WO2010049192A1 - Procédé et appareil de commande pour le freinage d'un véhicule après une collision - Google Patents

Procédé et appareil de commande pour le freinage d'un véhicule après une collision Download PDF

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Publication number
WO2010049192A1
WO2010049192A1 PCT/EP2009/061243 EP2009061243W WO2010049192A1 WO 2010049192 A1 WO2010049192 A1 WO 2010049192A1 EP 2009061243 W EP2009061243 W EP 2009061243W WO 2010049192 A1 WO2010049192 A1 WO 2010049192A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
vehicle
braking
collision
brake
Prior art date
Application number
PCT/EP2009/061243
Other languages
German (de)
English (en)
Inventor
Alfred Kuttenberger
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 WO2010049192A1 publication Critical patent/WO2010049192A1/fr

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
    • B60T7/124—Brakes for railway vehicles coming into operation in case of accident, derailment or damage of rolling stock or superstructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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

Definitions

  • the present invention relates to a method for decelerating a vehicle according to claim 1, a control device according to claim 9, and a computer program product according to claim 10.
  • DE 198 58 292 A1 deals with a safety system for reducing the consequences of accidents in a rear impact of a motor vehicle. In this case, depending on a positive vehicle longitudinal acceleration, a vehicle brake triggering brake signal is generated.
  • the brake can be activated when a crash is detected by the airbag control unit. This is intended to bring the vehicle quickly to a halt to prevent a possible second collision, e.g. to prevent with a tree.
  • SCM Secondary Collision Mitigation
  • the invention is based on the recognition that the braking effect in the case of activation of the brake after a collision, for example, by the function Secondary Collision Mitigation (SCM) in a frontal crash, can be optimally used if the subsequent traffic is taken into account.
  • SCM Secondary Collision Mitigation
  • the approach according to the invention makes it possible to adjust the braking effect of the vehicle after a collision so that the vehicle is brought to a standstill as quickly as possible and at the same time precluded or at least minimized the risk of a subsequent vehicle coming on.
  • the present invention provides a method for decelerating a vehicle after a collision, comprising the steps of: receiving a vehicle
  • Environment information via an interface, wherein the environment information includes information about a subsequent vehicle; and providing brake information based on the environmental information, wherein the brake information is adapted to set a brake deceleration of the vehicle in response to the collision.
  • a high braking deceleration can be set if no following vehicle is detected.
  • a low braking deceleration can be set if a vehicle following at a short distance is detected and a rear-end collision is imminent.
  • the environment information may include information about a distance and / or a
  • the environment information may represent information acquired by an environment sensor of the vehicle.
  • the inventive Procedures based on the SCM function in combination with a rear environment sensor.
  • the environment sensor system can be based for example on radar, ultrasound, video or capacitive.
  • the brake information may be designed to directly control a brake of the vehicle or to provide data that can be further processed by a brake system.
  • the brake information may be suitable for reducing the braking deceleration when the danger of a collision of the following vehicle can be determined from the surroundings information.
  • the braking deceleration can be adapted to the current following traffic.
  • the braking deceleration can be reduced to such an extent that there is no longer any danger of a collision.
  • the brake information can be determined as a function of a comparison result, which results from a comparison of the surrounding information with a threshold value.
  • the distance and the relative speed may be compared with predetermined values or intervals to determine the risk of a rear-end collision and adjusting the braking information.
  • the brake information may be suitable for setting the brake delay between a predetermined maximum brake deceleration and a predetermined minimum brake deceleration.
  • the method may include a step of receiving information about the collision, via the interface, wherein the brake information is provided based on the environmental information and the information about the collision.
  • the information about the collision can be provided, for example, by an airbag control unit or by a crash sensor.
  • braking according to the invention can be initiated with the braking deceleration set by the brake information.
  • the method may include a step of receiving information about activation of the brake
  • the braking information being based on provided on the environment information and the information about the activation of the brake.
  • the braking deceleration can be adjusted by the brake information.
  • the present invention further provides a control device for braking a vehicle after a collision, comprising: receiving means for receiving environment information via an interface, the environment information including information about a following vehicle; and means for providing brake information based on the environmental information, wherein the brake information is adapted to set a deceleration of the vehicle in response to the collision.
  • a control device can be understood as meaning an electrical device which processes sensor signals and outputs control signals in dependence thereon.
  • the control unit may have an interface, which may be formed in hardware and / or software.
  • the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit.
  • the interfaces are their own integrated circuits or at least partially consist of discrete components.
  • the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules and are available for the provision of the pre-crash signal and the impact signal.
  • Also of advantage is a computer program product with program code, which is stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above, when the program is executed on a controller.
  • a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory
  • FIGS. 2a and 2b show further representations of vehicle situations in colon traffic
  • FIG. 3 flowchart of the method for braking a
  • Figures 1 a to 1 d each show a first vehicle 101, a second vehicle 102 and a third vehicle 103 in the column traffic.
  • the vehicle situations shown were assessed as critical by hazard and risk analysis.
  • Fig. 1a shows a situation in which the first vehicle 101, the second vehicle 102 and the third vehicle 103 are in the traffic of the column.
  • the vehicles 101, 102, 103 have approximately the same distance from each other.
