WO2007115918A1 - Situation-dependent braking strategy of a safety function - Google Patents

Situation-dependent braking strategy of a safety function Download PDF

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Publication number
WO2007115918A1
WO2007115918A1 PCT/EP2007/052743 EP2007052743W WO2007115918A1 WO 2007115918 A1 WO2007115918 A1 WO 2007115918A1 EP 2007052743 W EP2007052743 W EP 2007052743W WO 2007115918 A1 WO2007115918 A1 WO 2007115918A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
collision
determined
braking
driver
Prior art date
Application number
PCT/EP2007/052743
Other languages
German (de)
French (fr)
Inventor
Frank Ewerhart
Reiner Marchthaler
Thomas Lich
Stephan Stabrey
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2007115918A1 publication Critical patent/WO2007115918A1/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
    • 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
    • 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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip 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
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/11—Pitch movement
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • 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
    • 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
    • B60T2201/024—Collision mitigation 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift 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
    • B60W2520/14—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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/103—Side slip angle of vehicle body

Definitions

  • DE 197 53 971 A1 describes a safety system that triggers an automatic braking of the vehicle after a collision.
  • the invention relates to a method for controlling an actuator system of a vehicle after a collision or after a detected as imminent collision, wherein at least one of the criticality of the driving situation descriptive variable is determined and depending on the actuator system of the vehicle is controlled. This makes it possible to defuse critical situations according to the situation.
  • An advantageous embodiment of the invention is characterized in that the actuator system is the steering system or the brake system.
  • An advantageous embodiment of the invention is characterized in that the criticality of the driving situation is determined on the basis of at least one measured or estimated vehicle movement variable or on the basis of the determined collision strength.
  • An advantageous embodiment of the invention is characterized in that the measured or estimated vehicle movement variable is the slip angle.
  • the slip angle is a simple measure of how much the vehicle movement direction deviates from the vehicle's longitudinal direction
  • An advantageous embodiment of the invention is characterized in that in the event that the slip angle exceeds a predetermined threshold, a driver-independent braking of all vehicle wheels is performed. This achieves a speed reduction of the vehicle.
  • An advantageous embodiment of the invention is characterized in that after the collision, a driver-independent braking of the vehicle is performed, whose
  • Intensity is dependent on the determined slip angle.
  • the collision strength is determined by the angle change.
  • Angle change is determined by integrating the yaw rate of the vehicle.
  • the yaw rate may be that contained in a conventional vehicle dynamics control system
  • Yaw rate sensor can be measured. Therefore, no additional sensors are necessary here.
  • An advantageous embodiment of the invention is characterized in that the measured or estimated vehicle movement quantity is the yaw acceleration. This can be determined in a simple manner by a differentiation of the yaw rate, which is detected in many modern vehicles anyway.
  • the invention comprises a device containing means for carrying out the method according to the invention.
  • Fig. 1 shows the sequence of an embodiment of the method according to the invention.
  • Fig. 2 shows the structure of the device according to the invention.
  • the invention relates to a method for controlling an actuator system of a
  • Vehicle after a collision or after a detected as imminent collision or detection of an imminent collision in which at least one of the criticality of the driving situation descriptive variable is determined and depending on the actuator system of the vehicle is controlled. Automatic braking is triggered only when absolutely necessary.
  • the braking is adapted to the situation, so that it is not braked more than required.
  • a security system detects a collision and uses an active braking system to automatically decelerate the vehicle.
  • An inventive feature of such a system includes sensors of the vehicle dynamics control (in particular a
  • Yaw rate sensor to detect the change in the state of motion of the vehicle during the collision.
  • a measure of the severity of the effects of a collision can be, for example, the angular change of the vehicle, which can be gained by integrating the yaw rate.
  • the slip angle of the vehicle can be considered as a relevant size.
  • An expression of the function performs braking after a collision only when the slip angle exceeds a predetermined threshold, from which it must be assumed that the driver can no longer control the vehicle even with the support of the vehicle dynamics control.
  • a further feature of the function performs a braking after a collision only if the yaw acceleration is so great that it must be assumed that the driver can no longer control the vehicle even with the support of the vehicle dynamics control.
  • Another expression of the function performs a braking with variable intensity, so that with increasing criticality, which z. B. is given by the slip angle is braked stronger.
  • a further characteristic of the function performs a high-intensity braking (possibly full braking) immediately after the collision, and reduces the intensity of the braking as the criticality decreases.
  • Criticality of the driving situation is set, which is evaluated on the basis of measured or estimated vehicle movement variables or collision strength.
  • various sensor signals are read in block 101, which may be, for example, the yaw rate, the vehicle lateral acceleration, the vehicle longitudinal acceleration, etc.
  • block 102 it is determined from the sensor signals whether there is a collision. If there is no collision, then branch back to block 101. On the other hand, if there is a collision, a criticality measure representing the criticality of the collision is determined in block 103. Possible dimensions of criticality are e.g. the slip angle, the yaw acceleration or the rotation of the vehicle longitudinal direction about the vertical axis as a result of the collision.
  • the intensity of a driver-independent braking carried out after the collision is determined in block 104. This results in a Brake request, which is passed in block 105 to the brake system.
  • the method ends and is optionally continued in block 101.
  • the sensor signals read in block 101 are also optionally input into blocks 103 and 104 as input variables.
  • Block 200 contains sensors whose output signals are transmitted to a control unit 201.
  • a collision that has occurred or is imminent is detected and a variable describing the criticality of the driving situation is determined.
  • this actor means 202 this may in particular
  • Vehicle brakes or a vehicle steering act driven.

