR102395285B1 (ko) * | 2016-12-16 | 2022-05-09 | 현대자동차주식회사 | 주변차량의 위험도 판단 방법 |
DE102017207463A1 (de) * | 2017-05-04 | 2018-11-08 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung zum Aktivieren/Deaktivieren eines Sicherheitssystems eines Kraftfahrzeugs bei einem Abbiegevorgang des Kraftfahrzeugs |
CN108363397B (zh) * | 2018-03-07 | 2020-12-01 | 安徽江淮汽车集团股份有限公司 | 一种车辆避让控制系统及控制方法 |
JP7056459B2 (ja) * | 2018-08-10 | 2022-04-19 | トヨタ自動車株式会社 | 車両の運転支援装置 |
FR3086909A1 (fr) * | 2018-10-03 | 2020-04-10 | Psa Automobiles Sa | Securisation d'une fonction d'aide a l'evitement par verification de coherence |
FR3086910B1 (fr) * | 2018-10-03 | 2020-09-25 | Psa Automobiles Sa | Securisation d'une fonction d'aide a l'evitement par bornage temporel |
DE102018217357A1 (de) * | 2018-10-11 | 2020-04-16 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erzeugen wenigstens eines ersten Steuersignals für einen Beschleunigungsaktuator und/oder eines zweiten Steuersignals für einen Bremsaktuator eines Fahrzeugs |
DE102019102830A1 (de) * | 2019-02-05 | 2020-08-06 | Bayerische Motoren Werke Aktiengesellschaft | Notmanöver-Steuerungssystem und Notmanöver-Steuerungsverfahren für ein Fahrzeug |
CN110189547B (zh) * | 2019-05-30 | 2020-10-20 | 广州小鹏汽车科技有限公司 | 一种障碍物检测方法、装置及车辆 |
DE102019220312A1 (de) * | 2019-12-20 | 2021-06-24 | Volkswagen Aktiengesellschaft | Fahrzeugassistenzsystem zur Kollisionsvermeidung während eines Fahrbetriebs |
DE102021118613A1 (de) | 2021-07-19 | 2023-01-19 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Vorrichtung zur Durchführung eines Ausweichmanövers |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000159077A (ja) * | 1998-11-30 | 2000-06-13 | Mazda Motor Corp | 車両の制御装置 |
JP3642308B2 (ja) * | 2001-10-04 | 2005-04-27 | 日産自動車株式会社 | 車両用制動制御装置 |
DE502006009366D1 (de) | 2005-09-15 | 2011-06-01 | Continental Teves Ag & Co Ohg | Verfahren und vorrichtung zum prädizieren einer bewegungstrajektorie |
JP2009096349A (ja) | 2007-10-17 | 2009-05-07 | Mazda Motor Corp | 車両用運転支援装置 |
JP4470986B2 (ja) * | 2007-10-17 | 2010-06-02 | トヨタ自動車株式会社 | 走行制御装置及び車両 |
US8165796B2 (en) | 2008-09-05 | 2012-04-24 | Robert Bosch Gmbh | Collision avoidance system and method |
JP2010179843A (ja) | 2009-02-06 | 2010-08-19 | Nissan Motor Co Ltd | 運転操作支援装置および運転操作支援方法 |
US8577550B2 (en) * | 2009-10-05 | 2013-11-05 | Ford Global Technologies, Llc | System for vehicle control to mitigate intersection collisions and method of using the same |
DE102009047360A1 (de) * | 2009-12-01 | 2011-06-09 | Robert Bosch Gmbh | Antizipative Regelung der Fahrzeugquerdynamik bei Ausweichmanövern |
DE102011080789B4 (de) * | 2010-08-10 | 2022-11-10 | Continental Automotive Technologies GmbH | Verfahren und System zur Regelung der Fahrstabilität |
US20130030651A1 (en) * | 2011-07-25 | 2013-01-31 | GM Global Technology Operations LLC | Collision avoidance maneuver through differential braking |
WO2013046301A1 (ja) * | 2011-09-26 | 2013-04-04 | トヨタ自動車株式会社 | 車両の運転支援システム |
-
2013
- 2013-06-20 DE DE102013211643.8A patent/DE102013211643A1/de not_active Withdrawn
-
2014
- 2014-05-19 JP JP2016520333A patent/JP6203949B2/ja active Active
- 2014-05-19 EP EP14724765.4A patent/EP3010786B1/de active Active
- 2014-05-19 US US14/900,035 patent/US10427674B2/en active Active
- 2014-05-19 WO PCT/EP2014/060240 patent/WO2014202309A1/de active Application Filing
- 2014-05-19 CN CN201480035225.9A patent/CN105555645B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US20160159327A1 (en) | 2016-06-09 |
JP2016523201A (ja) | 2016-08-08 |
CN105555645A (zh) | 2016-05-04 |
US10427674B2 (en) | 2019-10-01 |
CN105555645B (zh) | 2018-12-14 |
WO2014202309A1 (de) | 2014-12-24 |
EP3010786A1 (de) | 2016-04-27 |
EP3010786B1 (de) | 2017-08-23 |
DE102013211643A1 (de) | 2014-12-24 |
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