  • 1 b shows a situation in which a collision accident between the first vehicle 101 and the second vehicle 102 occurred in the traffic in the column. Without a mitigation function for secondary collisions, such as the SCM, the vehicles will continue to move, depending on how they operate
  • the second vehicle 102 can initiate full braking in order to come to a standstill as quickly as possible.
  • the full braking can be initiated automatically, in response to the collision.
  • a Acceleration sensors are used.
  • Full braking can prevent another crash or reduce its severity.
  • the further crash can be caused, for example, by the second vehicle 102 moving into oncoming traffic or driving against an object on the roadside.
  • FIG. 1 c shows a situation in which, due to the full braking described in connection with FIG. 1 b, a rear-end collision 13 occurs between the second vehicle 102 and the third vehicle 103.
  • the possibility of the rear-end collision 13 always exists when the third vehicle 103 drives behind the second vehicle 102. If the distance between the second vehicle 102 and the third vehicle 103 is too short, the third vehicle 103 collides with the second vehicle 102 as a result of the full braking of the second vehicle 102. As a result, the occupants in the second vehicle 102 are exposed to an additional load which they would incur SCM might not have learned.
  • FIG. 1 d shows a situation in which the rear-end collision between the second vehicle 102 and the third vehicle 103 described with reference to FIG. 1 c is avoided. To the collision of the third vehicle 103 with the second
  • Vehicle 102 to avoid, in the event of a frontal crash of the second vehicle 102 with SCM only partial braking instead of the full braking shown in Fig. 1 c can be performed.
  • the partial braking may, for example, cause a deceleration of the vehicle of 6 m / s 2 instead of full braking with a delay of 10 m / s 2 . It can thereby be prevented that the following traffic, in this case the third vehicle 103, ascends to the second vehicle 102.
  • Disadvantage of this solution is the fact that due to the partial braking, the second vehicle 102 has a longer braking distance after the first collision with the first vehicle 101. Thus, it may possibly lead to a second collision of the second vehicle 102 with the oncoming traffic or a
  • FIGs 2a and 2b show the vehicles 101, 102, 103 respectively in a situation after the collision between the first vehicle 101 and the second vehicle 102 described with reference to Figure 1 b. According to these embodiments, the second vehicle 102 becomes after the collision decelerated according to the inventive method. In this way, both the hand of
  • the second vehicle 102 has an environment sensor system 222 which monitors the rearward traffic.
  • the environmental sensor system 222 may have sensors arranged at the rear of the second vehicle 102 for detecting a distance of the following vehicle 103 and a corresponding evaluation device.
  • a braking deceleration of the second SCM vehicle 102 can be between 6 m / s 2 and 10 m / s 2 as a function of the distance and the relative speed between the second vehicle 102 and the third vehicle
  • the dosage of the braking deceleration can be selected so that a maximum possible deceleration of the second vehicle
  • the maximum protection for the occupants in the second vehicle 102 can be ensured.
  • FIG. 2 a shows a situation in which the third vehicle 103 is detected by the surroundings sensor 222 of the second vehicle 102.
  • the third vehicle 103 has a sufficiently large distance from the second vehicle 102.
  • the second vehicle 102 can perform a full braking, without the risk of a collision of the third vehicle 103 is.
  • FIG. 2 b shows a situation in which the third vehicle 103 is in turn detected by the surroundings sensor system 222 of the second vehicle 102.
  • the third vehicle 103 has only a small distance to the second vehicle 102.
  • the second vehicle 102 may only perform partial braking to prevent the third vehicle 103 from being raised.
  • 3 shows a flowchart of a method for braking a vehicle after a collision, according to an embodiment of the invention.
  • an environment information is received via an interface.
  • the environment information can be used as an electrical signal over the
  • the interface may be an interface of the control unit.
  • the environment information includes information about a following vehicle.
  • the surrounding information can indicate whether a following vehicle is present or whether there is no following vehicle.
  • the environment information may be provided by a rear surround sensor of the vehicle. If a following vehicle is present, the environment information may include information about a distance and a relative speed with respect to the following vehicle. The distance and the relative speed can be determined according to known methods for distance or speed measurement.
  • step 332 provision is made of brake information based on the environment information.
  • the brake information can be used as a signal at the
  • the brake information is adapted to adjust a deceleration of the vehicle in response to the collision.
  • the vehicle can be decelerated automatically, for example as a result of a frontal collision.
  • the braking information is determined in consideration of the environment information, the braking deceleration can be set to be lower in the case where there is a danger of starting up the following vehicle and having a larger value when there is no danger of being hit.
  • the environment information can be compared, for example, with one or more threshold values. In the comparison, the distance and the relative speed to the following vehicle may be considered both separately and in combination. In this way, the braking deceleration can be reduced, for example, even if the following vehicle, although a large distance, but also has a large relative speed.
  • an algorithm can be used which takes into account the distance and the relative speed to the following vehicle.
  • the braking deceleration between a predetermined maximum braking deceleration, for example 10 m / s 2 and a predetermined minimum braking deceleration 6 m / s 2 can be set.
  • the environment information may be received and evaluated continuously or in response to a triggering event.
  • a current value of the braking deceleration can already be determined before the collision and stored, for example, in a memory.
  • the value of the braking deceleration may be determined only in response to the triggering event, that is, for example, in response to the collision or the braking action initiated by the SCM function. Accordingly, in a further step, the method according to the invention can provide information about the collision and / or information about a collision
  • This information can be provided via the interface via which the environment information is also provided or via a separate interface
  • the method according to the invention can be carried out by a device and in particular by a control device arranged in the vehicle.
  • a control device arranged in the vehicle.