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

Abstract

The invention relates to a method for controlling an actuator system of a vehicle after a collision or after an event that is detected to be an imminent collision. According to said method, at least one variable describing the critical nature of the driving situation is determined and the actuator system of the vehicle is controlled depending thereon.

Description

Beschreibungdescription
Titeltitle
Situationsabhängige Bremsstrategie einer SicherheitsfunktionSituation-dependent braking strategy of a safety function
Stand der TechnikState of the art
Fahrzeugführer werden heute bei der Bewältigung der Fahraufgabe durch eine Vielzahl von Assistenz- und Sicherheitssystemen unterstützt. Hierzu zählen Systeme wie ABS und ESP, ACC, Airbags und andere Rückhaltesysteme.Today, drivers are supported in coping with the driving task by a variety of assistance and safety systems. These include systems such as ABS and ESP, ACC, airbags and other restraint systems.
Die DE 197 53 971 Al beschreibt ein Sicherheitssystem, das nach einer Kollision eine automatische Bremsung des Fahrzeugs auslöst.DE 197 53 971 A1 describes a safety system that triggers an automatic braking of the vehicle after a collision.
Offenbarung der ErfindungDisclosure of the invention
Die Erfindung betrifft ein Verfahren zur Ansteuerung eines Aktorsystems eines Fahrzeugs nach einer Kollision oder nach einer als bevorstehend detektierten Kollision, bei dem wenigstens eine die Kritikalität der Fahrsituation beschreibende Größe ermittelt wird und abhängig davon das Aktorsystem des Fahrzeugs angesteuert wird. Dadurch ist es möglich, kritische Situationen situationsangepasst zu entschärfen.The invention relates to a method for controlling an actuator system of a vehicle after a collision or after a detected as imminent collision, wherein at least one of the criticality of the driving situation descriptive variable is determined and depending on the actuator system of the vehicle is controlled. This makes it possible to defuse critical situations according to the situation.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei dem Aktorsystem um das Lenksystem oder das Bremssystem handelt.An advantageous embodiment of the invention is characterized in that the actuator system is the steering system or the brake system.
Die Gefährdung des nachfolgenden Verkehrs wird reduziert, da die automatische Bremsung bzw. Lenkbewegung nicht bei jeder Kollision und/oder mit angepasster Intensität ausgeführt wird. Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die Kritikalität der Fahrsituation anhand wenigstens einer gemessenen oder geschätzten Fahrzeugbewegungsgröße oder anhand der ermittelten Kollisionsstärke ermittelt wird.The endangerment of the following traffic is reduced since the automatic braking or steering movement is not carried out at every collision and / or with an adjusted intensity. An advantageous embodiment of the invention is characterized in that the criticality of the driving situation is determined on the basis of at least one measured or estimated vehicle movement variable or on the basis of the determined collision strength.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei der gemessenen oder geschätzten Fahrzeugbewegungsgröße um den Schwimmwinkel handelt. Der Schwimmwinkel ist ein einfaches Maß dafür, wie stark die Fahrzeugbewegungsrichtung von der Fahrzeuglängsrichtung abweichtAn advantageous embodiment of the invention is characterized in that the measured or estimated vehicle movement variable is the slip angle. The slip angle is a simple measure of how much the vehicle movement direction deviates from the vehicle's longitudinal direction
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass für denAn advantageous embodiment of the invention is characterized in that for the
