WO2007115918A1 - Stratégie de freinage d'une fonction de sécurité en fonction de la situation - Google Patents

Stratégie de freinage d'une fonction de sécurité en fonction de la situation 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
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
collision
determined
braking
driver
Prior art date
Application number
PCT/EP2007/052743
Other languages
German (de)
English (en)
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/fr

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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.

Landscapes

  • 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

L'invention concerne un procédé pour commander un système d'actionneurs d'un véhicule après une collision ou après détection d'une collision imminente. Selon ce procédé, au moins une variable décrivant le caractère critique de la situation de conduite est déterminée et le système d'actionneurs du véhicule est commandé en fonction de cette variable.
PCT/EP2007/052743 2006-04-03 2007-03-22 Stratégie de freinage d'une fonction de sécurité en fonction de la situation WO2007115918A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102006015485.1 2006-04-03
DE102006015485 2006-04-03
DE102006034516.9 2006-07-26
DE102006034516A DE102006034516A1 (de) 2006-04-03 2006-07-26 Situationsabhängige Bremsstrategie einer Sicherheitsfunktion

Publications (1)

Publication Number Publication Date
WO2007115918A1 true WO2007115918A1 (fr) 2007-10-18

Family

ID=38211892

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/052743 WO2007115918A1 (fr) 2006-04-03 2007-03-22 Stratégie de freinage d'une fonction de sécurité en fonction de la situation

Country Status (2)

Country Link
DE (1) DE102006034516A1 (fr)
WO (1) WO2007115918A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2920122A1 (fr) * 2007-08-21 2009-02-27 Peugeot Citroen Automobiles Sa Procede de controle de la trajectoire d'un vehicule automobile apres une collision
EP2112042B1 (fr) * 2008-04-25 2015-07-08 Ford Global Technologies, LLC Système de contrôle de stabilité de lacet capable de ramener le véhicule à un cap précédent de perturbation de force
DE102011085140A1 (de) * 2011-10-25 2013-04-25 Robert Bosch Gmbh Verfahren und Steuergerät zum Betreiben einer Fahrdynamikregelung eines Fahrzeugs sowie Regelsystem zur Fahrdynamikregelung eines Fahrzeugs unter Verwendung von Umfeldsensorikdaten
DE102012101545B4 (de) 2012-02-27 2022-02-24 Car-Pro Akademie GmbH Verfahren zum Regeln eines Fahrzeugs

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19750913A1 (de) * 1996-11-18 1998-05-28 Toyota Motor Co Ltd Automatisches Bremsregelsystem für ein Kraftfahrzeug
DE19753971A1 (de) * 1997-12-05 1999-06-10 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage eines Fahrzeugs
EP0967121A2 (fr) * 1998-06-26 1999-12-29 Volkswagen Aktiengesellschaft Procédé et dispositif de commande pour minimiser les suites d'accident
US20020011373A1 (en) * 2000-07-31 2002-01-31 Wielenga Thomas J. System and method for minimizing injury after a loss of control event
DE10239406A1 (de) * 2002-08-28 2004-03-11 Robert Bosch Gmbh Vorrichtung zur Erkennung eines Fahrzeugüberschlags
DE102004033900A1 (de) * 2003-12-20 2005-07-21 Daimlerchrysler Ag Verfahren und System zur Regelung der Fahrdynamik eines Kraftfahrzeuges bei Touchierkollisionen
DE102004037539A1 (de) * 2004-08-03 2006-02-23 Daimlerchrysler Ag Kraftfahrzeug mit einem präventiv wirkenden Schutzsystem
WO2006106009A1 (fr) * 2005-04-07 2006-10-12 Robert Bosch Gmbh Procede et dispositif pour stabiliser un vehicule apres une collision

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19750913A1 (de) * 1996-11-18 1998-05-28 Toyota Motor Co Ltd Automatisches Bremsregelsystem für ein Kraftfahrzeug
DE19753971A1 (de) * 1997-12-05 1999-06-10 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage eines Fahrzeugs
EP0967121A2 (fr) * 1998-06-26 1999-12-29 Volkswagen Aktiengesellschaft Procédé et dispositif de commande pour minimiser les suites d'accident
US20020011373A1 (en) * 2000-07-31 2002-01-31 Wielenga Thomas J. System and method for minimizing injury after a loss of control event
DE10239406A1 (de) * 2002-08-28 2004-03-11 Robert Bosch Gmbh Vorrichtung zur Erkennung eines Fahrzeugüberschlags
DE102004033900A1 (de) * 2003-12-20 2005-07-21 Daimlerchrysler Ag Verfahren und System zur Regelung der Fahrdynamik eines Kraftfahrzeuges bei Touchierkollisionen
DE102004037539A1 (de) * 2004-08-03 2006-02-23 Daimlerchrysler Ag Kraftfahrzeug mit einem präventiv wirkenden Schutzsystem
WO2006106009A1 (fr) * 2005-04-07 2006-10-12 Robert Bosch Gmbh Procede et dispositif pour stabiliser un vehicule apres une collision

Also Published As

Publication number Publication date
DE102006034516A1 (de) 2007-10-04

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