WO2003006289A1 - Verfahren und vorrichtung zum automatischen auslösen einer verzögerung eines fahrzeugs - Google Patents
Verfahren und vorrichtung zum automatischen auslösen einer verzögerung eines fahrzeugs Download PDFInfo
- Publication number
- WO2003006289A1 WO2003006289A1 PCT/DE2002/002543 DE0202543W WO03006289A1 WO 2003006289 A1 WO2003006289 A1 WO 2003006289A1 DE 0202543 W DE0202543 W DE 0202543W WO 03006289 A1 WO03006289 A1 WO 03006289A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- deceleration
- vehicle
- state
- brake
- operated
- Prior art date
Links
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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01259—Brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01311—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring the braking system, e.g. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
-
- 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
Definitions
- DE 195 47 111 describes a method and a device for controlling the brake system of a vehicle, in which pressure is applied to the wheel brakes before the start of traction control in the presence of predetermined conditions, with no significant braking effect being applied to the drive wheels.
- the essence of the present invention is to provide a method and an associated device for automatically triggering a deceleration of a vehicle to prevent a collision or reduce the consequences of an impending collision with another object.
- the device signals a device for transmitting and receiving radar or lidar signals or a device for receiving Video signals that detect objects in the course area of the vehicle are supplied.
- further sensors that detect the vehicle surroundings can also supply signals to this device. It is also conceivable within the scope of this invention that signals from devices of the vehicle from which the driver's own driving behavior can be described are used.
- a hazard potential is determined in a hazard potential determination device depending on the detected objects.
- the probability of a collision with an object recognized by the vehicle field sensor system is received.
- the hazard potential advantageously consists of several values in order to be able to adequately describe the complexity of the situation to be expected.
- the vehicle deceleration devices can be prepared for the upcoming deceleration in order to reduce the response time in the event of a trigger.
- the deceleration devices are advantageously prepared for braking the vehicle in such a way that a brake pressure is built up in the brake system, which pre-fills the brake system and applies the brake pads to the brake discs in such a way that no significant vehicle deceleration occurs.
- the brake pressure can be built up much faster, which results in a shortening of the response times of the deceleration effect.
- further vehicle functions are advantageously carried out which increase the safety of the vehicle occupants in the event of an unavoidable collision.
- functions are considered which put the drive train of the vehicle in a state that no driving force acts on the vehicle wheels, such as advantageously lowering the engine speed to idle speed or deactivating the engine by switching off the ignition system or no further fuel injection.
- the transmission of drive power to the wheels can be achieved by influencing the gearbox by inserting a neutral gearbox or by bringing the gearbox into neutral.
- Reversible restraint systems advantageously in the form of belt tensioners, can force the occupants into the correct sitting position, so that in the event of an unavoidable collision, the irreversible restraint systems, advantageously in the form of airbags, can develop their full effect.
- the triggering threshold of these irreversible restraint systems can be changed depending on one's own driving situation and the detected object movement so that the restraint systems are triggered at the best possible time and with a strength that is adapted to the respective situation.
- Particularly advantageous functions are furthermore that the other road users are informed of the impending collision by advantageously switching on the hazard warning lights, activating the horn or using radio transmission to drive the vehicle behind be informed about the impending collision. For this, it is necessary that both your own and the following vehicles are equipped with a corresponding wireless communication interface.
- a traffic control center, an emergency call center or a telematics service is advantageously informed about the current location of the vehicle and the presence of a collision situation, which can advantageously be done using a mobile phone installed in the vehicle. In this way, assistance can be requested as early as possible. It is advantageously conceivable for the informed traffic control center, emergency call center or the telematics service to call back the device shortly after receipt of this information, which issued the request for help in order to ascertain the presence of the predicted collision and to prepare targeted assistance.
- control element for an adaptive distance or speed control of a motor vehicle
- a program is stored on the control element, which is executable on a computing device, in particular on a microprocessor, and is suitable for executing the method according to the invention.
- the invention is thus implemented by a program stored on the control element, so that this control element provided with the program represents the invention in the same way as the method for which the program is suitable for execution.
- an electrical storage medium for example a read-only memory, can be used as the control element.
- FIG. 1 shows a flowchart for performing the method according to the invention and FIG. 2 shows a block diagram of a device for
- FIG. 1 shows a flow chart of the method according to the invention.
- This method is advantageously implemented in the form of an executable program in a microprocessor.
- the flowchart is a process that is repeated as often as required after starting and returns to start A when end A is reached.
- data is read in from an environment sensor system with which the vehicle is equipped.