Fall, dass der Schwimmwinkel einen vorgegebenen Schwellenwert überschreitet, eine fahrerunabhängige Bremsung wenigstens eines Fahrzeugrades durchgeführt wird.Case that the slip angle exceeds a predetermined threshold, a driver-independent braking of at least one vehicle wheel is performed.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass für den Fall, dass der Schwimmwinkel einen vorgegebenen Schwellenwert überschreitet, eine fahrerunabhängige Bremsung aller Fahrzeugräder durchgeführt wird. Dadurch wird eine Geschwindigkeitsreduktion des Fahrzeugs erreicht.An advantageous embodiment of the invention is characterized in that in the event that the slip angle exceeds a predetermined threshold, a driver-independent braking of all vehicle wheels is performed. This achieves a speed reduction of the vehicle.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass nach der Kollision eine fahrerunabhängige Bremsung des Fahrzeugs durchgeführt wird, derenAn advantageous embodiment of the invention is characterized in that after the collision, a driver-independent braking of the vehicle is performed, whose
Intensität abhängig vom ermittelten Schwimmwinkel ist.Intensity is dependent on the determined slip angle.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet,An advantageous embodiment of the invention is characterized in that
- dass die durch die Kollision erfolgte Winkeländerung des Fahrzeugs um seine Hochachse ermittelt wird und- That the change in angle of the vehicle made by the collision is determined about its vertical axis and
- das die Kollisionsstärke anhand der Winkeländerung ermittelt wird.- The collision strength is determined by the angle change.
Hier wird die Eigenschaft ausgenutzt, dass eine Kollision oft zu einer Drehbewegung des Fahrzeugs um seine Hochachse führt.Here, the property is exploited that a collision often leads to a rotational movement of the vehicle about its vertical axis.
Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass dieAn advantageous embodiment of the invention is characterized in that the
Winkeländerung durch Aufintegration der Gierrate des Fahrzeugs ermittelt wird.Angle change is determined by integrating the yaw rate of the vehicle.
Die Gierrate kann mit dem in einem üblichen Fahrdynamikregelungssystem enthaltenenThe yaw rate may be that contained in a conventional vehicle dynamics control system
Gierratensensor gemessen werden. Deshalb ist hier keine zusätzliche Sensorik notwendig. Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei der gemessenen oder geschätzten Fahrzeugbewegungsgröße um die Gierbeschleunigung handelt. Diese lässt sich auf einfache Art und Weise durch eine Differentiation der Gierrate, welche in zahlreichen modernen Fahrzeugen ohnehin erfasst wird, ermitteln.Yaw rate sensor can be measured. Therefore, no additional sensors are necessary here. An advantageous embodiment of the invention is characterized in that the measured or estimated vehicle movement quantity is the yaw acceleration. This can be determined in a simple manner by a differentiation of the yaw rate, which is detected in many modern vehicles anyway.
Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel zur Durchführung der erfindungsgemäßen Verfahren.Furthermore, the invention comprises a device containing means for carrying out the method according to the invention.
Die Zeichnung umfasst die Figuren 1 und 2.The drawing comprises FIGS. 1 and 2.
Fig. 1 zeigt den Ablauf einer Ausführungsform des erfindungsgemäßen Verfahrens. Fig. 2 zeigt den Aufbau der erfindungsgemäßen Vorrichtung.Fig. 1 shows the sequence of an embodiment of the method according to the invention. Fig. 2 shows the structure of the device according to the invention.
Die Erfindung betrifft ein Verfahren zur Ansteuerung eines Aktorsystems einesThe invention relates to a method for controlling an actuator system of a