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

Abstract

L'invention concerne un procédé de freinage d'un véhicule (102) après une collision, comprenant une étape de réception (331) d'une information d'environnement par une interface, l'information d'environnement contenant une information sur un véhicule suiveur (103), et une étape de fourniture (332) d'une information de freinage sur la base de l'information d'environnement. L'information de freinage est de nature à interrompre le ralentissement du véhicule (102) en fonction du risque de collision.
PCT/EP2009/061243 2008-10-28 2009-09-01 Procédé et appareil de commande pour le freinage d'un véhicule après une collision WO2010049192A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008043232.6 2008-10-28
DE200810043232 DE102008043232A1 (de) 2008-10-28 2008-10-28 Verfahren und Steuergerät zum Abbremsen eines Fahrzeugs

Publications (1)

Publication Number Publication Date
WO2010049192A1 true WO2010049192A1 (fr) 2010-05-06

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PCT/EP2009/061243 WO2010049192A1 (fr) 2008-10-28 2009-09-01 Procédé et appareil de commande pour le freinage d'un véhicule après une collision

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DE (1) DE102008043232A1 (fr)
WO (1) WO2010049192A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10351132B2 (en) 2016-12-02 2019-07-16 Lucas Automotive Gmbh Control system and control method for driving a motor vehicle

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015225640A1 (de) * 2015-12-17 2017-05-11 Continental Automotive Gmbh Verfahren zur Rekuperation der Bremsenergie eines Kraftfahrzeugs, regeneratives Bremssystem für ein Kraftfahrzeug

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1010596A2 (fr) * 1998-12-17 2000-06-21 DaimlerChrysler AG Système de sécurité pour un véhicule automobile
DE19944556A1 (de) * 1999-09-17 2001-03-22 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage
DE102004056120A1 (de) * 2004-11-20 2006-05-24 Daimlerchrysler Ag Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung und Vorrichtung zur Durchführung des Verfahrens
WO2006106009A1 (fr) * 2005-04-07 2006-10-12 Robert Bosch Gmbh Procede et dispositif pour stabiliser un vehicule apres une collision
EP1852323A1 (fr) * 2006-05-04 2007-11-07 Ford Global Technologies, LLC Système de mitigation de collisions arrières pour un véhicule automobile
EP1932735A2 (fr) * 2006-12-14 2008-06-18 Volkswagen Aktiengesellschaft Procédé et système d'empêchement de collisions multiples et d'atténuation de leurs effects
FR2915160A1 (fr) * 2007-04-19 2008-10-24 Renault Sas Dispositif d'aide a la conduite d'un vehicule motorise.
US20090018740A1 (en) * 2007-07-12 2009-01-15 Denso Corporation Automotive collision mitigation apparatus

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1010596A2 (fr) * 1998-12-17 2000-06-21 DaimlerChrysler AG Système de sécurité pour un véhicule automobile
DE19944556A1 (de) * 1999-09-17 2001-03-22 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage
DE102004056120A1 (de) * 2004-11-20 2006-05-24 Daimlerchrysler Ag Verfahren zur Kollisionsvermeidung oder Kollisionsfolgenminderung und Vorrichtung zur Durchführung des Verfahrens
WO2006106009A1 (fr) * 2005-04-07 2006-10-12 Robert Bosch Gmbh Procede et dispositif pour stabiliser un vehicule apres une collision
EP1852323A1 (fr) * 2006-05-04 2007-11-07 Ford Global Technologies, LLC Système de mitigation de collisions arrières pour un véhicule automobile
EP1932735A2 (fr) * 2006-12-14 2008-06-18 Volkswagen Aktiengesellschaft Procédé et système d'empêchement de collisions multiples et d'atténuation de leurs effects
FR2915160A1 (fr) * 2007-04-19 2008-10-24 Renault Sas Dispositif d'aide a la conduite d'un vehicule motorise.
US20090018740A1 (en) * 2007-07-12 2009-01-15 Denso Corporation Automotive collision mitigation apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10351132B2 (en) 2016-12-02 2019-07-16 Lucas Automotive Gmbh Control system and control method for driving a motor vehicle

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