- a device for transmitting and receiving radar or lidar signals or a device for receiving video signals are advantageously considered as environment sensors.
- the read data describe objects in the detection range of the sensors and consist at least of the sizes of the object's relative position to the vehicle,
- Relative speed of the object and distance of the object are, for example, horizontal extension of the object, vertical extension of the object, geometry of the object or surface condition of the reflection surface.
- data are read in that describe the vehicle's own movement. These data come from devices for determining one's own driving speed, yaw rate, vehicle movement direction in relation to the longitudinal axis of the vehicle (floating angle sensor), brake pedal actuation, accelerator pedal actuation or steering angle sensor.
- a current hazard potential GP is determined from the data from the environment sensors and from the data that characterize the driver's own driving behavior. This hazard potential describes the probability that a collision with an object recognized by the environment sensor system is inevitable.
- a decision is made as to whether the current Hazard potential GP is greater than a predeterminable threshold value SW.
- This threshold value SW represents the hazard potential triggering threshold. If this is not the case, that is to say that the hazard potential GP lies below this hazard potential triggering threshold SW or is of the same size, the flowchart branches directly to circuit A and jumps back to the beginning, whereupon it is repeated is going through. If the decision in step 4 was answered with "yes”, that means that the current hazard potential GP is greater than that
- step 5 the potential for triggering the hazard is SW, so that the brake system is prepared for an impending emergency or full braking, since an imminent collision must be expected.
- this preparation is carried out by pre-filling the brake system and building up the brake pressure, which is metered in such a way that the brake linings rest against the brake discs, but there is still no appreciable delay effect.
- additional vehicle functions are carried out to increase occupant safety in the event of a collision.
- Other vehicle functions include that the engine is lowered to idle speed or the engine is deactivated, that the transmission is switched to a neutral position so that no power transmission can take place, that the reversible occupant restraint systems are activated, that the trigger thresholds of the irreversible occupant restraint systems are modified in such a way that they correspond to the current risk potential, that a control device for controlling a braking and / or engine intervention to stabilize the vehicle movement is modified in such a way that it is optimized for a strong vehicle deceleration, that by activating the direction indicators and / or the horn Other road users are warned that the following vehicles are informed about the impending deceleration of the vehicle by means of a radio transmission, that data of the detected objects in the vehicle environment and data that characterize their own driving behavior are stored in a non-volatile memory device or that a radio transmission is used to store a Traffic control center or an emergency call center is informed about the vehicle position, which was determined by means of a satellite-based positioning method, or a combination of these.
- a query is made as to whether the hazard potential GP is greater than a triggering threshold AS.
- This triggering threshold AS is the value that automatically triggers a vehicle deceleration to prevent a collision with another object when it is exceeded. If the query in step 6 was answered with “No”, that is to say that the hazard potential GP is less than or equal to the triggering threshold value AS, the flowchart branches off to circuit A and jumps back to the beginning, from where it is run through again If it is determined in step 6 that the hazard potential GP is greater than the triggering threshold value AS, the full or emergency braking is triggered automatically in order to avoid a collision.
- step 7 the flow chart again reaches a circuit A, from where it jumps back to the beginning and starts again
- the trigger threshold value AS is greater than the hazard potential threshold value SW, since the delay preparation functions are to be carried out before the delay is triggered however, the value AS and the value SW are very close to each other because of incorrect activity as far as possible should be excluded.
- the hazard potential GP there must be sufficient time between the exceeding of the
- Hazard potential threshold values SW and exceeding the trigger threshold value AS remain in order to be able to carry out a complete brake preparation in the manner described above before initiating the deceleration. If one of the action steps 5 or 7 is activated, and in the further course it turns out when the described method is run through the cycle again that the
- Activation conditions no longer exist so deactivating or resetting these functions is conceivable in various ways. On the one hand, it is possible that if a condition is no longer met, a predetermined period of time can be waited in which no reactivation may occur until the deactivation or the reset takes place. Another possibility is that the hazard potential GP must fall below a further threshold value, which is smaller than the activation threshold value, in order to be able to reset or deactivate the triggered function.
- FIG. 2 shows an apparatus for performing the method described above.
- the device 8 for triggering and brake preparation measures as well as the vehicle deceleration contains an input field 9 to which one or more input signals 12 to 13 from sensor devices 10 to 11 are supplied.
- a radar, lidar or video sensor or a combination thereof can be considered as sensor devices 10 to 11, as well as other devices with which one's own vehicle behavior can be detected.