Fahrzeugs nach einer Kollision oder nach einer als bevorstehend detektierten Kollision bzw. nach Erkennung einer bevorstehenden Kollision, bei dem wenigstens eine die Kritikalität der Fahrsituation beschreibende Größe ermittelt wird und abhängig davon das Aktorsystem des Fahrzeugs angesteuert wird. Die automatische Bremsung wird nur dann ausgelöst, wenn sie unbedingt erforderlich ist.Vehicle after a collision or after a detected as imminent collision or detection of an imminent collision, in which at least one of the criticality of the driving situation descriptive variable is determined and depending on the actuator system of the vehicle is controlled. Automatic braking is triggered only when absolutely necessary.
Idealerweise erfolgt die Bremsung situationsangepasst, so dass nicht stärker gebremst wird, als erforderlich.Ideally, the braking is adapted to the situation, so that it is not braked more than required.
Die Gefährdung des nachfolgenden Verkehrs wird reduziert, da die automatische Bremsung nicht bei jeder Kollision durchgeführt wird und optional sogar mit angepassterThe endangerment of the following traffic is reduced because the automatic braking is not carried out at every collision and optionally even with adapted
Intensität ausgeführt wird.Intensity is executed.
Ein Sicherheitssystem erkennt eine Kollision und nutzt ein aktives Bremssystem zur automatischen Verzögerung des Fahrzeugs. Eine erfindungsgemäße Ausprägung eines solchen Systems umfasst Sensoren der Fahrdynamikregelung (insbesondere einenA security system detects a collision and uses an active braking system to automatically decelerate the vehicle. An inventive feature of such a system includes sensors of the vehicle dynamics control (in particular a
Gierratensensor), um die Änderung des Bewegungszustands des Fahrzeugs während der Kollision zu erfassen. Ein Maß für die Stärke der Auswirkungen einer Kollision kann zum Beispiel die Winkeländerung des Fahrzeugs sein, die sich durch Aufintegration der Gierrate gewinnen lässt. Auch der Schwimmwinkel des Fahrzeugs kann als relevante Größe betrachtet werden. - A -Yaw rate sensor) to detect the change in the state of motion of the vehicle during the collision. A measure of the severity of the effects of a collision can be, for example, the angular change of the vehicle, which can be gained by integrating the yaw rate. Also, the slip angle of the vehicle can be considered as a relevant size. - A -
Eine Ausprägung der Funktion fuhrt eine Bremsung nach einer Kollision nur dann aus, wenn der Schwimmwinkel einen vorgegebenen Schwellenwert überschreitet, ab welchem davon ausgegangen werden muss, dass der Fahrer das Fahrzeug auch bei Unterstützung durch die Fahrdynamikregelung nicht mehr beherrschen kann.An expression of the function performs braking after a collision only when the slip angle exceeds a predetermined threshold, from which it must be assumed that the driver can no longer control the vehicle even with the support of the vehicle dynamics control.
Eine weitere Ausprägung der Funktion führt eine Bremsung nach einer Kollision nur dann aus, wenn die Gierbeschleunigung so groß ist, dass davon ausgegangen werden muss, dass der Fahrer das Fahrzeug auch bei Unterstützung durch die Fahrdynamikregelung nicht mehr beherrschen kann.A further feature of the function performs a braking after a collision only if the yaw acceleration is so great that it must be assumed that the driver can no longer control the vehicle even with the support of the vehicle dynamics control.
Eine weitere Ausprägung der Funktion führt eine Bremsung mit veränderlicher Intensität durch, so dass mit zunehmender Kritikalität, welche z. B. durch den Schwimmwinkel gegeben ist, stärker gebremst wird.Another expression of the function performs a braking with variable intensity, so that with increasing criticality, which z. B. is given by the slip angle is braked stronger.
Eine weitere Ausprägung der Funktion führt unmittelbar nach der Kollision eine Bremsung hoher Intensität (ggf. Vollbremsung) durch, und reduziert mit der Abnahme der Kritikalität die Intensität der Bremsung.A further characteristic of the function performs a high-intensity braking (possibly full braking) immediately after the collision, and reduces the intensity of the braking as the criticality decreases.
Es ist z.B. möglich, dass eine zeitlich veränderliche Bremsintensität in Abhängigkeit derIt is e.g. possible that a time-varying braking intensity depending on
Kritikalität der Fahrsituation eingestellt wird, die anhand von gemessenen oder geschätzten Fahrzeugbewegungsgrößen oder der Kollisionsstärke bewertet wird.Criticality of the driving situation is set, which is evaluated on the basis of measured or estimated vehicle movement variables or collision strength.
Der Ablauf des erfindungsgemäßen Verfahrens ist in Fig. 1 dargestellt. Nach dem Start in Block 100 werden in Block 101 verschiedene Sensorsignale einge lesen, dabei kann es sich beispielsweise um die Gierrate, die Fahrzeugquerbeschleunigung, die Fahrzeuglängsbeschleunigung, usw. handeln.The sequence of the method according to the invention is shown in FIG. After the start in block 100, various sensor signals are read in block 101, which may be, for example, the yaw rate, the vehicle lateral acceleration, the vehicle longitudinal acceleration, etc.
Anschließend wird in Block 102 aus den Sensorsignalen ermittelt, ob eine Kollision vorliegt. Liegt keine Kollision vor, dann wird zu Block 101 zurückverzweigt. Liegt dagegen eine Kollision vor, dann wird in Block 103 ein die Kritikalität der Kollision repräsentierendes Kritikalitätsmaß ermittelt. Mögliche Kritikalitätsmaße sind z.B. der Schwimmwinkel, die Gierbeschleunigung oder die Drehung der Fahrzeuglängsrichtung um die Hochachse infolge der Kollision.Subsequently, in block 102 it is determined from the sensor signals whether there is a collision. If there is no collision, then branch back to block 101. On the other hand, if there is a collision, a criticality measure representing the criticality of the collision is determined in block 103. Possible dimensions of criticality are e.g. the slip angle, the yaw acceleration or the rotation of the vehicle longitudinal direction about the vertical axis as a result of the collision.
Abhängig vom Kritikalitätsmaß wird in Block 104 die Intensität einer nach der Kollision durchgeführten, fahrerunabhängigen Bremsung festgelegt. Dies resultiert in einer Bremsanforderung, welche in Block 105 an das Bremssystem weitergegeben wird. In Block 106 endet das Verfahren und wird optional in Block 101 fortgesetzt. Die in Block 101 eingelesenen Sensorsignale gehen auch optional in die Blöcke 103 und 104 als Eingangsgrößen ein.Depending on the criterion of criticality, the intensity of a driver-independent braking carried out after the collision is determined in block 104. This results in a Brake request, which is passed in block 105 to the brake system. In block 106, the method ends and is optionally continued in block 101. The sensor signals read in block 101 are also optionally input into blocks 103 and 104 as input variables.
Der Aufbau der erfmdungsgemäßen Vorrichtung ist in Fig. 2 dargestellt. Block 200 enthält Sensoren, deren Ausgangssignale an ein Steuergerät 201 übermittelt werden. In diesem Steuergerät wird eine erfolgte oder unmittelbar bevorstehende Kollision detektiert und eine die Kritikalität der Fahrsituation beschreibende Größe ermittelt. Abhängig davon werden Aktormittel 202, dabei kann es sich insbesondere umThe construction of the device according to the invention is shown in FIG. Block 200 contains sensors whose output signals are transmitted to a control unit 201. In this control unit, a collision that has occurred or is imminent is detected and a variable describing the criticality of the driving situation is determined. Depending on this actor means 202, this may in particular
Fahrzeugbremsen oder eine Fahrzeuglenkung handeln, angesteuert. Vehicle brakes or a vehicle steering act, driven.