- devices for determining one's own driving speed, yaw rate, direction of vehicle movement, brake pedal actuation, accelerator pedal actuation or a Steering angle sensor to name which can also be used in any combination.
- the signals arriving in the input field 9 are processed using a
- the evaluation unit 15 carries out the method for triggering the vehicle deceleration to avoid a collision and for triggering functions that prepare for deceleration.
- this evaluation device 15 outputs output signals which are fed to an output field 16 by means of the data transport system 14.
- it is a brake preparation signal that is output when the decision in step 4 was answered with "yes", whereupon the described brake preparation functions are activated or carried out.
- the trigger signal that is output if the decision in step 6 was answered with "yes", whereupon the deceleration means of the vehicle carry out a braking operation.
- the signals 19 to 20 are fed to devices 17 to 18, in which further processing takes place.
- the devices 17 to 18 to which the output signals 19 to 20 are fed are, on the one hand, a control device for controlling the brake system, which can carry out an automatic deceleration depending on the output signals of the device 8.
- the devices 17 to 18 can be devices for carrying out or triggering the brake preparatory measures, in particular a motor control device that can lower the engine speed to idle speed or deactivate the engine, a transmission control device that neutralizes the transmission Can switch position, so that no power transmission takes place, a restraint system control device that can activate the reversible occupant restraint systems and that can modify the triggering thresholds of the irreversible occupant restraint systems in such a way that they are adapted to the current hazard potential.
- a motor control device that can lower the engine speed to idle speed or deactivate the engine
- a transmission control device that neutralizes the transmission Can switch position, so that no power transmission takes place
- a restraint system control device that can activate the reversible occupant restraint systems and that can modify the triggering thresholds of the irreversible occupant restraint systems in such a way that they are adapted to the current hazard potential.
- the devices 17 to 18 are a control device for controlling a braking and / or engine intervention to stabilize the vehicle movement, which is modified in such a way that it is optimized for a strong vehicle deceleration, a device for activation the direction indicator and / or the horn so that the other road users can be warned by a radio transmission device that can inform the following vehicles of the impending deceleration of the vehicle, by a non-volatile storage device that stores the data of the detected objects in the vehicle surroundings and stores data that characterize the driving behavior of one's own vehicle or is a device for radio transmission that informs a traffic control center or an emergency call center about the vehicle position, which was determined by means of a satellite-based positioning method.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02758088A EP1409313B1 (de) | 2001-07-11 | 2002-07-11 | Verfahren und vorrichtung zum automatischen auslösen einer verzögerung eines fahrzeugs |
US10/380,260 US7035735B2 (en) | 2001-07-11 | 2002-07-11 | Method and device for automatically triggering a deceleration in a motor vehicle |
DE50207945T DE50207945D1 (de) | 2001-07-11 | 2002-07-11 | Verfahren und vorrichtung zum automatischen auslösen einer verzögerung eines fahrzeugs |
JP2003512075A JP2004521027A (ja) | 2001-07-11 | 2002-07-11 | 車両の減速を自動的に作動させる方法および装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10133028 | 2001-07-11 | ||
DE10133028.6 | 2001-07-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003006289A1 true WO2003006289A1 (de) | 2003-01-23 |
Family
ID=7690986
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2002/002543 WO2003006289A1 (de) | 2001-07-11 | 2002-07-11 | Verfahren und vorrichtung zum automatischen auslösen einer verzögerung eines fahrzeugs |
Country Status (6)
Country | Link |
---|---|
US (1) | US7035735B2 (de) |
EP (1) | EP1409313B1 (de) |
JP (1) | JP2004521027A (de) |
DE (2) | DE50207945D1 (de) |
ES (1) | ES2269748T3 (de) |
WO (1) | WO2003006289A1 (de) |
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EP1548653A3 (de) * | 2003-11-27 | 2006-01-04 | Norwich Union Insurance Limited | Verringerung von Fahrzeugschäden |
WO2006058662A1 (de) * | 2004-11-29 | 2006-06-08 | Daimlerchrysler Ag | Verfahren für ein sicherheitssystem in einem fahrzeug |
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Also Published As
Publication number | Publication date |
---|---|
ES2269748T3 (es) | 2007-04-01 |
US20040019426A1 (en) | 2004-01-29 |
EP1409313B1 (de) | 2006-08-23 |
EP1409313A1 (de) | 2004-04-21 |
US7035735B2 (en) | 2006-04-25 |
DE10231558A1 (de) | 2003-01-30 |
JP2004521027A (ja) | 2004-07-15 |
DE50207945D1 (de) | 2006-10-05 |
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