Claims

Ansprüche claims
1. Verfahren zur Ansteuerung eines Aktorsystems eines Fahrzeugs nach einer Kollision oder nach Detektion einer bevorstehenden Kollision (102), bei dem wenigstens eine die Kritikalität der Fahrsituation beschreibende Größe ermittelt wird (103) und abhängig davon das Aktorsystem des Fahrzeugs (105) angesteuert wird.1. A method for controlling an actuator system of a vehicle after a collision or after detection of an impending collision (102), wherein at least one of the criticality of the driving situation descriptive size is determined (103) and depending on the actuator system of the vehicle (105) is driven.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei dem2. The method according to claim 1, characterized in that it is in the
Aktorsystem um das Lenksystem oder das Bremssystem (105) handelt.Actuator system to the steering system or the braking system (105) acts.
3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Kritikalität der Fahrsituation anhand wenigstens einer gemessenen oder geschätzten Fahrzeugbewegungsgröße oder anhand der ermittelten Kollisionsstärke ermittelt wird3. The method according to claim 1, characterized in that the criticality of the driving situation is determined on the basis of at least one measured or estimated vehicle movement variable or on the basis of the determined collision intensity
(103).(103).
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass es sich bei der gemessenen oder geschätzten Fahrzeugbewegungsgröße um den Schwimmwinkel handelt.4. The method according to claim 3, characterized in that the measured or estimated vehicle movement quantity is the slip angle.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass für den Fall, dass der Schwimmwinkel einen vorgegebenen Schwellenwert überschreitet, eine fahrerunabhängige Bremsung wenigstens eines Fahrzeugrades durchgeführt wird.5. The method according to claim 4, characterized in that in the event that the slip angle exceeds a predetermined threshold, a driver-independent braking at least one vehicle wheel is performed.
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass für den Fall, dass der6. The method according to claim 5, characterized in that in the event that the
Schwimmwinkel einen vorgegebenen Schwellenwert überschreitet, eine fahrerunabhängige Bremsung aller Fahrzeugräder durchgeführt wird.Float angle exceeds a predetermined threshold, a driver-independent braking of all vehicle wheels is performed.
7. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass nach der Kollision eine fahrerunabhängige Bremsung des Fahrzeugs durchgeführt wird, deren Intensität abhängig vom ermittelten Schwimmwinkel ist.7. The method according to claim 4, characterized in that after the collision, a driver-independent braking of the vehicle is carried out, the intensity of which is dependent on the determined slip angle.
8. Verfahren nach Anspruch 3, dadurch gekennzeichnet,8. The method according to claim 3, characterized
- dass die durch die Kollision erfolgte Winkeländerung des Fahrzeugs um seine Hochachse ermittelt wird und - das die Kollisionsstärke anhand der Winkeländerung ermittelt wird.- That the change in angle of the vehicle made by the collision is determined about its vertical axis and - The collision strength is determined by the angle change.
9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass die Winkeländerung durch Aufintegration der Gierrate des Fahrzeugs ermittelt wird.9. The method according to claim 8, characterized in that the angle change is determined by integration of the yaw rate of the vehicle.
10. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass es sich bei der gemessenen oder geschätzten Fahrzeugbewegungsgröße um die Gierbeschleunigung handelt.10. The method according to claim 3, characterized in that it is the yaw acceleration in the measured or estimated vehicle movement amount.
11. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass es sich bei dem Aktorsystem um ein Bremssystem handelt und dass11. The method according to claim 1, characterized in that it is a braking system in the actuator system and that
- nach der Kollision eine fahrerunabhängige Bremsung, insbesondere eine Vollbremsung, durchgeführt wird und- After the collision, a driver-independent braking, especially a full braking is performed and
- mit danach mit abnehmender Kritikalität die Intensität der Bremsung reduziert wird.- Then with decreasing criticality, the intensity of the braking is reduced.
12. Vorrichtung, enthaltend Mittel zur Durchführung der Verfahren nach einem der vorhergehenden Ansprüche. 12. An apparatus comprising means for carrying out the method according to any one of the preceding claims.
PCT/EP2007/052743 2006-04-03 2007-03-22 Situation-dependent braking strategy of a safety function WO2007115918A1 (en)

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